Patent Description:
A mobile object such as a self-propelled robotic lawn mower can run even in an area where there is no electrical outlet (commercial power supply) using an external battery or other means.

<CIT> discloses a technology of using an external battery charged by solar power generation to operate a control device of a robot working machine so as to drive the robot working machine.

However, in the technology disclosed in <CIT>, operation of the robot working machine is not controlled according to remaining amount of the external battery charged by the solar power generation, thus after the remaining amount of the external battery becomes zero, position of the robot working machine cannot be recognized, making it difficult for the robot working machine to return to normal state.

<CIT> discloses a solar intelligent navigation power supply station for a robot mower. However, the robot mower of <CIT> is not controlled according to remaining amount of an external battery of a power supply station.

The above described technical problem is solved by the subject-matter of independent claims. Preferred embodiments of the present invention are the subject-matter of dependent claims.

According to such a management system for a mobile object, a mobile object such as a self-propelled robotic lawn mower can be stopped at a proper position before remaining amount of an external battery reaches zero, and can be returned to normal state after the external battery returns to charge.

A program for realizing a software may be provided as a non-transitory computer readable medium that can be read by a computer or may be provided for download from an external server or may be provided so that the program can be activated on an external computer to realize functions thereof on a client terminal (so-called cloud computing).

Further, in the present embodiment, "unit" or "means" may include, for instance, a combination of hardware resources implemented by a circuit in a broad sense and information processing of software that can be concretely realized thereby these hardware resources. Further, various information is performed in the present embodiment, and the information can be represented by, for instance, physical values of signal values representing voltage and current, high and low signal values as a set of binary bits consisting of <NUM> or <NUM>, or quantum superposition (so-called qubits), and communication/calculation can be performed on a circuit in a broad sense.

The present chapter describes a management system <NUM> for a mobile object <NUM> according to the present embodiment. <FIG> is a schematic diagram of a management system <NUM> for a mobile object <NUM> including an information processing apparatus <NUM>. The management system <NUM> comprises the information processing apparatus <NUM>, the mobile object <NUM>, a charging station <NUM>, and an external battery <NUM>. The mobile object <NUM> freely travels within a working area W, and is charged by the external battery <NUM> in the working area W when remaining amount is declining. <FIG> is a schematic diagram of a management system <NUM> including an information processing apparatus <NUM> and solar power generation <NUM> (renewable energy). As represented in <FIG>, the management system <NUM> further comprises the solar power generation <NUM>. <FIG> is a schematic diagram of a management system <NUM> including an information processing apparatus <NUM> and an external server <NUM>. As shown in <FIG>, the management system <NUM> further comprises the external server <NUM>, which are configured to communicate with each other through an electric communication line.

<FIG> is a block diagram showing a hardware configuration of the information processing apparatus <NUM>. The information processing apparatus <NUM> comprises a communication unit <NUM>, a storage unit <NUM>, a controller <NUM>, a display unit <NUM>, and an input unit <NUM>. These components may be electrically connected inside the information processing apparatus <NUM> via a communication bus <NUM>.

Although wired type communication means such as USB, IEEE1394, Thunderbolt, wired LAN network communication, etc. are preferred, the communication unit <NUM> may include wireless LAN network communication, mobile communication such as LTE/<NUM>, Bluetooth (registered trademark) communication, etc. if necessary. In other words, it is more preferable to implement as a set of these multiple communication means.

The storage unit <NUM> is configured to store various information as defined by the foregoing description. This can be implemented as a storage device such as a solid state drive (SSD) or as a memory such as a random access memory (RAM) that stores temporarily necessary information (arguments, arrays, etc.) related to program operation. Further, a combination thereof may be applied as well.

The controller <NUM> is configured to perform process and control of overall operation regarding the information processing apparatus <NUM>. The controller <NUM> is, for instance, a central processing unit (CPU) (not shown). <FIG> is a functional block diagram representing function performed by the controller <NUM> in the information processing apparatus <NUM>. The controller <NUM> is configured to implement various functions related to the information processing apparatus <NUM> by reading a predetermined program stored in the storage unit <NUM>. In <FIG>, the controller <NUM> is represented as a single one, but it is not limited thereto in practice, and may be implemented so as to include two or more controllers <NUM> for each function. Further, a combination thereof may be applied as well. Each of these functions will be described in detail in the next chapter.

The display unit <NUM> may be included in the information processing apparatus <NUM> or may be externally attached, for instance. The display unit <NUM> is a display device such as a CRT display, a liquid crystal display, an organic EL display, a plasma display, or the like, which is externally attached to or built into the information processing apparatus <NUM>. It is preferable to use different types of these devices according to type of the information processing apparatus <NUM>. The display device responds to a control signal from the controller <NUM> and generates a display screen. The display screen can be selectively displayed in response to the control signal from the controller <NUM>. A user can grasp operational status of the management system <NUM> or operational status of the mobile object <NUM> displayed on the display unit <NUM>. These operating statuses may be displayed on an information processing terminal <NUM> of the user through an electric communication line.

The input unit <NUM> is configured to receive various instructions or information input from the user. The input unit <NUM> is, for instance, a pointing device such as a mouse, a selection device such as a mode switch, or an input device such as a keyboard. The input unit <NUM> may use a graphical user interface (GUI) as well. The input unit <NUM> may be built into the information processing apparatus <NUM> or may be externally attached. Further, a user may send various instructions or information to the information processing apparatus <NUM> by uttering voice. Therefore, the input unit <NUM> may be a microphone. The user inputs setting value of the management system <NUM> or setting value regarding operation of the mobile object <NUM>, such as traveling, working, etc., from the input unit <NUM>. Further, the user may input various setting values from the information processing terminal <NUM> as well.

The mobile object <NUM> may be a self-propelled vehicle or a manned vehicle. The mobile object <NUM> includes a power source capable of traveling. Therefore, the mobile object <NUM> may be a mobile object that travels on ground, travels at sea, or travels in air. The mobile object <NUM> may be electrically travelable with an internal battery (not shown) as a power source. The mobile object <NUM> may be a mobile working machine for performing a predetermined work. For instance, the mobile object <NUM> is a robotic lawn mower <NUM> or a ball picker robot <NUM>. The robotic lawn mower <NUM> is a self-propelled robot that primarily mows lawn. The ball picker robot <NUM> is a self-propelled robot that collects balls. The ball is a sphere such as golf ball, tennis ball, baseball, etc. In particular, the mobile object <NUM> is preferably a ball picker robot <NUM> that collects golf ball since the management system <NUM> is used in a location where commercial power is difficult to obtain.

The charging station <NUM> is arranged in the working area W and supplies power to the mobile object <NUM>. The charging station <NUM> comprises a connection terminal (not shown), which is connected to a connection terminal included in the mobile object <NUM> to supply power to the mobile object <NUM>. The mobile object <NUM> stops at the charging station <NUM> until power is supplied to a battery included in the mobile object <NUM>. The battery included in the mobile object <NUM> may be charged in this manner, or a charged battery and an empty battery may be exchanged at the charging station <NUM>. Note that charging method at the charging station <NUM> is not limited.

The external battery <NUM> is a battery that can be repeatedly charged and discharged (rechargeable battery). The external battery <NUM> refers to a secondary battery or a storage battery. These batteries are power devices that generate DC power through energy. The external battery <NUM> may be, but is not limited to, storage battery, alkaline storage battery, nickel cadmium battery, nickel metal hydride battery, lithium-ion battery, or the like, which are mainly used in a location where there is no commercial power supply. For instance, a large area such as park, golf course, airport, etc., where it is difficult to secure a commercial power source. In the present embodiment, the external battery <NUM> is configured to store power supplied to the mobile object <NUM> by the charging station <NUM>.

To use the external battery <NUM>, electrical energy must be supplied from outside. Therefore, if solar power generation <NUM>, wind power generation, biomass power generation, hydroelectric power generation, or geothermal power generation is available at a location where the mobile object <NUM> is used, the external battery <NUM> may be configured to store power from these renewable energies. Considering recent popularization and small power generation capability, the renewable energy it is preferably solar energy.

As represented in <FIG>, the solar power generation <NUM> comprises a solar panel <NUM>, a charge controller <NUM>, and a converter <NUM>. The solar panel <NUM> is made by collecting a plurality of solar batteries that convert small amounts of light energy into electrical energy, putting them into some kind of frame or structure and forming into a panel shape. The solar battery can be broadly classified into silicon-based, compound semiconductor-based, and organic-based, but are not limited thereto in the present embodiment. The charge controller <NUM> is connected between the solar panel <NUM> and the external battery <NUM> to prevent over charging, over discharging, or reverse current flow. The converter <NUM> includes a transformer function to change voltage of the external battery <NUM> and sends power to the charging station <NUM> with an appropriate voltage value.

The external server <NUM> is electrically connected to the information processing apparatus <NUM> through an electrical information line. Therefore, the information processing apparatus <NUM> is configured to access the external server <NUM>, which is connected to the electrical information line, to obtain various information stored on the external server <NUM>.

The information processing terminal <NUM> is a terminal such as tablet terminal, personal data assistant (PDA), notebook personal computer (PC), etc., or is a stand-alone type terminal that can be used alone. Thus, the information processing terminal <NUM> may be a portable terminal <NUM> such as a mobile terminal, or a PC <NUM> such as a fixed terminal. Such information processing terminal <NUM> is electrically connected to the information processing apparatus <NUM> through an electrical information line. Therefore, various information can be transmitted/received bidirectionally between the information processing terminal <NUM> and the information processing apparatus <NUM>.

The working area W is an area that specifies a range for the mobile object <NUM> to travel. Shape of the working area W, in which the mobile object <NUM> can travel, is not limited as long as it is continuous and has a closed space. By recognizing the working area W, the mobile object <NUM> can travel within a designated working area W. A method for recognition is to bury a wire underground at an outer edge of the working area W, and pass electric current through the wire so as to allow the mobile object <NUM> to detect electric current and recognize the working area W.

<FIG> is a diagram showing an example of instruction information DI and operation information MI used in the management system <NUM>. The instruction information DI is a series of data that allows the information processing apparatus <NUM> to control the mobile object <NUM>. The operation information MI is data related to travel history, travel status, or usage status of equipment such as internal batteries, devices, and parts provided by the mobile object <NUM>, etc. The instruction information DI and the operation information MI shown in <FIG> are represented as examples, the data format and data content are not limited to these description examples.

<FIG> is a diagram showing an example of weather information WI and flight information OI used in the management system <NUM>. The weather information WI and the flight information OI are one of various types of information stored in the external server <NUM> and are external data that the information processing apparatus <NUM> refers to when controlling the mobile object <NUM>. Data format and data content are not limited to these description examples.

Chapter <NUM> describes a functional configuration according to the present embodiment. As represented in <FIG>, the information processing apparatus <NUM> configuring the management system <NUM> includes a controller <NUM>, and furthermore, the controller <NUM> includes an acquisition unit <NUM>, an instruction generation unit <NUM>, a transmission unit <NUM>, and a preservation unit <NUM>. That is, information processing by software (stored in the storage unit <NUM>) is specifically realized by hardware (controller <NUM>), in such a manner that function of each unit can be performed. Hereinafter, each component will be further described.

The acquisition unit <NUM> is configured to acquire information of various components (components of the management system <NUM>) that can communicate with the information processing apparatus <NUM>. Specifically, the acquisition unit <NUM> is configured to acquire remaining amount information indicating remaining amount of the external battery <NUM>. The acquisition unit <NUM> is configured to acquire operation information MI regarding operation of the mobile object <NUM>. Furthermore, the information processing apparatus <NUM> is configured to acquire information held by the external server <NUM> electrically connected to an electric communication line. Therefore, for instance, the acquisition unit <NUM> may be configured to acquire the weather information WI from an external server <NUM>. Similarly, the acquisition unit <NUM> may be configured to acquire the flight information OI indicating aircraft operation status from an external server <NUM>. Information useful for management of the mobile object <NUM> other than the above-mentioned information is all information to be acquired.

The instruction generation unit <NUM> is configured to generate the instruction information DI that controls the mobile object <NUM>. The instruction information DI is information regarding operation of the mobile object <NUM>. Therefore, the instruction information DI may be data related to operation parameter or data related to operation program for controlling the mobile object <NUM>. The instruction information DI is not limited as long as it controls operation of the mobile object <NUM> such as traveling, working, etc..

The transmission unit <NUM> transmits various information to various components (components of the management system <NUM>) that can communicate with the information processing apparatus <NUM>. As a result, the various components operate. Specifically, the transmission unit <NUM> is configured to transmit the instruction information DI to the mobile object <NUM>, thereby controlling operation of the mobile object <NUM>. Furthermore, the information processing apparatus <NUM> is configured to transmit various information to the external server <NUM>, which is electrically connected to an electric communication line. Therefore, the transmission unit <NUM> is configured to transmit the operation information MI possessed by the mobile object <NUM> among the various information to the external server <NUM> that controls the mobile object <NUM>. The timing at which the transmission unit <NUM> transmits the various information is not limited. The transmission unit <NUM> may transmit the various information when a certain event occurs or in response to a request from the user or the mobile object <NUM>, or the transmission unit <NUM> may transmit the various information at a predetermined time.

The preservation unit <NUM> is configured to store the instruction information DI for the information processing apparatus <NUM> to control the mobile object <NUM>, or the operation information MI acquired by the information processing apparatus <NUM> from the mobile object <NUM>. In addition to these pieces of information, the preservation unit <NUM> may store various information such as the weather information WI and the flight information OI acquired by the information processing apparatus <NUM> from the external server <NUM> in the storage unit <NUM>.

Each function of the management system <NUM> described in Chapters <NUM> and <NUM> will be illustrated in Chapter <NUM>.

When the mobile object <NUM> is a robotic lawn mower <NUM> or a ball picker robot <NUM>, as represented in <FIG>, primary service space of the mobile object <NUM> is golf course, airfield, or park. Hereinafter, the mobile object <NUM> is described as the robotic lawn mower <NUM>. Many of outdoor locations described above are not comprise commercial power supply, and the user needs to use the external battery <NUM> to run the robotic lawn mower <NUM> (mobile object <NUM>). That is, the external battery <NUM> supplies power to the charging station <NUM> that supplies power to an internal battery (not shown) comprised in the mobile object <NUM>, the information processing apparatus <NUM> that controls the mobile object <NUM>, and a wire laid on an outer edge of the working area W as described above.

In such a location, if charge level of the external battery <NUM> drops and power is not properly supplied to each device, the mobile object <NUM> may unable to recognize location of the charging station <NUM> or the wire laid on the outer edge of the working area W. Once the robotic lawn mower <NUM> (mobile object <NUM>) is in such a state, it stops for safety reason. Further, even if the information processing apparatus <NUM> stops and becomes unable to communicate with the robotic lawn mower <NUM> (mobile object <NUM>), the robotic lawn mower <NUM> will eventually stop. The robotic lawn mower <NUM> (mobile object <NUM>) in such a stopped state needs to be operated directly by the user to restore. Therefore, the user needs to move within the wide working area W. In some cases, the user needs to supply power directly to the internal battery of the mobile object <NUM>.

To solve the above-mentioned problem, the acquisition unit <NUM> of the information processing apparatus <NUM> electrically connected to the external battery <NUM> is configured to acquire remaining amount information indicating remaining amount of the external battery <NUM>. Timing at which the acquisition unit <NUM> acquires the remaining amount information may be, for instance, at a predetermined interval or when the remaining amount information falls below a predetermined threshold by a sensor (not shown) provided in the external battery <NUM>. At any timing, the instruction generation unit <NUM> may generate instruction information DI for controlling the robotic lawn mower <NUM> (mobile object <NUM>) based on the remaining amount information acquired by the acquisition unit <NUM>. The generated instruction information DI is transmitted to the mobile object <NUM> by the transmission unit <NUM>.

Here, the instruction information DI for controlling the robotic lawn mower <NUM> (mobile object <NUM>) may be information for the robotic lawn mower <NUM> (mobile object <NUM>) to move to a wire laid on the outer edge of the working area W, or may be information for moving to a predetermined location. Moving location is not limited as long as the mobile object <NUM> can move safely. However, to quickly charge the internal battery of the mobile object <NUM> after the external battery <NUM> has been charged, it is preferred that the robotic lawn mower <NUM> (mobile object <NUM>) be configured to move to the charging station <NUM> based on the instruction information DI. Content of the instruction information DI may be determined according to the remaining amount of the external battery <NUM>. The instruction information DI may be information regarding work specific to the robotic lawn mower <NUM> (mobile object <NUM>). For instance, if the mobile object <NUM> is the robotic lawn mower <NUM>, the instruction information DI may be to stop the robotic lawn mower <NUM> from mowing lawn.

By controlling the robotic lawn mower <NUM> (mobile object <NUM>) according to the remaining amount of the external battery <NUM> in this way, the robotic lawn mower <NUM> (mobile object <NUM>) can return to the charging station <NUM> in advance even if a wire surrounding the working area W stops functioning due to the low remaining amount of the external battery <NUM>. This reduces the need for the user to travel to a side of the robotic lawn mower <NUM> (mobile object <NUM>), which is stopped within the wide working area W, to perform a return operation. Work efficiency of the robotic lawn mower <NUM> (mobile object <NUM>) may improve by reducing such return operation.

The information processing apparatus <NUM> may control the mobile object <NUM> based on various information possessed by various electrically connected and communicable components (components of the management system <NUM>) as well as the external battery <NUM>. Specifically, the acquisition unit <NUM> is configured to acquire operation information MI regarding operation of the mobile object <NUM>, and the instruction generation unit <NUM> is configured to generate instruction information DI for controlling the mobile object <NUM> based on the operation information MI. For instance, the instruction generation unit <NUM> may generate the instruction information DI according to the remaining amount of the internal battery of the mobile object <NUM>. Before the internal battery of the mobile object <NUM> becomes too low to travel, the instruction generation unit <NUM> generates instruction information DI to return to the charging station <NUM>, and the transmission unit <NUM> transmits the instruction information DI to the mobile object <NUM>.

Here, the operation information MI is not only the remaining amount of the internal battery of the mobile object <NUM>, but also various information related to operation of the mobile object <NUM>. For instance, the various information may be operation information such as travel distance of the mobile object <NUM>, information on area where work has been completed, or the like. If the mobile object <NUM> is the robotic lawn mower <NUM>, the operation information MI may include state (density) of lawn or state of a cutting tool of the robotic lawn mower.

The instruction information DI is generated according to content of the operation information MI. When the operation information MI is the state (density) of the lawn, the instruction information DI regarding operation of the robotic lawn mower <NUM> (mobile object <NUM>), such as operation parameter of the cutting tool or a working range of the robotic lawn mower <NUM> (mobile object <NUM>), is generated. Further, when the operation information MI is the state of the cutting tools of the robotic lawn mower <NUM> (mobile object <NUM>), if the cutting tool is a poor condition, the instruction information DI to return to the charging station <NUM> is generated and the robotic lawn mower <NUM> (mobile object <NUM>) waits at the charging station <NUM> until the cutting tool is replaced with new one.

By generating the instruction information DI based on the operation information MI possessed by the mobile object <NUM>, the mobile object <NUM> is controlled based on latest state of the mobile object <NUM>. As a result, the information processing apparatus <NUM> can accurately control the mobile object <NUM>. When the mobile object <NUM> is the robotic lawn mower <NUM> or the ball picker robot <NUM>, if an abnormality is detected in a part possessed by the mobile object <NUM>, it can quickly return to the charging station <NUM>, ensuring safe travel and work. The instruction information DI is an example and is generated according to usage location and usage condition of the robotic lawn mower <NUM>.

The instruction information DI may be generated by the instruction generation unit <NUM> of the information processing apparatus <NUM> according to a predetermined rule, or may be generated based on information transmitted from the external server <NUM>. The transmission unit <NUM> transmits the operation information MI to the external server <NUM>. The user may confirm content of the operation information MI transmitted to the external server <NUM> and, if necessary, send the instruction information DI to the information processing apparatus <NUM>. The transmission unit <NUM> further transmits the instruction information DI transmitted from the external server <NUM> to the mobile object <NUM>. In this way, by cooperating with the external server <NUM>, the management system <NUM> can solve problem that is difficult to solve by exchanging information between the information processing apparatus <NUM> and the mobile object <NUM> through intervention of the user.

The information processing apparatus <NUM> is configured to communicate with not only the external server <NUM> owned by the user but also other various external servers <NUM> through an electric communication line. Therefore, the acquisition unit <NUM> is configured to acquire weather information WI from the external server <NUM>. The instruction generation unit <NUM> is configured to generate instruction information DI for controlling the mobile object <NUM> based on the weather information WI. Further, the acquisition unit <NUM> is configured to acquire flight information OI indicating aircraft operation status from the external server <NUM>. The instruction generation unit <NUM> is configured to generate instruction information DI for controlling the mobile unit based on the flight information OI. The weather information WI and the flight information OI are only examples, and the acquisition unit <NUM> is configured to acquire all information possessed by the external server <NUM> that is useful for controlling the mobile object <NUM>. The instruction generation unit <NUM> is configured to generate instruction information DI based on the useful information.

The weather information WI includes not only weather information for an area in which the mobile object <NUM> travels, but also disaster prevention information such as earthquake information, tsunami information, volcano information, and typhoon information. Based on the weather information WI, the instruction generation unit <NUM> generates instruction information DI including, for example, a time period during which the mobile object <NUM> is allowed to travel and work. By having the acquisition unit <NUM> acquire the weather information WI in advance, the management system <NUM> can safely control the mobile object <NUM> to protect device of the mobile object <NUM> and allow it to operate without malfunction. Further, it also leads to ensuring safety of the location where the mobile object <NUM> is used.

If the mobile object <NUM> is the robotic lawn mower <NUM>, the robotic lawn mower <NUM> may be used in an airport. In such a case, movement of the mobile object <NUM> that uses radio wave to move is restricted for safety reason under law such as the Civil Aeronautics Act. Therefore, based on the flight information OI, the instruction generation unit <NUM> generates instruction information DI including, for example, the time period during which the mobile object <NUM> is allowed to travel and work. By having the acquisition unit <NUM> acquire the flight information OI in advance, the management system <NUM> can ensure safety of the airport or other location where the mobile object <NUM> is used by safely controlling the mobile object <NUM>.

The mobile object <NUM> is configured to continue operation, such as traveling, based on latest instruction information DI acquired from the information processing apparatus <NUM> prior to this when communication with the information processing apparatus <NUM> is unavailable. Therefore, the management system <NUM> can operate the mobile object <NUM> normally even if communication failure occurs between the information processing apparatus <NUM> and the mobile object <NUM> due to unforeseen circumstances. The latest instruction information DI here does not specify only the most recent instruction information DI, but includes a series of instruction information DI that allows normal operation.

For instance, when it is determined that the mobile object <NUM> is unable to communicate with the information processing apparatus <NUM>, if the instruction information DI to return to the charging station <NUM> in <NUM> minutes has already been transmitted to the mobile object <NUM>, the mobile object <NUM> promptly returns to the charging station <NUM> in <NUM> minutes. Further, when the mobile object <NUM> has last received the instruction information DI to work in another working area W, the mobile object <NUM> promptly returns to the charging station <NUM> after working in another working area W.

In this manner, by continuing operation such as traveling based on the latest instruction information DI and having the information processing apparatus <NUM> move the mobile object <NUM> to a predetermined location such as a charging station <NUM>, the latest instruction information DI is surely fulfilled and the mobile object <NUM> can be allowed to move to a safe location. Even if communication between the information processing apparatus <NUM> and the mobile object <NUM> becomes unavailable, a user who manages the mobile object <NUM> is relieved of the burden of restoration operation since the mobile object <NUM> can operate based on the instruction information DI until then.

Claim 1:
A management system (<NUM>) for a mobile object (<NUM>), comprising:
an information processing apparatus (<NUM>) including
an acquisition unit (<NUM>) configured to acquire remaining amount information indicating remaining amount of an external battery (<NUM>), wherein the external battery (<NUM>) is configured to store power provided to the mobile object (<NUM>) by a charging station (<NUM>),
characterised in that the information processing apparatus (<NUM>) further includes:
an instruction generation unit (<NUM>) configured to generate instruction information (DI) for controlling the mobile object (<NUM>) based on the remaining amount information, wherein the instruction information (DI) is information regarding operation of the mobile object (<NUM>); and
a transmission unit (<NUM>) configured to transmit the instruction information (DI) to the mobile object (<NUM>), thereby operation of the mobile object (<NUM>) is controlled.