JP7490724B2 - Information processing device, program, system, and information processing method - Google Patents

Description

The present invention relates to an information processing device, a program, a system, and an information processing method.

Patent document 1 describes an inspection device that can easily control the movement of an unmanned aerial vehicle equipped with a camera that photographs the object to be inspected, even if the unmanned aerial vehicle is some distance away from the operator, or even if there is external disturbance such as wind, thereby reducing the workload of the operator.
[Prior Art Literature]
[Patent Documents]
[Patent Document 1] JP 2019-200198 A

According to one embodiment of the present invention, an information processing device may be provided. The information processing device may include an imaging unit that captures light output from a light source mounted on a moving body. The information processing device may include an identification information determination unit that uses Optical Camera Communication (OCC) technology to analyze the light captured by the imaging unit to obtain an optical signal, and determines identification information of the moving body from the obtained optical signal. The information processing device may include a position determination unit that determines a position of the moving body based on an image captured by the imaging unit. The information processing device may include a registration unit that registers the identification information of the moving body determined by the identification information determination unit and the position of the moving body determined by the position determination unit in association with each other.

The information processing device may further include a geofence setting unit that sets a geofence based on the captured image, and a mobile object management unit that manages the mobile object registered by the registration unit so that the mobile object is located in the geofence set by the geofence setting unit.

Any of the information processing devices may further include a situation determination unit that determines a situation within an imaging area of the captured image, and a movement path determination unit that determines a movement path of the moving body based on the position of the moving body determined by the position determination unit and the situation within the imaging area determined by the situation determination unit. The moving body management unit may manage the moving body so that the moving body moves along the movement path of the moving body determined by the movement path determination unit.

In any of the information processing devices, the position determination unit may determine a position of a predetermined object in the imaging area based on the captured image, and the movement path determination unit may determine the movement path of the moving body based further on the position of the object determined by the position determination unit.

In any of the information processing devices, the imaging unit may capture light output from the light source of the moving body in response to the moving body detecting a predetermined object, the position determination unit may determine the position of the moving body when the moving body detects the object based on an image captured by the imaging unit of the light output from the light source of the moving body in response to the moving body detecting the object, and the movement path determination unit may determine the movement path of the moving body further based on the position of the moving body when the moving body detects the object.

In any of the information processing devices, the geofence setting unit may set a plurality of the geofences, and the mobile body management unit may manage the plurality of mobile bodies so that each of the plurality of mobile bodies is located in one of the plurality of geofences.

Any of the information processing devices may further include a situation determination unit that determines a situation within an imaging area of the captured image. The mobile object management unit may determine the number of the mobile objects located in each of the multiple geofences based on the situation within the imaging area determined by the situation determination unit.

In any of the information processing devices, the situation determination unit may determine the number of predetermined objects present in each of the plurality of geofences set by the geofence setting unit, and the mobile body management unit may determine the number of the mobile bodies located in each of the plurality of geofences based on the number of the objects present in each of the plurality of geofences.

Any of the information processing devices may further include a movement path determination unit that determines a movement path for each of the multiple moving bodies based on the positions of each of the multiple moving bodies determined by the position determination unit and the situation within the imaging area determined by the situation determination unit, such that the number of the moving bodies located in each of the multiple geofences becomes the number of moving bodies determined by the moving body management unit. The moving body management unit may manage the multiple moving bodies such that each of the multiple moving bodies moves along the movement path for the moving body determined by the movement path determination unit.

Any of the information processing devices may further include an information storage unit that stores performance information indicating the performance of the moving body. The movement path determination unit may determine the movement path for each of the multiple moving bodies based further on the performance information for each of the multiple moving bodies stored in the information storage unit.

In any of the information processing devices, the information processing device may be mounted on a moving body, and the geofence setting unit may reset the geofence in response to the moving body on which the information processing device is mounted moving a predetermined distance.

Any of the information processing devices may further include a receiving unit that receives a management instruction to manage another moving object managed by another information processing device, and a moving object management unit that manages the other moving object by starting management of the other moving object in response to the other moving object being positioned within the imaging area of the captured image.

In any of the information processing devices, the mobile body management unit may manage the mobile body, which is an underwater vehicle, by transmitting a mobile body control signal to the mobile body via optical camera communication.

In any of the information processing devices, the mobile object management unit may manage the mobile object by transmitting a mobile object control signal to the mobile object, which is a vehicle, a ship, or a robot, via radio communication.

Any of the information processing devices may further include a situation determination unit that determines a situation within an imaging area of the captured image by determining whether or not the moving object can be identified from the captured image, and a mobile object management unit that manages the moving object by controlling the moving object to output the light signal from the light source at a predetermined first frequency when the situation determination unit determines that the moving object can be identified from the captured image, and by controlling the moving object to output the light signal from the light source at a predetermined second frequency that is higher than the first frequency when the situation determination unit determines that the moving object cannot be identified from the captured image.

According to one embodiment of the present invention, a program may be provided for causing a computer to function as the information processing device.

According to one embodiment of the present invention, a system may be provided. The system may include the information processing device. The system may include the mobile object.

According to one embodiment of the present invention, an information processing method executed by a computer may be provided. The control method may include an imaging step of imaging light output from a light source mounted on a moving body. The control method may include an identification information determination step of analyzing the light captured in the imaging step using optical camera communication technology to obtain an optical signal, and determining identification information of the moving body from the obtained optical signal. The control method may include a position determination step of determining a position of the moving body based on an image captured in the imaging step. The control method may include a registration step of registering the identification information of the moving body determined in the identification information determination step and the position of the moving body determined in the position determination step in association with each other.

The above summary of the invention does not list all of the necessary features of the present invention. Also, subcombinations of these features may also be inventions.

1 illustrates a schematic diagram of an example of a system 10. FIG. 11 is an explanatory diagram for explaining an example in which an information processing device 150 sets a geofence for a moving object. FIG. 11 is an explanatory diagram for explaining another example in which the information processing device 150 sets a geofence for a moving object. 10 is an explanatory diagram for explaining an example in which an information processing device 150 determines a movement route of a moving object. FIG. FIG. 11 is an explanatory diagram for explaining another example in which the information processing device 150 determines a movement path of a moving object. FIG. 11 is an explanatory diagram for explaining another example in which the information processing device 150 determines a movement path of a moving object. FIG. 11 is an explanatory diagram for explaining another example in which the information processing device 150 sets a geofence for a moving object. Another example of the system 10 is shown diagrammatically. Another example of the system 10 is shown diagrammatically. Another example of the system 10 is shown diagrammatically. FIG. 11 is an explanatory diagram for explaining another example in which the information processing device 150 determines a movement path of a moving object. FIG. 11 is an explanatory diagram for explaining another example in which the information processing device 150 determines a movement path of a moving object. Another example of the system 10 is shown diagrammatically. Another example of the system 10 is shown diagrammatically. 2 illustrates an example of a functional configuration of an information processing device 150. 10 is an explanatory diagram for explaining an example of a processing flow of the information processing device 150. FIG. 1 shows an example of a hardware configuration of a computer 1200 functioning as the information processing device 150.

Since self-location estimation technology using radio waves, such as self-location estimation technology using the Global Navigation Satellite System (GNSS) or self-location estimation technology using base station information, cannot be used underwater, a geofence system cannot be constructed underwater. In one embodiment of the system 10, for example, the information processing device 150 uses a camera to look down on an underwater vehicle such as an ROV (Remotely Operated Vehicle) or an AUV (Autonomous Underwater Vehicle) from a bird's-eye view and monitors the movement status of the underwater vehicle using optical camera communication technology. The information processing device 150 then sets the camera's angle of view or a predetermined area within the camera's angle of view as a geofence for the underwater vehicle, and when there is a risk that the underwater vehicle will move outside the set geofence, controls the underwater vehicle so that it does not move outside the geofence by transmitting a control signal via optical camera communication, laser communication, or acoustic communication. This allows the information processing device 150 to build a geofence for the underwater vehicle in water where self-position estimation technology using radio waves cannot be used, and control the range of movement of the underwater vehicle.

The present invention will be described below through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

FIG. 1 shows a schematic diagram of an example of a system 10. The system 10 may include an information processing device 150 and a mobile object 200. The system 10 may include a plurality of mobile objects 200.

The information processing device 150 may process various types of information. The information processing device 150 may process various types of information, for example, to use optical camera communication technology.

An example of communication between a transmitter and a receiver in Optical Camera Communication is as follows: The transmitter encodes the transmission data into binary data of 1s and 0s, and transmits the binary data to the receiver as an optical signal using a light source. The receiver uses a camera to capture the light output by the transmitter's light source, analyzes the captured light to obtain an optical signal that is binary data, and receives the transmission data from the transmitter by decoding the obtained optical signal.

In optical camera communication, for example, a state in which the transmitter's light source is on may correspond to a 1 in the optical signal, and a state in which the transmitter's light source is off may correspond to a 0 in the optical signal. In optical camera communication, a state in which the transmitter's light source is on may correspond to a 0 in the optical signal, and a state in which the transmitter's light source is off may correspond to a 1 in the optical signal.

In optical camera communication, for example, a state in which the received light intensity of the light output by the transmitter's light source and received by the receiver is higher than a predetermined received light intensity threshold may correspond to 1 in the optical signal, and a state in which the received light intensity is lower than the received light intensity threshold may correspond to 0 in the optical signal. In optical camera communication, a state in which the received light intensity is higher than the received light intensity threshold may correspond to 0 in the optical signal, and a state in which the received light intensity is lower than the received light intensity threshold may correspond to 1 in the optical signal.

One advantage of optical camera communication is that it allows many-to-many communication, since the receiver can simultaneously communicate with all transmitters whose light has been captured by the camera. Another advantage of optical camera communication is that it allows transmitters and receivers to be constructed at low cost, since communication is achieved between the transmitter and receiver by combining an inexpensive light source such as an LED (Light Emitting Diode) with a general camera, compared to conventional optical wireless communication that uses a photodiode (PD) and a photomultiplier tube to obtain an optical signal on the receiver side.

The communication speed of optical camera communication may depend on the frame rate of the camera mounted on the receiver. For example, if the frame rate of the camera mounted on the receiver is 30 fps (frames per second), the communication speed of optical camera communication is 30 bps (bits per second).

The mobile body 200 may be any mobile body that is capable of outputting the optical signal 220 using the light source 210. The mobile body 200 may be, for example, an underwater vehicle such as an ROV or an AUV. The mobile body 200 may be, for example, a vehicle such as a tiller or a rice transplanter. The mobile body 200 may be, for example, a ship such as a fishing boat or a merchant ship. The mobile body 200 may be a robot such as a vacuum cleaner robot or a security robot.

The optical signal 220 may include, for example, identification information that identifies the moving body 200. The optical signal 220 may also include remaining battery information that indicates the remaining battery capacity of the battery installed in the moving body 200.

In FIG. 1, an example will be mainly described in which the information processing device 150 is mounted on a moving body 100 placed on the ocean surface, and the moving body 200 is an underwater vehicle. Here, it is assumed that the moving body 200 is used for the purpose of preventing coastal barrenness.

The moving body 100 may have a light source 110 and an imaging unit 130. The moving body 100 may further have an information processing device 150.

The light source 110 may output light. For example, if the imaging unit 230 of the moving body 200 is a visible light camera, the light source 110 may output light with a wavelength in the visible light region. For example, if the imaging unit 230 of the moving body 200 is an infrared camera, the light source 110 may output light with a wavelength in the infrared region.

The light source 110 may be, for example, an LED. The light source 110 may also be a laser.

The imaging unit 130 may capture an image. For example, the imaging unit 130 may capture an image including light output from a light source 210 mounted on the moving body 200.

The captured image may be, for example, a moving image. The captured image may also be a still image.

The imaging unit 130 may be, for example, a visible light camera when the light source 210 of the moving body 200 outputs light with a wavelength in the visible light region. The imaging unit 130 may be, for example, an infrared camera when the light source 210 of the moving body 200 outputs light with a wavelength in the infrared region.

For example, the information processing device 150 may receive the optical signal 220 from the moving body 200 using optical camera communication technology. The information processing device 150 may receive the optical signal 220 from the moving body 200, for example, by analyzing the light of the light source 210 of the moving body 200 captured by the imaging unit 130 to obtain the optical signal 220. The information processing device 150 may determine the identification information of the moving body 200 from the received optical signal 220. Furthermore, the information processing device 150 may determine the position of the moving body 200 based on the captured image in which the imaging unit 130 captures the light of the light source 210. The information processing device 150 may register the identification information of the moving body 200 and the position of the moving body 200 in association with each other.

The information processing device 150 may, for example, set a geofence for the moving body 200 based on the captured image. A geofence is an area surrounded by virtual boundaries.

The information processing device 150 may, for example, set the imaging area 140 of the captured image as the geofence of the moving body 200. The information processing device 150 may set a portion of the imaging area 140 of the captured image as the geofence of the moving body 200.

The information processing device 150 may, for example, manage the moving body 200. The information processing device 150 may, for example, manage the moving body 200 whose identification information and location are associated and registered. The information processing device 150 may, for example, manage the moving body 200 so that the moving body 200 is located in a geofence.

The information processing device 150 may manage the moving body 200, for example, by transmitting an optical signal 120 to the moving body 200 using the light source 110. The moving body 200 may perform various operations based on the optical signal 120 received from the information processing device 150. The moving body 200 may receive the optical signal 120 from the information processing device 150, for example, by analyzing the light of the light source 110 captured by the imaging unit 230 to obtain the optical signal 120.

When the moving body 200 detects an object 50 to be collected by the moving body 200 using a detection unit such as an imaging device or LiDAR (Light Detection and Ranging) that the moving body 200 has, the moving body 200 may collect the object 50 using a collection unit that the moving body 200 has. The moving body 200 may store the collected object 50 in a storage unit that the moving body 200 has.

The objects 50 to be collected by the mobile body 200 may vary depending on the use of the mobile body 200. When the mobile body 200 is used for the purpose of preventing sea erosion, the objects 50 to be collected by the mobile body 200 may be herbivorous animals such as sea urchins and abalone. When the mobile body 200 is used for the purpose of cleaning up seas and rivers, the objects 50 to be collected by the mobile body 200 may be garbage such as plastics, bottles, and cans. When the mobile body 200 is used for the purpose of catching marine products, the objects 50 to be collected by the mobile body 200 may be marine products such as shellfish and seaweed. When the mobile body 200 is used for the purpose of mining marine mineral resources, the objects 50 to be collected by the mobile body 200 may be marine mineral resources such as manganese nodules and cobalt-rich crusts.

The information processing device 150 may be a host that provides a mobility management service that manages mobility to the mobile body 200. The mobile body 200 may be a client that receives the mobility management service from the information processing device 150.

Conventional systems determine the position of a mobile body by receiving the results of the mobile body's self-location estimation using radio wave self-location estimation technology, such as self-location estimation technology using GNSS or self-location estimation technology using base station information. In conventional systems, the accuracy of the mobile body's self-location estimation decreases when the radio wave environment around the mobile body is poor, so there are cases where the mobile body's position cannot be determined with high accuracy. In particular, radio waves are significantly attenuated underwater, so conventional systems cannot determine the position of the mobile body with high accuracy when the mobile body is located underwater.

In contrast, according to the system 10 according to one embodiment, the information processing device 150 uses optical camera communication technology to analyze the light of the light source 210 captured by the imaging unit 130 to obtain the optical signal 220, and determines the identification information of the moving body 200 from the obtained optical signal 220. Furthermore, the information processing device 150 determines the position of the moving body 200 based on the captured image in which the imaging unit 130 captures the light of the light source 210. Since the information processing device 150 determines the position of the moving body 200 from the captured image in which the imaging unit 130 captures the light of the light source 210, even if the radio wave environment around the moving body 200 is poor, the position of the moving body 200 can be determined with high accuracy. In particular, the information processing device 150 can determine the position of the moving body 200 with high accuracy even if the moving body 200, which is an underwater vehicle, is located underwater. Furthermore, since the information processing device 150 uses optical camera communication technology to analyze the light of the light source 210 captured by the imaging unit 130 to obtain the optical signal 220, there is no need to provide a separate member to receive a signal from the moving body 200. Therefore, the system 10 according to one embodiment can receive the information necessary to determine the position of the moving body 200 from the moving body 200 with a simple overall system configuration, and can determine the position of the moving body 200 with high accuracy even when the radio wave environment around the moving body 200 is poor.

Figure 2 is an explanatory diagram for explaining an example in which the information processing device 150 sets a geofence for a moving body. Figure 2 mainly explains an example in which the information processing device 150 sets a geofence for the moving body 202 and the moving body 204, which are underwater vehicles.

2(a), the imaging unit 130 may capture light output from the light source 212 of the moving body 202 and light output from the light source 214 of the moving body 204. The information processing device 150 may analyze the light of the light source 212 captured by the imaging unit 130 to obtain an optical signal 222, and may analyze the light of the light source 214 captured by the imaging unit 130 to obtain an optical signal 224. Furthermore, the information processing device 150 may determine the position of the moving body 202 and the position of the moving body 204 based on the captured images captured by the imaging unit 130.

The information processing device 150 may set a geofence for each of the moving body 202 and the moving body 204, for example, based on the position of the moving body 202 and the position of the moving body 204. As shown in the example of FIG. 2B, the information processing device 150 may set a geofence 302 for the moving body 202 and a geofence 304 for the moving body 204.

Figure 3 is an explanatory diagram for explaining another example in which the information processing device 150 sets a geofence for a moving object. Figure 3 mainly explains an example in which the information processing device 150 sets a geofence based on the position of an object.

3A, the imaging unit 130 may capture images of the light output from the light source 212 of the moving body 202, which is an underwater vehicle, the light output from the light source 214 of the moving body 204, which is an underwater vehicle, the light output from the light source 216 of the moving body 206, which is an underwater vehicle, and seven objects. The information processing device 150 may analyze the light of the light source 212 captured by the imaging unit 130 to obtain an optical signal 222, analyze the light of the light source 214 captured by the imaging unit 130 to obtain an optical signal 224, and analyze the light of the light source 216 captured by the imaging unit 130 to obtain an optical signal 226. Furthermore, the information processing device 150 may determine the positions of each of the seven objects based on the captured images captured by the imaging unit 130.

The information processing device 150 may set a geofence based on the positions of each of the seven objects, for example. Here, the explanation will continue assuming that the information processing device 150 sets two geofences.

The information processing device 150 may set two geofences, for example, by classifying seven objects into two clusters based on the respective positions of the seven objects. For example, the information processing device 150 may classify the seven objects shown in the example of FIG. 3(a) into a first cluster consisting of two objects 52 located in the upper left and a second cluster consisting of five objects 54 located in the lower right, and set the first geofence to include the two objects 52 of the first cluster and the second geofence to include the five objects 54 of the second cluster. As shown in the example of FIG. 3(b), the information processing device 150 may set a geofence 312 to include the two objects 52 of the first cluster and set a geofence 314 to include the five objects 54 of the second cluster.

Figure 4 is an explanatory diagram for explaining an example in which the information processing device 150 determines the movement paths of the moving bodies. Figure 4 mainly explains an example in which the information processing device 150 determines the movement paths of the moving bodies 202, 204, and 206, which are underwater vehicles.

4A, the image capturing unit 130 may capture the light output from the light source 212 of the moving body 202, the light output from the light source 214 of the moving body 204, the light output from the light source 216 of the moving body 206, and seven objects. The information processing device 150 may analyze the light of the light source 212 captured by the image capturing unit 130 to obtain the light signal 222, analyze the light of the light source 214 captured by the image capturing unit 130 to obtain the light signal 224, and analyze the light of the light source 216 captured by the image capturing unit 130 to obtain the light signal 226. Furthermore, the information processing device 150 may determine the position of the moving body 202, the position of the moving body 204, and the position of the moving body 206 based on the captured image captured by the image capturing unit 130.

Also, as shown in the example of FIG. 4(a), the information processing device 150 may set the geofence 312 to include two objects 52, and set the geofence 314 to include five objects 54. The information processing device 150 may determine the number of moving objects to be assigned to each of the geofences 312 and 314, for example, based on the number of objects present in each of the geofences 312 and 314. Here, the explanation will be continued assuming that the information processing device 150 has determined to assign one moving object to the geofence 312 and two moving objects to the geofence 314.

The information processing device 150 may determine candidate movement routes for each of the mobile body 202, the mobile body 204, and the mobile body 206 to move to the geofence 312 based on the position of the mobile body 202, the position of the mobile body 204, the position of the mobile body 206, and the position of the geofence 312. As shown in the example of (a) in FIG. 4, the information processing device 150 may determine that the candidate movement route for the mobile body 202 to move to the geofence 312 is candidate movement route R1, the candidate movement route for the mobile body 204 to move to the geofence 312 is candidate movement route R3, and the candidate movement route for the mobile body 206 to move to the geofence 312 is candidate movement route R5.

Similarly, the information processing device 150 may determine candidate movement routes for each of the mobile body 202, the mobile body 204, and the mobile body 206 to move to the geofence 314 based on the position of the mobile body 202, the position of the mobile body 204, the position of the mobile body 206, and the position of the geofence 314. As shown in the example of (a) in FIG. 4, the information processing device 150 may determine that the candidate movement route for the mobile body 202 to move to the geofence 314 is candidate movement route R2, the candidate movement route for the mobile body 204 to move to the geofence 314 is candidate movement route R4, and the candidate movement route for the mobile body 206 to move to the geofence 314 is candidate movement route R6.

The information processing device 150 may determine, for example, the cost required for the moving body 202 to move along each of the candidate movement routes R1 and R2, the cost required for the moving body 204 to move along each of the candidate movement routes R3 and R4, and the cost required for the moving body 206 to move along each of the candidate movement routes R5 and R6. The table below shows an example of the cost required for the moving body 202 to move along each of the candidate movement routes R1 and R2, the cost required for the moving body 204 to move along each of the candidate movement routes R3 and R4, and the cost required for the moving body 206 to move along each of the candidate movement routes R5 and R6.

Here, an example will be described in which, in a case where one moving body is assigned to geofence 312 and two moving bodies are assigned to geofence 314, the information processing device 150 determines the movement paths of each of moving body 202, moving body 204, and moving body 206 based on the above table.

The information processing device 150 may determine a total cost, which is the sum of the costs required for each of the mobile units 202, 204, and 206 to move along the candidate movement paths, for three combinations: a combination of assigning the mobile unit 202 to the geofence 312 and assigning the mobile units 204 and 206 to the geofence 314; a combination of assigning the mobile unit 204 to the geofence 312 and assigning the mobile units 202 and 206 to the geofence 314; and a combination of assigning the mobile unit 206 to the geofence 312 and assigning the mobile units 202 and 204 to the geofence 314. In a combination of allocating the mobile body 202 to the geofence 312 and allocating the mobile body 204 and the mobile body 206 to the geofence 314, the candidate movement route of the mobile body 202 is the candidate movement route R1, the candidate movement route of the mobile body 204 is the candidate movement route R4, and the candidate movement route of the mobile body 206 is the candidate movement route R6, so the information processing device 150 may determine that the total cost of the combination is 5 + 2 + 1 = 8. In a combination of allocating the mobile body 204 to the geofence 312 and allocating the mobile body 202 and the mobile body 206 to the geofence 314, the candidate movement route of the mobile body 202 is the candidate movement route R2, the candidate movement route of the mobile body 204 is the candidate movement route R3, and the candidate movement route of the mobile body 206 is the candidate movement route R6, so the information processing device 150 may determine that the total cost of the combination is 3 + 3 + 1 = 7. In the combination of assigning the mobile unit 206 to the geofence 312 and the mobile units 202 and 204 to the geofence 314, the candidate movement route of the mobile unit 202 is the candidate movement route R2, the candidate movement route of the mobile unit 204 is the candidate movement route R4, and the candidate movement route of the mobile unit 206 is the candidate movement route R5, so the information processing device 150 may determine that the total cost of the combination is 3 + 2 + 5 = 10.

Next, the information processing device 150 may determine the combination with the smallest total cost among the three combinations. Here, the information processing device 150 may determine that the combination with the smallest total cost is one in which the mobile unit 204 is assigned to the geofence 312 and the mobile units 202 and 206 are assigned to the geofence 314.

Then, the information processing device 150 may determine the candidate movement routes of the moving body 202, the moving body 204, and the moving body 206 corresponding to the combination with the smallest total cost as the movement routes of the moving body 202, the moving body 204, and the moving body 206, respectively. As shown in the example of FIG. 4(b), the information processing device 150 may determine that the movement route of the moving body 202 is the movement route R2, the movement route of the moving body 204 is the movement route R3, and the movement route of the moving body 206 is the movement route R6.

Figure 5 is an explanatory diagram for explaining another example in which the information processing device 150 determines the movement path of a moving body. As shown in the example of Figure 5, the imaging unit 130 may capture light output from a light source 210 of the moving body 200, which is an underwater vehicle. The information processing device 150 may analyze the light of the light source 210 captured by the imaging unit 130 to obtain an optical signal 220.

The information processing device 150 may, for example, determine the position of the moving body 200 based on the captured image captured by the imaging unit 130, and determine a movement path 400 along which the moving body 200 moves within the geofence 300 based on the determined position of the moving body 200. The information processing device 150 may, for example, determine the movement path 400 so that the moving body 200 moves through the entire geofence 300.

The information processing device 150 may manage the moving body 200 so that the moving body 200 moves along the movement path 400 within the geofence 300. For example, when there is a risk that the moving body 200 may move outside the geofence 300 or when there is a risk that the moving body 200 may move off the movement path 400, the information processing device 150 may manage the moving body 200 so that the moving body 200 moves along the movement path 400 within the geofence 300 by causing the light source 110 to output the light signal 120. The moving body 200 may acquire the light signal 120 by analyzing the light of the light source 110 captured by the imaging unit 230. The moving body 200 may move along the movement path 400 within the geofence 300 based on the acquired light signal 120.

The light signal 120 may include, for example, a warning signal. The warning signal may be, for example, a signal that warns that the moving body 200 may move outside the geofence 300. The warning signal may be a signal that warns that the moving body 200 may move outside the movement path 400. The light signal 120 may include a moving body control signal that controls the moving body 200. The moving body control signal may include, for example, a movement direction control signal that controls the movement direction of the moving body 200. The moving body control signal may include, for example, a movement speed control signal that controls the movement speed of the moving body 200. The moving body control signal may include a movement stop signal that stops the movement of the moving body 200.

Figure 6 is an explanatory diagram for explaining another example in which the information processing device 150 determines the movement path of a moving object. In Figure 6, differences from Figure 5 are mainly explained.

As shown in the example of FIG. 6, the imaging unit 130 may capture light output from a light source 210 of the moving body 200 and three objects. The information processing device 150 may analyze the light of the light source 210 captured by the imaging unit 130 to obtain an optical signal 220. The optical signal 220 may be output from the light source 210 in response to the moving body 200 detecting an object 50 using a detection unit, for example.

The information processing device 150 may, for example, determine the position of the moving body 200 and the positions of each of the three objects 50 based on the captured image captured by the imaging unit 130, and determine a movement path 400 along which the moving body 200 moves within the geofence 300 based on the determined position of the moving body 200 and the positions of each of the three objects 50. The information processing device 150 may, for example, determine the movement path 400 so that the moving body 200 can collect the objects 50 within the geofence 300 via the shortest route.

Figure 7 is an explanatory diagram for explaining another example in which the information processing device 150 sets a geofence for a moving body. As shown in the example of Figure 7, the information processing device 150 sets a geofence 302 for the moving body 202, which is an underwater vehicle, sets a geofence 304 for the moving body 204, which is an underwater vehicle, and sets a geofence 306 for the moving body 206, which is an underwater vehicle.

As shown in the example of FIG. 7, the imaging unit 130 may capture light output from the light source 212 of the moving body 202, light output from the light source 214 of the moving body 204, and light output from the light source 216 of the moving body 206. The information processing device 150 may analyze the light of the light source 212 captured by the imaging unit 130 to obtain an optical signal 222, analyze the light of the light source 214 captured by the imaging unit 130 to obtain an optical signal 224, and analyze the light of the light source 216 captured by the imaging unit 130 to obtain an optical signal 226. Furthermore, the information processing device 150 may determine the position of the moving body 202, the position of the moving body 204, and the position of the moving body 206 based on the captured image captured by the imaging unit 130.

The information processing device 150 may, for example, divide each of the geofences 302, 304, and 306 into a plurality of sub-geofences. As shown in an example of FIG. 7, the information processing device 150 may divide the geofence 302 into ten sub-geofences, namely, sub-geofence 1-1, sub-geofence 1-2, sub-geofence 2-1, sub-geofence 2-2, sub-geofence 3-1, sub-geofence 3-2, sub-geofence 4-1, sub-geofence 4-2, sub-geofence 5-1, and sub-geofence 5-2. Also, as shown in an example of FIG. 7, the information processing device 150 may divide the geofence 304 into nine sub-geofences, namely, sub-geofence 1-3, sub-geofence 1-4, sub-geofence 1-5, sub-geofence 2-3, sub-geofence 2-4, sub-geofence 2-5, sub-geofence 3-3, sub-geofence 3-4, and sub-geofence 3-5. Also, as shown in the example of FIG. 7, the information processing device 150 may divide the geofence 306 into six sub-geofences: sub-geofence 4-3, sub-geofence 4-4, sub-geofence 4-5, sub-geofence 5-3, sub-geofence 5-4, and sub-geofence 5-5.

The information processing device 150 may determine a movement path along which the moving body 200 moves within the geofence 302, for example, based on the position of the moving body 202 and the positions of each of the 10 sub-geofences within the geofence 302. The information processing device 150 may determine a movement path for the moving body 202, for example, so that the moving body 202 moves through sub-geofence 1-1, sub-geofence 2-1, sub-geofence 3-1, sub-geofence 4-1, sub-geofence 5-1, sub-geofence 5-2, sub-geofence 4-2, sub-geofence 3-2, sub-geofence 2-2, sub-geofence 2-1, and sub-geofence 1-1 in that order.

The information processing device 150 may determine the movement path of the moving body 204 based on the position of the moving body 204 and the positions of each of the nine sub-geofences in the geofence 304 in the same manner as when determining the movement path of the moving body 202. Also, the information processing device 150 may determine the movement path of the moving body 206 based on the position of the moving body 206 and the positions of each of the six sub-geofences in the geofence 306 in the same manner as when determining the movement path of the moving body 202.

For example, when the moving body 202 collects the object 50 using the collection unit, the moving body 202 may output the light signal 222 using the light source 212. The information processing device 150 may determine the sub-geofence when the moving body 202 collected the object 50 based on the captured image in which the imaging unit 130 captures the light of the light source 212.

Figure 8 shows a schematic diagram of another example of the system 10. In Figure 8, differences from Figure 1 are mainly explained. Here, it is assumed that the information processing device 150 has set a geofence on the mobile object 200.

As shown in the example of FIG. 8, the mobile body 100 equipped with the information processing device 150 is moving from left to right. The information processing device 150 may reset the geofence of the mobile body 200 in response to the movement of the mobile body 100. The information processing device 150 may reset the geofence of the mobile body 200 in response to the mobile body 100 moving a predetermined distance, for example.

Figure 9 shows a schematic diagram of another example of the system 10. In Figure 9, differences from Figures 1 and 8 will be mainly described. Here, it is assumed that an information processing device 152 mounted on a moving body 102 manages a moving body 200 located within an imaging area 142 of an image captured by an imaging unit 132 of the moving body 102.

As shown in the example of FIG. 9, the mobile body 200 is moving from left to right. The information processing device 152 may, for example, transmit a management instruction to the information processing device 154 mounted on the mobile body 104 to instruct the mobile body 200 to be managed.

The information processing device 152 may transmit management instructions to the information processing device 154, for example, via radio wave communication. The information processing device 152 may transmit management instructions to the information processing device 154, for example, via direct wireless communication. The direct wireless communication may be in accordance with wireless communication systems such as Wi-Fi (registered trademark), microwave, optical communication, Bluetooth (registered trademark), and ZigBee (registered trademark).

The information processing device 152 may transmit a management instruction to the information processing device 154 via mobile communication. The mobile communication may conform to, for example, a 5G (5th Generation) communication system. The mobile communication may conform to a mobile communication system after the 6G (6th Generation) communication system. The mobile communication may conform to a 3G (3rd Generation) communication system. The mobile communication may conform to an LTE (Long Term Evolution) communication system. 152 may transmit a management instruction to the information processing device 154 via wired communication.

When the information processing device 154 receives a management instruction from the information processing device 152, the information processing device 154 may start managing the moving body 200 in response to the moving body 200 being positioned within the imaging area 144 of the captured image captured by the imaging unit 134 of the moving body 104. In this case, the information processing device 154 may transmit a management start notification to the information processing device 152 notifying that management of the moving body 200 has started. The information processing device 152 may end management of the moving body 200 in response to receiving the management start notification from the information processing device 154.

Figure 10 shows a schematic diagram of another example of the system 10. In Figure 10, differences from Figures 1, 8, and 9 are mainly described.

As shown in the example of FIG. 10, the information processing device 150 may be mounted on a mobile body 100 that is an unmanned aerial vehicle flying in the sky. Also, as shown in the example of FIG. 10, the mobile body 200 may be a tiller.

The information processing device 150 may transmit a warning signal or a mobile body control signal to the mobile body 200, for example, via radio wave communication. The information processing device 150 may transmit a warning signal or a mobile body control signal to the mobile body 200, for example, via direct wireless communication. The information processing device 150 may transmit a warning signal or a mobile body control signal to the mobile body 200 via mobile communication.

The information processing device 150 may determine whether or not to cause the light source 210 of the moving body 200 to output the optical signal 220 depending on, for example, the time of day. If the information processing device 150 does not cause the light source 210 to output the optical signal 220, it may receive identification information of the moving body 200 from the moving body 200 via radio communication.

When the information processing device 150 determines to cause the light source 210 of the moving body 200 to output the optical signal 220, the information processing device 150 may transmit to the moving body 200 a moving body control signal including an output start signal that causes the light source 210 to start outputting the optical signal 220. When the information processing device 150 determines not to cause the light source 210 of the moving body 200 to output the optical signal 220, the information processing device 150 may transmit to the moving body 200 a moving body control signal including an output stop signal that causes the light source 210 to stop outputting the optical signal 220.

FIG. 11 is an explanatory diagram for explaining another example in which the information processing device 150 determines the movement path of a moving body. As shown in the example of FIG. 11, the imaging unit 130 may capture an image of the light output from the light source 210 of the moving body 200, which is a tiller, and an obstacle 80. The information processing device 150 may analyze the light of the light source 210 captured by the imaging unit 130 to obtain an optical signal 220.

The information processing device 150 may, for example, determine the position of the moving body 200 based on the captured image captured by the imaging unit 130, and determine a movement path 400 along which the moving body 200 moves within the geofence 300 based on the determined position of the moving body 200. The information processing device 150 may, for example, determine the movement path 400 so that the moving body 200 plowing around the entire geofence 300.

The information processing device 150 may further determine the position of the obstacle 80 based on the captured image, and may determine a movement path 400 along which the moving body 200 moves within the geofence 300 based on the determined position of the obstacle 80. For example, the information processing device 150 may determine the movement path 400 so that the moving body 200 plowing around the entire geofence 300 while avoiding the obstacle 80.

Figure 12 is an explanatory diagram for explaining another example in which the information processing device 150 determines the movement path of a moving object. In Figure 12, differences from Figure 11 will be mainly explained.

As shown in the example of FIG. 12, the imaging unit 130 may capture images of the light output from the light source 210 of the moving body 200, the unplowed area where plowing has not been performed, the plowing back area where plowing is being performed, and the obstacle 80. The information processing device 150 may, for example, determine the position of the moving body 200 and the position of the unplowed area based on the captured image captured by the imaging unit 130, and determine a movement path 400 along which the moving body 200 moves within the geofence 300 based on the determined position of the moving body 200 and the position of the unplowed area. The information processing device 150 may, for example, determine the movement path 400 so that the moving body 200 can plow the unplowed area within the geofence 300 via the shortest route.

Figure 13 shows a schematic diagram of another example of the system 10. Figure 13 differs from Figure 10 in that the mobile body 200 is a ship.

Figure 14 shows a schematic diagram of another example of the system 10. Figure 14 differs from Figure 10 in that the information processing device 150 is installed on the ground, the imaging unit 130 is installed on the ceiling of a room, an office, or the like, and the moving body 200 is a robot vacuum cleaner.

Figure 15 shows an example of a schematic functional configuration of the information processing device 150. The information processing device 150 may include a light source 110, an imaging unit 130, an information storage unit 162, an identification information determination unit 166, a position determination unit 168, a registration unit 170, a geofence setting unit 172, a mobile object management unit 174, a receiving unit 175, a situation determination unit 176, a movement path determination unit 178, and a transmitting unit 180. Note that it is not essential that the information processing device 150 has all of these configurations.

The information storage unit 162 may store various types of information. For example, the information storage unit 162 may store images captured by the imaging unit 130.

The information storage unit 162 may store, for example, performance information indicating the performance of the moving body 200. The performance information may include, for example, maximum speed information indicating the maximum speed of the moving body 200. The performance information may include, for example, battery capacity information indicating the battery capacity of a battery mounted on the moving body 200. The performance information may include storage capacity information indicating the storage capacity of a storage unit possessed by the moving body 200. The information storage unit 162 may include object information indicating an object. The object indicated by the object information may be, for example, an object to be collected by the moving body 200.

The identification information determination unit 166 may determine the identification information of the moving body 200. The identification information determination unit 166 may determine the identification information of the moving body 200, for example, using the captured image stored in the information storage unit 162. The identification information determination unit 166 may, for example, use optical camera communication technology to analyze the light of the light source 210 of the moving body 200 captured by the imaging unit 130 to obtain the optical signal 220 of the moving body 200, and determine the identification information of the moving body 200 from the obtained optical signal 220. The identification information determination unit 166 may, for example, analyze the light of each of the light sources 210 of the multiple moving bodies 200 captured by the imaging unit 130, respectively, to obtain the optical signal 220 of each of the multiple moving bodies 200, and determine the identification information of each of the multiple moving bodies 200 from each of the obtained optical signals 220.

The identification information determination unit 166 may, for example, determine the remaining battery capacity information of the moving body 200 from the acquired optical signal 220. The identification information determination unit 166 may store the determined remaining battery capacity information of the moving body 200 in the information storage unit 162.

The position determination unit 168 may determine the position of an object based on the captured image stored in the information storage unit 162. The position determination unit 168 may determine the position of an object, for example, by performing an image analysis process on the captured image. The position determination unit 168 may determine the position of each of a plurality of objects, for example, based on the captured image.

The position determination unit 168 may determine the position of the moving body 200 based on the captured image. The position determination unit 168 may determine the position of the moving body 200, for example, by determining the position of light output from a light source 210 mounted on the moving body 200 included in the captured image. If the moving body 200 can be identified from the captured image, the position determination unit 168 may determine the position of the moving body 200 by determining the position of the moving body 200 included in the captured image. If an object indicated by the object information stored in the information storage unit 162 is included in the captured image, the position determination unit 168 may determine the position of the object within the captured area of the captured image based on the captured image.

The registration unit 170 may register the identification information of the moving body 200 determined by the identification information determination unit 166 in the information storage unit 162. The registration unit 170 may, for example, associate the identification information of the moving body 200 with the position of the moving body 200 determined by the position determination unit 168 and register it in the information storage unit 162.

The geofence setting unit 172 may set a geofence based on the captured image stored in the information storage unit 162. The geofence setting unit 172 may set multiple geofences based on the captured image, for example. The geofence setting unit 172 may divide the set geofence into multiple sub-geofences.

The geofence setting unit 172 may, for example, set the imaging area of the captured image as a geofence. The geofence setting unit 172 may set a part of the imaging area of the captured image as a geofence.

The geofence setting unit 172 may set a geofence, for example, further based on the position of the moving body 200 determined by the position determination unit 168. The geofence setting unit 172 may set the geofence so as to include the position of the moving body 200.

The geofence setting unit 172 may set a geofence, for example, based further on the position of the object determined by the position determination unit 168. The geofence setting unit 172 may set a geofence, for example, to include the object.

The geofence setting unit 172 may set a geofence, for example, based further on the positions of each of the plurality of objects determined by the position determination unit 168. The geofence setting unit 172 may set one geofence, for example, to include the plurality of objects.

The geofence setting unit 172 may set multiple geofences based further on the respective positions of the multiple objects determined by the position determination unit 168. For example, the geofence setting unit 172 may classify the multiple objects into multiple clusters based on the respective positions of the multiple objects, and set multiple geofences for each cluster so that objects of the same cluster are included. For example, the geofence setting unit 172 may classify the multiple objects into multiple clusters using the X-means algorithm.

The geofence setting unit 172 may determine the number of clusters according to, for example, the number of moving objects 200 located within the imaging area of the captured image. The geofence setting unit 172 may determine, for example, that the number of moving objects 200 located within the imaging area of the captured image is the number of clusters. In this case, the geofence setting unit 172 may classify multiple objects into clusters equal to the number of moving objects 200 located within the imaging area of the captured image using the K-means method.

The geofence setting unit 172 may reset the geofence. For example, the geofence setting unit 172 may reset the geofence in response to a predetermined period having elapsed since the last time the geofence was set. When the information processing device 150 is mounted on the mobile body 100, the geofence setting unit 172 may reset the geofence in response to the mobile body 100 mounting the information processing device 150 having moved a predetermined distance.

The mobile object management unit 174 may manage the mobile object 200. The mobile object management unit 174 may manage, for example, the mobile object 200 registered in the information storage unit 162 by the registration unit 170.

The mobile object management unit 174 may, for example, manage the mobile object 200 so that the mobile object 200 is located in a geofence set by the geofence setting unit 172. The mobile object management unit 174 may, for example, manage the multiple mobile objects 200 so that each of the multiple mobile objects 200 is located in one of the multiple geofences set by the geofence setting unit 172.

The mobile unit management unit 174 may, for example, manage the mobile unit 200 so that the mobile unit 200 moves to the geofence. The mobile unit management unit 174 may, for example, manage the mobile unit 200 so that the mobile unit 200 moves to the geofence by transmitting a mobile unit control signal to the mobile unit 200.

The mobile unit management unit 174 may manage the mobile unit 200 so that the mobile unit 200 moves within the geofence. The mobile unit management unit 174 may manage the mobile unit 200 so that the mobile unit 200 moves within the geofence based on the position of the mobile unit 200 determined by the position determination unit 168. For example, when the distance from the position of the mobile unit 200 to the geofence of the mobile unit 200 is shorter than a predetermined distance threshold, the mobile unit management unit 174 may transmit at least one of a warning signal and a mobile unit control signal to the mobile unit 200 to prevent the mobile unit 200 from moving outside the geofence.

For example, when the moving body 200 is an underwater vehicle, the moving body management unit 174 may manage the moving body 200 by transmitting at least one of a warning signal and a moving body control signal to the moving body 200 via optical camera communication. In this case, the moving body management unit 174 may cause the light source 110 to output an optical signal 120 including at least one of a warning signal and a moving body control signal.

For example, when the moving body 200 is a vehicle, a ship, or a robot, the moving body management unit 174 may manage the moving body 200 by transmitting at least one of a warning signal and a moving body control signal to the moving body 200 via mobile communication. In this case, the moving body management unit 174 may cause the transmission unit 180 to transmit a radio signal including at least one of a warning signal and a moving body control signal.

The mobile management unit 174 may manage the mobile unit 200 by determining whether or not to cause the light source 210 of the mobile unit 200 to output the optical signal 220 depending on the time period. The information processing device 150 may, for example, determine not to cause the light source 210 to output the optical signal 220 if the time period is included in a predetermined time period, and to cause the light source 210 to output the optical signal 220 if the time period is not included in the predetermined time period. The information processing device 150 may, for example, determine not to cause the light source 210 to output the optical signal 220 if the time period is a daytime period, and to cause the light source 210 to output the optical signal 220 if the time period is a nighttime period.

When the mobile unit management unit 174 determines that the light source 210 of the mobile unit 200 should output the optical signal 220, the mobile unit management unit 174 may transmit a mobile unit control signal including an output start signal to the mobile unit 200 via optical camera communication or mobile communication. When the mobile unit management unit 174 determines that the light source 210 of the mobile unit 200 should not output the optical signal 220, the mobile unit management unit 174 may transmit a mobile unit control signal including an output stop signal to the mobile unit 200 via optical camera communication or mobile communication. When the light source 210 of the mobile unit 200 does not output the optical signal 220, the identification information determination unit 166 may determine the identification information of the mobile unit 200 by receiving the identification information of the mobile unit 200 from the mobile unit 200 via mobile communication.

The receiving unit 175 may receive a management instruction to manage a mobile body 200 that is managed by another information processing device 150. The receiving unit 175 may receive a management instruction from, for example, another information processing device 150. The receiving unit 175 may also receive a management instruction from any other external device.

When the receiving unit 175 receives a management instruction, the mobile object management unit 174 may start managing the mobile object 200 indicated by the management instruction in response to the mobile object 200 indicated by the management instruction being positioned within the imaging area of the captured image stored in the information storage unit 162. In response to starting management of the mobile object 200 indicated by the management instruction, the mobile object management unit 174 may cause the transmitting unit 180 to transmit a management start notification so that other information processing devices 150 receive the management start notification.

The mobile object management unit 174 may cause another information processing device 150 to manage the mobile object 200 that is managed by the mobile object management unit 174. The mobile object management unit 174 may, for example, cause the transmission unit 180 to transmit a management instruction so that the other information processing device 150 receives the management instruction.

The situation determination unit 176 may determine the situation within the imaging area of the captured image stored in the information storage unit 162. The situation determination unit 176 may determine the situation within the imaging area of the captured image, for example, by performing an image analysis process on the captured image.

The situation determination unit 176 may determine the situation within the imaging area of the captured image, for example, by determining the number of objects included in the imaging area of the captured image and indicated by the object information stored in the information storage unit 162. The situation determination unit 176 may determine the situation within the imaging area of the captured image, for example, by determining the number of objects present in the geofences set by the geofence setting unit 172. The situation determination unit 176 may determine the situation within the imaging area of the captured image, for example, by determining the number of objects present in each of the multiple geofences set by the geofence setting unit 172.

The situation determination unit 176 may determine the situation within the imaging area of the captured image, for example, by determining a work target area that is included in the imaging area of the captured image and is a target area for work by the mobile body 200. The work target area may include, for example, a collection target area that is a target area for object collection work by the mobile body 200. The work target area may include, for example, a plowing target area that is a target area for plowing work by the mobile body 200. The unplowing target area may be an example of a plowing target area. The work target area may include, for example, a cleaning target area that is a target area for cleaning work by the mobile body 200. The work target area may include a security target area that is a target area for security work by the mobile body 200.

The geofence setting unit 172 may set a geofence, for example, based further on the position of the work area determined by the situation determination unit 176. The geofence setting unit 172 may set a geofence, for example, to include the work area.

The geofence setting unit 172 may set a geofence, for example, based further on the positions of each of the multiple work target areas determined by the situation determination unit 176. The geofence setting unit 172 may set one geofence, for example, to include the multiple work target areas.

The geofence setting unit 172 may set multiple geofences based on the respective positions of the multiple work target areas determined by the situation determination unit 176. The geofence setting unit 172 may set multiple geofences in a manner similar to the case of setting multiple geofences based on the respective positions of multiple objects.

The situation determination unit 176 may determine the situation within the imaging area of the captured image, for example, by determining an obstacle present within the imaging area of the captured image. The situation determination unit 176 may determine the situation within the imaging area of the captured image, for example, by determining an obstacle present within the geofence set by the geofence setting unit 172.

The situation determination unit 176 may determine the situation in the imaging area of the captured image by determining whether the moving body 200 can be identified from the captured image. When the situation determination unit 176 determines that the moving body 200 can be identified from the captured image, the moving body management unit 174 may manage the moving body 200 by controlling the moving body 200 to output the light signal 220 from the light source 210 at a predetermined first frequency. In this case, the moving body management unit 174 may transmit a moving body control signal including a first output frequency control signal that controls the output frequency of the light source 210 to the first frequency to the moving body 200 via optical camera communication or mobile communication. On the other hand, when the situation determination unit 176 determines that the moving body 200 cannot be identified from the captured image, the moving body management unit 174 may manage the moving body 200 by controlling the moving body 200 to output the light signal 220 from the light source 210 at a predetermined second frequency that is higher than the first frequency. In this case, the mobile body management unit 174 may transmit a mobile body control signal including a second output frequency control signal that controls the output frequency of the light source 210 to the second frequency to the mobile body 200 via optical camera communication or mobile body communication.

When multiple geofences are set by the geofence setting unit 172, the mobile object management unit 174 may determine the number of mobile objects 200 located in each of the multiple geofences. The mobile object management unit 174 may determine the number of mobile objects 200 located in each of the multiple geofences based on, for example, the situation within the imaging area of the captured image determined by the situation determination unit 176.

The mobile object management unit 174 may determine the number of mobile objects 200 located in each of the multiple geofences based on the number of objects present in each of the multiple geofences determined by the situation determination unit 176. The mobile object management unit 174 may determine the number of mobile objects 200 located in each of the multiple geofences such that the number of mobile objects 200 is greater in a geofence having a higher ratio of the number of objects present in one geofence to the total number of objects present in each of the multiple geofences.

The mobile object management unit 174 may determine the number of mobile objects 200 located in each of the multiple geofences based on the area of the work target area included in each of the multiple geofences determined by the situation determination unit 176, for example. The mobile object management unit 174 may determine the number of mobile objects 200 located in each of the multiple geofences such that the number of mobile objects 200 increases for a geofence with a higher ratio of the area of the work target area included in one geofence to the total area of the work target areas included in each of the multiple geofences.

The movement path determination unit 178 may determine a movement path of the moving body 200. The movement path determination unit 178 may, for example, determine a movement path along which the moving body 200 moves to a geofence set by the geofence setting unit 172. The movement path determination unit 178 may determine a movement path along which the moving body 200 moves within the geofence set by the geofence setting unit 172.

The movement path determination unit 178 may determine the movement path of the moving body 200 based on, for example, the position of the moving body 200 determined by the position determination unit 168. The movement path determination unit 178 may determine the movement path of the moving body 200 based on, for example, the situation in the imaging area stored in the information storage unit 162 determined by the situation determination unit 176. The movement path determination unit 178 may determine the movement path of the moving body 200 such that the moving body 200 avoids obstacles present in the imaging area of the captured image. The movement path determination unit 178 may determine the movement path of the moving body 200 such that the moving body 200 avoids obstacles present in the geofence set by the geofence setting unit 172.

The movement path determination unit 178 may, for example, determine the movement path of the moving body 200 so that the moving body 200 moves to the work target area determined by the situation determination unit 176 via the shortest route. The movement path determination unit 178 may, for example, determine the movement path of the moving body 200 so that the moving body 200 moves to the work target area in the shortest time. The movement path determination unit 178 may determine the movement path of the moving body 200 so that the amount of battery power consumed by the moving body 200 while moving to the work target area is minimized.

The movement path determination unit 178 may determine the movement path of the moving body 200 further based on the position of the object determined by the position determination unit 168. The movement path determination unit 178 may determine the movement path of the moving body 200, for example, so that the moving body 200 moves to the object via the shortest path. The movement path determination unit 178 may determine the movement path of the moving body 200, for example, so that the moving body 200 moves to the object in the shortest time. The movement path determination unit 178 may determine the movement path of the moving body 200 so that the amount of battery consumption consumed by the moving body 200 while the moving body 200 moves to the object is minimized.

The moving body 200 may output a light signal 220 from the light source 210 in response to detecting an object using the detection unit. The imaging unit 130 may capture the light output from the light source 210 of the moving body 200 in response to the moving body 200 detecting an object. The position determination unit 168 may determine the position of the moving body 200 when the moving body 200 detected the object based on the captured image captured by the imaging unit 130 of the light output from the light source 210 of the moving body 200 in response to the moving body 200 detecting the object. When the geofence in which the moving body 200 is located when the moving body 200 detects the object is divided into multiple sub-geofences by the geofence setting unit 172, the position determination unit 168 may determine a sub-geofence including the position of the moving body 200 when the moving body 200 detected the object.

The movement path determination unit 178 may determine the movement path of the moving body 200 based further on the position of the moving body 200 when the moving body 200 detects the object. The movement path determination unit 178 may determine the movement path of the moving body 200, for example, so that the moving body 200 moves to the object detected by the moving body 200 via the shortest path. The movement path determination unit 178 may determine the movement path of the moving body 200, for example, so that the moving body 200 moves to the object detected by the moving body 200 in the shortest time. The movement path determination unit 178 may determine the movement path of the moving body 200 so that the amount of battery consumption by the moving body 200 while the moving body 200 moves to the object detected by the moving body 200 is minimized.

When the movement path determination unit 178 has determined a sub-geofence including the position of the moving body 200 when the moving body 200 detected the object, the movement path determination unit 178 may determine the movement path of the moving body 200 based on the sub-geofence. For example, the movement path determination unit 178 may determine the movement path of the moving body 200 so that the moving body 200 moves to the sub-geofence via the shortest path. For example, the movement path determination unit 178 may determine the movement path of the moving body 200 so that the moving body 200 moves to the sub-geofence in the shortest time. The movement path determination unit 178 may determine the movement path of the moving body 200 so that the amount of battery consumption consumed by the moving body 200 while the moving body 200 moves to the sub-geofence is minimized.

When the geofence setting unit 172 divides the geofence into multiple sub-geofences, the movement path determination unit 178 may determine the movement path of the moving body 200 based further on the positions of the multiple sub-geofences. For example, the movement path determination unit 178 may determine the movement path of the moving body 200 so that the moving body 200 moves around multiple sub-geofences within the geofence.

The movement path determination unit 178 may determine the movement path of the moving body 200 using, for example, the Dijkstra algorithm. The movement path determination unit 178 may determine the movement path of the moving body 200 using any other method.

The movement path determination unit 178 may, for example, determine the movement path of each of the multiple moving bodies 200. For example, when the geofence setting unit 172 has set multiple geofences, the movement path determination unit 178 may determine the movement path of each of the multiple moving bodies such that the number of moving bodies 200 located in each of the multiple geofences is the number of moving bodies 200 determined by the moving body management unit 174.

The movement path determination unit 178 may determine the movement path of each of the multiple moving bodies based on, for example, the positions of each of the multiple moving bodies determined by the position determination unit 168. The movement path determination unit 178 may determine the movement path of each of the multiple moving bodies based further on the situation in the imaging area determined by the situation determination unit 176. The movement path determination unit 178 may determine the movement path of each of the multiple moving bodies based further on the performance information of each of the multiple moving bodies stored in the information storage unit 162.

For example, the movement path determination unit 178 may determine the cost of a candidate movement path along which each of the multiple moving bodies 200 moves to a geofence for each combination in which the multiple moving bodies 200 are assigned to multiple geofences such that the number of moving bodies 200 located in each of the multiple geofences is the number of moving bodies 200 determined by the moving body management unit 174. The movement path determination unit 178 may determine a total cost by adding up the costs of the candidate movement paths along which each of the multiple moving bodies 200 moves to a geofence for each combination. The movement path determination unit 178 may determine the combination with the smallest total cost among the multiple combinations for which the total cost has been determined. The information processing device 150 may determine the candidate movement path of each of the multiple moving bodies 200 corresponding to the combination with the smallest total cost as the movement path of each of the multiple moving bodies 200.

The movement route determination unit 178 may determine the cost of the moving body 200 moving along a candidate movement route, for example, based on the movement time required for the moving body 200 to move along the candidate movement route. The movement route determination unit 178 may determine the cost, for example, such that the cost increases as the movement time increases.

The movement path determination unit 178 may determine the cost of the moving body 200 moving along a candidate movement path, for example, based on the distance traveled by the moving body 200 along the candidate movement path. The movement path determination unit 178 may determine the cost such that the longer the movement distance, the greater the cost.

The travel route determination unit 178 may determine a cost for the moving body 200 to travel along a candidate travel route based on the amount of battery power consumed by the moving body 200 while the moving body 200 travels along the candidate travel route. The travel route determination unit 178 may determine the cost such that the greater the amount of battery power consumed, the greater the cost.

The travel route determination unit 178 may weight the cost of the moving body 200 moving along a candidate travel route based on the remaining battery charge of the moving body 200, which is indicated by the battery charge information stored in the information storage unit 162. For example, when the remaining battery charge is smaller than a predetermined battery charge threshold and the battery consumption of the moving body 200 while moving along the candidate travel route is greater than a predetermined battery consumption threshold, the travel route determination unit 178 may weight the cost so that the smaller the remaining battery charge, the greater the cost.

The movement route determination unit 178 may weight the cost of the moving body 200 moving along a candidate movement route based on the maximum speed of the moving body 200 indicated by the maximum speed information stored in the information storage unit 162. For example, when the maximum speed of the moving body 200 is slower than a predetermined maximum speed threshold and the distance traveled by the moving body 200 along the candidate movement route is longer than a predetermined movement distance threshold, the movement route determination unit 178 may weight the cost so that the cost becomes greater the slower the maximum speed.

The travel route determination unit 178 may weight the cost of the mobile body 200 traveling along a candidate travel route based on the battery capacity of the battery mounted on the mobile body 200, which is indicated by the battery capacity information stored in the information storage unit 162. For example, when the battery capacity is smaller than a predetermined battery capacity threshold and the battery consumption consumed by the mobile body 200 while the mobile body 200 travels along the candidate travel route is greater than a predetermined battery consumption threshold, the travel route determination unit 178 may weight the cost so that the smaller the battery capacity, the greater the cost.

The movement path determination unit 178 may weight the cost of the moving body 200 moving along a candidate movement path corresponding to the geofence, based on the capacity of the accommodation unit of the moving body 200 indicated by the capacity information stored in the information storage unit 162 and the number of objects present in the geofence determined by the situation determination unit 176. For example, when the capacity is smaller than a predetermined capacity threshold and the number of objects present in the geofence is greater than a predetermined object number threshold, the movement path determination unit 178 may weight the cost so that the smaller the capacity, the greater the cost.

The movement path determination unit 178 may determine the combination of multiple moving objects 200 with the smallest total cost, for example, using the Hungarian method. The movement path determination unit 178 may also determine the combination of multiple moving objects 200 with the smallest total cost, using any other method.

The mobile unit management unit 174 may, for example, manage the mobile unit 200 so that the mobile unit 200 moves along the moving path of the mobile unit 200 determined by the moving path determination unit 178. The mobile unit management unit 174 may, for example, manage the mobile unit 200 so that the mobile unit 200 moves along the moving path of the mobile unit 200 based on the position of the mobile unit 200 determined by the position determination unit 168. For example, when the distance from the position of the mobile unit 200 to the moving path of the mobile unit 200 is longer than a predetermined distance threshold, the mobile unit management unit 174 may transmit at least one of a warning signal and a mobile unit control signal to the mobile unit 200 to prevent the mobile unit 200 from straying from the moving path. For example, when the moving path determination unit 178 determines the moving paths of each of the multiple mobile units 200, the mobile unit management unit 174 may manage the multiple mobile units so that each of the multiple mobile units 200 moves along the moving path of the mobile unit 200 determined by the moving path determination unit 178.

Figure 16 is an explanatory diagram for explaining an example of the processing flow of the information processing device 150. In Figure 16, a state in which the information processing device 150 is not managing the mobile object 200 is explained as a starting state.

In step (sometimes abbreviated to S) 102, the geofence setting unit 172 may set a geofence for the moving body 200. Here, the explanation will continue assuming that the geofence setting unit 172 has set the geofence for the moving body 200 so as to include the position of the moving body 200.

In S104, the movement path determination unit 178 may determine a movement path of the moving body 200 along which the moving body 200 moves within the geofence set by the geofence setting unit 172 in S102. In S106, the moving body management unit 174 may start managing the moving body 200 in response to the movement path of the moving body 200 being determined by the movement path determination unit 178 in S104.

In S108, the imaging unit 130 may capture light output from a light source 210 mounted on the moving body 200. In S110, the identification information determination unit 166 may use optical camera communication technology to analyze the light from the light source 210 captured by the imaging unit 130 in S108 to obtain an optical signal 220 of the moving body 200, and determine the identification information of the moving body 200 from the obtained optical signal 220. Also, in S110, the position determination unit 168 may determine the position of the moving body 200 based on the captured image captured by the imaging unit 130 in S108.

In S112, the mobile object management unit 174 may determine whether the distance from the position of the mobile object 200, whose identification information and position were determined in S110, to the geofence is shorter than the distance threshold. If the mobile object management unit 174 determines that the distance from the position of the mobile object 200 to the geofence is shorter than the distance threshold, the process may proceed to S114. If the mobile object management unit 174 determines that the distance from the position of the mobile object 200 to the geofence is longer than the distance threshold, the process may proceed to S116. In S114, the mobile object management unit 174 may control the movement direction of the mobile object 200 so that the mobile object 200 does not move outside the geofence by transmitting a mobile object control signal to the mobile object 200.

In S116, the mobile unit management unit 174 may determine whether the distance from the position of the mobile unit 200, whose identification information and position were determined in S110, to the moving path of the mobile unit 200 determined by the moving path determination unit 178 in S104 is longer than the distance threshold. If the mobile unit management unit 174 determines that the distance from the position of the mobile unit 200 to the moving path of the mobile unit 200 is longer than the distance threshold, the process may proceed to S118. If the mobile unit management unit 174 determines that the distance from the position of the mobile unit 200 to the moving path of the mobile unit 200 is shorter than the distance threshold, the process may proceed to S120. In S118, the mobile unit management unit 174 may control the moving direction of the mobile unit 200 by transmitting a mobile unit control signal to the mobile unit 200 so that the mobile unit 200 does not deviate from the moving path.

If the information processing device 150 has not received an end instruction in S120, the process may return to S108. If the information processing device 150 has received an end instruction in S120, the information processing device 150 may end management of the mobile object 200.

FIG. 17 shows an example of a hardware configuration of a computer 1200 functioning as an information processing device 150. A program installed on the computer 1200 can cause the computer 1200 to function as one or more "parts" of the device according to the above embodiment, or cause the computer 1200 to execute operations or one or more "parts" associated with the device according to the above embodiment, and/or cause the computer 1200 to execute a process or steps of the process according to the above embodiment. Such a program may be executed by the CPU 1212 to cause the computer 1200 to execute specific operations associated with some or all of the blocks of the flowcharts and block diagrams described in this specification.

The computer 1200 according to one embodiment includes a CPU 1212, a RAM 1214, and a graphics controller 1216, which may be interconnected by a host controller 1210. The computer 1200 also includes input/output units such as a communication interface 1222, a storage device 1224, a DVD drive 1226, and an IC card drive, which may be connected to the host controller 1210 via an input/output controller 1220. The DVD drive 1226 may be a DVD-ROM drive, a DVD-RAM drive, or the like. The storage device 1224 may be a hard disk drive, a solid state drive, or the like. The computer 1200 also includes legacy input/output units such as a ROM 1230 and a keyboard 1242, which may be connected to the input/output controller 1220 via an input/output chip 1240.

The CPU 1212 may operate according to a program stored in the ROM 1230 and the RAM 1214, thereby controlling each unit. The graphics controller 1216 may acquire image data generated by the CPU 1212 into a frame buffer or the like provided in the RAM 1214 or into itself, and cause the image data to be displayed on the display device 1218.

The communication interface 1222 may communicate with other electronic devices via a network. The storage device 1224 may store programs and data used by the CPU 1212 in the computer 1200. The DVD drive 1226 may read programs or data from a DVD-ROM 1227 or the like and provide them to the storage device 1224. The IC card drive may read programs and data from an IC card and/or write programs and data to an IC card.

ROM 1230 may store therein a boot program or the like executed by computer 1200 upon activation, and/or a program that depends on the hardware of computer 1200. I/O chip 1240 may also connect various I/O units to I/O controller 1220 via USB ports, parallel ports, serial ports, keyboard ports, mouse ports, etc.

The programs may be provided by a computer-readable storage medium such as a DVD-ROM 1227 or an IC card. The programs may be read from the computer-readable storage medium, installed in the storage device 1224, RAM 1214, or ROM 1230, which are also examples of computer-readable storage media, and executed by the CPU 1212. Information processing described in these programs may be read by the computer 1200, and may bring about cooperation between the programs and the various types of hardware resources described above. An apparatus or method may be constructed by realizing an operation or processing of information according to the use of the computer 1200.

For example, when communication is performed between computer 1200 and an external device, CPU 1212 may execute a communication program loaded into RAM 1214 and instruct communication interface 1222 to perform communication processing based on the processing described in the communication program. Under the control of CPU 1212, communication interface 1222 may read transmission data stored in a transmission buffer area provided in RAM 1214, storage device 1224, DVD-ROM 1227, or a recording medium such as an IC card, and transmit the read transmission data to a network, or write received data received from the network to a reception buffer area or the like provided on the recording medium.

The CPU 1212 may also cause all or a necessary portion of a file or database stored in an external recording medium such as the storage device 1224, DVD drive 1226 (DVD-ROM 1227), IC card, etc. to be read into the RAM 1214, and perform various types of processing on the data on the RAM 1214. The CPU 1212 may then write back the processed data to the external recording medium.

Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and may undergo information processing. The CPU 1212 may perform various types of processing on the data read from the RAM 1214, including various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, information search/replacement, etc., as described throughout this disclosure and specified by the instruction sequence of the program, and may write back the results to the RAM 1214. The CPU 1212 may also search for information in a file, database, etc. in the recording medium. For example, when multiple entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored in the recording medium, the CPU 1212 may search for an entry whose attribute value of the first attribute matches a specified condition from among the multiple entries, read the attribute value of the second attribute stored in the entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

The above-described programs or software modules may be stored in a computer-readable storage medium on or near the computer 1200. In addition, a recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet may be used as a computer-readable storage medium, whereby the programs may be provided to the computer 1200 via the network.

In one embodiment, blocks in the flowcharts and block diagrams may represent stages of a process in which an operation is performed or "parts" of a device responsible for performing the operation. Particular stages and "parts" may be implemented by dedicated circuitry, programmable circuitry provided with computer-readable instructions stored on a computer-readable storage medium, and/or a processor provided with computer-readable instructions stored on a computer-readable storage medium. Dedicated circuitry may include digital and/or analog hardware circuitry, and may include integrated circuits (ICs) and/or discrete circuits. Programmable circuitry may include reconfigurable hardware circuitry including AND, OR, XOR, NAND, NOR, and other logical operations, flip-flops, registers, and memory elements, such as, for example, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and the like.

A computer-readable storage medium may include any tangible device capable of storing instructions that are executed by a suitable device, such that a computer-readable storage medium having instructions stored thereon comprises an article of manufacture that includes instructions that can be executed to create means for performing the operations specified in the flowchart or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), electrically erasable programmable read-only memories (EEPROMs), static random access memories (SRAMs), compact disk read-only memories (CD-ROMs), digital versatile disks (DVDs), Blu-ray disks, memory sticks, integrated circuit cards, and the like.

The computer readable instructions may include either assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including object-oriented programming languages such as Smalltalk (registered trademark), JAVA (registered trademark), C++, etc., and conventional procedural programming languages such as the "C" programming language or similar programming languages.

The computer-readable instructions may be provided to a processor of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, or a programmable circuit, either locally or over a local area network (LAN), a wide area network (WAN), such as the Internet, to cause the processor of the general-purpose computer, special-purpose computer, or other programmable data processing apparatus, or a programmable circuit, to execute the computer-readable instructions to generate means for performing the operations specified in the flowcharts or block diagrams. Examples of processors may include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

The present invention has been described above using an embodiment, but the technical scope of the present invention is not limited to the scope described in the above embodiment. It is clear to those skilled in the art that various modifications and improvements can be made to the above embodiment. It is clear from the claims that forms with such modifications or improvements can also be included in the technical scope of the present invention.

The order of execution of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not specifically stated as "before" or "prior to," and it should be noted that the processes may be performed in any order, unless the output of a previous process is used in a later process. Even if the operational flow in the claims, specifications, and drawings is explained using "first," "next," etc. for convenience, it does not mean that it is essential to perform the processes in that order.

10 System, 50 Object, 52 Object, 54 Object, 80 Obstacle, 100 Moving body, 102 Moving body, 104 Moving body, 110 Light source, 120 Optical signal, 130 Imaging unit, 132 Imaging unit, 134 Imaging unit, 140 Imaging area, 142 Imaging area, 144 Imaging area, 150 Information processing device, 152 Information processing device, 154 Information processing device, 162 Information storage unit, 166 Identification information determination unit, 168 Position determination unit, 170 Registration unit, 172 Geofence setting unit, 174 Moving body management unit, 175 Receiving unit, 176 Status determination unit, 178 Movement path determination unit, 180 Transmitting unit, 200 Moving body, 202 Moving body, 204 Moving body, 206 Moving body, 210 Light source, 212 Light source, 214 Light source, 216 Light source, 220 Optical signal, 222 Optical signal, 224 Optical signal, 226 Optical signal, 230 Imaging unit, 300 Geofence, 302 Geofence, 304 Geofence, 306 Geofence, 312 Geofence, 314 Geofence, 400 Movement path, 1200 Computer, 1210 Host controller, 1212 CPU, 1214 RAM, 1216 Graphic controller, 1218 Display device, 1220 Input/output controller, 1222 Communication interface, 1224 Storage device, 1226 DVD drive, 1227 DVD-ROM, 1230 ROM, 1240 Input/output chip, 1242 Keyboard

Claims (18)

An imaging unit that captures light output from a light source mounted on a moving object;
an identification information determination unit that uses an optical camera communication (OCC) technology to analyze the light captured by the imaging unit to obtain an optical signal, and determines identification information of the moving object from the obtained optical signal;
a position determination unit that determines a position of the moving object based on an image captured by the imaging unit;
a registration unit that registers the identification information of the moving object determined by the identification information determination unit and the position of the moving object determined by the position determination unit in association with each other ;
a situation determination unit that determines a situation within an imaging area of the captured image;
a movement path determination unit that determines a movement path of the moving object based on the position of the moving object determined by the position determination unit and the situation in the imaging area determined by the situation determination unit;
a moving object management unit that manages the moving object so that the moving object moves along the moving path of the moving object determined by the moving path determination unit;
An information processing device comprising : A geofence setting unit that sets a geofence based on the captured image.
Further equipped with
The mobile object management unit manages the mobile object registered by the registration unit so that the mobile object is located in the geofence set by the geofence setting unit.
The information processing device according to claim 1 . The position determination unit determines a position of a predetermined object in the imaging area based on the captured image;
The movement path determination unit determines the movement path of the moving body further based on the position of the object determined by the position determination unit.
The information processing device according to claim 1 . the imaging unit captures an image of light output from the light source of the moving body in response to the moving body detecting a predetermined object;
the position determination unit determines a position of the moving body when the moving body detects the object based on a captured image obtained by the imaging unit capturing the light output from the light source of the moving body in response to the moving body detecting the object;
The movement path determination unit determines the movement path of the moving body further based on the position of the moving body when the moving body detects the object.
The information processing device according to claim 1 . The geofence setting unit sets a plurality of the geofences,
The mobile object management unit manages the plurality of mobile objects so that each of the plurality of mobile objects is located in any one of the plurality of geofences.
The information processing device according to claim 2 . The moving object management unit determines the number of the moving objects located in each of the plurality of geofences based on the situation in the imaging area determined by the situation determination unit.
The information processing device according to claim 5 . The situation determination unit determines a number of predetermined objects present in each of the plurality of geofences set by the geofence setting unit,
The moving body management unit determines the number of the moving bodies located in each of the plurality of geofences based on the number of the objects present in each of the plurality of geofences.
The information processing device according to claim 6 . The movement path determination unit determines a movement path for each of the plurality of moving bodies based on the positions of each of the plurality of moving bodies determined by the position determination unit and the situation in the imaging area determined by the situation determination unit, so that the number of the moving bodies located in each of the plurality of geofences becomes the number of the moving bodies determined by the moving body management unit;
the moving object management unit manages the plurality of moving objects so that each of the plurality of moving objects moves along the moving path of the moving object determined by the moving path determination unit.
The information processing device according to claim 6 . An information storage unit for storing performance information indicating the performance of the moving object,
The movement route determination unit determines the movement route of each of the plurality of moving bodies further based on the performance information of each of the plurality of moving bodies stored in the information storage unit.
The information processing device according to claim 8 . The information processing device is mounted on a moving body,
The geofence setting unit resets the geofence in response to the moving body equipped with the information processing device moving a predetermined moving distance.
The information processing device according to claim 2 . The information processing device according to claim 1, further comprising: a receiving unit that receives a management instruction instructing the management of another moving object managed by another information processing device; and a mobile object management unit that manages the other moving object by starting management of the other moving object in response to the other moving object being positioned within an imaging area of the captured image. The information processing device according to claim 2, wherein the mobile body management unit manages the mobile body, which is an underwater vehicle, by transmitting a mobile body control signal to the mobile body via optical camera communication. The information processing device according to claim 2, wherein the mobile object management unit manages the mobile object by transmitting a mobile object control signal to the mobile object, which is a vehicle, a ship, or a robot, via radio communication. An imaging unit that captures light output from a light source mounted on a moving object;
an identification information determination unit that uses an optical camera communication technology to analyze the light captured by the imaging unit to obtain an optical signal, and determines identification information of the moving object from the obtained optical signal;
a position determination unit that determines a position of the moving object based on an image captured by the imaging unit;
a registration unit that registers the identification information of the moving object determined by the identification information determination unit and the position of the moving object determined by the position determination unit in association with each other;
a situation determination unit that determines whether the moving object can be identified from the captured image, thereby determining a situation within an imaging area of the captured image;
a mobile object management unit that manages the moving object by controlling the moving object to output the light signal from the light source at a predetermined first frequency when the situation determination unit determines that the moving object can be identified from the captured image, and by controlling the moving object to output the light signal from the light source at a predetermined second frequency that is higher than the first frequency when the situation determination unit determines that the moving object cannot be identified from the captured image;
An information processing device comprising : A program for causing a computer to function as the information processing device according to any one of claims 1 to 14 . An information processing device according to any one of claims 1 to 14 ;
The system comprises: 1. A computer-implemented information processing method, comprising:
An imaging step of imaging light output from a light source mounted on the moving object;
an identification information determination step of analyzing the light captured in the imaging step using an optical camera communication technology to obtain an optical signal, and determining identification information of the moving object from the obtained optical signal;
a position determination step of determining a position of the moving object based on the captured image captured in the imaging step;
a registration step of registering the identification information of the moving object determined in the identification information determination step and the location of the moving object determined in the location determination step in association with each other;
A situation determination step of determining a situation within an imaging area of the captured image;
a movement path determination step of determining a movement path of the moving object based on the position of the moving object determined in the position determination step and the situation in the imaging area determined in the situation determination step;
a moving object management step of managing the moving object so that the moving object moves along the moving path of the moving object determined in the moving path determination step;
An information processing method comprising : 1. A computer-implemented information processing method, comprising:
An imaging step of imaging light output from a light source mounted on the moving object;
an identification information determination step of analyzing the light captured in the imaging step using an optical camera communication technology to obtain an optical signal, and determining identification information of the moving object from the obtained optical signal;
a position determination step of determining a position of the moving object based on the captured image captured in the imaging step;
a registration step of registering the identification information of the moving object determined in the identification information determination step and the location of the moving object determined in the location determination step in association with each other;
a situation determination step of determining whether the moving object can be identified from the captured image, thereby determining a situation within an imaging area of the captured image;
a moving object management step of managing the moving object by controlling the moving object to output the light signal from the light source at a predetermined first frequency when it is determined in the situation determination step that the moving object can be identified from the captured image, and by controlling the moving object to output the light signal from the light source at a predetermined second frequency that is higher than the first frequency when it is determined in the situation determination step that the moving object cannot be identified from the captured image;
An information processing method comprising:

Images