Work setting system, work setting program, computer-readable recording medium comprising same, and work setting method

Abstract

[Problem] To provide a work setting system for setting work of a mounted function unit that is mounted on a moving body capable of autonomous movement at a movement destination of the moving body. [Solution] A work setting system according to the present invention comprises: a movable moving body; the mounted function unit that executes a function at a movement destination by being mounted on the moving body; a map display unit that displays, on a user interface, a map that indicates a region in which the moving body can move; a point setting unit that sets a point that constitutes the movement destination of the moving body on the map, said point being the location where the function of the mounted function unit is executed; a point function display unit that displays, for the point, functions that can be executed by the mounted function unit, said functions being displayed in a manner that makes it possible to select a function; and a link function unit that associates the execution of the function that is selected by the point function display unit with the point that is set by the point setting unit.

Description

Work setting system, work setting program, computer-readable recording medium including the same, and work setting method

[0001] The present invention relates to a task setting system, a task setting program, a computer-readable recording medium including the same, and a task setting method.

[0002] 2. Description of the Related Art Conventionally, an autonomous mobile device is known that moves autonomously within a building while recognizing its own position and the surrounding environment, as disclosed in Patent Document 1.

[0003] Japanese Patent Application Laid-Open No. 2018-5470

[0004] However, in an autonomous mobile device such as that shown in Patent Document 1, the movement of the autonomous mobile device itself and the control of functional units such as a camera mounted on the autonomous mobile device are set independently. Therefore, each must be programmed separately, and a user who intends to operate the autonomous mobile device must set the movement of the autonomous mobile device and the control of functional units such as a camera mounted on the autonomous mobile device separately, which not only takes time and effort for the user but also makes the settings complicated.

[0005] The present invention has been made to solve such problems, and aims to provide a work setting system that can set the execution of functions of an onboard functional unit at a point in combination with setting a point to which a moving body is to move.

[0006] To achieve the above object, according to one embodiment of the present invention, there is provided a task setting system for setting a task for an onboard function unit mounted on an autonomously mobile vehicle at a destination of the vehicle, the task setting system including: a mobile vehicle; the onboard function unit that is mounted on the mobile vehicle and executes a function at the destination; a map display unit that displays a map showing an area in which the mobile vehicle can move on a user interface; a point setting unit that sets a point on the map that will be the destination of the mobile vehicle and at which the function of the onboard function unit will be executed; a point function display unit that displays functions that the onboard function unit can execute at the point so that the function can be selected; and a link function unit that links the execution of the function selected by the point function display unit to the point set by the point setting unit. According to one embodiment of the present invention configured in this manner, the link function unit can link the execution of the function selected by the point function display unit to the point set by the point setting unit. This allows the execution of the function of the onboard function unit at the point to be set relatively easily in combination with setting a point at the destination of the vehicle.

[0007] According to one embodiment of the present invention, it is preferable that the device further includes an attribute information adding unit that adds attribute information to the points, and the point function display unit displays functions that the built-in function unit can execute for the points in accordance with the attribute information. According to one embodiment of the present invention configured in this manner, the point function display unit displays functions that the built-in function unit can execute for the points in accordance with the attribute information. Therefore, the functions that the built-in function unit can execute are displayed to the user in accordance with the point attribute information, making it easier to set the functions that the built-in function unit executes.

[0008] According to one embodiment of the present invention, preferably, the point function display unit displays functions based on the device installed in the built-in function unit. According to one embodiment of the present invention configured in this manner, the point function display unit displays functions based on device information installed in the built-in function unit. This allows the point function display unit to display functions according to device information installed in the built-in function unit. For example, the point function display unit will not suggest functions for devices not installed in the built-in function unit, such as suggesting a function using an arm function even though the arm function is not installed. Furthermore, for example, if the built-in function unit is equipped with a camera that can only capture images up to a certain pixel count, the point function display unit will display a function for capturing photos with a pixel count within this range. This allows the user to efficiently select functions according to the device information of the built-in function unit.

[0009] According to one embodiment of the present invention, preferably, the mobile body is configured to be capable of autonomous travel to the point. According to one embodiment of the present invention configured in this manner, the mobile body is configured to be capable of autonomous travel to the point. This allows the mobile body to make autonomous decisions about its movement to the point, and in combination with setting the point to which the mobile body is to move, it is possible to relatively easily set the execution of functions of the onboard functional unit at the point. Therefore, by relatively simply setting the point and the function to be executed at the point, it is possible for the user to relatively easily set a series of operations in which the mobile body moves and executes functions at the point.

[0010] According to one embodiment of the present invention, the built-in functional unit preferably includes a depth information acquisition unit that acquires depth information of the surrounding environment. According to one embodiment of the present invention configured in this manner, the built-in functional unit includes a depth information acquisition unit that acquires depth information of the surrounding environment. This allows the mobile object and the built-in functional unit to measure the distance to the target even indoors where radio waves are difficult to reach, making it easier to move to the point.

[0011] According to one embodiment of the present invention, preferably, a point adjustment function unit is provided that can adjust the position of the point while maintaining the attribute information added to the point. According to one embodiment of the present invention configured in this manner, a point adjustment function unit is provided that can adjust the position of the point while maintaining the attribute information added to the point. This makes it possible to change the position of the point while the point and the attribute information remain linked.

[0012] According to one embodiment of the present invention, it is preferable to have a change function unit that can arbitrarily change the attribute information added to the points even after it has been set. According to one embodiment of the present invention configured in this manner, it is preferable to have a change function unit that can arbitrarily change the attribute information added to the points even after it has been set. As a result, even if, for example, the device to be used for work with points is changed from an analog device to a digital device, or the device is upgraded from an old version to a new version, and the mode or operation changes, the function displayed by the point function display unit can be easily changed by changing the attribute information.

[0013] According to one embodiment of the present invention, the point function display unit preferably has a multiple function execution unit that selects and executes multiple functions of the displayed built-in function units. According to one embodiment of the present invention configured in this manner, the point function display unit has a multiple function execution unit that selects and executes multiple functions of the displayed built-in function units. This makes it easy to select and execute multiple functions of the built-in function units for points.

[0014] According to one embodiment of the present invention, the point setting unit preferably has an access direction designation function that defines the access direction when the moving object reaches the point. According to one embodiment of the present invention configured in this manner, the point setting unit has an access direction designation function that defines the access direction when the moving object reaches the point. This makes it possible to define the access direction when the moving object reaches the point, and to define the direction in which the device of the built-in functional unit faces the point, even in cases where it is better for the device of the built-in functional unit to be facing in a specific direction relative to the point when it arrives.

[0015] According to one embodiment of the present invention, the point setting unit preferably includes a route setting function unit that sets the order in which the moving object will arrive at the plurality of points. According to one embodiment of the present invention configured in this manner, the point setting unit preferably includes a route setting function unit that sets the order in which the moving object will arrive at the plurality of points. This allows the order in which the moving object will arrive at the plurality of points to be set relatively easily by the route setting function unit.

[0016] According to one embodiment of the present invention, the device preferably further includes a work result display function unit that can acquire the work results of the built-in functional units at the set points and display the acquired work results for the points. According to one embodiment of the present invention configured in this manner, the device further includes a work result display function unit that can acquire the work results of the built-in functional units at the set points and display the acquired work results for the points, thereby making it easy to summarize and compare work results for points. Furthermore, for example, the work results for the past six months can be displayed side by side for each point, or in chronological order. Therefore, work for points can be set while checking the work results already acquired.

[0017] According to one embodiment of the present invention, there is preferably provided an operation setting program for setting an operation of an on-board function unit mounted on an autonomously mobile vehicle at a destination of the vehicle, the operation setting program causing a computer to function as follows: a map display unit that displays a map showing an area in which the vehicle can move on a user interface; a point setting unit that sets a point on the map that will be the destination of the vehicle and at which a function of the on-board function unit will be executed; a point function display unit that displays functions that the on-board function unit can execute at the point so that the function can be selected; and a link function unit that links the execution of the function selected by the point function display to the point set by the point setting unit. According to one embodiment of the present invention configured in this manner, the link function unit links the execution of the function selected by the point function display to the point set by the point setting unit. This allows the execution of the function of the on-board function unit at the point to be set relatively easily in combination with the setting of a point at the destination of the vehicle.

[0018] According to one embodiment of the present invention, preferably, the computer is further made to function as an attribute information adding unit that adds attribute information to the points, and the point function display unit displays functions that the built-in function unit can execute for the points in accordance with the attribute information. According to one embodiment of the present invention configured in this manner, the point function display unit displays functions that the built-in function unit can execute for the points in accordance with the attribute information. Thus, the functions that the built-in function unit can execute are displayed to the user in accordance with the attribute information of the points, making it easier to set the functions that the built-in function unit executes.

[0019] According to one embodiment of the present invention, preferably, the computer is further configured to function as a work result display function unit that can acquire the work results of the built-in functional units at the set points and display the acquired work results for the points. According to one embodiment of the present invention configured in this manner, the computer is further configured to function as a work result display function unit that can acquire the work results of the built-in functional units at the set points and display the acquired work results for the points, thereby making it easy to summarize and compare work results for points. Furthermore, for example, work results for the past six months can be displayed side by side for each point, or in chronological order. Therefore, work for points can be set while checking already acquired work results.

[0020] According to one embodiment of the present invention, a computer-readable recording medium having the operation setting program recorded thereon is preferably provided. According to one embodiment of the present invention configured in this manner, the computer-readable recording medium having the operation setting program recorded thereon can be used to relatively easily set the execution of the functions of the on-board functional units at the points in combination with the setting of the destination points of the moving object.

[0021] According to one embodiment of the present invention, a task setting method for setting a task of an onboard functional unit mounted on an autonomously mobile body at a destination of the mobile body preferably includes: a map display step for displaying on a user interface a map showing an area in which the mobile body can move; a point setting step for setting a point on the map that will be the destination of the mobile body and that will execute a function of the onboard functional unit; a point function display step for displaying functions that can be executed by the onboard functional unit so that the functions can be selected for the point; and a link step for linking the execution of the function selected in the point function display step to the point set in the point setting step. According to one embodiment of the present invention configured in this manner, the link step links the execution of the function selected in the point function display step to the point set in the point setting step. This allows the execution of the function of the onboard functional unit at the point to be set relatively easily in combination with setting a point at the destination of the mobile body.

[0022] According to the task setting system, task setting program, computer-readable recording medium including the task setting program, and task setting method of the present invention, it is possible to set the execution of functions of onboard functional units at the destination of a moving object.

[0023] 1 is a front view of a mobile body and an on-board functional unit of a task setting system according to one embodiment of the present invention. FIG. 2 is a rear perspective view of a mobile body and an on-board functional unit of a task setting system according to one embodiment of the present invention, seen from diagonally behind. FIG. 3 is a block diagram schematically showing the configuration of a mobile body of a task setting system according to one embodiment of the present invention. FIG. 4 is a block diagram schematically showing the configuration of an on-board functional unit of a task setting system according to one embodiment of the present invention. FIG. 5 is a block diagram schematically showing the relationship between the task setting unit, a mobile body, and an on-board functional unit of a task setting system according to one embodiment of the present invention. FIG. 6 is a diagram explaining how a mobile body moves along points within a map displayed by a map display unit in a task setting system according to one embodiment of the present invention. FIG. 7 is a diagram showing attribute information displayed for points in a task setting system according to one embodiment of the present invention. FIG. 8 is a diagram showing a function list displayed for points in a task setting system according to one embodiment of the present invention. FIG. 9 is a diagram showing functions defined in a capability definition unit in a task setting system according to one embodiment of the present invention. FIG. 10 is a diagram showing a function list displayed for points based on attribute information in a task setting system according to one embodiment of the present invention. FIG. 11 is a diagram showing how an order in which a mobile body will arrive at a plurality of points is set by a route setting functional unit in a task setting system according to one embodiment of the present invention. FIG. 12 is a flowchart illustrating the processing of a task setting method executed by a task setting system according to one embodiment of the present invention.

[0024] A task setting system according to an embodiment of the present invention will now be described with reference to the accompanying drawings. First, FIG. 1 is a front view of a mobile body and on-board functional units of the task setting system according to an embodiment of the present invention. FIG. 2 is a rear perspective view of the mobile body and on-board functional units of the task setting system according to an embodiment of the present invention, viewed obliquely from the rear. FIG. 3 is a block diagram schematically illustrating the configuration of a mobile body in the task setting system according to an embodiment of the present invention. FIG. 4 is a block diagram schematically illustrating the configuration of on-board functional units of the task setting system according to an embodiment of the present invention. FIG. 5 is a block diagram schematically illustrating the relationship between the task setting unit, the mobile body, and the on-board functional units of the task setting system according to an embodiment of the present invention. FIG. 6 is a diagram illustrating how a mobile body moves along points within a map displayed by a map display unit in the task setting system according to an embodiment of the present invention. In the following description of an embodiment of the present invention, the direction facing the front of the mobile body (the side facing the pseudo-face monitor, the front side of the page in FIG. 1 ) is referred to as the forward side, the direction facing the rear of the mobile body (the back side of the page in FIG. 1 ), the right-hand side when viewed from behind the mobile body toward the front, and the left-hand side when viewed from behind the mobile body toward the front, are referred to as the right side.

[0025] 1, a task setting system 1 according to an embodiment of the present invention sets tasks for onboard functional units 4 mounted on a mobile object 2 at a destination of the mobile object 2, and supports the control of these tasks. The task setting system 1 includes a movable mobile object 2, an onboard functional unit 4 mounted on the mobile object 2, and a task setting unit 40 (see FIG. 5) that sets tasks for the onboard functional unit 4.

[0026] The mobile body 2 is configured to be capable of autonomous travel based on its own judgment. The mobile body 2 moves, for example, to a specified point (position) P by autonomous travel. The mobile body 2 is mainly composed of a device for moving its main body. The mobile body 2 is configured to be capable of moving on, for example, a floor surface F. The mobile body 2 constitutes a vehicle that can travel on the floor surface F, and is, for example, a robot capable of autonomous travel. Note that while the mobile body 2 is configured to be capable of autonomous travel, it may also be configured as an externally operable mobile body 2 that is operated by receiving commands from outside. Note that the mobile body 2 may be configured to be capable of moving in the air, for example. The mobile body 2 may be, for example, a flying object such as a drone. The mobile body 2 may be, for example, capable of moving on or underwater. In this case, the mobile body 2 may be, for example, a mobile body such as a ship or an underwater drone. Note that in the present technology, since the execution of a function selected by the point function display unit is linked to a point, even when multiple mobile bodies 2 are operated, different mobile bodies 2 can execute the function set at point P. Therefore, there is an advantage when operating a plurality of mobile units 2.

[0027] The mobile body 2 includes a mobile body main body 6 that constitutes the main body of the mobile body 2, two or more drive wheels 8 attached to the lower part of the mobile body main body 6, and a mobile body control unit 10. The mobile body main body 6 includes a column extending upward, and a top part 2a is disposed at the top of the column. The top part 2a forms a cylindrical case with closed top and bottom surfaces. The top part 2a is located, for example, at a height within a range of approximately 1 m to 2 m from the floor F. The mobile body 2 is configured to be able to autonomously travel to point P based on the judgment of the mobile body control unit 10, using map information (described later) as well as a mobile body depth information acquisition unit 77 and the like provided in the mobile body 2.

[0028] The drive wheels 8 are, for example, tires for traveling on the floor surface F. The drive wheels 8 are rotatably attached to the bottom of the mobile body main body 6. Two drive wheels 8 are provided, one on each side of the front side (front side), and two drive wheels are provided, one on each side of the back side (rear side). Some of the drive wheels 8 may be replaced with wheels that function as driven wheels. Furthermore, the drive wheels 8 are not limited to wheels, and may be replaced with other moving devices such as caterpillar tracks or legs. Driving force is transmitted to the drive wheels 8 from a main body drive unit 12. The main body drive unit 12 is, for example, a brushless motor and is disposed on each tire. The main body drive unit 12 may be an in-wheel motor, or may be disposed separately from the tires.

[0029] The on-board functional unit 4 is mounted on the moving body 2. While the moving body 2 mainly has a mechanism for moving the main body, the on-board functional unit 4 has devices that realize various functions other than moving the main body on the moving body 2. Since the on-board functional unit 4 is mounted on the moving body 2, it moves together with the moving body 2.

[0030] As shown in FIG. 1, the on-board functional unit 4 includes a front camera 60 located on the front side and capturing video and images of the surroundings, a rear camera 61 (see FIG. 2) located on the rear side and capturing video and images of the surroundings, an infrared camera 62 that captures images by emitting infrared rays, a body camera 63 located on the front side and capturing video and images of the surroundings, a depth information acquisition unit 64 that captures depth images that measure the distance to surrounding objects, an ultrasonic sensor 65 that can detect surrounding obstacles using ultrasonic waves, a hand unit 66 that is configured to operate on objects, an elevating device 67 that raises and lowers the height of devices such as the body camera 63 and the hand unit 66, a monitor unit 68 that displays facial expressions and comments, and a cylindrical lighting unit 69 that can light up in any pattern of the on-board functional unit 4 to illuminate the surroundings or display a rotating red light to alert people in the surroundings.

[0031] As shown in FIG. 2 , the onboard functional unit 4 further includes environmental sensors, such as a temperature sensor 71 for detecting air temperature, an air pressure sensor 72 for detecting air pressure, a humidity sensor 73 for detecting air humidity, an odor sensor 74 for detecting the presence and strength of odors, a radiation dose detector 75 for detecting radiation doses, a CO2 concentration sensor 76 for detecting CO2 concentrations, a mobile unit depth information acquisition unit 77 mounted on the front side of the lower mobile unit body and capturing depth images measuring the distance to surrounding objects, a wheel odometry 70 (see FIG. 4 ) for counting the number of wheel rotations and acquiring movement information indicating the distance traveled and the number of rotations, an acceleration sensor 81 (see FIG. 4 ) for detecting acceleration, and an audio output device 80 for outputting audio to elevator users. For example, the various cameras and sensors mounted on the onboard functional unit 4 function as environmental sensors for measuring the external environment. The components of the onboard functional unit 4 may be limited to the entire configuration, and only some of them may be included.

[0032] The front camera 60 is, for example, an RGB camera. The front camera 60 is attached, for example, to the front of the top 2a, and can capture video and images of the front side of the moving body. The front camera 60 is configured to be able to capture images at any angle by adjusting the shooting angle of the camera device according to the position and distance of the subject to be photographed. Note that the other camera devices are also configured to be able to capture images at any angle by adjusting the shooting angle in a similar manner. The rear camera 61 is, for example, an RGB camera. The front camera 60 is attached, for example, to the rear of the top, and can capture video and images of the rear side of the moving body 2. The infrared camera 62 is attached, for example, to the front of the torso 2b, and can recognize and capture images of the surrounding environment even in dark places.

[0033] The torso camera 63 can capture images from the height of the torso 2b. Therefore, it is easy to check the work object and the like by viewing the image with the camera according to the height of the torso 2b. The depth information acquisition unit 64 is attached, for example, to the front of the torso 2b and can acquire distance information to surrounding objects. The depth information acquisition unit 64 acquires depth information of the surrounding environment. The depth information acquisition unit 64 may be, for example, a LiDAR that captures depth images. The ultrasonic sensor 65 can detect materials that reflect sound waves. The ultrasonic sensor 65 is also resistant to dust and the like. The ultrasonic sensor 65 is positioned on the outer periphery of the main body so as to divide the outer periphery into six equal parts. Therefore, the ultrasonic sensor 65 can detect obstacles around the mobile object 2.

[0034] The hand unit 66 includes a right hand extending from the right side of the torso 2b and a left hand extending from the left side of the torso 2b. Thus, the hand unit 66 is configured to be able to move up and down together with the torso 2b. Similar to a human hand, the right hand and left hand include a shoulder joint, an upper arm, an elbow joint, an arm, a wrist joint, and finger parts. Thus, the on-board functional unit 4, as a robot, can perform actions that are similar to those performed by a human hand, such as pressing a button, lifting or moving an object, and other actions that use the fingers.

[0035] The lifting device 67 has a function of raising and lowering the height of some of the devices mounted on the mounted functional unit 4, such as a camera or an arm. More specifically, the lifting device 67 is configured to be able to raise and lower the height of the body 2b along the column portion up to the top 2a of the moving body 2. The lifting device 67 also has a function of maintaining the body 2b fixed at a predetermined height.

[0036] The monitor unit 68 is provided on the upper part of the body 2b and forms a front-facing monitor portion. The monitor unit 68 can transmit information to the surroundings by displaying facial expressions, text information, etc. The lighting unit 69 is provided around the entire circumference of the top 2a. When the lighting unit 69 is turned on, it illuminates the surroundings of the mobile body 2 and the on-board functional unit 4. This makes it easier to see the image from the RGB camera in a relatively dark environment and facilitates work using the hand unit 66. The lighting state of the lighting unit 69 can also be changed from a constant lighting state to a rotating lighting state. The rotating lighting state is a state in which the light appears to rotate, for example, by moving the part with the most light. The lighting unit 69 can also be turned on in red and set to a rotating lighting state.

[0037] The temperature sensor 71 is provided, for example, at the rear of the mobile body 2 and can measure the ambient temperature. All or some of the temperature sensor 71, the atmospheric pressure sensor 72, the humidity sensor 73, the odor sensor 74, the dose detector 75, and the CO2 concentration sensor 76 may be connected to a USB port or the like provided on the mobile body 2. The atmospheric pressure sensor 72 is provided, for example, at the top 2a and measures the ambient atmospheric pressure. The humidity sensor 73 is provided, for example, at the rear of the mobile body 2 and measures the ambient humidity. The odor sensor 74 is provided, for example, at the rear of the mobile body 2 and measures the ambient odor. The dose detector 75 is provided, for example, at the rear of the mobile body 2 and measures the ambient radiation dose, thereby helping to detect radiation, such as whether the radiation level is changing from normal. The CO2 concentration sensor 76 is provided, for example, at the rear of the mobile body 2 and measures the ambient CO2 concentration, thereby helping to detect changes in the CO2 concentration, such as whether something is burning. The moving body depth information acquisition unit 77 is attached to, for example, the front of the torso 2b and can acquire distance information to surrounding objects. The moving body depth information acquisition unit 77 acquires depth information of the surrounding environment. The moving body depth information acquisition unit 77 is configured, for example, by a LiDAR that captures depth images. The audio output device 80 is, for example, a speaker. The audio output device 80 can be changed to a device that can output audio.

[0038] The moving body 2 further includes a moving body control unit 10. The moving body control unit 10 is disposed within the moving body main body 6. The moving body control unit 10 constitutes the control unit of the moving body 2, and also constitutes the control unit of the on-board function unit 4. Thus, the moving body control unit 10 can execute each control function of the moving body 2 and also each control function of the on-board function unit 4. For example, the moving body control unit 10 has a function of executing autonomous traveling of the moving body 2 to point P while utilizing a moving body-side depth information acquisition unit 77 (see FIG. 1 ) provided in the moving body 2, etc. The mobile object control unit 10 is electrically connected to, for example, the main body drive unit 12, the front camera 60, the rear camera 61, the infrared camera 62, the depth information acquisition unit 64, the torso camera 63, the ultrasonic sensor 65, the hand unit 66, the lifting device 67, the monitor unit 68, the lighting unit 69, the temperature sensor 71, the air pressure sensor 72, the humidity sensor 73, the odor sensor 74, the dose detector 75, and the CO2 concentration sensor 76, and has the function of controlling the connected devices. The mobile object control unit 10 is also electrically connected to an operation setting unit 40 on a server, which will be described later.

[0039] The mobile object control unit 10 has a built-in CPU, memory, etc., and controls connected devices based on a predetermined control program recorded in the memory, etc. The mobile object control unit 10 may be electrically connected to other devices, in whole or in part, via wireless communication such as infrared communication or other methods. The mobile object control unit 10 may be electrically connected to a control unit external to the mobile object 2 via the Internet. A portion of the mobile object control unit 10 may be located physically separate from the mobile object 2, or may be provided in the form of a program on a server via the Internet. For example, a portion of the mobile object control unit 10 may be provided in the task setting unit 40. Similarly, a portion of the task setting unit 40 may be provided in the mobile object control unit 10. For example, the mobile object control unit 10 and the task setting unit 40 may function as an integrated control unit.

[0040] The mobile object control unit 10 can perform predetermined operations and control of connected devices at the discretion of the mobile object control unit 10, and may also receive commands from outside the mobile object 2 to perform predetermined operations and control of connected devices. For example, the mobile object control unit 10 performs predetermined operations and control for predetermined control at the discretion of the mobile object control unit 10, but may wait for commands from outside to perform certain operations and control.

[0041] The mobile object control unit 10 is equipped with a program that can execute a function selected by the point function display unit 46 that is linked to the point P by the link function unit 52. For example, the mobile object control unit 10 receives information from the link function unit 52 about the point P set by the link function unit 52 and the function selected to be executed at that point, and even in an environment where communication with the outside is difficult, the mobile object control unit 10 can cause the mobile object 2 and the on-board function unit 4 to execute the process set by the link function unit 52.

[0042] The mobile body control unit 10 has a function of automatically generating a route to a point P, which is the destination of the mobile body 2. The mobile body control unit 10 can automatically generate a route to point P and move the mobile body 2 to point P by autonomous driving.

[0043] Next, the task setting unit 40 will be described with reference to Fig. 5. The task setting unit 40 includes a map display unit 42 that displays a map showing an area in which the mobile object 2 can move on a user interface, a point setting unit 44 that sets points P (see Fig. 6) on the map that will be destinations for the mobile object 2 and that will execute functions of the built-in functional unit 4, an attribute information adding unit 45 that adds attribute information Z to each point P, a point function display unit 46 that displays functions that the built-in functional unit 4 can execute for each point P so that the functions can be selected, a point adjustment function unit 48 that can adjust the position of the point P while maintaining the attribute information Z added to the point P, a change function unit 50 that can arbitrarily change the attribute information Z added to the point P even after it has been set, a link function unit 52 that links the execution of the function selected by the point function display unit 46 to the point P set by the point setting unit 44, and a task result display function unit 56 that can acquire the task results of the built-in functional unit at the set point and display the acquired task results for the point. Therefore, the task setting system 1 can select the function to be executed by the on-board functional unit 4 for the point P in addition to setting the point P to be the destination of the moving body 2, and can set the task at the point P relatively easily.

[0044] The task setting unit 40 is configured, for example, by a predetermined task setting program provided on the server 16. The task setting program, for example, supports task setting for the onboard functional unit 4 provided on the mobile object 2 at the destination of the mobile object 2. The task setting program is executed on the server 16, and the results are displayed on a user interface of a user connected to the server 16 via the Internet 5, such as a browser on the monitor 7. Thus, the user can execute the task setting program in software executed on the user interface. The task setting program is recorded on a computer-readable recording medium, such as a hard disk drive (HDD), SSD, USB, memory card, optical disk, or storage disk. In this embodiment, the task setting unit 40 is provided on a server 16 separate from the onboard functional unit 4; however, the task setting unit 40 may be provided in the onboard functional unit 4 or the mobile object 2. For example, the task setting unit 40 may be provided in the mobile object control unit 10.

[0045] In addition, the work setting program of the work setting unit 40 causes the computer to function as, for example, a map display unit 42 that displays a map showing the area in which the moving body can move on a user interface such as a monitor viewed by the user, a robot information acquisition unit 43 that acquires robot information from the robot capability definition unit 14, a point setting unit 44 that sets a point P on the map that will be the destination of the moving body 2 and that will execute the function of the built-in function unit 4, an attribute information addition unit 45 that adds attribute information Z to the point P, a point function display unit 46 that displays functions that the built-in function unit 4 can execute for the point P so that they can be selected, a point adjustment function unit 48 that can adjust the position of the point while maintaining the attribute information added to the point P, a change function unit 50 that can arbitrarily change the attribute information Z added to the point P even after it has been set, and a link function unit 52 that links the execution of the function selected by the point function display unit to the point set by the point setting unit. Therefore, the work setting program of the work setting unit 40 can select the function to be executed by the built-in function unit 4 for point P in addition to setting point P to be the destination of the moving body 2 in the computer, and can set the work at point P relatively easily.

[0046] As shown in Fig. 6, the map display unit 42 displays a map showing the area in which the mobile object 2 can move. The map display unit 42 has a function of displaying map information for each floor, for example. For example, Fig. 6 shows two rooms surrounded by a wall W indoors that are connected by a corridor. The map displayed by the map display unit 42 may be created based on an image acquired by a camera or the like of the built-in functional unit 4, or a map created in advance may be acquired and used. For example, such a map is stored in the database 54.

[0047] The robot information acquisition unit 43 acquires information about the onboard equipment from the robot capability definition unit 14 (see FIG. 3 ). The robot capability definition unit 14 defines information about the equipment installed in the onboard function unit 4. The robot capability definition unit 14 can provide the robot information acquisition unit 43 with information about the functions that the onboard function unit 4 can execute based on the information about the equipment installed in the onboard function unit 4. The robot information acquisition unit 43 then provides the acquired information to the point function display unit. Therefore, the point function display unit 46 can display candidate functions based on the information about the equipment installed in the onboard function unit 4. In this embodiment, as shown in FIG. 9 , the point function display unit 46 can display functions based on the equipment installed in the onboard function unit 4. For example, as shown in FIG. 9 , the robot capability definition unit 14 sets the types of equipment installed in the onboard function unit 4, such as camera A, camera B, arm, thermal camera, and environmental sensor, as well as more detailed information, such as specifications of resolution and measurement range. For example, if the camera is replaced with a higher-performance one, the information in the robot capability definition unit 14 is updated with new information. Therefore, the point function display unit 46 can distinguish between executable and inexecutable functions based on the equipment installed in the on-board function unit 4. This is because a function cannot be realized by equipment not installed in the on-board function unit 4. The point function display unit 46 can easily update the recognition of the current equipment by updating the information in the robot capability definition unit 14, even if the equipment breaks down or is replaced with equipment with different performance. The point function display unit 46 displays the setting screen of the robot capability definition unit 14 as shown in window W3, allowing the user to set and manage information about the installed equipment. Based on this concept, for example, the point function display unit 46 displays all functions that can be executed by the installed equipment as shown in FIG. 8, based on the recognition of the installed equipment as shown in FIG. 9. Note that the point function display unit 46 may also include the robot capability definition unit 14.

[0048] As shown in FIG. 6 , the point setting unit 44 sets a point (location) P on a map. For example, the point setting unit 44 has a function that allows a user to specify the position of the point P on the map displayed by the map display unit 42 and set the point P. The point P may be specified by inputting a coordinate position, or the user may intuitively specify the point P by pointing a pin on the map, or the point P may be specified relatively by specifying the distance from a wall W, a door, or the like (e.g., specifying the number of meters from the wall). The point setting may be aided by placing a mark such as a tag or a marker. The point setting unit 44 includes an access direction specification function 51 that specifies the access direction when the mobile object 2 reaches the point P. The access direction specification function 51 can instruct the mobile object 2 on the direction in which the mobile object 2 should face when reaching the point P. For example, the mobile object 2 is designed such that the front camera 60 and the like are primarily directed forward. The front camera 60 etc. can be rotated at a predetermined angle, but in order for the mobile body 2 to efficiently carry out the instructed task when it reaches point P, it is beneficial to improve work efficiency by specifying the direction of approach (access direction) of the mobile body 2 to point P.

[0049] The point setting unit 44 includes a route setting function unit 53 that sets the order in which the moving object 2 will arrive at a plurality of points P. As shown in Fig. 11, by executing the route setting function unit 53, boxes for setting the order in which the moving object 2 will arrive at each point P are displayed near each point P, and the order in which the moving object 2 will arrive at each point P can be set by adjusting the numbers in the boxes. Numbers enclosed in squares near the points P indicate the set order in which the moving object 2 will arrive at each point P.

[0050] The attribute information adding unit 45 adds attribute information Z to each point P (each location). The attribute information Z is also referred to as location meta information, for example. The attribute information Z has attribute information corresponding to each point P as check items. When a point P is set by the point setting unit 44 or when an already set point P is selected, the attribute information adding unit 45 can display a window W1 for adding the attribute information Z, as shown in FIG. 7 . The attribute information adding unit 45 displays the attribute information Z on the monitor 7, which is a user interface, so that the attribute information Z can be selected. For example, FIG. 7 shows an example of the window W1 displayed by the attribute information adding unit 45. The window W1 is displayed within application software. The window W1 has the words "location meta information unit" written on it, and the attribute information Z to be added can be selected. The "location meta information unit" can be replaced with other terms such as "attribute information."

[0051] An example of the addition of attribute information Z by the attribute information addition unit 45 will be described. In FIG. 7 , for example, assume that a meter facility is located at point P (see FIG. 6 ) at P3, and the user wants the on-board functional unit 4 to perform an inspection of the meter facility at point P (P3). In such a case, when the user sets point P at P3 on the map using the point setting unit 44, the attribute information addition unit 45 further displays a window W1 for setting the "point meta information unit" as shown in FIG. 7 , and the user selects "equipment type (meter / fire extinguisher)" and "inspection item (visual inspection / temperature measurement)." In this way, when point P (P3) is selected, the attribute information addition unit 45 has a function of displaying a list of configurable attributes, such as "equipment type (meter / fire extinguisher)" and "inspection item (visual inspection / temperature measurement)." Therefore, in FIG. 7 , for point P (P3), the attribute information Z is set to "equipment type (meter / fire extinguisher)" and "inspection item (visual inspection / temperature measurement)." Based on the attribute information Z for such point P (P3), processing is performed by the point function display unit 46 (described later). When point P is selected and attribute information Z has already been set for that point, the set attribute information Z is displayed. Selecting to add attribute information displays the functions that the onboard functional unit can execute for that point, allowing for the addition of additional attribute information Z. Examples of such attribute information include equipment type (meter, fire extinguisher), inspection items (visual inspection, temperature measurement), and environmental measurements (temperature measurement, air quality measurement). Other possible inspection items include: Command to change the shooting position (e.g., adjusting the orientation of the vehicle and onboard functional unit, adjusting the shooting position by raising and lowering the body, etc.); Photographing, reading, and photographing the meter, and sending the reading results to the cloud (after the inspection is complete); Turning on the light (taking a photo in a dark place); and Temperature measurement using a thermal camera (checking whether the measuring instrument is at an abnormal temperature, etc.).Furthermore, for example, the security item may be object detection (such as detecting a person), and the action item may be, if a person is detected in a place where it is not originally expected to be present, calling out (audio output), notifying a security guard (email, etc.), recording video or images with a camera, etc., and the patrol action setting may be, for example, displaying text on the face display during patrol, turning on a patrol lamp (indicating that the patrol is in progress by lighting up the lighting unit), etc. Also, for example, it is possible to set items similar to the above security items as monitoring items. The point function display unit 46 may display candidate functions according to the attribute information Z based on AI that has been machine-learned so as to be able to suggest candidate functions according to the attribute information Z.

[0052] As shown in FIG. 8, the point function display unit 46 displays a list of functions that can be executed by the built-in function unit 4 at point P when point P is selected. For example, FIG. 8 shows an example of a window W2 displayed by the point function display unit 46. For example, the executable function list is a list of all functions that can be executed by the equipment installed in the built-in function unit 4. In this way, for example, when point P (P3) is selected, the point function display unit 46 displays a list of functions that can be executed by the built-in function unit 4 at point P (P3). Similarly, lists of executable functions are displayed for other points P. In other words, the point function display unit 46 has a function of displaying processing information (a list of commands) for point P.

[0053] FIG. 8 illustrates an example of a list of functions displayed by the point function display unit 46. For example, the function list displays function F1 as "taking a photo with camera A," function F2 as "taking a photo with camera B," function F3 as "taking a photo with a thermal camera," function F4 as "pressing a button with the arm," and function F5 as "obtaining information with an environmental sensor." When a function displayed by the point function display unit 46, such as function F4, is selected, a window for inputting more detailed data required for executing function F4 opens. For example, for function F4, the user inputs the height to which the arm (the hand of the hand unit 66) is extended, the distance to which the arm (the hand of the hand unit 66) is extended forward, and so on. The server 16 also includes a database 54 in which control data and other data required for each function are set and stored. Predetermined presets of the required data and other data are defined in the database 54. Each function displayed in the function list is selected from the database 54, and each function can be realized with relatively simple settings or adjustments. The database 54 includes a database of equipment to be set for a point, functions to be executed according to the equipment, work items to be executed, and the like.

[0054] For example, if a meter facility is located at point P3 and attribute information Z corresponding to the meter facility is input to point P (P3), the point function display unit 46 may display a list of functions that the built-in functional unit 4 can execute at point P on the user interface in accordance with the attribute information Z. In this case, for example, the point function display unit 46 may propose and display candidate functions to be executed based on the attribute information Z (the facility type (meter, etc.) and inspection items in FIG. 7 ) related to point P. For example, as shown in FIG. 10 , the function list based on the attribute information Z displays function F11 as "take a photo with camera A," function F12 as "take a photo with camera B," and function F13 as "take a photo with a thermal camera." In this case, the point function display unit 46 displays candidate functions to be executed in accordance with the attribute information Z, without displaying all of the functions that can be executed by itself.

[0055] The point function display unit 46 also has a multiple function execution unit 55 that selects multiple functions of the displayed built-in function unit 4 and executes them in a predetermined order. For example, when the point function display unit 46 displays a function list F1 to F5 as shown in FIG. 8, the multiple function execution unit 55 can select F1 "take a photo with camera A" and F3 "take a photo with thermal camera." The multiple function execution unit 55 can also arbitrarily determine the order of execution, and can be set to execute F3, F1, for example. Therefore, it is relatively easy to set multiple functions to be executed in order at point P.

[0056] The point adjustment function unit 48 can adjust the position of the point while maintaining the attribute information Z added to the point P. When it is desired to adjust the position of the point P, it is possible to change the position of the point P while keeping the point P linked to the attribute information Z. Furthermore, when it is desired to adjust the position of the point P, it is possible to save the trouble of re-inputting the attribute information Z.

[0057] The change function unit 50 can arbitrarily change the attribute information Z added to the point P even after it has been set. As a result, even in cases where, for example, the equipment to be worked on at the point P is changed from an analog equipment to a digital equipment, or is upgraded from an old version to a new version, or the type of equipment is changed, resulting in changes in the mode or operation, the function displayed by the point function display unit 46 can be easily changed by changing the attribute information Z.

[0058] The link function unit 52 has a function of linking the execution of a function selected by the point function display unit 46 to a point P. This allows a point P and a function to be executed by the onboard function unit 4 when the point P is reached to be specified as a set. Therefore, a set of a point P and a function to be executed at that point can be set for each point. The autonomously travelling mobile body 2 can move to each point P at its own discretion. The user only needs to set the function to be executed for each point P, making it easier to set the movement of the mobile body 2 and the execution of the function of the onboard function unit 4. Furthermore, since the operation setting is simplified, a wider range of users can adopt and use the autonomously travelling mobile body 2 and the onboard function unit 4. Furthermore, since the point P and the function executed by the onboard function unit 4 are combined, the position of the point P can be changed while the execution functions are combined, or the order in which the mobile body 2 travels through multiple points P can be changed. Furthermore, since the execution functions are set for each point P, the execution functions can be managed for each point P, making it easier to manage the operation of the mobile body 2 and the onboard function unit 4.

[0059] The work result display function unit 56 acquires the work results of the on-board function unit 4 at the set point. The work results are, for example, images from the on-board function unit 4 or sensor measurement results. The work result display function unit 56 has a function to link the work results recorded to the point and can display the work results acquired for the point. For example, it has a function to display the work results already acquired when a point is selected. The work result display function unit 56 can, for example, not only link the work results to point information, but also link the work results to the points and aggregate them, or output a report. For example, the work result display function unit 56 can display the work results for the past six months in chronological order. The work result display function unit 56 is configured, for example, by a program or the like that enables such control.

[0060] Next, a task setting method for setting tasks to be performed by onboard functional units mounted on a mobile object at a destination of the mobile object will be described with reference to Fig. 12. Fig. 12 is a flowchart illustrating the processing of the task setting method executed by the task setting system 1.

[0061] As shown in FIG. 12, a task setting method is started for setting a task for the on-board functional unit 4 mounted on the moving object 2 at the moving destination of the moving object 2.

[0062] First, as a preparation step, the moving body 2 and the on-board functional unit 4 mounted on the moving body 2 are prepared. Then, as shown in Fig. 5, the moving body 2 is connected to the work setting unit 40 and prepared so that it can move to a set point P. The on-board functional unit 4 is connected to the work setting unit 40 and prepared so that a predetermined function can be executed by the on-board functional unit 4 at the point P.

[0063] When the task setting system 1 starts the control assistance method in response to an operation command on the user interface, it proceeds from Start to S1, and executes a map display step S1 in which a map showing an area in which the mobile object 2 can move (for example, a map of the area within a room surrounded by walls W in FIG. 5 ) is displayed on the monitor 7, which is the user interface. In the map display step S1, the task setting system 1 acquires from the database 54 a map of the area in which the mobile object 2 is expected to move (for example, a room in a facility, etc.), and displays it. When display of the map in the map display step S1 is completed, the task setting system 1 proceeds to S2.

[0064] In S2, a point setting step S2 is executed to set a point P on the map that will be the destination of the mobile object 2 and that will execute the function of the built-in functional unit 4. In the point setting step S2, a point P is set on the map in the map display step S1. The point P can be set on the map as a circle (black circle) as shown in FIG. 6, for example. This point P specifies the position where the function of the built-in functional unit 4 will be executed. This point P forms an icon, and when the point P is selected, a further window pops up, allowing attribute information Z to be added and a function to be selected. When the execution of the point setting step S2 is completed, the process proceeds to S3.

[0065] In S3, an attribute information adding step S3 is executed in which the attribute information adding unit 45 adds attribute information Z to the set point P. According to the attribute information adding step S3, as shown in Fig. 7, when a point P is set or selected, the attribute information adding unit 45 displays a window W1 for adding the attribute information Z. The selected attribute information Z is added to the point P as additional information. When the execution of the attribute information adding step S3 is completed, the process proceeds to S4.

[0066] In S4, a point function display step S4 is executed, which displays functions that can be executed by the built-in function unit 4 for the point P so that the functions can be selected. When the point P is selected, the point function display step S4 causes a further window W2 (see FIG. 8) to pop up, which displays a list of functions that can be executed by the built-in function unit 4, and allows a function to be selected from this list. After the point function display step S4 is executed, the process proceeds to S5.

[0067] In S5, when a function is selected for point P in point function display step S4, execution of the function selected in point function display step S4 can be linked to the point P set in point setting step S2 in link step S5. This makes it possible to set relatively easily the execution of the function of the built-in functional unit 4 at point P in combination with the setting of point P as the destination of the mobile object 2. When execution of link step S5 is completed, the process proceeds to END.

[0068] As a modified example, the work result display step may display the work result of the built-in functional unit 4 acquired for the point P by selecting the point P. The work result display function unit 56 acquires the work result of the built-in functional unit 4 at the point set by the point setting unit or the like. Therefore, the point P and the work result recorded for the point are linked, and the work result acquired for the point can be displayed. The work result for the point P can be confirmed by the work result display step, and can be used as a reference when selecting a function for the point P as described above.

[0069] According to one embodiment of the present invention configured in this manner, the execution of the function selected by the point function display unit 46 can be linked to the point P set by the point setting unit by the link function unit 52. This allows the execution of the function of the on-board functional unit 4 at the point P to be set relatively easily in combination with the setting of the point P to be moved to by the moving object 2.

[0070] According to one embodiment of the present invention configured as described above, the point function display unit 46 displays the functions that the built-in function unit 4 can execute for the point P in accordance with the attribute information Z. Therefore, the functions that the built-in function unit 4 executes can be displayed to the user in accordance with the attribute information Z of the point P, and the user can more easily set the functions that the built-in function unit 4 executes.

[0071] According to one embodiment of the present invention configured as described above, the point function display unit 46 displays functions based on the device information installed in the built-in function unit 4. This allows the point function display unit 46 to display functions according to the device information installed in the built-in function unit 4. For example, the point function display unit 46 will not suggest functions using devices not installed in the built-in function unit 4, such as suggesting a function using an arm function when the arm function is not installed. Furthermore, for example, if the built-in function unit 4 is equipped with a camera that can only capture images up to a certain number of pixels, the point function display unit 46 will display a function for capturing photos with a pixel count within this range. This allows the user to efficiently select functions according to the device information of the built-in function unit 4.

[0072] According to one embodiment of the present invention configured as described above, the mobile object 2 is configured to be capable of autonomous travel to the point P. This allows the mobile object 2 to make autonomous decisions about its movement to the point P, and in combination with setting the point P as the destination of the mobile object 2, it is possible to relatively easily set the execution of the function of the on-board functional unit 4 at the point P. Therefore, if the user relatively simply sets the point P and the function to be executed at the point P, it is possible to relatively easily set a series of operations in which the mobile object 2 moves and executes the function at the point P.

[0073] According to one embodiment of the present invention configured as described above, the built-in functional unit 4 includes a depth information acquisition unit 64 that acquires depth information of the surrounding environment. This allows the moving body 2 and the built-in functional unit 4 to measure the distance to the target even indoors where radio waves are difficult to reach, making it easier to move to point P.

[0074] According to one embodiment of the present invention configured as described above, there is provided a point adjustment function unit 48 that can adjust the position of the point P while maintaining the attribute information Z added to the point P. This makes it possible to change the position of the point P while keeping the point P and the attribute information Z linked to each other.

[0075] According to one embodiment of the present invention configured as described above, there is provided a change function unit 50 that can arbitrarily change the attribute information Z added to the point P even after it has been set. As a result, even in cases where, for example, the device to be worked on at the point P is changed from an analog device to a digital device, or the device is upgraded from an old version to a new version, and the mode or operation changes, the function displayed by the point function display unit 46 can be easily changed by changing the attribute information Z.

[0076] According to one embodiment of the present invention configured as described above, the point function display unit 46 has a multiple function execution unit 55 that selects and executes multiple functions of the displayed built-in function unit 4. This makes it easy to select and execute multiple functions of the built-in function unit 4 for the point P.

[0077] According to one embodiment of the present invention configured as described above, the point setting unit 44 includes an access direction designation function 51 that defines the access direction when the moving object 2 reaches the point P. This makes it possible to define the access direction when the moving object 2 reaches the point P, and to define the direction in which the device of the built-in function unit 4 faces the point P, even in cases where it is better for the device of the built-in function unit 4 to face a predetermined direction with respect to the point P when it arrives.

[0078] According to one embodiment of the present invention configured as described above, the point setting unit 44 includes a route setting function unit 53 that sets the order in which the moving object 2 will arrive at the plurality of points P. This allows the route setting function unit 53 to relatively easily set the order in which the moving object 2 will arrive at the plurality of points P.

[0079] According to one embodiment of the present invention configured as described above, the system further includes a work result display function unit 56 that can acquire the work results of the built-in functional unit 4 for the set points and display the acquired work results for the points, making it easy to summarize and compare the work results for the points. For example, the work results for the past six months can be displayed side by side for each point, or in chronological order. Therefore, it is possible to set work for points while checking the work results that have already been acquired.

[0080] According to one embodiment of the present invention configured as described above, the link function unit 52 links the execution of the function selected by the point function display to the point P set by the point setting unit 44. This allows the execution of the function of the on-board function unit 4 at the point P to be set relatively easily in combination with the setting of the point P to be moved to by the moving object 2.

[0081] According to one embodiment of the present invention configured as described above, the point function display unit 46 displays the functions that the built-in function unit 4 can execute for the point P in accordance with the attribute information Z. Therefore, the functions that the built-in function unit 4 executes can be displayed to the user in accordance with the attribute information Z of the point P, and the user can more easily set the functions that the built-in function unit 4 executes.

[0082] According to one embodiment of the present invention configured as described above, the system further includes a work result display function unit 56 that can acquire the work results of the built-in functional unit 4 for the set points and display the acquired work results for the points, making it easy to summarize and compare the work results for the points. For example, the work results for the past six months can be displayed side by side for each point, or in chronological order. Therefore, it is possible to set work for points while checking the work results that have already been acquired.

[0083] According to one embodiment of the present invention configured in this manner, a computer-readable recording medium on which an operation setting program is recorded can be used to relatively easily set the execution of the function of the onboard functional unit 4 at point P in combination with setting the destination point P of the moving body 2.

[0084] According to one embodiment of the present invention configured as described above, the execution of the function selected in the point function display step is linked to the point set in the point setting step in the link step. This allows the execution of the function of the on-board functional unit 4 at the point to be set relatively easily in combination with the setting of the point to be moved by the moving object 2.

Claims

1. A task setting system that sets tasks for an onboard functional unit mounted on an autonomously mobile body at a destination of the mobile body, comprising: a mobile body; the onboard functional unit that is mounted on the mobile body and executes a function at the destination; a map display unit that displays a map showing an area in which the mobile body can move on a user interface; a point setting unit that sets a point on the map that will be the destination of the mobile body and at which the function of the onboard functional unit will be executed; a point function display unit that displays functions that can be executed by the onboard functional unit for each point so that the function can be selected; and a link function unit that links the execution of the function selected by the point function display unit to the point set by the point setting unit.

2. The task setting system of claim 1 further comprises an attribute information adding unit that adds attribute information to the points, and the point function display unit displays the functions that the built-in function unit can execute for the points according to the attribute information.

3. The task setting system according to claim 1, wherein the point function display unit displays functions based on the equipment installed in the installed function unit.

4. The task setting system according to claim 1, wherein the mobile body is configured to be capable of autonomously traveling to the point.

5. The task setting system according to claim 1, wherein the built-in functional unit includes a depth information acquisition unit that acquires depth information of the surrounding environment.

6. The task setting system according to claim 2, further comprising a point adjustment function unit that can adjust the position of the point while maintaining the attribute information added to the point.

7. The task setting system according to claim 2, further comprising a change function unit that can change the attribute information added to the points as desired even after the information has been set.

8. The task setting system according to claim 1, wherein the point function display unit has a multiple function execution unit that selects and executes multiple functions from the displayed functions of the built-in function unit.

9. The task setting system according to claim 1, wherein the point setting unit has an access direction designation function that defines the access direction when the moving object reaches the point.

10. The task setting system according to claim 1, wherein the point setting unit includes a route setting function unit that sets the order in which the moving object will arrive at the plurality of points.

11. The work setting system according to claim 1, further comprising a work result display function unit capable of acquiring the work results of said installed functional unit at said set point and displaying the work results acquired for said point.

12. A work setting program for setting the work of an onboard functional unit mounted on an autonomously mobile body at the destination of the mobile body, the work setting program causing a computer to function as: a map display unit that displays a map showing the area in which the mobile body can move on a user interface; a point setting unit that sets a point on the map that will be the destination of the mobile body and that will execute the function of the onboard functional unit; a point function display unit that displays functions that can be executed by the onboard functional unit for each of the points so that they can be selected; and a link function unit that links the execution of the function selected by the point function display unit to the point set by the point setting unit.

13. The work setting program according to claim 12, further comprising: making the computer function as an attribute information adding unit that adds attribute information to the points; and making the point function display unit display functions that the built-in function unit can execute for the points according to the attribute information.

14. The work setting program according to claim 12, further causing the computer to function as a work result display function unit capable of acquiring work results of the installed functional unit at the set point and displaying the acquired work results for the point.

15. A computer-readable recording medium on which the task setting program according to any one of claims 12 to 14 is recorded.

16. A task setting method for setting tasks for an onboard functional unit mounted on an autonomously mobile body at a destination of the mobile body, comprising: a map display step for displaying a map showing an area in which the mobile body can move on a user interface; a point setting step for setting a point on the map that will be the destination of the mobile body and that will execute the function of the onboard functional unit; a point function display step for displaying functions that can be executed by the onboard functional unit for each point so that they can be selected; and a linking step for linking the execution of the function selected in the point function display step to the point set in the point setting step.

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