JP2021068152A - Information processing apparatus, method using information processing apparatus, and program for making information processing apparatus execute procedure - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an information processing device, a method, and a program related to a work execution system for performing various tasks using a mobile body. An information processing device (3) communicatively connected to a moving body (1) and an environmental information acquisition device (2) provided on the moving body (1), which is displayed on a display means for displaying map information and the display means. The coordinate information on the map information is converted into the coordinate information on the map information held by the moving body 1, and the converted coordinate information is sent to the moving body 1 together with a moving command to move to the position of the coordinate information. The configuration is such that the environment information acquisition device 2 has a control means for outputting and outputting a work execution command to execute the work. [Selection diagram] Fig. 1

Description

The present invention relates to an information processing device, a method, and a program related to a work execution system that performs various tasks using a mobile body.

Traditionally, research and development to improve the accuracy of various tasks have been carried out every day.

For example, regarding the work of acquiring environmental information such as illuminance, Patent Document 1 discloses a configuration in which the position of illuminance measurement and the illuminance measurement result can be accurately associated with each other to improve the reproducibility of illuminance measurement. ..

Specifically, the illuminance measuring device having a first communication unit, a position measuring means capable of measuring a three-dimensional position of the illuminance measuring device, and a data collector having a second communication unit are provided. The illuminance is measured by a measuring device, and the position of the illuminance measuring device that has measured the illuminance is measured by the position measuring means. Is acquired, and the illuminance measurement result is collected in association with the measurement position.

Further, for example, regarding the work of embedding anchor bolts in a concrete foundation, Patent Document 2 discloses a configuration of a positioning ruler for positioning anchor bolts, which can be commonly used for a plurality of specifications having different foundation widths and the like. There is.

Japanese Unexamined Patent Publication No. 2016-45002

JP-A-2017-095993

By the way, when acquiring environmental information such as illuminance measurement in the first place, it is usually performed by a pair of two people, and one person uses an environmental information acquisition device such as a measuring instrument to measure and check the target. The other records measurement results, check results, etc.

However, when there are many measurement / check targets, the work becomes complicated, and measurement / check mistakes, measurement / check forgetting, description omissions, and description errors occur. In addition, the legs and waist of the worker are burdened.

Further, when embedding an anchor bolt in a concrete foundation, if the embedding location is complicated and many, the work becomes complicated, and an embedding error or forgetting to embed occurs. In addition, the work load of users such as workers becomes large.

Therefore, an object of the present invention is to provide an information processing device, a method, and a program related to a work execution system that performs various tasks using a mobile body in order to deal with the above problems.

In order to achieve the above object, the invention according to claim 1 is
An information processing device that is communicably connected to a mobile body and a work execution device provided on the mobile body.
Display means for displaying map information and
The coordinate information on the map information displayed on the display means is converted into the coordinate information on the map information held by the moving body.
The converted coordinate information is output to the moving body together with a movement command to move to the position of the coordinate information.
The information processing device is provided with a control means for outputting a work execution command to execute the work to the work execution device.

Further, the invention according to claim 2 is
The work execution device is an environmental information acquisition device that acquires environmental information.
The control means outputs a work execution command for acquiring environmental information, and outputs a work execution command.
The information processing device according to claim 1, which receives environmental information from the environmental information acquisition device.

Further, the invention according to claim 3 is
The environmental information acquisition device is a measuring instrument and
The information processing device according to claim 2, wherein the information processing device receives measurement results as environmental information.

Further, the invention according to claim 4 is
The environmental information acquisition device is a camera.
The information processing device receives shooting information as environmental information and receives shooting information.
The information processing device according to claim 2, which analyzes the shooting information.

Further, the invention according to claim 5 is
The work execution device is an instrument arranging device for arranging an instrument at a predetermined position.
The information processing device according to claim 1, wherein the control means outputs a work execution command for arranging an instrument.

Further, the invention according to claim 6 is
The work execution device is a component installation device that installs components at predetermined positions.
The information processing device according to claim 1, wherein the control means outputs a work execution command for installing a component.

Further, the invention according to claim 7 is
The control means corresponds to the coordinate information related to the reference point on the map information displayed on the display means and the coordinate information related to the reference point on the map information held by the moving body received from the moving body. Let me
Further, the coordinate information relating to an arbitrary point on the map information displayed on the display means is made to correspond to the coordinate information relating to an arbitrary point on the map information held by the moving body received from the moving body. hand,
The information processing according to any one of claims 1 to 6, which enables mutual conversion between the coordinate information on the map information displayed on the display means and the coordinate information on the map information held by the moving body. It was a device.

Further, the invention according to claim 8 is
It is a method using an information processing device that is communicably connected to a mobile body and a work execution device provided in the mobile body.
A step of converting the coordinate information on the map information displayed on the display means into the coordinate information on the map information held by the moving body, and
A step of outputting the converted coordinate information to the moving body together with a moving command to move to the position of the coordinate information.
The method is such that the work execution device has a step of outputting a work execution command to execute the work.

Further, the invention according to claim 9 is
A program that causes an information processing device that is communicably connected to a mobile body and a work execution device provided on the mobile body to execute a procedure.
The information processing device converts the coordinate information on the map information displayed on the display means into the coordinate information on the map information held by the moving body.
The converted coordinate information is output to the moving body together with a movement command to move to the position of the coordinate information.
It is a program that causes the work execution device to function as a control means for outputting a work execution command to execute the work.

Since the mobile body provided with the work execution device is moved to the destination and the work execution device is configured to execute the work, it is possible to prevent forgetting the work, work mistakes, and the like. In addition, the work load of users such as workers who perform the work is reduced, leading to labor saving.

Further, since the configuration is such that the coordinate information on the map information displayed on the display means of the information processing device is converted into the coordinate information on the map information held by the moving body, and the coordinate information is output to the moving body. Even if the coordinate information of the moving body and the coordinate information on the map information displayed on the display means of the information processing device are different, they can be matched, which is convenient. Further, any moving body that can receive the coordinate information and travel with the coordinate information as the destination can be applied, which is convenient.

It is a conceptual diagram which showed the whole of the work execution system of Embodiment 1 of this invention. It is a conceptual diagram which shows typically the hardware composition of the mobile body which concerns on the work execution system of Embodiment 1 of this invention. It is a conceptual diagram which shows typically the hardware composition of the environment information acquisition apparatus which concerns on the work execution system of Embodiment 1 of this invention. It is a conceptual diagram which shows typically the hardware composition of the information processing apparatus which concerns on the work execution system of Embodiment 1 of this invention. It is a figure which showed the state which the map information was displayed on the information processing apparatus which concerns on the work execution system of Embodiment 1 of this invention. It is a figure which showed the state which the map information was displayed on the information processing apparatus which concerns on the work execution system of Embodiment 1 of this invention. It is a flow chart which showed the flow | flow of the operation of the work execution system of Embodiment 1 of this invention. It is a conceptual diagram which showed the whole of the work execution system of Embodiment 2 of this invention. It is a conceptual diagram which showed the whole of the work execution system of Embodiment 3 of this invention. It is a figure which showed the state which the map information was displayed on the information processing apparatus which concerns on the work execution system of Embodiment 3 of this invention. It is a conceptual diagram which showed the whole of the work execution system of Embodiment 4 of this invention. It is a figure which showed the state which the map information was displayed on the information processing apparatus which concerns on the work execution system of Embodiment 4 of this invention.

(Example 1 of the embodiment)
Hereinafter, the first embodiment according to the present invention will be described in detail with reference to the accompanying drawings. However, the components described in the examples of the present embodiment are merely examples, and the scope of the present invention is not limited to them. In the first embodiment, an example in which an environment information acquisition device is used as the work execution device is shown.

<Configuration of work execution system>
As shown in FIG. 1, the work execution system mainly includes a mobile body 1, an environmental information acquisition device 2 provided on the mobile body 1, and an information processing device 3. Then, the mobile body 1 and the information processing device 2 are connected to each other so as to be able to communicate with each other by using a wireless LAN or the like. Further, the environment information acquisition device 2 and the information processing device 3 are connected to each other so as to be able to communicate with each other by using BLE (= Bluetooth (registered trademark) Low Energy) or the like.

<Structure of mobile body 1>
The moving body 1 is a device that carries a person or luggage such as an AGV (= Automatic Guided Vehicle) or a mobile robot. Then, as shown in FIG. 2, the moving body 1 has a driving means 11 such as a wheel for generating a driving force for movement, a bipedal walking device, a multi-legged directional device, and a propeller. Therefore, the moving body 1 is, for example, an automatic guided vehicle, a mobile robot, a mobile robot, or a drone. However, the moving body 1 is not limited to these, and may be any one that can receive coordinate information from the information processing device 3 and travel with the coordinate information as a destination. In the first embodiment, an AGV is used as the moving body 1.

The mobile body 1 can travel based on a command received from an information processing device 2 that is communicably connected to each other, or autonomously travels by a control means 12 such as a microprocessor possessed by the mobile body 1. You can also do it.

The moving body 1 has an external world sensor 13 such as a laser range finder, a camera (or image sensor), a LIDAR (= Light Detection and Ranging), a millimeter wave radar, and a magnetic sensor, and the moving body 1 has this external world sensor. Based on the sensor data acquired by 13, a map in the moving space is created and held.

Specifically, when the external sensor 13 is a laser range finder, the external sensor 13 periodically emits a laser beam of, for example, infrared rays or visible light to the surroundings to scan the surrounding space. Then, the control means 12 such as a microprocessor repeatedly superimposes the sensor data obtained by scanning to create a map of the moving space and stores it in the storage means 14.

The control means 12 estimates the position and posture of the moving body 1 based on the sensor data received from the outside world sensor 13, compares the position information with the map of the moving space called from the storage means 14, and compares the moving space. The moving body 1 is driven while estimating its own position within.

<Configuration of environmental information acquisition device 2>
The environmental information acquisition device 2 may be any device that acquires information related to the environment in the space. For example, an illuminometer that acquires illuminance information, an air volume meter that acquires air volume information, and a temperature / humidity that acquires temperature / humidity information. Measuring instruments such as a meter, a dust measuring meter that acquires dust concentration information, a magnetic measuring meter that acquires magnetic environment information, a radio sensitivity meter that acquires sensitivity information such as indoor wireless LAN, and 360 that acquires 360 ° appearance information. ° Cameras such as cameras, ordinary cameras that shoot space, and video cameras that record space. In the first embodiment, an illuminometer is used as the environmental information acquisition device 2.

The environment information acquisition device 2 is connected to the information processing device 3 so as to be able to communicate with each other, and when a work execution command for acquiring environment information is received from the information processing device 3, the environment information acquisition device 2 is in the vicinity in response to this command. The illuminance is measured and the measurement result is output to the information processing device 3.

Therefore, as shown in FIG. 3, the environmental information acquisition device 2 controls to output the measurement result received from the measurement unit 21 for measuring the illuminance in the vicinity and the measurement unit 11 to the information processing device 3 through the communication unit 24. It has a unit 22, a display unit 23 that displays measurement results, and a communication unit 24 that communicates with an external device such as an information processing device 3.

Further, the environmental information acquisition device 2 is provided on the mobile body 1. The meaning of "provided" may be, for example, placed on the moving body 1 or fixed to the outer surface of the moving body 1 by using a screw, an instrument, or the like, that is, the environment. Any configuration may be used as long as the information acquisition device 2 can move together with the moving body 1 and acquire environmental information. Therefore, in the first embodiment, the mobile body 1 and the environment information acquisition device 2 are described as separate bodies, but the mobile body 1 and the environment are described as, for example, the mobile body 1 having the function of the environmental information acquisition device 2. The information acquisition device 2 may be integrated.

<Configuration of information processing device 3>
The information processing device 3 is, for example, a tablet PC (Personal Computer), a notebook PC, a smartphone, or the like, and has a function of communicating with the moving body 1 and controlling the traveling of the moving body 1. Further, it has a function of communicating with the environment information acquisition device 2, causing the environment information acquisition device 2 to acquire the environment information, and receiving the result. The information processing device 3 may be realized by a dedicated device specialized for the function, or may be realized by incorporating the function into a general-purpose personal computer or server.

Therefore, in the first embodiment, the configuration is realized by downloading and installing an add-in program that provides additional / extended functions on a personal computer or the like in which an application program (application) for drawing such as AutoCAD is installed. It will be explained in.

Further, in the example of the present embodiment, the information processing device 3 is described assuming a tablet PC. The tablet PC allows a user such as an operator to directly touch the screen with a finger to input commands and information, and does not require the use of a keyboard or a pointing device. Therefore, it is easy for users such as workers to input commands and information on site. In addition, it is convenient because the display location of the map information displayed on the screen can be moved and the display magnification can be changed by directly touching the screen with a finger.

Next, the hardware configuration of the information processing device 3 will be described with reference to FIG. FIG. 4 is a conceptual diagram schematically showing the hardware configuration of the information processing device 3.

In FIG. 4, the control means 31 is an application program or operating system (OS) realized by, for example, a CPU (= Central Processing Unit) and stored in an HD (= Hard Disk) or the like included in the storage means 32 described later. Or a control program, etc., and controls to temporarily store information, files, etc. necessary for executing the program in the RAM (= Random Access Memory) included in the storage means 32.

In particular, as shown in FIGS. 5 and 6, the control means 31 calls the map information stored in the map information storage area 321 in the storage means 32 and displays it on the display means 34.

Further, the control means 31 establishes a connection with the environment information acquisition device 2 using BLE. That is, the control means 31 scans the periphery of the information processing device 3 in response to a command from a user such as an operator input through the input means 33. Then, when the Advertise packet output from the environment information acquisition device 2 is successfully received through the communication means 36, the connection with the environment information acquisition device 2 is established.

On the other hand, if the Advertise packet of the environment information acquisition device 2 to be connected cannot be received even if the periphery of the information processing device 3 is scanned, a dialog box indicating that the connection has failed is displayed on the display means 34.

Further, when the control means 31 recognizes a tap (selection) of a portion related to the reference point on the map information displayed on the display means 34 through the input means 33 such as a touch panel from a user such as an operator, the location is concerned. The coordinate information of is recognized as a reference point.

Further, the control means 31 calibrates (= calibrates) the coordinate information on the map information held by the moving body 1 and the coordinate information on the map information displayed on the display means 34 on the information processing device 3. Do.

Specifically, the control means 31 relates to the coordinate information related to the reference point on the map information displayed on the display means 34 and the reference point on the map information held by the moving body 1 itself received from the moving body 1. Correspond the coordinate information. Further, the control means 31 sets the coordinate information related to an arbitrary point on the map information displayed on the display means 34 and the arbitrary point on the map information received from the moving body 1 and held by the moving body 1 itself. Correspond the relevant coordinate information.

When calibrating, the coordinate information on the map information displayed on the display means 34 and the coordinate information received from the moving body 1 at at least two points (reference point and arbitrary one point) are obtained. It is necessary to correspond the coordinate information on the map information held by the moving body 1 itself. By associating the two points, it is possible to detect the difference in inclination and the difference in scale between the map information displayed on the display means 34 and the map information held by the moving body 1, and these differences can be detected. The coordinate information on the map information displayed on the display means 34 can be made to correspond to the coordinate information of the map information held by the moving body 1.

Further, the control means 31 converts arbitrary coordinate information related to the destination on the map information displayed on the display means 34 into coordinate information on the map information held by the moving body 1, and the converted coordinates. The information is output to the moving body 1 together with a moving command to move to the position of the coordinate information.

In this case, the moving body 1 holds the coordinate information related to the destination on the map information displayed on the display means 34, which is stored in advance in the setting information storage area 324, by being called from the storage means 32. The coordinate information may be converted into coordinate information on the map information, and the converted coordinate information may be output to the moving body 1 together with a movement command to move to the position of the coordinate information. Further, when a tap (selection) from a user such as a worker is recognized through the input means 33 for any part of the map information displayed on the display means 34, the coordinate information related to the tapped part is used as the purpose. Recognized as the ground, the coordinate information is converted into the coordinate information on the map information held by the moving body 1, and the converted coordinate information is sent to the moving body 1 together with a moving command to move to the position of the coordinate information. On the other hand, it may be configured to output.

Further, the control means 31 outputs an output command to the moving body 1 to output the current coordinate information on the map information held by the moving body 1, which indicates the current position of the moving body 1.

Further, when the control means 31 receives the current coordinate information on the map information held by the moving body 1 from the moving body 1, the control means 31 refers to the timing means 35 and the coordinate information on the map information displayed on the display means 34. Is converted to, and is stored in the moving body position information storage area 322 together with the current time. Further, the corresponding portion on the map information displayed on the display means 34 is displayed as the position of the moving body 1.

Further, when the control means 31 receives the current coordinate information on the map information held by the moving body 1 from the moving body 1, it converts the coordinate information on the map information displayed on the display means 34. Then, the coordinate information after the conversion is compared with the coordinate information related to the destination on the map information displayed on the display means 34. As a result, when both coordinate information match, it is recognized that the moving body 1 has arrived at the destination.

Further, the control means 31 outputs a work execution command to the environment information acquisition device 2 to acquire the environment information.

In this case, when the control means 31 recognizes a tap (selection) from a user such as an operator through the input means 33, the control means 31 may be configured to output a command to cause the environment information acquisition device 2 to acquire the environment information. Further, the control means 31 may be configured to output a command to cause the environment information acquisition device 2 to acquire the environment information when it recognizes that the moving body 1 has arrived at the destination.

Further, when the control means 31 receives the measurement result from the environment information acquisition device 2, the control means 31 stores the measurement result in the environment information storage area 323.

The storage means 32 is for temporarily storing various types of information, such as a RAM that functions as a main memory of the control means 31, a work area, etc., a program such as a basic I / O program inside, and various types used in basic processing. It has a ROM (= Read Only Memory) for storing information.

The storage means 32 has an HD (= Hard Disk) that functions as a large-capacity memory, and the HD includes a map information storage area 321, a moving body position information storage area 322, an environment information storage area 323, and setting information. A storage area 324 is provided.

The map information storage area 321 stores map information related to the moving space in which the moving body 1 is moved. For example, map information is stored in the "tfx." Or "tfs." Format saved by the app "CADWe'll" or in the "dwg." Format that can be opened by the app "Auto CAD". However, the map information may be in any format as long as the position on the map displayed on the display means 34 can be represented by the coordinate information.

Further, in the moving body position information storage area 322, the coordinate information on the map information displayed on the display means 34 related to the current position of the moving body 1 is stored together with the date and time information.

Further, the measurement result received from the environmental information acquisition device 2 is stored in the environmental information storage area 323.

Further, the setting information storage area 324 stores preset setting information such as coordinate information related to the destination on the map information displayed on the display means 34.

The input means 33 is, for example, a touch panel, a keyboard, a pointing device, or a button provided on the display means 34 or the like, which receives input of information or commands to the information processing device 3 from a user such as a worker.

The display means 34 is, for example, a liquid crystal display, an organic EL display, or a dot matrix type display, and displays a command input from the input means 33, a response output of the information processing device 3 to the command, and the like. In particular, the display means 34 displays map information.

The timekeeping means 35 is, for example, a real-time clock that measures the current time.

The bus 37 controls the flow of information in the information processing device 3. The communication means 36 is an interface (I / F), and the information processing device 3 is connected via the communication means 36 via a wireless LAN, BLE, or the like to exchange information with the mobile body 1 or the environmental information processing device 2. ..

It should be noted that the software that realizes the same functions as each of the above devices can be configured as a substitute for the hardware device.

Next, the operation flow of the work execution system will be described with reference to FIGS. 5 to 7. In the following, the case where the environmental information is acquired at a plurality of places (destination) in the moving space will be described.

First, as a preparation, the user such as a worker can open the map information stored in the map information storage area 321 of the storage means 32 in the format of "tfx." Or "tfs." That cannot be opened by the application "Auto CAD". In the case of only, the input means 33 is operated to convert the map information into a "dwg." Format that can be opened by the application "Auto CAD", and the map information is separately stored in the map information storage area 321 of the storage means 32. Let me.

Further, the information processing device 3 establishes a connection with the environment information acquisition device 2 using BLE.

Next, as shown in FIG. 5, a user such as an operator operates an input means 33 such as a touch panel to tap a portion related to a reference point on the map information displayed on the display means 34.

Further, when the information processing device 3 recognizes the tap (selection) of the relevant portion, the information processing device 3 recognizes the coordinate information of the relevant location as a reference point.

A user such as a worker moves the moving body 1 and arranges the moving body 1 at a position corresponding to a reference point in the moving space.

Further, the information processing device 3 outputs an output command to the moving body 1 to output the current coordinate information on the map information held by the moving body 1, which indicates the current position of the moving body 1.

The moving body 1 that has received the output command outputs the current coordinate information on the map information held by itself, which indicates its position, to the information processing device 3.

When the information processing device 3 receives the current coordinate information on the map information held by the moving body 1 from the moving body 1, the information processing device 3 receives the coordinate information and the coordinates related to the reference point on the map information displayed on the display means 34. Correspond the information (step S701).

Further, as shown in FIG. 5, a user such as an operator operates an input means 33 such as a touch panel to reach a point 1 (= an arbitrary point for calibration) on the map information displayed on the display means 34. Tap the relevant part.

Further, when the information processing device 3 recognizes the tap (selection) of the relevant location, the information processing device 3 recognizes the coordinate information of the relevant location as the location 1.

A user such as a worker moves the moving body 1 and arranges the moving body 1 at a position corresponding to the point 1 in the moving space.

Further, the information processing device 3 outputs an output command to the moving body 1 to output the current coordinate information on the map information held by the moving body 1, which indicates the current position of the moving body 1.

The moving body 1 that has received the output command outputs the current coordinate information on the map information held by itself, which indicates its position, to the information processing device 3.

When the information processing device 3 receives the current coordinate information on the map information held by the moving body 1 from the moving body 1, the information processing device 3 receives the coordinate information and the coordinates related to the point 1 on the map information displayed on the display means 34. Correspond the information (step S702).

In this way, at least two points (a reference point and an arbitrary one point), the coordinate information on the map information displayed on the display means 34 and the map information received from the moving body 1 and held by the moving body 1 itself. Calibration (= calibration) is completed by associating the above coordinate information.

Next, as shown in FIG. 6, when the information processing device 3 recognizes the tap of the icon "start of traveling" displayed on the display means 34 through the input means 33, it is stored in advance in the setting information storage area 324. The coordinate information related to the destination on the map information displayed on the display means 34 is called from the storage means 32, converted into the coordinate information on the map information held by the moving body 1, and the converted coordinate information. Is output to the moving body 1 together with a moving command to move to the position of the coordinate information (step S703).

When the moving body 1 receives the coordinate information related to the destination together with the moving command, the moving body 1 travels toward the destination.

Further, the information processing device 3 outputs an output command to the moving body 1 to output the current coordinate information on the map information held by the moving body 1, which indicates the current position of the moving body 1 (step S704). ).

The moving body 1 that has received the output command outputs the current coordinate information on the map information held by itself, which indicates its position, to the information processing device 3.

When the information processing device 3 receives the current coordinate information on the map information held by the moving body 1 from the moving body 1, the information processing device 3 refers to the timing means 35 and uses the coordinate information on the map information displayed on the display means 34. It is converted (step S705) and stored in the moving body position information storage area 322 together with the current time. Further, the corresponding portion on the map information displayed on the display means 34 is displayed as the position of the moving body 1.

When the information processing device 3 receives the current coordinate information on the map information held by the moving body 1 from the moving body 1, it converts it into the coordinate information on the map information displayed on the display means 34 (step S705). Then, the coordinate information after the conversion is compared with the coordinate information related to the destination on the map information displayed on the display means 34 (step S706).

The information processing device 3 repeatedly executes the processes of steps S704 to S706.

As a result, when both coordinate information match (“YES” in step S706), it is recognized that the moving body 1 has arrived at the destination.

Then, the information processing device 3 outputs a work execution command to the environment information acquisition device 2 to acquire the environment information (step S707).

When the environment information acquisition device 2 receives the work execution command, the environment information acquisition device 2 measures the illuminance in the vicinity in response to the command and outputs the measurement result to the information processing device 3.

When the information processing device 3 receives the measurement result from the environment information acquisition device 2 (step S708), the information processing device 3 stores the measurement result in the environment information storage area 323.

Next, the information processing device 3 calls the coordinate information related to the next destination on the map information displayed on the display means 34, which is stored in advance in the setting information storage area 324, from the storage means 32. It is converted into coordinate information on the map information held by the moving body 1, and the converted coordinate information is output to the moving body 1 together with a movement command to move to the position of the coordinate information (step S703). After that, the processes up to step S708 are executed again.

Then, the processes of steps S703 to S708 are executed for all the destinations stored in advance.

In this way, the mobile body 1 provided with the environmental information acquisition device 2 moves to each acquisition location of the environmental information, and the information processing device 3 receives the environmental information acquired by the environmental information acquisition device 2. , It is possible to prevent mistakes and forgetting to acquire environmental information, forgetting to record environmental information, and mistakes in recording. In addition, the workload of workers who acquire environmental information is reduced, leading to labor saving.

Further, the coordinate information on the map information displayed on the display means 34 of the information processing device 3 is converted into the coordinate information on the map information held by the moving body 1, and the coordinate information is output to the moving body 1. Therefore, even if the coordinate information of the moving body 1 and the coordinate information on the map information displayed on the display means 34 of the information processing device 3 are different, they can be matched, which is convenient. Further, any moving body 1 that can receive the coordinate information and travel with the coordinate information as the destination can be applied, which is convenient.

In addition, a user such as a worker can operate the mobile body 1 and the environmental information acquisition device 2 by tapping (selecting) the map information related to the drafting application displayed on the display means 34. Therefore, it is convenient.

<Modification example>
In the above example, the mobile body 1 provided with the environmental information acquisition device 2 goes around a plurality of preset locations (destination) in order to acquire environmental information. Not limited. For example, the mobile body 1 provided with the environmental information acquisition device 2 may go to one preset location (destination) to acquire the environmental information.

Alternatively, if the destination is not set in advance and the information processing device 3 recognizes a tap (selection) from a user such as a worker for any part of the map information displayed on the display means 34, the information processing device 3 taps. The coordinate information related to the location is recognized as the destination, the coordinate information is converted into the coordinate information on the map information held by the moving body 1, and the converted coordinate information is moved to the position of the coordinate information. It may be configured to output to the moving body 1 together with the moving command of the coordinates.

Further, in the present embodiment, in the first embodiment, a configuration using one type of environmental information acquisition device 2 called an illuminometer is shown, but the configuration is not limited to this configuration. For example, a plurality of environmental information acquisition devices 2 such as an illuminance meter and a radio wave sensitivity meter may be provided on the moving body 1 to acquire environmental information from each of them.

(Example 2 of the embodiment)
In the above-described first embodiment, the environmental information acquisition device 2 is used as an illuminometer, and the information processing device 3 is configured to receive and store the measurement result from the illuminometer as environmental information. On the other hand, in the second embodiment, as shown in FIG. 8, the environment information acquisition device 2 is used as a camera, and the information processing device 3 receives shooting information from the camera and analyzes the information.

In the following, only the configuration different from that of the first embodiment will be described, and the description of the same configuration will be omitted.

When the environment information acquisition device 2 which is a camera receives a work execution command from the information processing device 3, it takes a picture of the vicinity in response to the command and outputs the pictured information to the information processing device 3.

When the control means 31 of the information processing device 3 receives the shooting information, it stores it in the environment information storage area 323. Further, the control means 31 analyzes the shooting information and detects an object in the shooting information. Then, it is determined whether or not the detected object includes an object such as a lighting fixture, and the determination result is associated with the shooting information and stored in the environment information storage area 323.

With such a configuration, it is possible to check the number of members whether or not an object such as a lighting fixture is installed as determined in advance by using the work execution system, which is convenient.

(Example 3 of the embodiment)
In Examples 1 and 2 of the above-described embodiment, an example in which the environment information acquisition device is used as the work execution device is shown. However, in the third embodiment, a configuration is shown in which an instrument arranging device 4 for arranging an instrument at a predetermined position is used as the work execution device. The device arrangement device 4 and the information processing device 3 are connected to each other so as to be able to communicate with each other by using BLE (= Bluetooth (registered trademark) Low Energy) or the like.

In the following, only the configurations different from those of the first and second embodiments of the present embodiment will be described, and the description of the same configurations will be omitted.

As shown in FIG. 9, when the instrument arranging device 4 such as an arm robot receives a work execution command for arranging the instrument from the information processing apparatus 3, the load cone 5 (= road) which is an instrument responds to this command. (Conical security equipment) that is placed for the purpose of regulation and classification of construction sites, etc.

With such a configuration, as shown in FIG. 10, the load cone 5 is arranged at a predetermined predetermined position using the work execution system without causing forgetting to arrange or making a mistake in the arrangement. Can be done. In addition, the work load of users such as workers who perform the work is reduced, leading to labor saving.

(Example 4 of embodiment)
Next, in the fourth embodiment, a configuration is shown in which a component installation device 6 for installing components at a predetermined position is used as the work execution device. The component installation device 6 and the information processing device 3 are connected to each other so as to be able to communicate with each other by using BLE (= Bluetooth (registered trademark) Low Energy) or the like.

In the following, only the configurations different from those of the first to third embodiments of the present embodiment will be described, and the description of the same configurations will be omitted.

As shown in FIG. 11, when the component installation device 6 such as the arm robot for installing the anchor bolt receives the work execution command for installing the component from the information processing device 3, the component installation device 6 is a component anchor bolt in response to this command. 7 is installed.

With such a configuration, as shown in FIG. 12, the anchor bolts 7 can be installed at predetermined predetermined positions using the work execution system without causing forgetting to install or making an installation error. Can be done. In addition, the work load of users such as workers who perform the work is reduced, leading to labor saving.

In the fourth embodiment, the component installation device 6 shows a configuration in which an anchor bolt is installed as a component, but the configuration is not limited to this configuration. For example, if the configuration of the component installation device 6 is changed, it can be used for installing hanging bolts (= full screw bolts) before installing a cable rack or the like on the ceiling.

In the present specification, an example in which the environment information acquisition device, the instrument placement device, and the component installation device are used as the work execution device is shown, but the present invention is not limited to this configuration. If the work is performed by displaying map information on the display means 34 of the information processing device 3, that is, the work is performed in conjunction with the map information, the work according to the present invention can be performed by changing the configuration of the work execution device. The execution system can be applied.

1: Mobile body, 11: Driving means, 12: Control means, 13: External sensor, 14: Storage means,
2: Environmental information acquisition device, 21: Measurement unit, 22: Control unit, 23: Display unit, 24: Communication unit,
3: Information processing device, 31: Control means, 32: Storage means, 321: Map information storage area, 322: Mobile position information storage area, 323: Environmental information storage area, 324: Setting information storage area, 33: Input means , 34: Display means, 35: Time counting means, 36: Communication means, 37: Bus,
4: Equipment placement device, 5: Road cone,
6: Parts installation device, 7: Anchor bolt

Claims (9)

An information processing device that is communicably connected to a mobile body and a work execution device provided on the mobile body.
Display means for displaying map information and
The coordinate information on the map information displayed on the display means is converted into the coordinate information on the map information held by the moving body.
The converted coordinate information is output to the moving body together with a movement command to move to the position of the coordinate information.
An information processing device, characterized in that the work execution device has a control means for outputting a work execution command to execute a work. The work execution device is an environmental information acquisition device that acquires environmental information.
The control means outputs a work execution command for acquiring environmental information, and outputs a work execution command.
The information processing device according to claim 1, wherein environmental information is received from the environmental information acquisition device. The environmental information acquisition device is a measuring instrument and
The information processing device according to claim 2, wherein the information processing device receives a measurement result as environmental information. The environmental information acquisition device is a camera.
The information processing device receives shooting information as environmental information and receives shooting information.
The information processing apparatus according to claim 2, further comprising analyzing the shooting information. The work execution device is an instrument arranging device for arranging an instrument at a predetermined position.
The information processing apparatus according to claim 1, wherein the control means outputs a work execution command for arranging an instrument. The work execution device is a component installation device that installs components at predetermined positions.
The information processing apparatus according to claim 1, wherein the control means outputs a work execution command for installing a component. The control means corresponds to the coordinate information related to the reference point on the map information displayed on the display means and the coordinate information related to the reference point on the map information held by the moving body received from the moving body. Let me
Further, the coordinate information relating to an arbitrary point on the map information displayed on the display means is made to correspond to the coordinate information relating to an arbitrary point on the map information held by the moving body received from the moving body. hand,
Any of claims 1 to 6, wherein the coordinate information on the map information displayed on the display means and the coordinate information on the map information held by the moving body can be mutually converted. The information processing device described in. It is a method using an information processing device that is communicably connected to a mobile body and a work execution device provided in the mobile body.
A step of converting the coordinate information on the map information displayed on the display means into the coordinate information on the map information held by the moving body, and
A step of outputting the converted coordinate information to the moving body together with a moving command to move to the position of the coordinate information.
A method, characterized in that the work execution device has a step of outputting a work execution instruction to execute the work. A program that causes an information processing device that is communicably connected to a mobile body and a work execution device provided on the mobile body to execute a procedure.
The information processing device converts the coordinate information on the map information displayed on the display means into the coordinate information on the map information held by the moving body.
The converted coordinate information is output to the moving body together with a movement command to move to the position of the coordinate information.
A program characterized in that the work execution device functions as a control means for outputting a work execution instruction to execute a work.

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