Management control system, mobile body, mobile body system, management control method, and program

Abstract

A management control system (1) according to the present disclosure comprises: a control signal generation unit (12) for generating a control signal that is for coordinating mobile bodies (2-1 to 2-n), which are for providing a first service, to provide a second service, which is an entertainment service and which differs from the first service; and a transmission / reception unit (13) for outputting the control signal.

Description

Control system, mobile body, mobile body system, control method and program

[0001] The present disclosure relates to a control system for controlling a mobile body, a mobile body, a mobile body system, a control method, and a program.

[0002] In recent years, autonomously traveling mobile objects have been used in various situations. For example, Patent Literature 1 discloses a technology for delivering goods using an autonomously traveling mobile object. In the technology described in Patent Literature 1, points are awarded to users who perform an action to assist the mobile object in returning to its original state in order to encourage general users to assist the mobile object in returning to its original state when an accident occurs.

[0003] Japanese Patent Application Laid-Open No. 2021-64119

[0004] The technology described in Patent Document 1 is an example of the coexistence of mobile objects and people, but adding value to mobile objects is not disclosed in Patent Document 1. It is expected that development toward the coexistence of mobile objects and people will continue to progress in the future, and it is desirable to make more effective use of mobile objects.

[0005] The present disclosure has been made in view of the above, and aims to provide a control system that can make effective use of moving objects.

[0006] In order to solve the above-mentioned problems and achieve the objectives, the control system of the present disclosure includes a control signal generation unit that generates a control signal for linking multiple mobile bodies to provide a first service and providing a second service that is different from the first service and is an entertainment service, and an output unit that outputs the control signal.

[0007] The control system according to the present disclosure has the effect of making effective use of moving objects.

[0008] FIG. 1 is a diagram showing an example of the configuration of a mobile body system according to the first embodiment. FIG. 2 is a diagram showing an example of a plurality of mobile bodies according to the first embodiment. FIG. 3 is a diagram showing an example of an operation plan according to the first embodiment. FIG. 4 is a diagram showing an example of operation information according to the first embodiment. FIG. 5 is a flowchart showing an example of an operation in a control system according to the first embodiment. FIG. 6 is a diagram for explaining the operation of a mobile body according to the first embodiment. FIG. 7 is a diagram showing an example of the configuration of a mobile body system according to the first modification. FIG. 8 is a diagram showing an example of the configuration of a mobile body system according to the second modification. FIG. 9 is a diagram for explaining the operation of a mobile body according to the third embodiment. FIG. 10 is a diagram showing an example of the configuration of a mobile body system according to the fourth embodiment. FIG. 11 is a diagram showing an example of a mobile body selected by a selection unit according to the fourth embodiment based on the position of the mobile body. FIG. 12 is a diagram showing an example of priority information according to the fourth embodiment. FIG. 13 is a diagram showing an example of the configuration of a mobile body system according to the fifth embodiment. FIG. 14 is a diagram showing an example of type information according to the fifth embodiment.

[0009] A control system, a mobile body, a mobile body system, a control method, and a program according to embodiments will be described in detail below with reference to the accompanying drawings.

[0010] First Embodiment. FIG. 1 is a diagram illustrating an example of the configuration of a mobile body system according to a first embodiment. The mobile body system 100 of this embodiment includes mobile bodies 2-1 to 2-n (n is an integer equal to or greater than 2) and a control system 1 that controls the mobile bodies 2-1 to 2-n. The mobile bodies 2-1 to 2-n are capable of autonomous travel and are capable of providing a first service. The mobile bodies 2-1 to 2-n are deployed to provide the first service. Examples of the first service include, but are not limited to, a transportation service for transporting at least one of people and goods, a cleaning service, a guidance service, and a security service. Hereinafter, when referring to the mobile bodies 2-1 to 2-n without distinguishing them individually, they will also be referred to as mobile body 2. The mobile body 2 may be, but is not limited to, a transportation robot, a cleaning robot, a drone, a PMV (Personal Mobility Vehicle), an autonomous cart, an autonomous vehicle that can accommodate people, a guidance robot, a security robot, an autonomous ship, or the like.

[0011] 1 also illustrates a management system 3 that manages the operation of the mobile object 2 related to the first service in order to provide the first service. Hereinafter, the operation of the mobile object 2 to provide the first service will also be referred to as work, and the management system 3 will also be referred to as a work management system.

[0012] The control system 1 controls the operation of the mobile object 2 to provide a second service different from the first service. The second service is, for example, an entertainment service such as dancing, music, or a parade. The control system 1 of this embodiment can thereby add value to the mobile object 2 introduced for the first service, thereby enabling effective use of the mobile object 2. The control system 1 may control not only the mobile object 2 but also equipment 4 such as sound equipment and lighting equipment. While FIG. 1 illustrates one equipment 4, this is not limiting and multiple equipment 4 may be used. At least one of the management system 3 and the equipment 4 may be included in the mobile object system 100.

[0013] As shown in FIG. 1 , the mobile object 2-1 includes a transceiver 21, an operation control unit 22, a drive mechanism 23, and equipment 24. The transceiver 21 communicates with other devices. For example, the transceiver 21 receives a first control signal (operation control signal) for controlling a first service from the management system 3, and outputs the received operation control signal to the operation control unit 22. The transceiver 21 also receives a second control signal (interlocking operation signal) for controlling a second service from the control system 1, and outputs the received interlocking operation signal to the operation control unit 22. The transceiver 21 is an example of a receiver that receives an interlocking operation signal. The interlocking operation signal is a control signal for interlocking multiple mobile objects 2 to provide the second service. The transceiver 21 transmits information received from the operation control unit 22 to the management system 3 or the control system 1.

[0014] When the operation control unit 22 receives the work control signal from the transmission / reception unit 21, it controls the drive mechanism 23 and the equipment 24 based on the received work control signal. When the operation control unit 22 receives the interlocking operation signal from the transmission / reception unit 21, it controls the drive mechanism 23 and the equipment 24 based on the received interlocking operation signal. Hereinafter, both the work control signal and the interlocking operation signal will be collectively referred to as a mobile object control signal. The operation control unit 22 may transmit a response to the mobile object control signal to the sender of the mobile object control signal via the transmission / reception unit 21.

[0015] More specifically, the mobile object 2 has a position detection function that detects the position of the mobile object 2-1, and controls the drive mechanism 23 and the equipment 24 using a mobile object control signal, position information indicating the position of the mobile object 2-1, and detection results from sensors (not shown). The position detection function is realized, for example, using a GPS (Global Positioning System) receiver that performs GPS positioning, but is not limited to this. The operation control unit 22 transmits the position information to the management system 3 via the transceiver unit 21. The position information is transmitted, for example, periodically. The operation control unit 22 may also transmit the position information to the control system 1 via the transceiver unit 21. Note that the mobile object 2-1 may have a position detection unit separate from the operation control unit 22, and the operation control unit 22 may acquire the position information from the position detection unit. The sensor equipped in the mobile object 2-1 may be, for example, a camera that detects obstacles, a LiDAR (Light Detection and Ranging), a millimeter-wave sensor, or the like, but is not limited to these. The operation control unit 22 controls the drive mechanism 23 to move and work while avoiding obstacles based on the detection results from the sensors, for example.

[0016] The driving mechanism 23 includes at least a moving mechanism for moving the position of the moving body 2. The driving mechanism 23 may also include a working mechanism for performing work. The working mechanism may be a robot arm or the like, or may be a mechanism according to the work performed by the moving body 2-1, such as a suction mechanism for sucking up dust or a rotating brush. The equipment 24 is a light-emitting device, a display device, a speaker, or the like. Note that the moving body 2-1 does not necessarily have to be equipped with the equipment 24.

[0017] The moving bodies 2-2 to 2-n have the same configuration as the moving body 2-1, but the configuration of at least one of the drive mechanism 23 and the equipment 24 may differ depending on the moving body 2. Furthermore, there may be a mixture of moving bodies 2 that are equipped with the equipment 24 and moving bodies 2 that are not equipped with the equipment 24.

[0018] FIG. 2 is a diagram illustrating an example of multiple mobile objects 2 according to the present embodiment. Mobile objects 2-1 to 2-n are examples of the multiple mobile objects 2. In the example illustrated in FIG. 2, the first service that the multiple mobile objects 2 can provide is a transportation service (transportation service for goods), and the multiple mobile objects 2 include mobile objects 2-1 and 2-2, which are transport robots, and mobile object 2-3, which is a drone. As illustrated in FIG. 2, the multiple mobile objects 2 may include, for example, different types (models). That is, the multiple mobile objects 2 may include two or more types of mobile objects 2. Alternatively, all of the multiple mobile objects 2 may be of the same type. The mobile objects 2 perform work, for example, in a work area 300, which is an area where the first service is provided. Depending on the content of the first service, at least some of the mobile objects 2 may move outside the work area 300. The work area 300 may be, for example, an expo site, a theme park, a shopping center, an outlet mall, an exhibition center, etc., but is not limited thereto.

[0019] Returning to the explanation of FIG. 1 , the management system 3, which is a work management system, includes a transceiver 31, a mobile object control unit 32, and an information storage unit 33. The transceiver 31 communicates with other devices. For example, the transceiver 31 transmits a work control signal received from the mobile object control unit 32 to the mobile object 2. The transceiver 31 also receives information such as location information from the mobile object 2 and outputs the received information to the mobile object control unit 32. The information storage unit 33 stores an operation plan and mobile object information. The operation plan is an operation plan for the mobile object 2, and the mobile object information is information related to each mobile object 2. The information storage unit 33 may also store operation information, described below, that indicates correspondence between operations and commands related to entertainment services. Note that the operation information may be integrated with the mobile object information.

[0020] The mobile object information is information about the mobile object 2 and includes at least identification information of each mobile object 2. The mobile object information may also include the type of each mobile object 2. The type of the mobile object 2 may include types such as a transport robot, a drone, or a ship. The type may also be indicated by the model. For example, when multiple models of transport robots are used, the type of the mobile object 2 may be information indicating the model. The mobile object information may also include location information indicating the location of the mobile object 2. The mobile object information may be input to the management system 3 by, for example, an operator or administrator, and a reception unit (not shown) may accept the input of the mobile object information and store the accepted mobile object information in the information storage unit 33. Alternatively, the mobile object information may be transmitted from another device (not shown), and the transmission / reception unit 31 may receive the mobile object information and store the received mobile object information in the information storage unit 33. Furthermore, if the mobile object information includes location information, the mobile object control unit 32 may update the mobile object information using the location information received from the transmission / reception unit 31. When the information storage unit 33 stores the motion information, the method of acquiring the motion information is the same as the method of acquiring the mobile object information described above.

[0021] The mobile body control unit 32 creates an operation plan for the mobile body 2 based on a work request, which is a request regarding work on the mobile body 2, and the mobile body information stored in the information storage unit 33, and stores the created operation plan in the information storage unit 33.

[0022] A work request may be input to the management system 3 by, for example, an operator or administrator, and a reception unit (not shown) may accept the input of the work request and output the accepted work request to the mobile object control unit 32. Alternatively, the work request may be transmitted from another device (not shown), and the transceiver unit 31 may receive the work request and output the received work request to the mobile object control unit 32. Furthermore, the work request may be a request for each task or for multiple tasks, or may be a work plan for, for example, one day. The work request includes, for example, information regarding the time to perform the task. The information regarding the time to perform the task may be information specifying the time to start the task, information specifying the time to start and the time to end the task, or information specifying the work time within a certain period, such as one hour between 10:00 a.m. and 12:00 p.m. The information regarding the time to perform the task is not limited to this and may be set appropriately depending on the content of the first service. If multiple types of mobile objects 2 are used, the work request may include the type of mobile object 2 to be used. Furthermore, if the mobile object 2 is capable of performing multiple types of tasks, the work request may include the type of task. The work request may be determined in accordance with the content of the first service, and is not limited to the above-described example. Note that, instead of inputting or receiving a work request, an operation plan may be inputted or received, and the operation plan may be stored in the information storage unit 33.

[0023] Furthermore, the mobile object control unit 32 generates a work control signal for controlling the first service based on the operation plan stored in the information storage unit 33, and outputs the generated work control signal to the transmission / reception unit 31. The mobile object control unit 32 may generate the work control signal based on the operation plan and the position of the mobile object 2. For example, if the mobile object 2 is a transport robot, the mobile object control unit 32 may generate a work control signal that specifies the departure point and destination when the mobile object 2 performs transport, or may generate a work control signal that indicates the route from the departure point to the destination. The operation of the mobile object control unit 32 may be a general operation when controlling the mobile object 2 to provide services such as transport services, cleaning services, guidance services, and security services, and detailed description thereof will be omitted.

[0024] FIG. 3 is a diagram showing an example of an operation plan according to this embodiment. As shown in FIG. 3, the operation plan includes, for example, a time for performing work and a time for charging for each mobile object 2. Note that if a time period for charging the mobile object 2 is determined in advance, such as when charging the mobile object 2 is performed after all work for the mobile object 2 has been completed for the day, the operation plan does not need to include the time for charging. Note that, although the operation plan includes the type of the mobile object 2 in the example shown in FIG. 3, the type of the mobile object 2 does not necessarily need to be included in the operation plan.

[0025] Returning to the description of FIG. 1 , the control system 1 includes a request acquisition unit 11, a control signal generation unit 12, a transmission / reception unit 13, and an information storage unit 14. The information storage unit 14 stores operation information and mobile object information. The mobile object information may be acquired from the management system 3, or may be input by an operator, administrator, or the like. That is, the transmission / reception unit 13 may receive the mobile object information from the management system 3 and store the received mobile object information in the information storage unit 14, or a reception unit (not shown) may accept input of the mobile object information and store the accepted mobile object information in the information storage unit 14. Similarly, the operation information may be acquired from the management system 3, or may be input by an operator, administrator, or the like. Furthermore, as described above, the operation information may be integrated with the mobile object information.

[0026] It should be noted that all of the mobile objects 2 managed by the management system 3 may be subject to control in the control system 1, or some of them may be subject to control in the control system 1. When some of the mobile objects 2 managed by the management system 3 are subject to control in the control system 1, information relating to the mobile objects 2 that are subject to control in the control system 1 may be extracted from the mobile object information stored in the management system 3 and transmitted from the management system 3 to the control system 1. In this way, the mobile object information stored in the management system 3 and the mobile object information stored in the control system 1 may be different.

[0027] FIG. 4 is a diagram illustrating an example of the motion information according to the present embodiment. As illustrated in FIG. 4 , the motion information is information indicating the correspondence between motion content, which is the content of motion related to an entertainment service, and commands corresponding to the motion content. Each command and the corresponding motion are preset in the moving body 2. In other words, the commands illustrated in FIG. 4 are preset commands. Motions related to the entertainment service include, for example, motions accompanied by performances, musical performances, lighting, sound effects (output of sound effects), and parades. Note that if the moving body 2 is only capable of moving on roads, floors, water, or air, the performance may be a performance in which movement is performed forward, backward, left, right, up, down, etc., in sync with musical performances and sound effects. For example, if the drive mechanism 23 of the moving body 2 includes a robotic arm, the performance may include an act of moving the robotic arm. Furthermore, motions related to the entertainment service may include support tasks that support performances accompanied by performances. Support tasks include, but are not limited to, preparation work, leading announcements, organizing the venue, transporting items used in performances accompanied by performances, and cleaning up after performances accompanied by performances. It should be noted that P1 and P2 in the sound effect (P1) and sound effect (P2) are identification information for the sound effect pattern (pattern type).

[0028] When multiple types of moving bodies 2 are used, operation information may be defined for each type, or, for example, the command for the operation content itself may be the same regardless of the type, and the operation corresponding to the command may be defined as an operation corresponding to each type of moving body 2. For example, when performing a performance, the operations may be different between a moving body 2 that is a transport robot and a moving body 2 that is a drone.

[0029] Returning to the description of FIG. 1 , the transmitter / receiver 13 communicates with other devices. For example, the transmitter / receiver 13 transmits the interlocking operation signal received from the control signal generator 12 to the mobile object 2. The transmitter / receiver 13 may further transmit the interlocking operation signal received from the control signal generator 12 to the equipment 4. The transmitter / receiver 13 may also receive at least one of mobile object information and operation information from the management system 3 and store the received information in the information storage unit 14. The transmitter / receiver 13 is an example of an output unit that outputs the interlocking operation signal by transmitting the interlocking operation signal to the mobile object 2.

[0030] The request acquisition unit 11 receives a service provision request, which is a request for the provision of an entertainment service. The service provision request includes at least the type of entertainment and a start time. Entertainment types include dance, musical performance, parade, etc., but these may be further subdivided. For example, dance may be further subdivided and defined as a type such as dance pattern 1 and dance pattern 2. Note that if there is only one type of entertainment, the service provision request does not need to include the type of entertainment. The service provision request may include the number of mobile objects 2 to be used (total number or the number of mobile objects 2 by type), a service provision location where the entertainment service is provided, etc. The entertainment service is provided, for example, in the work area 300. The service provision request may be an event schedule indicating a schedule of events for the entertainment service over a certain period of time. In other words, multiple events may be specified at once in the service provision request. The request acquisition unit 11 may receive a service provision request by receiving an input from an operator, administrator, etc., or by receiving a service provision request from another device.

[0031] The control signal generation unit 12 generates, for each mobile object 2, an interlocking operation signal, which is a control signal for causing the mobile object 2 to perform an operation for providing an entertainment service, based on the service provision request received from the request acquisition unit 11 and the operation information and mobile object information stored in the information storage unit 14. The control signal generation unit 12 outputs the generated interlocking operation signal to the transmission / reception unit 13. For example, the control signal generation unit 12 selects a mobile object 2 to be used for providing the entertainment service, and generates an interlocking operation signal for causing the selected mobile object 2 to perform an operation in accordance with the service provision request. Similarly, the control signal generation unit 12 may also generate an interlocking operation signal for causing the facility 4 to perform an operation for providing an entertainment service, and output the generated interlocking operation signal to the transmission / reception unit 13.

[0032] Specifically, for example, when the number of moving objects 2 is specified in the service provision request, the control signal generation unit 12 selects the identification information of the moving objects 2 to be used for providing the entertainment service from the identification information of the moving objects 2 included in the moving object information, thereby selecting the moving objects 2. Any criteria may be defined for this selection. Note that when the number of moving objects 2 is not specified in the service provision request, all moving objects 2 whose identification information is included in the moving object information may be selected as the moving objects 2 to be used for providing the entertainment service. Alternatively, the number of moving objects 2 to be used for providing the entertainment service may be determined in advance. Furthermore, when the number of each type of moving object 2 is specified in the service provision request, the control signal generation unit 12 uses the moving object information to select the identification information of the moving objects 2 to be used for providing the entertainment service for each type.

[0033] The control signal generating unit 12 uses the operation information to determine a command corresponding to the type of entertainment specified in the service provision request and a command corresponding to the operation content of the entertainment service, and generates a linked operation signal corresponding to the selected moving object 2 using the determined command and the start time specified in the service provision request. For example, the correspondence between the entertainment type and the operation content corresponding to that type is predetermined, and the control signal generating unit 12 determines the operation content corresponding to the entertainment type specified in the service provision request based on that correspondence, and extracts a command corresponding to the determined operation content from the operation information, thereby determining the command corresponding to the entertainment type specified in the service provision request. One entertainment type may correspond to multiple operation contents.

[0034] For example, if the entertainment type is dancing, the motion content may include acting, playing music, and lighting. When multiple motion content corresponds to one entertainment type, the control signal generation unit 12 selects the moving objects 2 corresponding to each motion content. Furthermore, the number of moving objects 2 for each motion content may be specified in the service provision request, or the number of moving objects 2 for each motion content may be determined in the correspondence between the entertainment type and the motion content corresponding to that type. Furthermore, in the correspondence, the model of the moving objects 2 may be specified according to the motion content.

[0035] In addition, the service provision request may specify the content of the action instead of specifying the type of entertainment. For example, the service provision request may specify that the performance of pattern 1 and the performance of pattern 1 are to be performed.

[0036] The linked operation signal is, for example, a signal that indicates the content of the operation to start the entertainment service and the timing to start the entertainment service. The linked operation signal only needs to indicate at least the timing to start the entertainment service, and does not need to indicate the content of the operation to start the entertainment service. For example, if there is only one type of entertainment, the linked operation signal does not need to indicate the content of the operation to start the entertainment service. Note that the linked operation signal indicates the content of the operation to start the entertainment service by, for example, including information that indicates the content of the operation to start the entertainment service. For example, the information that indicates the content of the operation to start the entertainment service is a command determined based on the operation information as described above, but the method of specifying the content of the operation is not limited to this.

[0037] The method of indicating the timing to start the entertainment service may be, for example, a method of including information indicating the start time of the entertainment service in the linked operation signal. The information indicating the start time of the entertainment service may be information indicating the time at which the entertainment service will start, or information indicating how many minutes after the entertainment service will start.

[0038] Furthermore, the method of indicating the timing to start the entertainment service may be a method in which the timing of transmitting the linked operation signal itself indicates the time to start the entertainment service. For example, the control signal generation unit 12 may transmit the linked operation signal to the mobile object 2 at the time to start the entertainment service. For example, the control signal generation unit 12 may output the linked operation signal including the determined command to the transceiver unit 13 at the time to start the entertainment service. Alternatively, the control signal generation unit 12 may output the linked operation signal including the determined command to the transceiver unit 13 with the time to start the entertainment service specified as the transmission time. In this way, the control signal generation unit 12 may transmit the linked operation signal at the start timing of the entertainment service.

[0039] Next, the operation of the control system 1 of this embodiment will be described. Fig. 5 is a flowchart showing an example of the operation of the control system 1 of this embodiment. It is assumed that operation information and mobile object information are stored in the information storage unit 14 before the operation shown in Fig. 5 is performed.

[0040] The control system 1 acquires a service provision request (step S1). Specifically, the request acquisition unit 11 accepts the service provision request and outputs the accepted service provision request to the control signal generation unit 12. Next, the control system 1 generates an interlocking operation signal (step S2). Specifically, the control signal generation unit 12 generates the interlocking operation signal based on the service provision request, operation information, and mobile object information, as described above.

[0041] The control system 1 determines whether it is time to start the entertainment service (step S3). Specifically, the control signal generator 12 determines whether it is time to start the entertainment service. Note that, although Fig. 5 shows an example in which the start timing of the entertainment service is indicated by the transmission timing of the interlocking operation signal, if the content of the interlocking operation signal includes information indicating the start time of the entertainment service, step S3 is not performed, and the process proceeds to step S4 after step S2.

[0042] If it is time to start the entertainment service (step S3: Yes), the control system 1 outputs a linkage operation signal (step S4) and ends the process. Specifically, in step S4, the transmitter / receiver 13 transmits the linkage operation signal to the moving object 2. If it is not time to start the entertainment service (step S3: No), the control system 1 repeats step S3.

[0043] As a result of the above-described operation of the control system 1, a linked operation signal is transmitted to the moving body 2. FIG. 6 is a diagram for explaining the operation of the moving body 2 in this embodiment. Similar to the example shown in FIG. 5, FIG. 6 shows an example in which the timing of transmitting the linked operation signal indicates the timing at which an entertainment service is started. Note that while FIG. 6 shows an example in which a linked operation signal is transmitted to moving bodies 2-1 to 2-3, the moving bodies 2 to which the linked operation signal is transmitted are not limited to the example shown in FIG. 6. Also, FIG. 6 shows an example in which dance is specified as the type of entertainment.

[0044] 6 illustrates an example in which the moving bodies 2-1 to 2-3 participate in dancing. However, as described above, the actions related to the entertainment service may also include support actions such as leading announcements and cleaning work. The start timing of the support action may differ from the start timing of the action of the entertainment service itself, such as dancing. For this reason, when the control signal generator 12 of the control system 1 indicates the start timing by the transmission timing of the interlocking action signal, the control signal generator 12 may transmit the interlocking action signal at different times for the moving bodies 2 performing the support action and the moving bodies 2 performing the dancing.

[0045] 6, until time T1, the mobile units 2-1 to 2-3 perform operations such as work and charging for the first service based on the work control signal received from the management system 3. Time T1 is assumed to be the time when the entertainment service starts, and the control system 1 transmits the interlocking operation signal at time T1. Note that although delays due to communication are not taken into consideration here, if it is clear that delays will occur and it is possible to estimate the average delay time, the control signal generator 12 of the control system 1 may transmit the interlocking operation signal at a time that is the estimated delay time before time T1.

[0046] When the moving bodies 2-1 to 2-3 receive the linked operation signal, they all start dancing at the same time. When they finish dancing, they resume their operations based on the work control signal received from the management system 3. In other words, the moving bodies 2-1 to 2-3, which had been individually performing tasks up until that point, all start providing entertainment services at the same time, similar to a flash mob. This allows the moving bodies 2-1 to 2-3 to attract the attention of people around them and entertain them.

[0047] The entertainment service provided by the mobile object 2 may be entertainment provided solely by the mobile object 2, or may be a service to enhance the main entertainment provided by people or robots introduced for entertainment purposes. For example, as people or entertainment robots begin a main dance, the mobile object 2 may perform in the vicinity, like a backup dancer, in time with the music of the dance.

[0048] Next, a modification of this embodiment will be described. Fig. 7 is a diagram showing an example of the configuration of a mobile body system according to a first modification of this embodiment. A mobile body system 100a according to the first modification is similar to the mobile body system 100 shown in Fig. 1 except that it includes a management system 3a instead of the management system 3 and the transmission path of the interlocking operation signal to the mobile body 2 is different. Components having the same functions as those in Fig. 1 are assigned the same reference numerals as in Fig. 1 and redundant explanations will be omitted. The following description will focus on the differences from the mobile body system 100 shown in Fig. 1.

[0049] The management system 3a is similar to the management system 3 shown in Fig. 1 except that it includes a transceiver 31a instead of the transceiver 31. In the example shown in Fig. 1, the control system 1 transmitted an interlocking operation signal to the mobile object 2, but in Modification 1, the control system 1 transmits the interlocking operation signal to the mobile object 2 via the management system 3a. That is, in Modification 1, the transceiver 13 transmits the interlocking operation signal to the management system 3a, and the transceiver 31a of the management system 3a transmits the interlocking operation signal to the mobile object 2. As illustrated in Figs. 5 and 6, if the timing of transmitting the interlocking operation signal indicates the start timing of an entertainment service, the control system 1 may instruct the management system 3a on the timing of transmitting the interlocking operation signal.

[0050] Furthermore, instead of transmitting the interlocking operation signal to the management system 3a, the control system 1 may transmit information indicating the content of the interlocking operation signal to the management system 3a. For example, the control system 1 may transmit a command indicating the operation content and information indicating the timing to start the entertainment service for each mobile object 2 to the management system 3a. In this case, the transceiver 31a of the management system 3a may output the information received from the control system 1 to the mobile object control unit 32, and the mobile object control unit 32 may generate the interlocking operation signal and transmit the generated interlocking operation signal to the mobile object 2 via the transceiver 31a. If the timing to start the entertainment service is indicated by the transmission timing of the interlocking operation signal, the mobile object control unit 32 may output the interlocking operation signal to the transceiver 31a at the time to start the entertainment service, or may specify the time to start the entertainment service as the transmission time and output the interlocking operation signal to the transceiver 31a.

[0051] Fig. 8 is a diagram showing an example of the configuration of a mobile body system according to Modification 2 of the present embodiment. A mobile body system 100b according to Modification 2 includes a control system 1a. The control system 1a also functions as the management system 3 shown in Fig. 1. Components having the same functions as those in Fig. 1 are assigned the same reference numerals as in Fig. 1, and redundant explanations will be omitted. The following description will focus on differences from the mobile body system 100 shown in Fig. 1.

[0052] The information storage unit 14 of the control system 1a stores an operation plan, operation information, and mobile body information. The mobile body control unit 32 creates an operation plan and stores the created operation plan in the information storage unit 14, similar to the example shown in FIG. 1. The mobile body control unit 32 also generates an operation control signal and outputs the generated operation control signal to the transceiver unit 13, similar to the example shown in FIG. 1. The transceiver unit 13 transmits an interlocking operation signal to the mobile body 2, similar to the example shown in FIG. 1, and upon receiving an operation control signal from the mobile body control unit 32, transmits the received operation control signal to the mobile body 2. Other than these, the operation of the mobile body system 100b is the same as that of the mobile body system 100 shown in FIG. 1.

[0053] Next, the hardware configuration of the control system 1 of this embodiment will be described. In the control system 1 of this embodiment, a computer program describing the processing in each of the control systems 1 is executed on the computer system, so that each computer system functions as the control system 1. FIG. 9 is a diagram showing an example configuration of a computer system that realizes each of the control systems 1 of this embodiment. As shown in FIG. 9, this computer system includes a control unit 101, an input unit 102, a storage unit 103, a display unit 104, a communication unit 105, and an output unit 106, which are connected via a system bus 107.

[0054] In FIG. 9 , the control unit 101 is a processor such as a CPU (Central Processing Unit) that executes a program describing the processes in the control system 1 of this embodiment. The input unit 102 is composed of, for example, a keyboard, buttons, a mouse, etc., and is used by a user of the computer system to input various information. The memory unit 103 includes various memories such as a RAM (Random Access Memory) and a ROM (Read Only Memory) and a storage device such as a hard disk, and stores programs to be executed by the control unit 101, necessary data obtained during processing, etc. The memory unit 103 is also used as a temporary storage area for programs. The control unit 101 and the memory unit 103, for example, constitute a processing circuit. The processing circuit may be a single circuit or multiple circuits. The display unit 104 is composed of a display, an LCD (Liquid Crystal Display), etc., and displays various screens to the user of the computer system. Note that a touch panel in which the input unit 102 and the display unit 104 are integrated may also be used. The communication unit 105 is a receiver and transmitter that perform communication processing. The output unit 106 is a speaker or the like. Note that Fig. 9 is just an example, and the configuration of the computer system that realizes each of the control systems 1 is not limited to the example shown in Fig. 9. For example, the output unit 106 does not have to be provided.

[0055] Here, an example of the operation of the computer system until the program of this embodiment is ready to be executed will be described. In the computer system having the above configuration, for example, the program is installed in storage unit 103 from a CD-ROM or DVD-ROM inserted in a CD (Compact Disc)-ROM drive or DVD (Digital Versatile Disc)-ROM drive (not shown). Then, when the program is executed, the program read from storage unit 103 is stored in the main storage area of ​​storage unit 103. In this state, control unit 101 executes the processes of each of control system 1 of this embodiment in accordance with the program stored in storage unit 103.

[0056] In the above description, a program describing the processing in each of the control systems 1 is provided using a CD-ROM or DVD-ROM as a recording medium, but this is not limited to this. Depending on the configuration of the computer system, the capacity of the program to be provided, etc., it is also possible to use a program provided via a transmission medium such as the Internet via the communication unit 105.

[0057] The program of this embodiment, for example, causes a computer system to execute the steps of generating a linked operation signal for linking multiple mobile objects 2 to provide a first service and providing a second service that is different from the first service and is an entertainment service, and outputting the linked operation signal.

[0058] The control signal generating unit 12 shown in FIG. 1 is realized by the control unit 101 shown in FIG. 9 executing a program stored in the storage unit 103 shown in FIG. 9 . The storage unit 103 is also used to realize the control signal generating unit 12. The request acquiring unit 11 shown in FIG. 1 is realized by at least one of the communication unit 105 and the input unit 102 shown in FIG. 9 . The transmitting / receiving unit 13 shown in FIG. 1 is realized by the communication unit 105 shown in FIG. 9 . The information storage unit 14 shown in FIG. 1 is part of the storage unit 103 shown in FIG. 9 . Note that the receiving unit (not shown) in the above-described control system 1 is realized by the input unit 102. The control system 1a is also realized by a computer system. The control systems 1 and 1a may each be realized by multiple computer systems. For example, the control systems 1 and 1a may be realized by a cloud computer system.

[0059] Similarly, the management systems 3 and 3a are realized by a computer system. For example, the mobile object control unit 32 shown in FIG. 1 is realized by the control unit 101 shown in FIG. 9 executing a program stored in the storage unit 103 shown in FIG. 9. The storage unit 103 is also used to realize the mobile object control unit 32. The transmission / reception units 31 and 31a shown in FIGS. 1 and 7 are realized by the communication unit 105 shown in FIG. 9. The information storage unit 14 shown in FIG. 1 is part of the storage unit 103 shown in FIG. 9. Note that the reception unit (not shown) in the management system 3 described above is realized by the input unit 102. The management systems 3 and 3a may each be realized by a plurality of computer systems. For example, the management systems 3 and 3a may be realized by a cloud computer system.

[0060] Similarly, the transmitter / receiver 21 and operation control unit 22 of the mobile object 2 are also realized by a computer system. For example, the operation control unit 22 shown in Fig. 1 is realized by the control unit 101 shown in Fig. 9 executing a program stored in the storage unit 103 shown in Fig. 9. The storage unit 103 is also used to realize the operation control unit 22. The transmitter / receiver 21 shown in Fig. 1 is realized by the communication unit 105 shown in Fig. 9.

[0061] As described above, the control systems 1 and 1a of the present embodiment generate interlocking operation signals for interlocking a plurality of mobile objects 2 for providing a first service to provide an entertainment service. The control systems 1 and 1a then output the interlocking operation signals by transmitting the generated interlocking operation signals to the mobile objects 2 directly or via another device such as the management system 3. This allows the mobile objects 2 providing the first service to further provide an entertainment service. This allows added value to be added to the mobile objects 2, enabling effective use of the mobile objects 2.

[0062] Second Embodiment. FIG. 10 is a diagram illustrating an example of the configuration of a mobile body system according to a second embodiment. A mobile body system 100c according to this embodiment includes mobile bodies 2-1 to 2-n and a control system 1. At least one of management systems 3-1 and 3-2 and equipment 4 may also be included in the mobile body system 100c. In this embodiment, mobile bodies 2-1 to 2-n, which are examples of multiple mobile bodies 2, include mobile bodies 2 with different uses. That is, the first service provided by the multiple mobile bodies 2 includes multiple types of services. For example, the multiple mobile bodies 2 may include a transport robot and drone that provide a transport service and a cleaning robot that provides a cleaning service. Components having the same functions as those in the first embodiment are assigned the same reference numerals as those in the first embodiment, and redundant explanations will be omitted. Differences from the first embodiment will be mainly described below.

[0063] The management systems 3-1 and 3-2 manage corresponding mobile objects 2 to provide different types of first services. Each of the management systems 3-1 and 3-2 is similar to the management system 3 described in the first embodiment and transmits a work control signal to the managed mobile objects 2. When the management systems 3-1 and 3-2 are not individually distinguished, they are also referred to as the management systems 3. For example, the management system 3-1 manages a transportation service, which is an example of a first service, and the management system 3-2 manages a cleaning service, which is also an example of a first service. The management system 3-1 controls the mobile objects 2, which are transportation robots and drones that provide the transportation service, and the management system 3-2 controls the mobile objects 2, which are cleaning robots that provide the cleaning service. Although two management systems 3 are illustrated in FIG. 10, the number of management systems 3 is not limited to two.

[0064] Note that a management system 3 may be provided for each type of first service, or one management system 3 may manage multiple types of first services. For example, the management system 3-1 may manage a transportation service and a cleaning service, and the management system 3-2 may manage a guidance service and a security service.

[0065] FIG. 11 is a diagram illustrating an example of multiple moving objects 2 according to the present embodiment. In the example illustrated in FIG. 11 , the multiple moving objects 2 include moving objects 2-1 and 2-2, which are transport robots that provide a transport service, moving object 2-3, which is a drone that provides a transport service, moving objects 2-4 and 2-5, which are cleaning robots that provide a cleaning service, and moving object 2-6, which is a guide robot that provides guidance. The multiple moving objects 2 are divided into group 201, which is a group of moving objects 2 that provide a transport service, group 202, which is a group of moving objects 2 that provide a cleaning service, and group 203, which is a group of moving objects 2 that provide a guidance service. Note that the number of groups, the number and types of moving objects 2 that belong to each group, and the type of first service corresponding to each group are not limited to the example illustrated in FIG. 11 . The moving objects 2 that belong to each group may be managed by a different management system 3 for each group, or moving objects 2 that belong to two or more groups may be managed by a single management system 3.

[0066] As in the first embodiment, the control system 1 generates an interlocking operation signal and transmits the generated interlocking operation signal to the mobile body 2. If there are multiple management systems 3, when the control system 1 acquires at least one of the mobile body information and the operation information from the management systems 3, the control system 1 acquires at least one of the mobile body information and the operation information from each of the multiple management systems 3.

[0067] Furthermore, as described in Variation 1 of Embodiment 1, the interlocking operation signal may be transmitted to the mobile body 2 via the management system 3a, and if there are multiple management systems 3a, the control system 1 transmits the interlocking operation signal to the mobile body 2 via the management system 3a corresponding to the mobile body 2 to which the interlocking operation signal is to be transmitted. Furthermore, as described in Variation 2 of Embodiment 1, a control system 1a having the function of the management system 3 may be used, and in this case, the control system 1a may manage all or some of the multiple types of first services. For example, the control system 1a may have the function of the management system 3 for the transportation service, and a management system 3 providing a cleaning service may be provided separately from the control system 1a.

[0068] The control systems 1, 1a and management systems 3, 3a of this embodiment are also realized by, for example, the computer system illustrated in FIG. 9, similarly to the first embodiment.

[0069] As described above, in this embodiment, an entertainment service is provided using mobile objects 2 that provide a plurality of different types of first services. This provides the same effects as in embodiment 1, and in addition, compared to when only mobile objects 2 that provide a single type of first service are used, it is possible to increase the number of mobile objects 2 that can participate in the entertainment service, thereby enabling the provision of a more dynamic entertainment service. Furthermore, compared to when only mobile objects 2 that provide a single type of first service are used, it is possible to increase the types of mobile objects 2 that provide the entertainment service, thereby enabling the provision of a more diverse entertainment service.

[0070] Third Embodiment. Figure 12 is a diagram for explaining the operation of a mobile body 2 according to a third embodiment. The configuration of the mobile body system according to this embodiment is similar to, for example, the mobile body systems 100, 100a, and 100b described in the first embodiment, or the mobile body system 100c described in the second embodiment. The following description will be given using the configuration of the mobile body system 100 as an example, but the operation of this embodiment may also be applied to the mobile body systems 100a and 100b or the mobile body system 100c described in the second embodiment. The operation of this embodiment may also be applied to a combination of the mobile body systems 100a and 100b and the second embodiment. The following description will mainly focus on differences from the first and second embodiments, and will omit explanations that overlap with the first and second embodiments.

[0071] In this embodiment, the interlocking operation signal generated by the control system 1 includes an operation control signal indicating the content of the operation and a timing signal indicating the start timing of the operation related to the entertainment service. The start timing of the operation related to the entertainment service may be the start timing of the entertainment service itself, or may be the start timing of a support task that supports the entertainment service.

[0072] The operation control signal includes information indicating the content of the operation. The information indicating the content of the operation is, for example, a command corresponding to the content of the operation described in embodiment 1. The operation control signal may include information indicating the start time of the operation. Furthermore, the operation control signal may include information indicating the service providing location where the operation related to the entertainment service is performed. The service providing location may be specified by a point or a range (area). The timing signal is, for example, a synchronization signal for timing the start of the operation of the entertainment service itself, and the timing signal may include, for example, information indicating that it is a synchronization signal. Alternatively, the timing signal may be a signal including information indicating the start time of the operation related to the entertainment service. The start time of the operation related to the entertainment service may be, for example, information indicating the start time of the operation, or information indicating the time until the operation starts, such as starting the operation in five minutes.

[0073] As shown in Fig. 12, an operation control signal may be transmitted first, and then a timing signal may be transmitted at the timing when the entertainment service itself starts operating. In the example shown in Fig. 12, the type of entertainment service is dancing, and the timing signal is a synchronization signal. Therefore, as shown in Fig. 12, when mobile units 2-1, 2-2, and 2-4 receive the timing signal, they all start dancing at the same time.

[0074] For example, if a service provision location where the entertainment service is to be performed is designated and advance movement to the service provision location is required, transmitting an operation control signal a certain time before transmitting a timing signal allows the mobile unit 2 to move before the entertainment service is performed. For example, in the example shown in FIG. 12 , the service provision location is designated by the operation control signal, and mobile units 2-2 and 2-4 are present at the service provision location, while mobile unit 2-1 is away from the service provision location. In this case, the control system 1 transmits an operation control signal at time T2 and a timing signal at time T3, a certain time after time T2, so that mobile unit 2-1 moves during movement period 210, thereby completing movement to the service provision location before the start of dancing.

[0075] 12 is an example, and the operation control signal and the timing signal may be transmitted consecutively. For example, the operation control signal and the timing signal may be transmitted consecutively when there is no need for the moving body 2 to move. Furthermore, the operation control signal and the timing signal may be transmitted consecutively even when the timing signal is not a synchronization signal but a signal including information indicating the start time of the operation. Furthermore, the control system 1 may vary the timing of transmitting the timing signal depending on the operation content performed by the moving body 2. For example, the timing signal may be transmitted to a moving body 2 performing assistance work at a timing different from the timing of transmitting the timing signal to a moving body 2 performing the operation of the entertainment service itself.

[0076] The hardware configuration of this embodiment is the same as that of the first and second embodiments. As described above, in this embodiment, the interlocking operation signal includes an operation control signal and a timing signal. By using the timing signal, which is a synchronization signal, it is possible to synchronize the start timing of the operations of multiple moving bodies 2, even if there is a discrepancy in the clocks inside the moving bodies 2, for example. Furthermore, if the timing signal is transmitted a certain time after the transmission of the operation control signal, it is possible to ensure time for preparations such as movement before the moving body 2 starts operating.

[0077] Fourth Embodiment. FIG. 13 is a diagram illustrating an example of the configuration of a mobile body system according to a fourth embodiment. A mobile body system 100d according to this embodiment includes mobile bodies 2-1 to 2-n and a control system 1b. At least one of the management system 3 and the facility 4 may be included in the mobile body system 100d. The control system 1b is similar to the control system 1 according to the first embodiment, except that a selection unit 15 that selects a mobile body 2 to be used for providing entertainment services depending on the status of the mobile body 2 is added to the control system 1 shown in FIG. 1 according to the first embodiment, and the information storage unit 14 further stores operation plans and priority information. Components having the same functions as those in the first embodiment are assigned the same reference numerals as those in the first embodiment, and redundant explanations will be omitted. The following mainly describes the differences from the first embodiment.

[0078] In this embodiment, the transmitter / receiver 13 performs the same operation as in the first embodiment, and further receives an operation plan from the management system 3 and stores the received operation plan in the information storage unit 14. Note that the method by which the control system 1 acquires the operation plan is not limited to receiving it from the management system 3, and may be a method in which a reception unit (not shown) of the control system 1 receives input of the operation plan from an operator, a manager, or the like, or a method in which the operation plan is received from a device other than the management system 3.

[0079] The information storage unit 14 stores operation information and mobile object information in the same manner as in the first embodiment, and also stores an operation plan and priority information. The priority information is information indicating the priority of the operation of the mobile object 2. Details of the priority information will be described later. The priority information may be input to the control system 1 by, for example, an operator, a manager, or the like, and a reception unit (not shown) may receive the input of the priority information and store the received priority information in the information storage unit 14. Alternatively, the priority information may be transmitted from the management system 3 or another device (not shown), and the transmission / reception unit 13 may receive the priority information and store the received priority information in the information storage unit 14.

[0080] As will be described later, at least one of the priority information and the operation plan may not be used in the selection by the selector 15. While Fig. 1 shows an example in which the priority information and the operation plan are stored in the information storage unit 14, the present invention is not limited to this, and information of the priority information and the operation plan that is not used in the selection by the selector 15 may not be stored in the information storage unit 14.

[0081] In this embodiment, the request acquisition unit 11 outputs the acquired service provision request to the selection unit 15. Based on the service provision request, the selection unit 15 selects a mobile object 2 to be used for providing an entertainment service in accordance with the status of the mobile object 2, and notifies the control signal generation unit 12 of the selected mobile object 2. Based on the service provision request, the control signal generation unit 12 generates an interlocking operation signal for the mobile object 2 selected by the selection unit 15, as in the first embodiment, and outputs the generated interlocking operation signal to the transmission / reception unit 13.

[0082] A specific example of selection by the selection unit 15 will be described. The selection unit 15 selects a mobile object 2 to be used for providing an entertainment service based on the status of the mobile object 2. The selection unit 15 selects a mobile object 2 to be used for providing an entertainment service based on, for example, status information indicating the status of the mobile object 2. The status information is, for example, at least one of an operation plan for the mobile object 2 in the first service and location information indicating the location of the mobile object 2. For example, the selection unit 15 may determine the availability of the mobile object 2 as the status of the mobile object 2 based on the operation plan, or may determine the location of the mobile object 2 as the status of the mobile object 2 based on the location information of the mobile object 2. The availability of the mobile object 2 is, for example, whether or not the schedule of the mobile object 2 is available, i.e., whether or not the mobile object 2 is working, charging, or the like. The status information and the status of the mobile object 2 are not limited to these examples.

[0083] Specifically, for example, the selection unit 15 selects mobile objects 2 that are available during the time period in which the operation related to the entertainment service is to be performed, using the operation plan stored in the information storage unit 14, the start time of the entertainment service specified in the service provision request, and the required time for the operation related to the entertainment service. That is, the selection unit 15 selects mobile objects 2 that are available during the time period in which the operation related to the entertainment service is to be performed, and that do not have any schedules for work, charging, etc. defined in the operation plan. The selection unit 15 may select available mobile objects 2 as mobile objects 2 to be used for providing the entertainment service, or, if the number of mobile objects 2 to be used for providing the entertainment service is determined, may select that number of mobile objects 2 from among the available mobile objects 2. The number of mobile objects 2 to be used for providing the entertainment service, i.e., the number of mobile objects 2 participating in the entertainment service, may be specified in the service provision request or may be determined in advance.

[0084] Furthermore, the selection unit 15 may select a mobile object 2 to be used for providing an entertainment service, for example, by using the location of the mobile object 2 and the service provision location specified in the service provision request. Regarding the location of the mobile object 2, location information indicating the location of the mobile object 2 may be included in the mobile object information acquired from the management system 3, or the transmitter / receiver 13 of the control system 1 may acquire location information from the mobile object 2, and the acquired location information may be stored in the information storage unit 14 as part of the mobile object information. Furthermore, the location information acquired from the mobile object 2 may be stored in the information storage unit 14 as mobile object location information (not shown) separately from the mobile object information.

[0085] In detail, the selection unit 15 selects mobile objects 2 to participate in the entertainment service based on the distance between the service provision location and the mobile objects 2, for example, based on the location information of each mobile object 2. For example, the selection unit 15 selects mobile objects 2 equal to the number of mobile objects 2 used to provide the entertainment service, in order of proximity to the service provision location. Also, instead of specifying the number of mobile objects 2 to be selected, a threshold value for the distance between the mobile objects 2 and the service provision location may be specified. In this case, the selection unit 15 selects mobile objects 2 whose distance from the service provision location is equal to or less than the threshold value. The threshold value for the distance may be specified by the service provision request or may be determined in advance. Note that when the service provision location is specified as a range, mobile objects 2 present within the service provision location are considered to be 0 m away from the service provision location.

[0086] FIG. 14 is a diagram showing an example of a moving object 2 selected by the selection unit 15 of this embodiment based on the location of the moving object 2. In the example shown in FIG. 14, moving objects 2-1 to 2-9 are present within a working area 300, and a portion of the working area 300 is set as a service providing location 301. In the example shown in FIG. 14, it is assumed that there are six moving objects 2 participating in the entertainment service. Therefore, the selection unit 15 selects six moving objects 2 in descending order of distance from the service providing location 301. As a result, moving objects 2-1, 2-2, 2-4, and 2-5 present within the service providing location 301 and moving objects 2-6 and 2-9 present near the service providing location 301 are determined as moving objects 2 participating in the entertainment service. After moving, moving objects 2-6 and 2-9 will participate in the entertainment service.

[0087] If the mobile object 2 is a mobile object that moves in the air, such as a drone, the distance to the service provision location 301 may be calculated using the position of the mobile object 2 in a horizontal plane, and a service provision location may be specified for a mobile object 2 that moves in the air, separately from a mobile object 2 that moves on land. Also, a service provision location may be specified for a mobile object 2 that moves on water, separately from a mobile object 2 that moves on land.

[0088] Furthermore, if the time at which the provision of the entertainment service will start is some time in the future, the selection unit 15 may predict the location of the mobile object 2 at the time at which the provision of the entertainment service will start based on the operation plan, and select the mobile object 2 to be used for providing the entertainment service based on the predicted location. For example, if the operation plan includes a work location, the selection unit 15 may predict the location of the mobile object 2 at the time at which the provision of the entertainment service will start based on the work location in the operation plan.

[0089] The selection unit 15 may select a mobile object 2 to be used for providing the entertainment service based on the availability of the mobile object 2 and the location of the mobile object 2. For example, the selection unit 15 may select a mobile object 2 to be used for providing the entertainment service based on the location of the mobile object 2 from among mobile objects 2 that are available during the time period when an operation related to the entertainment service is to be performed.

[0090] Furthermore, when selecting mobile objects 2 to be used for providing the entertainment service based on availability, the selection unit 15 may use priority information to select mobile objects 2 to be used for providing the entertainment service from among mobile objects 2 performing work with a lower priority than the entertainment service. That is, the status information may include priority information. For example, the selection unit 15 may use the operation plan and priority information to select mobile objects 2 that have free schedules and mobile objects 2 performing work with a lower priority than the entertainment service as mobile objects 2 to be used for providing the entertainment service during a time period in which an operation related to the entertainment service is performed. If the number of mobile objects 2 to be used for providing the entertainment service is set, the selection unit 15 may select the corresponding number of mobile objects 2 from among mobile objects 2 that have free schedules and mobile objects 2 performing work with a lower priority than the entertainment service during a time period in which an operation related to the entertainment service is performed.

[0091] The priority information is information indicating, for example, which of the entertainment service and the first service corresponding to the use of the main body of the mobile object 2 is to be prioritized. Furthermore, if there are multiple types of work in the first service, the priority information may include information indicating which of the entertainment service and the work is to be prioritized for each type of work. Furthermore, if there are multiple types of entertainment services and the priorities differ for each type, the priority information may include information indicating which of the entertainment service and the work is to be prioritized for each type of entertainment. Furthermore, the priority information may include information indicating which of the entertainment service and the work is to be prioritized for each type of work and entertainment. Furthermore, the priority information may include information indicating which of the entertainment service and the work is to be prioritized, as with each type of work.

[0092] FIG. 15 is a diagram showing an example of priority information according to the present embodiment. In the example shown in FIG. 15 , there are multiple types of work, and the priority information includes information indicating, for each type of work in the first service, whether it is prioritized over the entertainment service, i.e., whether the work of that type is prioritized over the entertainment service. Furthermore, if the priority differs depending on the type of entertainment, the priority information shown in FIG. 15 may be defined for each type of entertainment. Note that FIG. 15 is merely an example, and the format of the priority information is not limited to the example shown in FIG. 15 . For example, the priority information may include a list of types of work (work in the first service) that are prioritized over the entertainment service, or a list of types of work that are prioritized lower than the entertainment service.

[0093] In addition, the selection unit 15 may select a mobile body 2 using priority information as described above, and from among the selected mobile bodies 2, further select a mobile body 2 to be used for providing entertainment services based on the location of the mobile body 2.

[0094] In addition, if the number of mobile objects 2 to be used to provide entertainment services is determined for each model, the selection unit 15 may select the mobile object 2 to be used to provide entertainment services for each model using any of the methods described above depending on the status of the mobile object 2.

[0095] In the example described above, the control system 1b selects a mobile object 2 to be used for providing an entertainment service in accordance with the status of the mobile object 2, but this selection may be made by the management system 3 or the mobile object 2. In other words, the decision as to whether or not to use a mobile object 2 for providing an entertainment service in accordance with the status of the mobile object 2 may be made by the management system 3 or the mobile object 2.

[0096] When the management system 3 makes a decision depending on the situation, the control system 1 described in the first embodiment is used instead of the control system 1b. The control system 1 transmits, to the management system 3, interlocking operation signals for all moving objects 2 or interlocking operation signals for moving objects 2 selected based on arbitrary selection criteria, similar to the control system 3a shown in FIG. 7 as Variation 1 of the first embodiment. Upon receiving the interlocking operation signal via the transceiver 31, the mobile object control unit 32 of the management system 3 selects a moving object 2 to be used for providing the entertainment service based on at least one of the availability of the moving objects 2 and the location of the moving objects 2, similar to the selection unit 15 described above. The mobile object control unit 32 outputs an interlocking operation signal corresponding to the selected moving object 2 to the transceiver 31. As a result, the transceiver 31 transmits an interlocking operation signal to the moving object 2 selected by the mobile object control unit 32. Similarly to the selection unit 15, the mobile object control unit 32 may select a moving object 2 using priority information.

[0097] In this way, the mobile object control unit 32 of the management system 3 may have the function of the selection unit 15. Alternatively, the management system 3 may include a selection unit separate from the mobile object control unit 32, and the selection unit may select a mobile object 2 to be used for providing an entertainment service. As described in Variation 1 of Embodiment 1, the control system 1 may transmit information indicating the content of the interlocking operation signal to the management system 3 instead of the interlocking operation signal. In this case, for example, the mobile object control unit 32 generates an interlocking operation signal for the selected mobile object 2 based on the information indicating the content of the interlocking operation signal.

[0098] Furthermore, when the mobile object 2 makes a decision depending on the situation, the control system 1 described in the first embodiment is used instead of the control system 1b. As in the first embodiment, the control system 1 transmits an interlocking operation signal to all mobile objects 2 or to mobile objects 2 selected based on arbitrary selection criteria. When the operation control unit 22 of the mobile object 2 receives the interlocking operation signal via the transceiver unit 21, the operation control unit 22 determines whether to perform an operation for the entertainment service depending on the situation of the mobile object 2 itself. For example, upon receiving the interlocking operation signal, the operation control unit 22 may determine whether the mobile object 2 is working, and if working on the first service, continue the work. If not, the operation control unit 22 may determine to perform an operation for the entertainment service in accordance with the interlocking operation signal, and control the drive mechanism 23 and the device 24 based on the interlocking operation signal. Furthermore, the mobile object 2 may store priority information and, using the priority information, control the drive mechanism 23 and the device 24 to perform an operation for the entertainment service if the work is low-priority work even if the work is related to the first service. Furthermore, the link operation signal may include the service provision location, and the operation control unit 22 of the mobile object 2 may determine whether or not to perform an operation for the entertainment service based on its own location and the service provision location. For example, the operation control unit 22 may determine to perform an operation for the entertainment service when the distance between the mobile object 2 and the service provision location is equal to or less than a threshold value, and may determine not to perform an operation for the entertainment service when the distance between the mobile object 2 and the service provision location exceeds the threshold value.

[0099] The control system 1b of this embodiment is realized, for example, by the computer system illustrated in Fig. 9. The selection unit 15 illustrated in Fig. 13 is realized by the control unit 101 illustrated in Fig. 9 executing a program stored in the storage unit 103 illustrated in Fig. 9. The storage unit 103 is also used to realize the selection unit 15. The control system 1b may be realized by a plurality of computer systems. For example, the control system 1b may be realized by a cloud computer system.

[0100] In the above example, the selection unit 15 is added to the control system 1 shown in FIG. 1 . However, the present invention is not limited to this. The selection unit 15 may be added to the control system 1 shown in FIG. 7 , the control system 1a shown in FIG. 8 , or the control system 1 shown in FIG. 10 , and the selection by the selection unit 15 may be performed. The selection by the selection unit 15 may be applied to a combination of the above-described embodiments. When the management system 3a shown in FIG. 7 determines whether to use the mobile object 2 for providing an entertainment service in accordance with the status of the mobile object 2, a combination of one or more of the first, second, and third embodiments may be applied. In each embodiment or a combination of the embodiments, the mobile object 2 may determine whether to use the mobile object 2 for providing an entertainment service in accordance with the status of the mobile object 2.

[0101] As described above, in this embodiment, the mobile object 2 to be used for providing the entertainment service is selected depending on the status of the mobile object 2. This makes it possible to provide the entertainment service according to the status of the mobile object 2, and to efficiently use the mobile object 2.

[0102] Fifth Embodiment. FIG. 16 is a diagram showing an example of the configuration of a mobile body system according to a fifth embodiment. A mobile body system 100e according to this embodiment includes mobile bodies 2-1 to 2-n and a control system 1c. At least one of the management system 3 and the facility 4 may be included in the mobile body system 100e. The control system 1c is similar to the control system 1 according to the first embodiment, except that it includes a control signal generator 12a instead of the control signal generator 12, and the information storage unit 14 further stores type information. Components having the same functions as those in the first embodiment are assigned the same reference numerals as those in the first embodiment, and redundant explanations will be omitted. Below, differences from the first embodiment will be mainly explained.

[0103] In this embodiment, the information storage unit 14 stores operation information, moving object information, and type information. The type information indicates the correspondence between the type of the moving object 2 and the operation that the moving object 2 can perform. For example, the type information may be input to the management system 3 by an operator, administrator, etc., and a reception unit (not shown) may accept the input of the type information and store the accepted type information in the information storage unit 14. Alternatively, the type information may be transmitted from another device (not shown), and the transmission / reception unit 13 may receive the type information and store the received type information in the information storage unit 14.

[0104] FIG. 17 is a diagram showing an example of type information according to the present embodiment. In the example shown in FIG. 17 , the type information includes executable entertainment-related actions (including assistance tasks) and executable tasks for each type (type of moving body 2). The executable entertainment-related actions are actions for providing an entertainment service, and include, for example, the actions of the entertainment service itself, such as acting and playing. As shown in FIG. 17 , the executable entertainment-related actions may include assistance tasks such as leading announcements. The executable tasks are tasks for a first service that can be performed by each type of moving body 2. Note that P1 and P2 in parentheses are identification information for patterns (pattern types), such as acting and playing.

[0105] In the example shown in Fig. 17, the type A moving body 2 is capable of marching, performing (P1), and illuminating as entertainment-related actions, and is capable of transporting goods as a first service. The type B moving body 2 is capable of marching and illuminating as entertainment-related actions, and is capable of transporting goods as a first service. In the example shown in Fig. 17, the type A moving body 2 and the type B moving body 2 are both transport robots, but because they are different models, the actions that they can perform as entertainment-related actions are different.

[0106] Furthermore, the type C mobile body 2 is a guide robot and is capable of performing musical performance (P1), musical performance (P2), acting (P1), acting (P2), and marching as entertainment-related actions, and is capable of providing guidance as a first service. The type D mobile body 2 is a trash can robot equipped with a trash can and is capable of performing musical performance (P1), acting (P2), and marching as entertainment-related actions, and is capable of performing trash collection as a first service. The type E mobile body 2 is a cleaning robot and is capable of performing musical performance (P1), lighting, mist spraying, and drawing on the floor using water as entertainment-related actions, and is capable of performing cleaning as a first service. The type F mobile body 2 is a security robot and is capable of performing musical performance (P1), lighting, leading announcements, and venue management as entertainment-related actions, and is capable of performing security work as a first service. As such, the actions that can be supported as entertainment-related actions vary depending on the type of mobile body 2. Note that FIG. 17 is an example, and the format and content of the type information are not limited to the example shown in FIG. 17.

[0107] Furthermore, a priority order may be set for each type of moving object 2 in terms of its specialty, i.e., its most effective actions. For example, in the type information, executable entertainment actions for each type of moving object 2 may be listed in descending order of effectiveness, i.e., in descending order of priority. Alternatively, a priority order for the type of moving object 2 when selecting each entertainment-related action, such as marching, performing (P1), performing (P2), and lighting, may be set. Furthermore, the type information may include information not only about the moving object 2 but also about the equipment 4. For example, the type information may include executable entertainment-related actions for each type of equipment 4, such as sound equipment and lighting equipment. For example, the type information may include information indicating that sound equipment is capable of performing performance (P1) and performance (P2) as entertainment-related actions.

[0108] The control signal generating unit 12a determines an operation related to the entertainment service to be performed by the mobile object 2 according to the type of the mobile object 2. For example, the control signal generating unit 12a determines an operation to be performed by each mobile object 2 based on the service provision request, mobile object information, type information, and event information, and generates a linked operation signal corresponding to the determined operation based on the operation information. The event information is information indicating an operation required to provide the second service, and is, for example, information indicating the content of the performance and support work in the entertainment service. The event information may be held by the control signal generating unit 12a, may be included in the service provision request, or may be stored in the information storage unit 14.

[0109] For example, the control signal generator 12a first determines candidate types of mobile objects 2 to be used in providing the entertainment service for each action (each action content) based on the event information corresponding to the type of event (type of entertainment) requested in the service provision request and the type information. The event information may be a list of required actions, or may be information specifying the number of mobile objects 2 required for each required action.

[0110] The event information may be defined for each type of entertainment, i.e., each type of event. For example, if the event type is dance and requires the actions of acting (P1), playing (P1), and organizing the venue, the event information may include information indicating the acting (P1), playing (P1), and organizing the venue. The event information may also include the number of moving objects 2 required for each action.

[0111] Furthermore, if the type of event is a parade and the actions of marching, performance (P2), performance by sound equipment, lighting by lighting equipment, leading announcements, and venue cleaning are required, the event information includes information indicating the actions of marching, performance (P2), lighting by lighting equipment, leading announcements, and venue cleaning. The event information may also include the number of moving bodies 2 required for each action. The event information may be information in which the above-mentioned information is stored for each type of event.

[0112] For example, if the event type is dance, the control signal generation unit 12a determines candidate types of moving objects 2 (or moving objects 2 and equipment 4) to be used in providing the entertainment service for each of the actions of performance (P1), musical performance (P1), and venue management based on the event information and the type information. Next, the control signal generation unit 12a extracts, from the moving object information, moving objects 2 (identification information of the moving objects 2) corresponding to the candidate types of moving objects 2 for each action based on the moving object information. The control signal generation unit 12a may determine all of the extracted moving objects 2 as moving objects 2 to be used in providing the entertainment service, or, if the event information specifies the number of moving objects for each action, selects a specified number of moving objects 2 from the extracted moving objects 2. In this selection, the priority of actions that each moving object 2 is good at, i.e., highly effective, may be used, or, as described in the fourth embodiment, the status of the moving objects 2 may be used, or both may be used. The control signal generation unit 12a may also determine the equipment 4 to be used in providing the entertainment service in a similar manner.

[0113] Through the above operations, the control signal generating unit 12a determines that, for example, if the type of event is dance, the performance (P1) will be performed by a transport robot of type A and a cleaning robot of type E, the performance (P1) will be performed by a guide robot and sound equipment of type C, and venue management will be performed by a security robot of type F.

[0114] When the control signal generating unit 12a determines the moving object 2 (or the moving object 2 and the facility 4) to be used for providing the entertainment service for each action, it generates a linked action signal corresponding to the action for each moving object 2 (or the moving object 2 and the facility 4) and outputs the generated linked action signal to the transmitting / receiving unit 13. Note that, as described above, the actions for each type of event are merely examples and are not limited to the above-described examples.

[0115] The control system 1c of this embodiment is realized, for example, by the computer system illustrated in Fig. 9. The control signal generating unit 12a illustrated in Fig. 16 is realized by the control unit 101 illustrated in Fig. 9 executing a program stored in the storage unit 103 illustrated in Fig. 9. The storage unit 103 is also used to realize the control signal generating unit 12a. The control system 1c may be realized by a plurality of computer systems. For example, the control system 1c may be realized by a cloud computer system.

[0116] In the above example, the control system 1c includes the control signal generating unit 12a instead of the control signal generating unit 12 of the control system 1 shown in Fig. 1, but this is not limiting, and the control system 1 shown in Fig. 7, the control system 1a shown in Fig. 8, and the control system 1 shown in Fig. 10 may include the control signal generating unit 12a instead of the control signal generating unit 12. In a combination of the above-described embodiments, the control signal generating unit 12a may be used instead of the control signal generating unit 12.

[0117] As described above, in this embodiment, the mobile object 2 to be used for providing the entertainment service is selected according to the type of the mobile object 2. This makes it possible to provide the entertainment service according to the type of the mobile object 2, and to effectively utilize the mobile object 2.

[0118] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies, or different embodiments may be combined with each other. It is also possible to omit or modify parts of the configurations as long as they do not deviate from the gist of the invention.

[0119] 1, 1a, 1b, 1c Control system, 2, 2-1 to 2-9, 2-n Mobile body, 3, 3-1, 3-2, 3a Management system, 4 Equipment, 11 Request acquisition unit, 12, 12a Control signal generation unit, 13, 21, 31, 31a Transmitting / receiving unit, 14, 33 Information storage unit, 15 Selection unit, 22 Operation control unit, 23 Drive mechanism, 24 Equipment, 32 Mobile body control unit, 100, 100a, 100b, 100c, 100d, 100e Mobile body system.

Claims

1. A control system comprising: a control signal generation unit that generates a control signal for linking multiple mobile objects to provide a first service and providing a second service, which is an entertainment service different from the first service; and an output unit that outputs the control signal.

2. The control system according to claim 1, wherein the second service is provided in an area where the first service is provided.

3. A control system according to claim 1 or 2, characterized in that the plurality of moving bodies includes two or more types of moving bodies.

4. The control system according to any one of claims 1 to 3, wherein the first service includes a plurality of types of services.

5. A control system as described in any one of claims 1 to 4, characterized in that the control signal includes an operation control signal indicating the content of the operation and a timing signal indicating the start timing of the operation related to the second service.

6. A control system as described in any one of claims 1 to 5, characterized in that it comprises a selection unit that selects a mobile object to be used for providing the second service based on status information indicating the status of the mobile object.

7. The control system according to claim 6, wherein the status information includes an operation plan for the mobile unit in the first service.

8. The control system according to claim 7, characterized in that the selection unit selects an available mobile object as a mobile object to be used for providing the second service based on the operation plan.

9. The control system described in claim 7, characterized in that the selection unit selects a mobile object to be used for providing the second service from among the mobile objects that are available and the mobile objects that are performing work of a lower priority than the second service, based on the operation plan and priority information indicating whether the work of the first service is to be given priority over the second service for each type of work of the first service.

10. A control system according to any one of claims 6 to 9, wherein the situation information includes location information indicating the location of a moving object.

11. A control system according to any one of claims 1 to 10, characterized in that an operation relating to a second service to be performed by the mobile object is determined according to the type of the mobile object.

12. The control system described in claim 11, characterized in that the operation to be performed by the mobile body is determined based on type information indicating the correspondence between the type of the mobile body and the executable operation, and the operation required to provide the second service.

13. A control system according to claim 11 or 12, further comprising: determining an action to be performed by said mobile object in accordance with the type of event in said second service.

14. A mobile body that provides a first service, comprising: a receiving unit that receives a control signal for providing a second service that is different from the first service and is an entertainment service; a driving mechanism that includes at least a moving mechanism that moves the position of the mobile body; and an operation control unit that controls the driving mechanism based on the control signal.

15. A mobile system comprising: a plurality of mobile bodies for providing a first service; and a control system, wherein the control system comprises: a control signal generation unit that generates a control signal for linking the plurality of mobile bodies to provide a second service, which is an entertainment service different from the first service; and an output unit that outputs the control signal.

16. The mobile system according to claim 15, further comprising a management system for controlling the operation of the mobile unit with respect to the first service.

17. A control method in a control system, comprising: a step of generating a control signal for linking a plurality of mobile objects for providing a first service to provide a second service that is different from the first service and is an entertainment service; and a step of outputting the control signal.

18. A program causing a computer system to execute the steps of: generating a control signal for linking a plurality of mobile objects for providing a first service to provide a second service, which is an entertainment service different from the first service; and outputting the control signal.

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