JP2020042516A - Movement path generation device, mobile device, movement path generation method, and program - Google Patents

Abstract

To provide a technology capable of flexibly generating a movement path of a mobile device.SOLUTION: A movement path generation device 2000 acquires sensor information obtained from a sensor 12 moved along a path to which a mobile device 20 is to move, and property information indicating the size of the mobile device 20. The sensor 12 is provided on a portable terminal 10. The movement path generation device 2000, using the sensor information, generates a first movement path, being the path along which the sensor 12 has moved, and environment information regarding the positions of objects existing around the first movement path. The movement path generation device 2000 converts the first movement path into a second movement path based on the size of the mobile device 20 indicated by the property information and the position of each object indicated in the environment information. The second movement path is a path to be actually traveled by the mobile device 20. The movement path generation device 2000 outputs information indicating the second movement path in a form that can be acquired by a control device 22 that controls the movement of the mobile device 20.SELECTED DRAWING: Figure 1

Description

  The present invention relates to generating a movement route of a mobile device.

  2. Description of the Related Art Devices such as automatic guided vehicles (hereinafter, referred to as moving devices) that move along a predetermined moving route are used. For example, in a factory, parts and the like are loaded on an automatic guided vehicle and moved between production lines, so that parts and the like can be easily exchanged between the production lines.

  As a prior art document that discloses a technology for setting a moving route of a mobile device, there is, for example, Patent Document 1. In Patent Literature 1, time-series data of the position of a mobile terminal moved along a moving route is acquired, and 1) processing of replacing the time-series data of the position in the coordinate system of the mobile terminal with the coordinate system of the automatic guided vehicle. And 2) performing a process of replacing a change in the orientation of the mobile terminal with a turning operation of the automatic guided vehicle, thereby generating a movement path of the automatic guided vehicle.

International Publication No. WO 2016/203550

  In the technique of Patent Literature 1, the path on which the mobile terminal is moved is adopted as the path to which the automatic guided vehicle should move (run). Therefore, the moving route of the automatic guided vehicle cannot be set flexibly.

  The present invention has been made in view of the above problems. An object of the present invention is to provide a technique capable of flexibly generating a moving route of a mobile device.

  In one aspect of the present invention, a movement route generation device includes: 1) sensor information obtained from a sensor of a mobile terminal that has moved along a route to which a movement device should travel, and property information indicating the size of the movement device. An acquisition unit that acquires, 2) a generation unit that generates, using the sensor information, a first movement path that is a path along which the sensor has moved, and environment information about the position of an object existing around the first movement path; 3) a conversion unit that converts the first moving route into a second moving route to which the mobile device should actually move, based on the size of the mobile device indicated by the property information and the position of each object indicated by the environment information. And 4) an output unit that outputs route information indicating the second travel route in a form that can be obtained by a control device that controls the movement of the mobile device.

  In another aspect of the present invention, a moving route generation method is executed by a computer. The moving route generation method includes: 1) an acquiring step of acquiring sensor information obtained from a sensor of a portable terminal that has moved along a route to which the mobile device should move, and property information indicating a size of the mobile device; A) a generation step of generating a first movement path, which is a path along which the sensor has moved, and environment information relating to the position of an object existing around the first movement path, using the sensor information; and 3) a movement indicated by the property information. A converting step of converting the first moving path into a second moving path to which the moving apparatus should actually move, based on the size of the apparatus and the position of each object indicated in the environment information; 4) the second moving path An output step of outputting path information indicating the above in a form that can be obtained by a control device that controls the movement of the mobile device.

  In another aspect of the present invention, a mobile device acquires route information generated by a travel route generating device of the present invention, and operates the mobile device such that the mobile device moves along a travel route indicated by the obtained route information. And a control unit for controlling the

  In another aspect of the present invention, a program or a recording medium on which the program is stored may be stored in a computer by using the components of the above-described moving route generating device or the steps of the above-described moving route generating method of the moving device. Let it run.

  According to the present invention, there is provided a technique capable of flexibly generating a movement route of a mobile device.

FIG. 1 is a diagram conceptually illustrating a movement route generation device according to a first embodiment. FIG. 2 is a block diagram illustrating a functional configuration of the movement route generation device. FIG. 3 is a diagram illustrating a hardware configuration of a movement route generation device. FIG. 2 is a diagram illustrating a hardware configuration of a mobile terminal. FIG. 2 is a diagram illustrating a hardware configuration of a mobile device. 5 is a flowchart illustrating a flow of a process executed by the movement route generation device according to the first embodiment. FIG. 9 is a diagram illustrating an outward route and a return route included in a second movement route. It is a figure which illustrates the case where a mobile device cannot avoid an obstacle. FIG. 6 is a diagram illustrating error information. It is a block diagram which illustrates the movement course generation device of Embodiment 2. 9 is a flowchart illustrating a flow of a process executed by the movement route generation device according to the second embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, the same components are denoted by the same reference numerals, and description thereof will not be repeated. In addition, in each block diagram, unless otherwise specified, each block represents a configuration of a functional unit, not a configuration of a hardware unit.

[Embodiment 1]
FIG. 1 is a diagram conceptually illustrating a movement route generation device 2000 according to the first embodiment. FIG. 1 shows only an example of the operation of the movement route generation device 2000 in order to facilitate understanding, and does not limit the function of the movement route generation device 2000 at all.

  The moving route generation device 2000 is a device that generates route information indicating a route on which the moving device 20 moves (runs). The moving device 20 is any device that can move on a predetermined moving route. For example, the moving device 20 is a vehicle that moves by wheels, tracks, or the like. A more specific example is an automated guided vehicle (AGV).

  In order for the movement route generation device 2000 to generate the route information of the mobile device 20, as a premise of the present embodiment, for example, a person (operator) possesses the mobile terminal 10 along a route on which the mobile device 20 is to be moved. It will move in the state where it did. However, the mobile terminal 10 does not necessarily need to be held by a person's hand. For example, a person (such as a trolley) to which the mobile terminal 10 is attached may be pushed or steered by a person.

  The mobile terminal 10 is any portable computer provided with the sensor 12. For example, the mobile terminal 10 is a smartphone, a tablet, or the like. The sensor 12 includes at least a sensor that can be used to grasp a relative position of the mobile terminal 10 with respect to an object existing around the mobile terminal 10. For example, the sensor 12 is a camera, a range sensor, an acceleration sensor, a geomagnetic sensor, or the like.

  Using the sensor information obtained from the sensor 12, the movement route generation device 2000 generates time-series data representing a first movement route that is a route along which the sensor 12 has moved. This time-series data is referred to as first travel route information. As described above, when the mobile terminal 10 provided with the sensor 12 is moved along the path on which the mobile device 20 is to be moved, a first movement path representing the path on which the mobile device 20 is to be moved can be obtained.

  However, there are cases where it is not appropriate to move the moving device 20 along the first moving route. For example, it is assumed that a person moves to the portable terminal 10 to obtain sensor information. In this case, the mobile device 20 cannot always move on the same route as the route on which the person has moved. One of the causes is that the size of the person and the mobile device 20 are different. For example, when a person moves between two obstacles 50, if the size of the moving device 20 is larger than the size of the person, the moving device 20 may not pass between the two obstacles 50. .

  As described above, the route on which the moving device 20 actually moves takes into consideration the objects (for example, obstacles such as walls, equipment, or luggage) existing around the first moving route and the size of the moving device 20. Therefore, it is necessary to correct the first movement path.

  Therefore, the movement route generation device 2000 generates the environment information on the position of the obstacle 50 existing around the first movement route using the sensor information. The environmental information is information including a so-called environmental map. Further, the movement route generation device 2000 converts (corrects) the first movement route into a second movement route which is a movement route on which the mobile device 20 actually moves, using property information and environment information indicating the size of the mobile device 20. ). Then, the movement route generation device 2000 outputs the second movement route information indicating the second movement route to the control device that controls the movement of the moving device 20. The control device may be provided inside the moving device 20 or may be provided outside the moving device 20. In the latter case, the mobile device 20 is controlled remotely from the control device.

<Effects>
According to the movement route generation device 2000 of the present embodiment, the mobile terminal 10 uses the environment information indicating the position of the obstacle 50 around the route on which the mobile terminal 10 has moved, and the property information indicating the size of the mobile device 20, The first moving route, which is the route that 10 has moved, is converted to the second moving route, which is the route for moving the moving device 20. By doing so, the size of the moving device 20 and the position of the obstacle 50 around the first moving route are compared with a method in which the route on which the mobile terminal 10 is moved is directly adopted as the moving route of the moving device 20. In consideration of this, it is possible to flexibly generate a route for moving the mobile device 20. For example, as described above, when the mobile device 20 is moved along the route along which the mobile terminal 10 has moved, the mobile device 20 comes into contact with the obstacle 50, and the size of the mobile device 20 and the obstacle 50 Based on the position, the moving path of the moving device 20 can be generated so that the moving device 20 does not contact the obstacle 50. That is, it is possible to generate a route on which the mobile device 20 can move.

  Note that the method of generating the movement route of the mobile device 20 using the mobile terminal 10 has various advantages as described below. First, the moving route of the moving device 20 can be easily generated. Specifically, a person who can operate a mobile terminal such as a smartphone can create a route for the mobile device 20, so that not only a specialized engineer but also various people (such as field workers) can use the mobile device 20. Can create routes. For this reason, the hurdle for introducing the mobile device 20 is reduced. On the other hand, in a case where the moving route of the mobile device 20 is set using the specialized software, the route of the mobile device 20 is created unless a technician who is familiar with the method of using the software is used. Can not. Therefore, it can be said that the hurdle for introducing the moving device 20 is high.

  In addition, the method of using the mobile terminal 10 for creating a travel route also has an advantage that the quality of the travel route generated by the travel route generation device 2000 naturally improves over time without requiring special labor. is there. This is because mobile terminals such as smartphones become more sophisticated each time a new model is released. Therefore, for example, only by installing software for realizing the movement route generation device 2000 on the new mobile terminal 10, the movement route generation device 2000 having a higher function than the movement route generation device 2000 realized on the previous mobile terminal 10. Will be realized.

  The use of the mobile terminal 10 has an advantage that the creation and update of the user interface are easy. Further, there is an advantage that resistance to transmitting data from the mobile terminal 10 to an external device is low. This is because the technique of transmitting data from a mobile terminal to an external device via a network has a long track record of being used. Therefore, it is conceivable that the user will not have a great resistance to transmitting the sensor information acquired by the mobile terminal 10 or the second travel route information generated by the mobile terminal 10 to an external server.

  Hereinafter, the present embodiment will be described in more detail.

<Functional configuration>
FIG. 2 is a block diagram illustrating a functional configuration of the movement route generation device 2000. The movement route generation device 2000 includes an acquisition unit 2020, a generation unit 2040, a conversion unit 2060, and an output unit 2080. The acquisition unit 2020 acquires sensor information and property information. The generation unit 2040 generates first movement route information and environment information using the sensor information. The conversion unit 2060 converts the first travel route into the second travel route based on the size of the mobile device 20 indicated by the property information and the position of each object indicated by the environment information. The output unit 2080 outputs second travel route information indicating the second travel route to the control device.

<Example of hardware configuration of movement route generation device 2000>
Each functional component of the movement route generation device 2000 may be implemented by hardware (eg, a hard-wired electronic circuit or the like) that implements each functional component, or a combination of hardware and software (eg, : A combination of an electronic circuit and a program for controlling the electronic circuit). Hereinafter, a case where each functional component of the movement route generation device 2000 is realized by a combination of hardware and software will be further described.

  FIG. 3 is a diagram illustrating a hardware configuration of the movement route generation device 2000. The movement route generation device 2000 is realized by an arbitrary computer. For example, the movement route generation device 2000 is realized by a portable computer such as a smartphone or a tablet terminal. In this case, the movement route generation device 2000 may be the mobile terminal 10 provided with the sensor 12, or may be a computer other than the mobile terminal 10. In addition, for example, the movement route generation device 2000 may be realized by a stationary computer such as a personal computer (PC) or a server machine. The movement route generation device 2000 may be realized by a dedicated computer designed to realize the movement route generation device 2000, or may be realized by a general-purpose computer.

  The movement route generation device 2000 includes a bus 1020, a processor 1040, a memory 1060, a storage device 1080, an input / output interface 1100, and a network interface 1120. The bus 1020 is a data transmission path through which the processor 1040, the memory 1060, the storage device 1080, the input / output interface 1100, and the network interface 1120 mutually transmit and receive data. However, a method for connecting the processors 1040 and the like to each other is not limited to a bus connection.

  The processor 1040 is various processors such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and an FPGA (Field-Programmable Gate Array). The memory 1060 is a main storage device realized using a RAM (Random Access Memory) or the like. The storage device 1080 is an auxiliary storage device realized using a hard disk, a solid state drive (SSD), a memory card, a read only memory (ROM), or the like.

  The input / output interface 1100 is an interface for connecting the movement route generation device 2000 and the input / output device. For example, an input device such as a keyboard and a mouse, and an output device such as a display device are connected to the input / output interface 1100.

  The network interface 1120 is an interface for connecting the movement route generation device 2000 to a communication network. This communication network is, for example, a LAN (Local Area Network) or a WAN (Wide Area Network). The method by which the network interface 1120 connects to the communication network may be a wireless connection or a wired connection.

  The storage device 1080 stores a program module that realizes each functional component of the movement route generation device 2000. The processor 1040 realizes a function corresponding to each program module by reading out each of these program modules into the memory 1060 and executing them.

  Here, as described above, the movement route generation device 2000 may be realized by the mobile terminal 10. In this case, the mobile terminal 10 that has moved on a route on which the mobile device 20 is to be moved by a person, for example, uses the detection result of the sensor 12 provided for itself to generate the first moving route information and the environment information. Then, the second movement route information is generated based on the generation result.

  On the other hand, when the movement route generation device 2000 is realized by a device other than the mobile terminal 10, the detection result of the sensor 12 provided in the mobile terminal 10 is provided from the mobile terminal 10 to the movement route generation device 2000. When the movement route generation device 2000 is implemented as a server device provided on a communication network (hereinafter, simply referred to as a “network”), for example, a detection result of the sensor 12 is transmitted from the mobile terminal 10 to the server device, The moving route of the moving device 20 is generated by the server device.

<Example of hardware configuration of mobile terminal 10>
FIG. 4 is a diagram illustrating a hardware configuration of the mobile terminal 10. The mobile terminal 10 is realized by any portable computer. For example, the mobile terminal 10 is realized by a smartphone, a tablet terminal, or the like. As described above, the mobile terminal 10 may be a device that realizes the movement route generation device 2000. The mobile terminal 10 may be realized by a dedicated computer designed to realize the mobile terminal 10, or may be realized by a general-purpose computer.

  For example, the mobile terminal 10 has a bus, a processor, a memory, a storage device, an input / output interface, and a network interface, similarly to the movement route generation device 2000. Further, the mobile terminal 10 has a sensor 12. For example, the sensor 12 is connected to the input / output interface 1100.

<Example of hardware configuration of mobile device 20>
FIG. 5 is a diagram illustrating a hardware configuration of the mobile device 20. The moving device 20 has a control system 24, an actuator 26, and wheels 28.

  The control system 24 controls the actuator 26 by transmitting a control signal to the actuator 26. In this way, the movement of the mobile device 20 is controlled. The control system 24 is realized by an arbitrary computer (for example, a semiconductor chip or the like). For example, the control system 24 includes a bus, a processor, a memory, a storage device, an input / output interface, and a network interface, as in the case of the movement route generation device 2000. The actuator 26 is connected to the input / output interface 4100 of the control system 24. The control system 24 transmits a control signal to the actuator 26 via the input / output interface 4100.

  The control system 24 is realized by, for example, the control device 22 that controls the movement of the moving device 20 using the second movement route information. However, as described above, in some cases, the control device 22 is not included in the mobile device 20. In this case, the control system 24 receives the control data from the control device 22 provided outside the moving device 20 and controls the actuator 26 according to the received control data, thereby moving the moving device 20 to the second moving route. Move along.

  The actuator 26 controls the wheels 28 based on a control signal received from the control system 24. The wheel 28 is a mechanism for moving the moving device 20. In addition, not only wheels but also an arbitrary mechanism can be adopted as a mechanism for moving the moving device 20.

<Process flow>
FIG. 6 is a flowchart illustrating a flow of processing executed by the movement route generation device 2000 according to the first embodiment. The acquisition unit 2020 acquires sensor information and property information (S102). The generation unit 2040 generates first travel route information and environment information using the sensor information (S104). The conversion unit 2060 converts the first movement route into the second movement route based on the size of the mobile device 20 indicated by the property information and the position of each object indicated by the environment information (S106). The output unit 2080 outputs the second travel route information indicating the second travel route to the control device (S108).

  The timing at which the series of processes shown in FIG. 6 is executed varies. For example, a series of processes illustrated in FIG. 6 is executed after the mobile terminal 10 has been moved along the first movement route. In addition, for example, the series of processes illustrated in FIG. 6 may be performed while the mobile terminal 10 is moving along the first movement route. In this case, the movement route generation device 2000 repeatedly acquires the sensor information generated by the mobile terminal 10 and generates the first movement route and the environment information within a range that can be created by the acquired sensor information.

<About sensor information>
The sensor information is information indicating a detection result of the sensor 12 provided in the mobile terminal 10 at each of a plurality of time points. The type of information indicated by the sensor information depends on the sensor included in the sensor 12. For example, when the sensor 12 includes a camera, the sensor information indicates a captured image generated by the camera at each of a plurality of detection times. In addition, for example, when the sensor 12 includes a range measuring sensor that measures the distance between the sensor 12 and an object such as a radar or a lidar, the sensor information includes a plurality of directions and a plurality of directions for each of a plurality of detection points. 2 shows a combination of distances between an object existing in the sensor and a sensor (a so-called distance image). In addition, for example, when the sensor 12 includes a geomagnetic sensor such as an electronic compass, the sensor information indicates the direction and magnitude of the magnetic field measured by the geomagnetic sensor at each of a plurality of time points.

<Acquisition of sensor information: S102>
The acquisition unit 2020 acquires sensor information (S102). An arbitrary method can be adopted as a method by which the obtaining unit 2020 obtains the sensor information. For example, the acquisition unit 2020 acquires sensor information by accessing a storage device in which sensor information is stored. The storage device in which the sensor information is stored may be provided inside the mobile terminal 10 or may be provided outside the mobile terminal 10. Alternatively, for example, the acquisition unit 2020 may acquire sensor information by receiving sensor information transmitted from the mobile terminal 10.

<Acquisition of property information>
The acquisition unit 2020 acquires property information (S102). An arbitrary method can be adopted as a method by which the obtaining unit 2020 obtains the property information. For example, the acquisition unit 2020 acquires property information by accessing a storage device in which property information is stored. The storage device storing the property information may be provided inside the mobile device 20 or may be provided outside the mobile device 20. Alternatively, for example, the acquisition unit 2020 may acquire property information by receiving property information transmitted from the mobile device 20.

  An arbitrary method can be adopted as a method of generating property information. For example, the property information can be manually generated by using the design data of the mobile device 20. In addition, for example, the property information can be generated by scanning the moving device 20 with a three-dimensional scanner or capturing an image of the moving device 20 with a camera to obtain data representing the three-dimensional shape of the moving device 20. An existing technique can be used as a technique for generating data representing a three-dimensional shape of an object using a three-dimensional scanner or a camera.

<Generation of first travel route information and environment information: S104>
The generation unit 2040 generates first travel route information and environment information (S104). As described above, the first movement route information is time-series data representing the first movement route that is the route along which the mobile terminal 10 has moved. This corresponds to time-series data of the self-position of the mobile terminal 10. The environment information is data representing the position of the obstacle 50 located around the first movement route. In other words, the environment information is three-dimensional spatial data around the first movement route. This is equivalent to an environment map around the route along which the mobile terminal 10 has moved. Therefore, the first movement route information and the environment information can be generated by executing an algorithm for estimating the self-position of the mobile terminal 10 and generating an environment map using the sensor information.

  Therefore, for example, the generation unit 2040 uses the sensor information to execute an algorithm that realizes SLAM (Simultaneous Localization and Mapping), which is a technique for simultaneously performing self-position estimation and environment map generation. Accordingly, it is possible to generate time-series data of the self-position of the mobile terminal 10 (that is, the first movement route) and an environment map representing the position of the obstacle 50 existing around the route on which the mobile terminal 10 has moved. .

  Here, it is particularly preferable to utilize a geomagnetic sensor for estimating the self-position of the mobile terminal 10. The magnetic field is affected by metals (eg, metal columns) contained in building materials of the building. Therefore, the relative distance to the object affecting such a magnetic field can be grasped with high accuracy from the detection result of the geomagnetic sensor.

  Therefore, for example, a map such as a floor plan (hereinafter referred to as an advance map) is prepared in advance for a place where the mobile device 20 is to be moved, and geomagnetic information in which the position of the advance map is associated with the geomagnetic information is prepared. The generation unit 2040 estimates the self-position on the preliminary map by using the detection result of the geomagnetic sensor and the geomagnetic information, and estimates the self-position on the environmental map by comparing the preliminary map with the environmental map. .

  However, the technique for estimating the self-position estimation of the mobile terminal 10 is not limited to a method using geomagnetic information prepared in advance. Various existing algorithms can be used as a specific algorithm for realizing SLAM using the detection result of a sensor such as a camera provided on a moving object.

  The execution of the SLAM (that is, the estimation of the self-position of the mobile terminal 10 and the creation of the environment map) may be performed while moving the mobile terminal 10 (that is, online), or the mobile terminal 10 may be moved. It may be performed later (ie, offline). In any case, the generation unit 2040 executes the SLAM using the time series data of the detection result of the sensor.

<< Environmental map correction >>
The generation unit 2040 may perform correction of the environment map using the preliminary map. The advance map is, for example, a sketch of a building. Using a floor plan of a building or the like, an accurate position of an object (such as a wall or a pillar) with a low probability of being moved can be grasped. On the other hand, objects that are not likely to be moved, such as desks and equipment, are likely not to be included in the preliminary map.

  Therefore, for example, the generation unit 2040 compares the position of each obstacle 50 estimated from the sensor information with the position of each obstacle 50 shown on the advance map, and compares the obstacle 50 estimated from the sensor information with the advance. The association with the obstacle 50 shown on the map is performed. Then, the generation unit 2040 corrects the position of the obstacle 50 estimated from the sensor information so as to be closer to the position of the obstacle 50 shown on the preliminary map. At this time, by performing the same correction as the position of the obstacle 50 shown on the preliminary map on the position of the obstacle 50 not shown on the preliminary map, the accuracy of the entire environmental map can be improved. .

<Path conversion: S106>
The conversion unit 2060 converts the first travel route into the second travel route using the environment information and the property information (S106). Specifically, the conversion unit 2060 converts the first moving route into a route on which the moving device 20 can move, based on the size of the moving device 20 and the position of the obstacle 50.

  For example, the conversion unit 2060 converts the first moving path into the second moving path so that the moving device 20 does not contact the obstacle 50. Specifically, the conversion unit 2060 calculates the distance between each position of the first movement route and the obstacle 50, and calculates the distance on the first movement route based on the calculated distance and the size of the moving device 20. The position where the moving device 20 comes into contact with the obstacle 50 is specified. Hereinafter, this position is referred to as a contact position. The conversion unit 2060 replaces the contact position with a position where the moving device 20 does not collide with the obstacle 50 based on the size of the moving device 20. Then, conversion unit 2060 generates, as the second movement path, the first movement path in which the contact position has been replaced with a position where moving apparatus 20 does not collide with obstacle 50.

  For example, it is assumed that the moving device 20 has a circular shape with a diameter R in a plan view. In this case, the conversion unit 2060 changes the contact position to a position away from the obstacle 50 by R + m. m is a margin and is a positive real number. m may be set in the conversion unit 2060 in advance, or may be stored in a storage device accessible from the conversion unit 2060. Also, an appropriate margin m may be included in the property information for each type of the mobile device 20.

  Furthermore, the conversion unit 2060 may generate the second movement route by performing an arbitrary interpolation process on the first movement route to smooth the first movement route. By performing the smoothing, the energy efficiency of the moving device 20 can be improved. Any smoothing technique such as spline interpolation can be used for smoothing the path.

  For example, when the person holding the mobile terminal 10 moves in a zigzag manner, the first movement path has a zigzag shape. In this regard, by performing smoothing, the second movement path can be made a straight line or a smooth curve.

  In addition, for example, it is assumed that the person holding the mobile terminal 10 has largely changed the direction immediately before the obstacle 50. In general, a person can move more flexibly than an unmanned transport vehicle or the like, so that it is possible to largely change the direction near an obstacle without reducing the speed. On the other hand, the moving device 20 such as an automatic guided vehicle has a minimum turning radius larger than that of a person, and thus it is difficult to make a large turn without decreasing the speed. In this regard, by performing smoothing, the second moving path can be a path that makes a relatively small change in direction from a position distant from the obstacle 50.

  When performing smoothing, it is preferable to obtain design information (for example, a minimum turning radius or the like) on the operation of the moving device 20 in addition to the size of the moving device 20. The design information on the operation of the mobile device 20 is included in the property information in advance.

  Here, the conversion unit 2060 can perform smoothing on the path that has been subjected to the above-described process of “replace the contact position on the first movement path with a position where the moving device 20 does not contact the obstacle 50”. It is suitable. By doing so, the moving device 20 can avoid the obstacle 50 with smooth movement.

<<< speed of moving device 20 >>>
The second travel route may or may not include information on the speed of the mobile device 20. In the former case, for example, the second movement route is represented by data (P1, P2, P3 ...) in which positions on the second movement route are ordered in the order of movement. Here, Pi is a coordinate on the environment map. On the other hand, in the latter case, for example, the second travel route is data ((t1, P1), (t2, P2), which associates each position on the second travel route with a relative time from the movement start time. ...). ti represents the time point when the vehicle reaches the position Pi on the environmental map, relative to the movement start time point.

  When information on the speed of the mobile device 20 is included in the second travel route, the speed of the mobile device 20 can be determined in consideration of the shape of the route of the mobile device 20 and design information on the operation of the mobile device 20. It is suitable. For example, when the second movement route is curved to avoid the obstacle 50, the conversion unit 2060 specifies the maximum value of the speed of the moving device 20 that can stably turn the curve, and is equal to or less than the specified maximum value. (For example, the speed equal to the maximum value). For this purpose, for example, a function for calculating the maximum value of the speed of the moving device 20 capable of stably turning the curve is determined in advance from the size of the curve (for example, the radius of curvature of the curve). Then, the conversion unit 2060 calculates the radius of curvature of the curve on the second movement route, inputs the radius of curvature to the function, and obtains the speed of the moving device 20 when moving the curve from the function. Set to a value less than or equal to the value.

  Note that the second movement route may indicate time-series data of a vector connecting the coordinates, instead of indicating the time-series data of the coordinates on the environment map. When speed information is included in the second moving route, the second moving route indicates time-series data in which time and velocity vectors are associated, instead of time-series data in which time and coordinates are associated. Is also good.

<< About round trip route >>
The second movement route may be a one-way route (outbound route) or a reciprocating route. In the latter case, the first movement route may be a one-way route or a reciprocating route. Hereinafter, the case where the second moving route is a reciprocating route will be described separately for a case where the first moving route is a one-way route and a case where the first moving route is a reciprocating route.

<<<< Case where the first moving route is a one-way route >>>>
When the first movement route is a one-way route, the conversion unit 2060 generates both the outward route and the return route based on the first movement route. For example, the conversion unit 2060 generates a forward path by converting the first movement path by the various methods described above, and generates a return path by reversing the direction of the generated forward path.

  The conversion unit 2060 may be set so that the outward route and the return route are separated from each other. In this way, when the plurality of moving devices 20 move on the second moving route, it is possible to avoid collision between the moving device 20 on the outward route and the moving device 20 on the return route. The distance between the outward route and the return route is determined based on the size of the moving device 20.

  FIG. 7 is a diagram illustrating an outward route and a return route included in the second movement route. In the upper part of FIG. 7, the route going backward from the outward route is the return route. Therefore, arrows are shown at both ends of the route. On the other hand, in the lower part of FIG. 7, the outward route and the return route are separated. In this example, since the moving device 20 is a circle having a diameter R in a plan view, the distance between the outward route and the return route is R + m. m is a margin of any size.

  The method of separating the outward route and the return route is not limited to the above-described method. For example, when the second movement path is along the path, the outward path and the return path can be separated by a method in which the outward path and the return path are respectively a path along the left end and a path along the right end of the path.

  However, if the return path is generated by separating from the outward path, the position of the obstacle 50 is different between the forward path and the return path. Then, the conversion unit 2060 generates a return path separated from the outward path by the above-described method, and then determines whether or not the obstacle 50 is present on the return path. Modify the return trip to avoid it. As a method of correcting the path to avoid the obstacle 50, for example, the above-described method of specifying the contact position and replacing the contact position with a position that does not contact the obstacle 50 can be adopted in consideration of the size of the moving device 20. .

<<<< Case where the first movement route is a round-trip route >>>>
When the first moving route is a reciprocating route, the conversion unit 2060 generates a second moving route indicating the reciprocating route by performing replacement or smoothing of the contact position on the first moving route. However, when a plurality of mobile devices 20 are operated, the conversion unit 2060 converts the first travel route into the second travel route so that the mobile device 20 on the outward route and the mobile device 20 on the return route do not contact each other. It is preferred to do so.

  For example, the conversion unit 2060 also treats the moving device 20 itself as the obstacle 50 when replacing the contact position on the first movement route. For example, when generating the outward route of the second travel route, the conversion unit 2060 specifies the contact position on the assumption that the mobile device 20 exists as the obstacle 50 on the return route of the first travel route. In this way, the second moving route can be generated such that the moving device 20 does not contact another moving device 20 moving on the return path. After generating the outbound path of the second movement path, the conversion unit 2060 specifies the contact position on the assumption that the mobile device 20 is present as the obstacle 50 on the outbound path, thereby generating the inbound path.

<< About start point and end point >>
The start point and the end point of the second movement route are specified by, for example, a user operation. For example, after performing a predetermined first operation on the mobile terminal 10, the user moves the mobile terminal 10 along a route where the mobile device 20 is to be moved. Sensor information indicating a detection result obtained from the sensor 12 after the time point when the first operation is applied is used for generating the first movement route.

  For example, the first operation is an operation of tapping the user interface displayed on the display screen of the mobile terminal 10. For example, a captured image generated by a camera provided in the mobile terminal 10 is displayed on a display screen of the mobile terminal 10. The user performs a first operation of tapping a position on the captured image. The position in the real space corresponding to the position on the captured image tapped by this operation is treated as the start point of the second movement path.

  When the mobile terminal 10 has been moved along the route on which the mobile device 20 is to be moved, the user further performs a predetermined second operation on the mobile terminal 10. Sensor information indicating a detection result obtained from the sensor 12 before the time point when the second operation is applied is used for generating the first movement route. Alternatively, for example, the position of the mobile terminal 10 when the second operation is performed may be set as the start point of the first movement route.

  For example, the second operation is an operation in which the user taps a position on the captured image twice consecutively. When the user performs the second operation, the position in the real space corresponding to the position on the tapped captured image is treated as the end point of the second movement path. Alternatively, for example, the position of the mobile terminal 10 when the second operation is performed may be set as the end point of the first movement route.

  The first operation and the second operation are not limited to the operation of tapping the user interface displayed on the display screen, but may be any operation (for example, pressing any hardware button that can be added to the mobile terminal 10). Operation etc.).

<< About the pause point >>
A pause point may be set in the second movement route in addition to the start point and the end point. The temporary stop point is a place where the mobile device 20 should temporarily stop on the way to the end point. The moving device 20 stops when it reaches the pause point, and resumes moving when a predetermined condition is satisfied. For example, the predetermined condition is that a predetermined operation (such as pressing a button provided on the mobile device 20) is performed on the mobile device 20. In addition, for example, the predetermined condition is that the operation is stopped for a predetermined time.

  The pause point is set by a user operation, for example, similarly to the above-described setting of the start point and the end point. For example, if the user performs the first operation on the mobile terminal 10 to start moving and then performs the first operation, the location specified by the first operation is registered as a temporary stop point. In addition, for example, a temporary stop point may be designated by a third operation (for example, long pressing of the screen) different from the first operation and the second operation.

  A plurality of pause points may be set. In this case, the mobile terminal 10 receives the operation for specifying the pause point a plurality of times, and treats the location specified by each operation as the pause point.

  The mobile terminal 10 may further receive designation of a predetermined condition for restarting the movement of the mobile device 20 at the suspension point. For example, the mobile terminal 10 receives an input for designating whether the movement of the mobile device 20 should be restarted when a user operation or a predetermined time has elapsed. In addition, when the predetermined time has elapsed, the mobile terminal 10 may receive an input specifying the predetermined time (time during which the mobile device 20 is stopped at the temporary stop point). However, the predetermined condition for resuming the movement of the mobile device 20 does not necessarily need to be specified by a user operation, and may be fixedly set.

  Here, the conversion unit 2060 converts the temporary stop point on the first travel route into a temporary stop point on the second travel route. For example, the conversion unit 2060 sets, as the pause point on the second movement route, the coordinate having the minimum distance from the pause point on the first route among the coordinates on the second movement route. However, the conversion unit 2060 may not change the position of the temporary stop point when converting the first movement path into the second movement path. That is, the second moving route may be generated so as to always pass through the temporary stop point on the first moving route.

  When the setting of the temporary stop point is enabled, the second travel route information further includes information indicating the temporary stop point on the second travel route in addition to the second travel route. When reaching the stop point indicated by the second movement route information, the control device 22 stops the movement device 20 until a predetermined condition is satisfied. Then, when the predetermined condition is satisfied, the control device 22 restarts the movement of the moving device 20. If the predetermined condition is not fixed and can be specified by the user, the second movement route information further includes a predetermined condition for each stop point.

<Output of second travel route information: S108>
The output unit 2080 outputs the second travel route information indicating the second travel route in a form that the control device 22 of the mobile device 20 can acquire. Various methods can be adopted for this method. For example, the output unit 2080 transmits the second movement route information to the control device 22 by wireless communication using a proximity sensor. For wireless communication using the proximity sensor, for example, NFC (Near Field Communication) or Bluetooth (registered trademark) can be used.

  For example, it is assumed that the second route information is generated by the mobile terminal 10 and the control device 22 is included in the mobile device 20. In this case, a proximity sensor is provided in each of the mobile terminal 10 and the mobile device 20. Then, by bringing the mobile terminal 10 closer to the mobile device 20 (for example, touching a predetermined position of the mobile device 20 with the mobile terminal 10), the mobile terminal 10 outputs the second travel route information to the control device 22.

  The method of outputting the second movement route information is not limited to the method using the proximity sensor. For example, the output unit 2080 transmits the second movement route information to the control device 22 by specifying the address (IP (Internet Protocol) address or the like) of the control device 22 and transmitting the second movement route information. Is also good. For example, when it is desired to set the same moving route to a plurality of mobile devices 20, all the addresses of the plurality of control devices 22 that control the plurality of mobile devices 20 are specified, and the second moving route information is transmitted. The second movement route information can be transmitted to the plurality of control devices 22 by an operation.

  In addition, for example, the output unit 2080 causes the storage device accessible from the control device 22 to store the second movement route information. The control device 22 acquires the second movement route information by accessing this storage device. Note that when the output unit 2080 stores the second movement route information in the storage device, the output unit 2080 may notify the control device 22 of the fact.

  Further, the second movement route information stored in the storage device may be transmitted to the control device 22 using an arbitrary device. For example, assume that the second travel route information is stored in a server on the network. In this case, the selection of the second movement route information stored in the server and the selection of the address of the control device 22 are performed by using an arbitrary portable terminal or the like, so that the selected second movement route information is selected. Can be transmitted to the control device 22.

<About the case where the second movement route cannot be generated>
Here, there are cases where the conversion unit 2060 cannot convert the first movement route into the second movement route. For example, there is a case where the mobile device 20 cannot avoid the obstacle 50. FIG. 8 is a diagram illustrating a case where the mobile device 20 cannot avoid the obstacle 50. In the example of FIG. 8, when the person 30 moves with the mobile terminal 10, the first movement route information is generated. The obstacles 50 include the walls 60-1 and 60-2, and the equipment 70.

  Here, the person 30 is passing between the equipment 70 and the wall 60-2. However, the distance between the equipment 70 and the wall 60-2 is longer than the width of the person 30, but shorter than the width of the moving device 20. Therefore, the moving device 20 cannot pass between the equipment 70 and the wall 60-2. Therefore, the conversion unit 2060 cannot convert the first moving route to the second moving route for moving the moving device 20.

  When the second travel route information cannot be generated as described above, it is preferable that the output unit 2080 outputs error information indicating a message indicating that the second travel route information cannot be generated. Here, it is preferable that the error information includes, in addition to the message, information indicating a reason why the second travel route information cannot be generated. For example, the output unit 2080 generates and generates, on the environment map generated by the generation unit 2040, image data indicating the first travel route and a place where the mobile device 20 cannot pass through the first travel route. Include image data in error information.

  FIG. 9 is a diagram illustrating an example of the error information. The error information in FIG. 9 includes a message 80 indicating that the moving route of the mobile device 20 cannot be generated, and image data 90. In the image data 90, a first movement route is drawn on a map. Further, the image data 90 indicates a place where the moving device 20 cannot pass (information indicating the reason why the second moving route could not be generated).

  By referring to the error information, the creator of the first travel route (such as the user of the mobile terminal 10) can take various measures. For example, when the place where the moving device 20 is found to be unable to pass is a place narrowed due to obstacles such as movable luggage, the luggage or the like is moved to another place, so that the moving device 20 can be moved. Can be passed through. That is, it is possible to generate the second movement route. In addition, for example, when there is a passage on the first movement route through which the moving device 20 cannot pass, it is assumed that the moving device 20 can be moved to the destination by using another passage. In this case, the second moving route is generated by re-generating the first moving route while moving the portable terminal 10 again so that the route moving to the destination using the different passage is set as the first moving route. Can be generated.

  The output destination of the error information is arbitrary. For example, the output unit 2080 transmits error information to the mobile terminal 10. Alternatively, for example, the output unit 2080 may store the error information in an arbitrary storage device accessible from the mobile terminal 10 or another device.

<Control of mobile device 20 by control device 22>
The control device 22 controls the movement of the moving device 20 using the second movement route information. The mobile device 20 is provided with a sensor that can be used for self-position estimation. The control device 22 estimates the position of the mobile device 20 on the environment map by performing self-position estimation of the mobile device 20 based on the detection result of the sensor provided in the mobile device 20. The environment map is provided from the travel route generation device 2000 together with the second travel route information, for example. In this case, the travel route generation device 2000 outputs an environment map together with the second travel route information. Then, the control device 22 controls the movement of the moving device 20 by controlling the actuator of the moving device 20 so that the position of the moving device 20 on the environment map is along the second movement route. Note that existing technology can be used as a specific technology for moving the mobile device along a predetermined route while performing self-position estimation.

[Embodiment 2]
<Overview>
The movement route generation device 2000 according to the second embodiment has a function of updating the second movement route based on the result of the movement of the mobile device 20 using the second movement route information. For example, it is assumed that when the moving device 20 is an automatic guided vehicle that moves while carrying a load, the moving device 20 moves on the second movement path, and as a result, the load drops on the way. In this case, it is preferable to update the second moving route so that the luggage does not fall from the moving device 20. For example, if the luggage falls in a place that curves greatly to avoid the obstacle 50, it is considered that the luggage can be prevented by dropping the curve or reducing the speed at the curve. Can be

  Therefore, the movement route generation device 2000 according to the second embodiment acquires the result information on the movement result of the moving device 20, and updates the second movement route indicated by the second movement route information based on the result information. By doing so, the moving device 20 can move more appropriately.

  Hereinafter, the movement route generation device 2000 of the present embodiment will be described in more detail.

<Example of functional configuration>
FIG. 10 is a block diagram illustrating a movement route generation device 2000 according to the second embodiment. The movement route generation device 2000 according to the second embodiment further includes an update unit 2100. The update unit 2100 acquires the result information indicating the movement result of the mobile device 20, and updates the second movement route indicated by the second route information based on the result information.

<Example of hardware configuration>
The hardware configuration of the movement route generation device 2000 according to the second embodiment is shown in FIG. 3, for example, similarly to the hardware configuration of the movement route generation device 2000 according to the first embodiment. However, the storage device 1080 of the second embodiment further includes a program module that realizes the function of the movement route generation device 2000 of the second embodiment.

<Process flow>
FIG. 11 is a flowchart illustrating a flow of processing executed by the movement route generation device 2000 according to the second embodiment. The acquisition unit 2020 acquires the result information and the second travel route information (S202). The update unit 2100 updates the second travel route indicated by the second travel route information using the performance information (S204). The output unit 2080 outputs the updated second movement route information (S206).

<Results>
The result information indicates the movement result of the mobile device 20. For example, the performance information indicates the position where the load placed on the moving device 20 has dropped from the moving device 20 or the position where a large impact has been applied to the moving device 20. A large impact on the moving device 20 is considered to be caused by, for example, a step on the floor.

  The performance information can be generated using, for example, a sensor provided in the mobile device 20. Then, for example, the control device 22 specifies the position where the package has dropped, etc., based on the detection result of the sensor provided in the moving device 20.

  For example, a weight sensor is provided on the bed of the moving device 20. By detecting that the value of the weight sensor has decreased, the control device 22 can grasp the position where the load has dropped. Further, when a large impact is applied to the moving device 20, it is considered that the value detected by the weight sensor changes, such as the value of the weight sensor vibrating. Thus, for example, the control device 22 identifies the position where a large impact is applied to the moving device 20 by detecting that the value of the weight sensor has vibrated at a magnitude equal to or greater than a predetermined value.

  The device that generates the result information may be any device, and need not be the control device 22. Further, the result information may be manually generated.

<Acquisition of performance information: S202>
The acquisition unit 2020 acquires the performance information (S202). Various methods can be adopted as a method by which the acquisition unit 2020 acquires the result information. For example, the acquiring unit 2020 acquires the result information by accessing a storage device in which the result information is stored. This storage device is any storage device that can be accessed from the acquisition unit 2020. For example, this storage device is provided in a device that has generated performance information. In addition, for example, the acquisition unit 2020 acquires the result information by receiving the result information transmitted from another device (for example, the device that generated the result information).

<Acquisition of second travel route information: S202>
The acquisition unit 2020 acquires the second movement route information. Here, since the second travel route is repeatedly updated, the update unit 2100 needs to acquire the latest second travel route information as the second travel route information to be updated. Various methods can be adopted as a method of acquiring the latest second movement route information. For example, the acquisition unit 2020 acquires, from the control device 22, the second travel route information currently set in the control device 22 as the second travel route information to be updated. In addition, for example, the second movement route information last output from the output unit 2080 to the control device 22 is stored in a storage device accessible from the acquisition unit 2020. Then, the acquiring unit 2020 acquires the second movement route information to be updated by accessing the storage device.

<Update of second travel route information: S204>
The updating unit 2100 updates the second traveling route using the result information. As described above, the performance information indicates the position where the baggage has dropped or large vibration has been applied to the moving device 20. Therefore, the update unit 2100 updates the second movement route so that the operation of the moving device 20 at the position indicated by the performance information or at a position around the position becomes relatively gentle.

  For example, when the second movement route is curved at a position indicated by the performance information and its periphery (for example, a predetermined number of positions before and after), the updating unit 2100 reduces the radius of curvature of the curve (for example, a predetermined multiple smaller than 1). 2), the second moving route is updated.

  In addition, for example, when the second movement route includes information on the speed of the mobile device 20, the updating unit 2100 decreases the speed of the mobile device 20 at the position indicated by the performance information (for example, a predetermined multiple smaller than 1). 2), the second moving route is updated. When the speed of the mobile device 20 changes at or around the position indicated by the performance information, the update unit 2100 reduces the change in the speed (for example, multiplies by a predetermined value smaller than 1). , The second moving route is updated.

<Output of second travel route information: S206>
The output unit 2080 outputs the updated second travel route information to the mobile device 20 (S206). Here, the method of outputting the second travel route information to the mobile device 20 is as described in the first embodiment.

  As described above, the embodiments of the present invention have been described with reference to the drawings. However, these are exemplifications of the present invention, and a combination of the above embodiments or various configurations other than the above may be adopted.

Some or all of the above embodiments may be described as in the following supplementary notes, but are not limited thereto.
1. An acquisition unit that acquires sensor information obtained from a sensor of a mobile terminal that has moved along a route to which a mobile device has to travel, and property information indicating the size of the mobile device,
A generation unit configured to generate a first movement path that is a path along which the sensor has moved, and environment information regarding a position of an object existing around the first movement path, using the sensor information;
The first moving route is converted into a second moving route to which the moving device should actually move based on the size of the moving device indicated by the property information and the position of each object indicated in the environment information. A conversion unit;
An output unit that outputs route information indicating the second travel route in a form that can be acquired by a control device that controls the movement of the mobile device.
2. The conversion unit, among the positions on the first movement route, specifies a position where the moving device contacts another object when the moving device is moved to the position, and specifies the specified position with the other position. The first moving path is converted into the second moving path by changing the position to a position separated from the object by a distance equal to or larger than the size of the moving device. 3. The movement route generation device according to claim 1.
3. The conversion unit converts the first travel route into a second travel route by performing smoothing on the first travel route. Or 2. 3. The movement route generation device according to claim 1.
4. The second travel route represents a reciprocating route,
4. The moving route generation device according to claim 1, wherein the conversion unit converts a forward route and a return route of the second moving route into a state where the going route and the returning route are separated by a size equal to or larger than the size of the moving device. 5.
5. The generation unit generates the route information and the environment information by executing Simultaneous Localization and Mapping (SLAM) using the sensor information. To 4. The movement route generation device according to any one of the above.
6. The sensor includes a geomagnetic sensor,
The generation unit acquires geomagnetism information related to geomagnetism on a map around a first movement route, and uses the detection result of the geomagnetism sensor and the geomagnetism information to determine whether the mobile terminal provided with the geomagnetism sensor has 4. Perform position estimation; 3. The movement route generation device according to claim 1.
7. The output unit outputs error information indicating that the first moving route cannot be converted to the second moving route when the converting unit cannot convert the first moving route to the second moving route. 1. 5. The movement route generation device according to claim 1.
8. 6. The error information includes information indicating a position on the first movement route that the mobile device cannot pass. 5. The movement route generation device according to claim 1.
9. The moving device is an automated guided vehicle (AGV). To 8. The movement route generation device according to any one of the above.
10. The moving route generating device is provided inside the moving device. To 9. The movement route generation device according to any one of the above.

11. A travel route generation method executed by a computer, comprising:
Obtain sensor information obtained from the sensor of the mobile terminal having moved along the route to which the mobile device should move, and property information indicating the size of the mobile device,
Using the sensor information, a first movement path that is a path along which the sensor has moved, and environment information regarding the position of an object existing around the first movement path,
Based on the size of the mobile device indicated by the property information and the position of each object indicated in the environment information, convert the first travel route into a second travel route to which the mobile device should actually travel. ,
Outputting route information indicating the second travel route in a manner that a control device that controls the movement of the mobile device can acquire the route information;
Moving route generation method.
12. In the conversion, among the positions on the first movement path, when the moving device is moved to the position, the position where the moving device comes into contact with another object is specified, and the specified position is specified as the other object. 10. converting the first moving path to the second moving path by changing the position of the first moving path to a position separated by more than the size of the moving apparatus; 3. The moving route generation method according to 1.
13. 10. In the conversion, the first moving path is converted to the second moving path by performing smoothing on the first moving path. Or 12. 3. The moving route generation method according to 1.
14． The second travel route represents a reciprocating route,
10. In the conversion, the forward path and the return path of the second moving path are separated from each other by at least the size of the moving device. To 13. The moving route generation method according to any one of the above.
15. 10. In the generation, the path information and the environment information are generated by executing Simultaneous Localization and Mapping (SLAM) using the sensor information. To 14. The moving route generation method according to any one of the above.
16. The sensor includes a geomagnetic sensor,
In the generation, acquiring geomagnetism information related to geomagnetism on a map around a first movement route, and using a detection result of the geomagnetism sensor and the geomagnetism information, a self-position of the mobile terminal provided with the geomagnetism sensor Perform the estimation, 15. 3. The moving route generation method according to 1.
17． Outputting, at the output, error information indicating that the first movement route cannot be converted to the second movement route when the first movement route cannot be converted to the second movement route in the conversion; 11 . 3. The moving route generation method according to 1.
18. 16. The error information includes information indicating a position on the first movement route through which the mobile device cannot pass. 3. The moving route generation method according to 1.
19. 10. The moving device is an automated guided vehicle (AGV). To 18. The moving route generation method according to any one of the above.
20. 10. The moving route generating method is provided inside the moving device. To 19. The moving route generation method according to any one of the above.

21. 11. To 20. A program for causing a computer to execute each operation of the moving route generation method according to any one of the above, or a recording medium storing the program.

22. A mobile device,
Acquiring the route information generated by the moving route generation device, including a control unit that controls the operation of the moving device, so that the moving device moves the moving route indicated by the obtained route information,
The travel route generation device,
Obtain sensor information obtained from the sensor of the mobile terminal having moved along the route to which the mobile device should move, and property information indicating the size of the mobile device,
Using the sensor information, a first movement path that is a path along which the sensor has moved, and environment information regarding the position of an object existing around the first movement path,
Based on the size of the mobile device indicated by the property information and the position of each object indicated in the environment information, convert the first travel route into a second travel route to which the mobile device should actually travel. ,
A moving device, which outputs route information indicating the second moving route in a form that can be obtained by a control device that controls the movement of the moving device.

DESCRIPTION OF SYMBOLS 10 Mobile terminal 12 Sensor 20 Moving device 22 Control device 24 Control system 26 Actuator 28 Wheel 30 Person 50 Obstacle 70 Equipment 80 Message 90 Image data 1020, 3020, 4020 Bus 1040, 3040, 4040 Processor 1060, 3060, 4060 Memory 1080, 3080, 4080 Storage device 1100, 3100, 4100 Input / output interface 1120, 3120, 4120 Network interface 2000 Moving route generation device 2020 Acquisition unit 2040 Generation unit 2060 Conversion unit 2080 Output unit 2100 Update unit 4100 Input / output interface

Claims (13)

An acquisition unit that acquires sensor information obtained from a sensor of a mobile terminal that has moved along a route to which a mobile device has to travel, and property information indicating the size of the mobile device,
A generation unit configured to generate a first movement path that is a path along which the sensor has moved, and environment information regarding a position of an object existing around the first movement path, using the sensor information;
The first moving route is converted into a second moving route to which the moving device should actually move based on the size of the moving device indicated by the property information and the position of each object indicated in the environment information. A conversion unit;
An output unit that outputs route information indicating the second travel route in a manner that a control device that controls the movement of the mobile device can acquire the route information.
Travel route generation device.   The conversion unit, among the positions on the first movement route, specifies a position where the moving device contacts another object when the moving device is moved to the position, and specifies the specified position with the other position. The moving path generation device according to claim 1, wherein the first moving path is converted into the second moving path by changing the position to a position separated from the object by a size equal to or larger than the size of the moving device.   The moving route generation device according to claim 1, wherein the conversion unit converts the first moving route into a second moving route by performing smoothing on the first moving route. The second travel route represents a reciprocating route,
4. The moving route generation device according to claim 1, wherein the conversion unit converts a forward route and a return route of the second moving route into a state where the going route and the returning route are separated by a size equal to or larger than the size of the moving device. 5.   The moving route generation according to any one of claims 1 to 4, wherein the generation unit generates the route information and the environment information by executing Simultaneous Localization and Mapping (SLAM) using the sensor information. apparatus. The sensor includes a geomagnetic sensor,
The generation unit acquires geomagnetism information on geomagnetism on a map around a first movement route, and uses the detection result of the geomagnetism sensor and the geomagnetism information to determine whether the mobile terminal provided with the geomagnetism sensor has The movement route generation device according to claim 5, which performs position estimation.   The output unit outputs error information indicating that the first moving route cannot be converted to the second moving route when the converting unit cannot convert the first moving route to the second moving route. The moving route generation device according to claim 1.   The travel route generation device according to claim 7, wherein the error information includes information indicating a position on the first travel route where the travel device cannot pass.   The moving route generating device according to any one of claims 1 to 8, wherein the moving device is an automated guided vehicle (AGV).   The moving route generating device according to claim 1, wherein the moving route generating device is provided inside the moving device. A travel route generation method executed by a computer, comprising:
Obtain sensor information obtained from the sensor of the mobile terminal having moved along the route to which the mobile device should move, and property information indicating the size of the mobile device,
Using the sensor information, a first movement path that is a path along which the sensor has moved, and environment information regarding the position of an object existing around the first movement path,
Based on the size of the mobile device indicated by the property information and the position of each object indicated in the environment information, convert the first travel route into a second travel route to which the mobile device should actually travel. ,
Outputting route information indicating the second travel route in a manner that a control device that controls the movement of the mobile device can acquire the route information;
Moving route generation method. On the computer,
Acquisition processing for acquiring sensor information obtained from a sensor of a mobile terminal that has moved along a route to which a mobile device has to travel, and property information indicating the size of the mobile device,
Using the sensor information, a generation process of generating a first travel route that is a route traveled by the sensor and environment information related to a position of an object existing around the first travel route;
The first moving route is converted into a second moving route to which the moving device should actually move based on the size of the moving device indicated by the property information and the position of each object indicated in the environment information. Conversion process;
An output process of outputting route information indicating the second travel route in a form that can be obtained by a control device that controls the movement of the mobile device. A mobile device,
Acquiring the route information generated by the moving route generation device, including a control unit that controls the operation of the moving device, so that the moving device moves the moving route indicated by the obtained route information,
The travel route generation device,
Obtain sensor information obtained from the sensor of the mobile terminal having moved along the route to which the mobile device should move, and property information indicating the size of the mobile device,
Using the sensor information, a first movement path that is a path along which the sensor has moved, and environment information regarding the position of an object existing around the first movement path,
Based on the size of the mobile device indicated by the property information and the position of each object indicated in the environment information, convert the first travel route into a second travel route to which the mobile device should actually travel. ,
A moving device, which outputs route information indicating the second moving route in a form that can be obtained by a control device that controls the movement of the moving device.

Images