JP7409324B2 - Control device, information processing device, and movement control system, method, and program - Google Patents

Description

The present disclosure relates to a control device, an information processing device, and a movement control system, method, and program.

In factories and warehouses, there are high expectations for the use of automatic guided vehicles, etc., to compensate for labor shortages and the high cost of installing large-scale equipment such as belt conveyors. Many automated guided vehicles have already been commercialized, but the control protocols depend on each vendor. The autonomy of each vehicle is increasing, and it has functions such as collision avoidance based on sensor information. Additionally, methods for controlling self-driving cars on public roads have also been proposed. For example, the invention disclosed in Patent Document 1 is a method of managing a group of vehicles for autonomous vehicles and automatic guided vehicles. A method has been proposed in which a control system controls each vehicle via a network. Further, the invention disclosed in Patent Document 2 proposes a notification device and a method of controlling the vehicle using notifications from the notification device in an automatic driving vehicle or a vehicle in which driving assistance is performed. Further, the invention disclosed in Patent Document 3 proposes a method for efficiently supporting driving of a plurality of autonomous vehicles and automatic guided vehicles.

JP2018-85096A Japanese Patent Application Publication No. 2018-136966 Japanese Patent Application Publication No. 2018-77652

However, any of the systems disclosed in Patent Documents 1 to 3 can only control a vehicle using a predetermined dedicated protocol. Various APIs (Application Programming Interfaces) and protocols have been proposed for autonomous vehicles and automated guided vehicles, and it is necessary to learn each protocol individually during development and introduction. Therefore, there are problems in that the learning cost becomes high and the lead time until introduction becomes long.

The present disclosure has been made to solve such problems, and provides a control device for easily controlling an autonomously controlled mobile device from the outside without using a dedicated protocol for the mobile device. The present invention aims to provide an information processing device, and a movement control system, method, and program.

The control device according to the first aspect of the present disclosure includes:
installed in a mobile device that moves according to first environmental information detected from the surroundings,
Presentation information generation means for generating presentation information for prompting the mobile device to perform an action, and presenting the presentation information so as to be detected as the first environmental information by a first sensor included in the mobile device.

The information processing device according to the second aspect of the present disclosure includes:
It is mounted on a mobile device that moves according to first environmental information detected from the surroundings, generates presentation information for prompting the mobile device to move, and uses a first sensor included in the mobile device to A transmitting means is provided for transmitting control information used for generating the presentation information via a network to a control device comprising a presentation information generating means for presenting the presentation information such that the presentation information is detected as environmental information.

A movement control system according to a third aspect of the present disclosure includes:
It is mounted on a mobile device that moves according to first environmental information detected from the surroundings, generates presentation information for prompting the mobile device to move, and uses a first sensor included in the mobile device to at least one or more control devices comprising presentation information generation means for presenting the presentation information so as to be detected as environmental information of
a management device comprising a transmitting means for transmitting control information used to generate the presentation information to the control device via a network;
Equipped with.

A movement control method according to a fourth aspect of the present disclosure includes:
A control device installed in a mobile device that moves according to first environmental information detected from the surrounding area,
generating presentation information for prompting the mobile device to operate;
The presentation information is presented so as to be detected as the first environmental information by a first sensor included in the mobile device.

A movement control program according to a fifth aspect of the present disclosure includes:
A computer installed in a mobile device that moves according to first environmental information detected from the surrounding area,
a process of generating presentation information for prompting the mobile device to operate;
a process of presenting the presentation information so as to be detected as the first environmental information by a first sensor included in the mobile device;
Execute.

A movement control method according to a sixth aspect of the present disclosure includes:
It is mounted on a mobile device that moves according to first environmental information detected from the surroundings, generates presentation information for prompting the mobile device to move, and uses a first sensor included in the mobile device to obtaining control information used to generate the presentation information in a control device comprising presentation information generation means for presenting the presentation information so as to be detected as environmental information;
The control information is transmitted to the control device via a network.

A movement control program according to a seventh aspect of the present disclosure includes:
It is mounted on a mobile device that moves according to first environmental information detected from the surroundings, generates presentation information for prompting the mobile device to move, and uses a first sensor included in the mobile device to A process of acquiring control information used to generate the presentation information in a control device including presentation information generation means for presenting the presentation information so as to be detected as environmental information of the computer;
a process of transmitting the control information to the control device via a network;
have the computer execute it.

According to the above aspects, there is provided a control device, an information processing device, a movement control system, a method, and a program for easily controlling an autonomously controlled mobile device from the outside without using a dedicated protocol or the like. can be provided.

1 is a block diagram showing a configuration including a control device according to a first embodiment. FIG. FIG. 2 is a sequence diagram showing the flow of a movement control method according to the first embodiment. FIG. 1 is a block diagram showing the configuration of a movement control system according to Example 1 of the first embodiment. 2 is a flowchart showing the flow of a movement control method according to Example 1 of the first embodiment. FIG. 7 is a diagram illustrating an example of an autonomous mobile device according to a second embodiment. FIG. 7 is a diagram showing an example in which an external control device is attached to an autonomous mobile device according to a second embodiment. FIG. 3 is a block diagram showing the configuration of an autonomous mobile device and an external control device according to Example 2-1 of the second embodiment. FIG. 7 is a sequence diagram showing the flow of a movement control method according to Example 2-1 of the second embodiment. FIG. 3 is a block diagram showing the configuration of an autonomous mobile device and an external control device according to Example 2-2 of the second embodiment. FIG. 7 is a sequence diagram showing the flow of a movement control method according to Example 2-2 of the second embodiment. FIG. 3 is a block diagram showing the configuration of an autonomous mobile device and an external control device according to Example 2-3 of the second embodiment. FIG. 7 is a sequence diagram showing the flow of a movement control method according to Example 2-3 of the second embodiment. FIG. 2 is a block diagram showing the configuration of a movement control system according to a third embodiment. FIG. 7 is a sequence diagram showing the flow of a movement control method in an autonomous mobile device and an external control device according to a third embodiment. 12 is a flowchart showing the flow of control information generation processing in the movement control method in the management device according to the third embodiment. FIG. 7 is a block diagram showing the hardware configuration of a management device according to a third embodiment. FIG. 3 is a block diagram showing the configuration of a movement control system according to a fourth embodiment. FIG. 7 is a sequence diagram showing the flow of a movement control method in an autonomous mobile device and an external control device according to a fourth embodiment. It is a flowchart which shows the flow of control information generation processing among the movement control methods in the integrated control system according to the fourth embodiment. It is a block diagram showing the composition of the movement control system concerning a 5th embodiment. FIG. 7 is a sequence diagram showing the flow of a movement control method in an autonomous mobile device and an external control device according to a fifth embodiment. It is a flow chart which shows the flow of the movement control method in the integrated control system concerning a 5th embodiment.

Embodiments of the present disclosure will be described in detail below with reference to the drawings. In each drawing, the same or corresponding elements are denoted by the same reference numerals, and for clarity of explanation, redundant explanation will be omitted as necessary.

First, in order to facilitate understanding of the present invention, the problems to be solved by the present invention will be explained in detail.

In factories and warehouses, there are high expectations for the use of automated guided vehicles (vehicles) to compensate for labor shortages and the high cost of installing large-scale equipment such as belt conveyors. Many vendors are developing a variety of vehicles, and in factories, warehouses, etc., various types of vehicles are required depending on the purpose, such as payload capacity and autonomous performance. Therefore, it is expected that various types of vehicles will be running around the facility in the future. In this case, from the perspective of transportation efficiency, a control method is needed to coordinate these multiple types of vehicles, such as preventing traffic jams.

However, currently, vehicle control protocols depend on each vendor, and there is no common protocol. Therefore, a higher-level cooperative control algorithm needs to control each vehicle based on each protocol. Currently, various APIs and protocols have been proposed, and it is necessary to learn each protocol individually during development and introduction. Therefore, the learning cost becomes high and the lead time until introduction becomes long. Therefore, there is a need for a method that can easily control multiple types of vehicles without using a common protocol.

By the way, in recent years, due to advances in control technology, automatic guided vehicles and self-driving vehicles have been equipped with autonomous operation functions. In other words, it uses on-board sensors to acquire environmental information and information about its own situation, and autonomously change direction and adjust speed. For example, self-driving cars have the ability to recognize the shape of the road, automatically turn the steering wheel along curves, follow the road, and detect the distance to the car in front to adjust speed and avoid collisions. It has functions. Automated guided vehicles also have the ability to recognize the shape of passageways within factories and autonomously navigate to avoid collisions. Additionally, cleaning robots such as Roomba (registered trademark) have the ability to detect obstacles and autonomously change direction. Generally, autonomous control functions determine actions such as steering direction and speed based on sensor information. Therefore, it is possible to control the behavior of an autonomous mobile device by presenting information that causes a desired action to the sensor information from the outside and inducing autonomous control behavior of the autonomous mobile device.

The inventor of the present invention discovered the problem and came to derive a means for solving the problem. Hereinafter, embodiments for implementing the present invention will be described in detail with reference to the drawings. In the following explanation, "mobility device" includes automated guided vehicles, automated driving vehicles, self-driving vehicles, autonomous guided vehicles, autonomous vehicles, autonomous driving vehicles, aerial photography equipment, unmanned aircraft, automated construction machines, autonomous vehicles, etc. Includes agricultural machinery, automatic tractors, autonomous robots, unmanned submarines, etc.

<First embodiment>
FIG. 1 is a block diagram showing a configuration including a control device 100 according to the first embodiment. The control device 100 is a device mounted on the autonomous mobile device 200. Here, the autonomous mobile device 200 includes a sensor 20 and an autonomous control unit 21. The sensor 20 is an example of a first sensor, and is a detector that detects first environmental information from the vicinity of the autonomous mobile device 200. The autonomous control unit 21 autonomously controls the operation of the autonomous mobile device 200 according to the first environmental information detected by the sensor 20. Therefore, the autonomous mobile device 200 is an example of a mobile device that moves according to the first environmental information. Therefore, the control device 100 mounted on the autonomous mobile device 200 moves together with the autonomous mobile device 200 as the autonomous mobile device 200 moves. Further, it is assumed that the control device 100 is externally attached to the autonomous mobile device 200. Furthermore, the control device 100 is connected to external information processing devices and information systems via a network N.

The control device 100 includes a presentation information generation section 10. The presentation information generation unit 10 generates presentation information for prompting the autonomous mobile device 200 to operate. Further, the presentation information generation unit 10 presents presentation information so that it is detected by the sensor 20 as first environmental information. Therefore, in the autonomous mobile device 200, the sensor 20 detects the presentation information as the first environmental information, and can autonomously control operations including movement according to the presentation information. In other words, the autonomous mobile device 200 can be controlled to perform desired operations from the outside.

Here, it is assumed that the control device 100 acquires (first) control information that includes designation of the operation of the autonomous mobile device 200. Here, "acquisition" includes input from outside the control device 100 (so-called control input) or generation within the control device 100. Furthermore, "(first) control information" is information specifying how the autonomous mobile device 200 should operate during a predetermined period, such as going straight, going backwards, or turning to the right or left. , or command information such as stop, etc., but is not limited to these. Then, the presentation information generation unit 10 generates the presentation information based on the acquired control information. At this time, the presentation information generation unit 10 preferably generates the presentation information so as to correspond to the protocol of the autonomous mobile device 200. That is, the presentation information generation unit 10 generates information that can be detected by the sensor 20 as presentation information.

FIG. 2 is a sequence diagram showing the flow of the movement control method according to the first embodiment. First, the presentation information generation unit 10 acquires the above-mentioned control information (S101). For example, it is assumed that the control device 100 is connected to a remote controller or the like via a network N. Then, the remote controller receives a designation of the operation of the autonomous mobile device 200 inputted by the administrator's operation, and transmits control information including the designation to the control device 100 via the network N. Thereby, the presentation information generation unit 10 acquires control information via the network N. Alternatively, the presentation information generation unit 10 may acquire control information generated internally or by reading control information stored in advance in an internal storage device (not shown).

Next, the presentation information generation unit 10 generates presentation information based on the acquired control information (S102). At this time, the presentation information generation unit 10 generates information such as images and sounds as information that can be recognized by the sensor 20. The image is, for example, an image taken by an imaging device or an infrared image. When the control information specifies that the autonomous mobile device 200 turns to the right, the presentation information generation unit 10 generates, as the presentation information, an image in which there is a wall in front and on the left side and a passage on the right side, for example. . Further, the presentation information is information indicating whether or not there is a factor that impedes the progress of the autonomous mobile device 200 (for example, the presence of an object or the presence of a step) in the direction of travel of the autonomous mobile device 200. It may be. The presentation information may be information that schematically represents information that can control the autonomous mobile device 200, such as a road sign or a traffic signal, for example. In other words, the presentation information may be information that can be recognized by the sensor 20, such as information indicating a direction in which the vehicle can travel, a direction in which the vehicle cannot travel, or whether or not there is a factor that impedes travel, depending on the control information. , but not limited to the examples described above.

Then, the presentation information generation unit 10 presents the generated presentation information to the sensor 20 (S103). That is, the presentation information generation unit 10 outputs the presentation information in a form that the sensor 20 can recognize. For example, when the sensor 20 is an imaging device capable of image recognition, the presentation information generation unit 10 generates the image as presentation information. Alternatively, instead of presenting the information to the sensor 20, the presentation information generation unit 10 may output the information in a form that the sensor 20 can recognize, for example, using techniques such as projection mapping or holograms. It is assumed that the presentation information generation unit 10 has a built-in screen (not shown) placed in advance to face the sensor 20. In this case, the presentation information generation unit 10 displays the generated presentation information on the screen. Further, when the sensor 20 is a sound collection device capable of voice recognition, the presentation information generation unit 10 generates voice as presentation information. It is assumed that the presentation information generation unit 10 has a built-in speaker (not shown) installed in advance to face the sensor 20. In this case, the presentation information generation unit 10 outputs the generated presentation information from the speaker.

In response to step S103, the sensor 20 of the autonomous mobile device 200 detects the presentation information as environmental information (S104). Then, the autonomous control unit 21 of the autonomous mobile device 200 performs autonomous control according to the detected environmental information (S105).

In this manner, in this embodiment, presentation information that can be detected as environmental information by the sensors of each autonomous mobile device is generated and presented in order to guide the operation of the autonomous mobile device. This makes it possible to substantially control the operation of an autonomous mobile device from the outside without modifying existing autonomous mobile devices that operate with various specifications and protocols.

Note that the control device 100 includes a processor, a memory, and a storage device, which are not shown in the drawings. Further, the storage device stores a computer program in which the processing of the movement control method by the control device 100 according to the present embodiment is implemented. Then, the processor reads a computer program from the storage device into the memory and executes the computer program. Thereby, the processor realizes the function of the presentation information generation section 10.

Alternatively, the presentation information generation section 10 may be realized by dedicated hardware. Further, a part or all of each component of each device may be realized by a general-purpose or dedicated circuit, a processor, etc., or a combination thereof. These may be configured by a single chip or multiple chips connected via a bus. A part or all of each component of each device may be realized by a combination of the circuits and the like described above and a program. Further, as the processor, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an FPGA (field-programmable gate array), etc. can be used.

Further, it is assumed that the presentation information generation unit 10 includes an output device that can be detected by the sensor 20. Examples of the output device include, but are not limited to, a screen, a speaker, an infrared output device, a laser output device, a millimeter wave output device, a radio wave output device, an ultrasonic output device, a pressure output device, and the like.

Further, the sensor 20 may be any general sensor such as an infrared sensor, a laser radar, a millimeter wave radar, a radio wave radar, an ultrasonic sensor, a pressure sensor, or a proximity sensor such as a contact type/non-contact type switch. may be used, but is not limited to these. That is, the presentation information generation unit 10 presents presentation information such that these sensors 20 can detect it as environmental information.

FIG. 3 is a block diagram showing the configuration of a movement control system 1000 according to Example 1 of the first embodiment. The mobility control system 1000 includes the above-described control device 100, the above-described autonomous mobile device 200 equipped with the control device 100, and a management device 300. The control device 100 and the management device 300 are connected via a network N.

Management device 300 is one or more information processing devices. The management device 300 includes at least a transmitter 31. The transmitter 31 transmits control information used to generate presentation information to the control device 100 via the network N. Here, the control information may be control-related information (second control information), which will be described later, in addition to the first control information described above. It is also assumed that the management device 300 acquires the control information. Here, "acquisition" is the same as above.

FIG. 4 is a flowchart showing the flow of the movement control method according to Example 1 of the first embodiment. First, the management device 300 acquires control information (S111). Next, the transmitter 31 of the management device 300 transmits the control information to the control device 100 via the network N (S112). Thereafter, the movement control method of FIG. 2 described above is executed.

In this manner, by the management device 300 providing control information to the control device 100, the control device 100 can generate presentation information for substantially controlling the operation of the autonomous mobile device 200. For example, the administrator can control the autonomous mobile device 200 to perform a desired operation via the control device 100 using the management device 300 that is a remote controller.

Note that the present invention is not limited to the embodiments described above, and includes various modifications. For example, the embodiments described above are described in detail to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to having all the configurations described.

Note that the management device 300 includes a processor, a memory, and a storage device as components not shown. Further, the storage device stores a computer program in which the processing of the movement control method by the management device 300 according to the present embodiment is implemented. Then, the processor reads a computer program from the storage device into the memory and executes the computer program. Thereby, the processor realizes the function of the transmitter 31.

Alternatively, the transmitter 31 may be realized by dedicated hardware. Further, a part or all of each component of each device may be realized by a general-purpose or dedicated circuit, a processor, etc., or a combination thereof. These may be configured by a single chip or multiple chips connected via a bus. A part or all of each component of each device may be realized by a combination of the circuits and the like described above and a program. Further, as the processor, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an FPGA (field-programmable gate array), etc. can be used.

Further, in the case where a part or all of each component of the management device 300 is realized by a plurality of information processing devices, circuits, etc., the plurality of information processing devices, circuits, etc. may be centrally arranged or distributed. may be placed. For example, information processing devices, circuits, etc. may be realized as a client server system, a cloud computing system, or the like, in which each is connected via a communication network. Further, the functions of the management device 300 may be provided in a SaaS (Software as a Service) format.

<Second embodiment>
The second embodiment is a specific example different from the first embodiment. That is, a case will be described in which the control device does not acquire control information from the outside but generates control information using environmental information detected by an internal sensor. In addition, in the description of the second embodiment, the same reference numerals are given to the parts with the same names as the components constituting the control device 100 and the autonomous mobile device 200 of the first embodiment, and duplicate explanations of the common parts are omitted. do.

FIG. 5 is a diagram illustrating a case where the autonomous mobile device 200 according to the second embodiment is applied to an autonomous guided vehicle. That is, FIG. 5 shows the autonomous mobile device 200 before the control device 100 is attached. Here, a case is shown in which the sensor 20 is a camera (imaging device) for acquiring information on the external environment around the autonomous mobile device 200.

FIG. 6 is a diagram showing an example in which the external control device 101 is attached to the autonomous mobile device 200 according to the second embodiment. First, the external control device 101 is an example of the control device 100 described above, and is attached to the front surface of the sensor 20 of the autonomous mobile device 200. In addition to the configuration of the control device 100 described above (presentation information generation section, etc.), the external control device 101 includes at least one second sensor and a control information calculation section. Here, the second sensor detects second environmental information from around the autonomous mobile device 200. Since the external control device 101 is externally attached to, that is, mounted on, the autonomous mobile device 200, it moves together with the movement of the autonomous mobile device 200. Therefore, the second sensor can detect environmental information around the autonomous mobile device 200. The control information calculation unit calculates (first) control information using the detected second environment information and control related information (second control information) including the control policy of the autonomous mobile device 200. Further, the presentation information generation unit generates presentation information using the calculated control information. Further, the presentation information generation section has a high-resolution display disposed toward the sensor 20 (camera) side. That is, the presentation information generation section includes a display device arranged so that the display section is included in the imaging range of the sensor 20. The presentation information generation unit then presents the presentation information to the sensor 20 by displaying the presentation information on the display device. For example, the presentation information generation unit can display an image on the sensor 20. That is, the presentation information generation unit presents the presentation information so that the sensor 20 of the autonomous mobile device 200 can pseudo-recognize the surrounding environment. Then, instead, the second sensor included in the external control device 101 detects the actual surrounding environment of the autonomous mobile device 200 as second environment information. Then, by adding the control-related information to the second environmental information, the control information calculation unit can calculate desired control information that cannot be derived from the second environmental information alone.

Example 2-1, which is a specific example of the second embodiment, will now be described. In the embodiment 2-1, control related information is stored in advance inside an external control device, and control information is calculated using the control related information together with the detected second environment information.

FIG. 7 is a block diagram showing the configuration of the autonomous mobile device 200 and the external control device 101 according to Example 2-1 of the second embodiment. The external control device 101 includes a presentation information generation section 10 , a control information calculation section 11 , a sensor 12 , and a storage section 13 . The sensor 12 is an example of the second sensor described above, and includes, for example, an imaging device, an infrared sensor, a laser radar, a millimeter wave radar, a radio wave radar, an ultrasonic sensor, a pressure sensor, or a contact/non-contact switch. The sensor may be any general sensor such as a proximity sensor, but is not limited to these. The storage unit 13 is a storage area that stores control related information 131. Here, the control related information 131 is an example of second control information, and is information including a control policy for the autonomous mobile device 200. The control policy is information such as operational goals and priority of movement among a plurality of autonomous mobile devices, and is information indicating a long-term control policy compared to the above-mentioned first control information. The control policy includes, for example, the final destination of the movement of the autonomous mobile device 200 and priorities such as which one should be prioritized between other autonomous mobile devices nearby at an intersection etc. but not limited to. Further, the control related information 131 may further include information regarding the autonomous mobile device 200. Examples of the control-related information 131 include, but are not limited to, specifications such as the manufacturer, model number, maximum load capacity, and maximum speed of the autonomous mobile device 200.

The control information calculation unit 11 calculates control information using the second environmental information detected by the sensor 12 and the control related information 131 stored in the storage unit 13. The presentation information generation section 10 generates presentation information based on the control information calculated by the control information calculation section 11 and presents the presentation information to the sensor 20.

FIG. 8 is a sequence diagram showing the flow of the movement control method according to Example 2-1 of the second embodiment. First, the sensor 12 of the external control device 101 detects (second) environmental information around the autonomous mobile device 200 (S201). Here, the "environmental information" includes position information indicating where the autonomous mobile device 200 is, speed information, map information indicating where obstacles are located, and the like. Furthermore, the environmental information may include information regarding the autonomous mobile device 200 that can be observed from the outside. For example, the environmental information may include information about which direction the autonomous mobile device 200 is trying to move and how much baggage is carried, based on information such as turn signals. Further, in parallel with step S201, the control information calculation unit 11 acquires control-related information 131 including information regarding the autonomous mobile device 200 that is the control target from the storage unit 13 (S202).

After that, the control information calculation unit 11 calculates the control information of the autonomous mobile device 200 from the environmental information detected in step S201 and the control related information 131 acquired in step S202 (S203). Here, the control information is information for causing the autonomous mobile device 200 to perform a desired operation, as described above. Along with this, the presentation information generation unit 10 acquires the calculated control information (S204). Then, the presentation information generation unit 10 generates presentation information based on the acquired control information (S205). Subsequently, the presentation information generation unit 10 presents the generated presentation information to the sensor 20 (S206).

After that, the sensor 20 of the autonomous mobile device 200 detects the presentation information as (first) environmental information (S207). Then, the autonomous control unit 21 of the autonomous mobile device 200 performs autonomous control according to the detected first environmental information (S208).

In the present embodiment 2-1, for example, when control information including a designation for causing the autonomous mobile device 200 to turn to the right is given, the presentation information generation unit 10 generates an image for causing the autonomous mobile device 200 to turn to the right. is generated as presentation information (S204) and output (S205). For example, the presentation information generation unit 10 displays an image of the vehicle turning left. The autonomous mobile device 200 detects the image with the sensor 20 (S206). Then, the autonomous control unit 21 of the autonomous mobile device 200 controls the steering wheel to turn to the right in order to keep the traveling direction straight with respect to the image (S207).

Here, in the first embodiment described above, the control device 100 directly acquires control information from a remote controller or the like via the network. In contrast, in Example 2-1, the external control device 101 uses the second environment information and control-related information to generate control information by the internal control information calculation unit 11. Therefore, the autonomous mobile device 200 can be controlled without the need for an administrator to connect a controller to the external control device 101 and perform detailed control operations. That is, by using a control policy or the like that is higher-level information with respect to control information, it becomes possible to operate the autonomous mobile device 200 semi-autonomously.

Next, Example 2-2 will be described. In Example 2-2, control related information is acquired from outside the external control device.

FIG. 9 is a block diagram showing the configuration of the autonomous mobile device 200 and the external control device 101a according to Example 2-2 of the second embodiment. Compared to the external control device 101 described above, the external control device 101a does not need to include the storage section 13, and the control information calculation section 11 is replaced with a control information calculation section 11a. The control information calculation unit 11a acquires control related information via the network N, and calculates control information using the acquired control related information and the second environmental information detected by the sensor 12. Thereby, the same control as in Example 2-1 can be realized by performing the same processing as in Example 2-1. Further, in the present embodiment 2-2, since control related information is not held inside the external control device 101a, the storage area of the external control device can be saved compared to the embodiment 2-1.

FIG. 10 is a sequence diagram showing the flow of the movement control method according to Example 2-2 of the second embodiment. First, the sensor 12 of the external control device 101a detects (second) environmental information around the autonomous mobile device 200, similar to step S201 in FIG. 8 (S201). Further, in parallel with step S201, the control information calculation unit 11a acquires control related information of the autonomous mobile device 200 from the network N (S202a). For example, the administrator may input control-related information to the external control device 101a using a remote controller. Further, the external control device 101a may include a storage unit 13, and for example, information regarding the autonomous mobile device 200 among the control-related information may be stored in the storage unit 13. In this case, the control information calculation unit 11a may acquire information regarding the autonomous mobile device 200 from the storage unit 13 in addition to step S202a. Thereafter, the control information calculation unit 11a calculates control information for the autonomous mobile device 200 using the environmental information detected in step S201 and the control related information acquired from the network N in step S202a (S203a). After this, the same processing as that from step S204 in FIG. 8 is performed.

Next, Example 2-3 will be described. In Example 2-3, control related information is detected by an internal sensor.

FIG. 11 is a block diagram showing the configuration of the autonomous mobile device 200 and the external control device 101b according to Example 2-3 of the second embodiment. The external control device 101b is different from the above-described external control device 101 in that it includes at least one sensor 14 instead of the storage section 13, and the control information calculation section 11 is replaced with a control information calculation section 11b. The sensor 14 is an example of a third sensor, and detects control-related information from the vicinity of the autonomous mobile device 200. Here, it is assumed that the sensor 14 is an imaging device that images the surroundings of the autonomous mobile device 200, and acquires text information extracted from an image taken by the imaging device as control-related information. The control information calculation unit 11b calculates control information using the second environmental information detected by the sensor 12 and the control related information detected by the sensor 14. Thereby, the same control as in Example 2-1 can be realized by performing the same processing as in Example 2-1. Further, in the present embodiment 2-3, since control related information is not held inside the external control device 101a, the storage area of the external control device can be saved compared to the embodiment 2-1. Further, in the present embodiment 2-3, since there is no need to acquire control related information via a network, the communication load can be reduced compared to the embodiment 2-2.

FIG. 12 is a sequence diagram showing the flow of the movement control method according to Example 2-3 of the second embodiment. First, the sensor 12 of the external control device 101b detects (second) environmental information around the autonomous mobile device 200, similar to step S201 in FIG. 8 (S201). Further, in parallel with step S201, the sensor 14 of the control information calculation unit 11b detects control related information of the autonomous mobile device 200 (S202b). For example, when an administrator holds up a slip or the like on which a control policy etc. is written over the sensor 14, the sensor 14 performs character recognition from the captured image, extracts character information, and uses the extracted character information as control-related information. It may also be output to the control information calculation unit 11b. The destination and priority of the autonomous mobile device 200 may be written in the slip. Further, the external control device 101b may include a storage unit 13, and for example, information regarding the autonomous mobile device 200 among the control-related information may be stored in the storage unit 13. In this case, the control information calculation unit 11b may acquire information regarding the autonomous mobile device 200 from the storage unit 13 in addition to step S202b. Thereafter, the control information calculation unit 11b calculates control information for the autonomous mobile device 200 using the environmental information detected in step S201 and the control related information detected in step S202b (S203b). After this, the same processing as that from step S204 in FIG. 8 is performed.

<Third embodiment>
The third embodiment is an improvement on the first embodiment described above, and the control information is calculated in a management device connected to the control device via a network. For this purpose, the control device transmits second environmental information detected by the second sensor to the management device. In the description of the third embodiment, parts with the same names as those of the first embodiment or the second embodiment are given the same reference numerals, and redundant explanation of the common parts will be omitted.

FIG. 13 is a block diagram showing the configuration of a movement control system 2000 according to the third embodiment. The mobility control system 2000 includes an external control device 110 , the above-described autonomous mobile device 200 equipped with the external control device 110 , and a management device 301 . The external control device 110 and the management device 301 are connected via a network N.

The external control device 110 is an improved version of the control device 100 described above, and includes a presentation information generation section 10, a sensor 12, and a transmission section 15. The sensor 12 is the same as that described above with reference to FIG. 7 and the like. The transmitter 15 transmits the second environmental information detected by the sensor 12 to the management device 301 via the network N. The presentation information generation unit 10 acquires control information calculated by the management device 301 based on the second environment information and control related information from the management device 301 via the network N. Thereby, the presentation information generation unit 10 can implement the same control as in the first embodiment by performing the same processing as in the first embodiment.

The management device 301 is an improved version of the management device 300 described above, and includes a transmitting section 31a, a storage section 32, a receiving section 33, and a calculating section 34. The storage unit 32 stores control related information 320. The control related information 320 is an example of second control information, is equivalent to the control related information 131 described above, and is information that includes a control policy for the autonomous mobile device 200. Further, the control related information 320 may further include information regarding the autonomous mobile device 200. The receiving unit 33 receives the second environment information from the external control device 110 via the network N. The calculation unit 34 calculates the first control information based on the second environment information and the control related information 320. The transmitter 31a transmits the calculated first control information to the external control device 110 via the network N.

FIG. 14 is a sequence diagram showing the flow of a movement control method in the autonomous mobile device 200 and the external control device 110 according to the third embodiment. First, the sensor 12 of the external control device 110 detects (second) environmental information around the autonomous mobile device 200, similar to step S201 in FIG. 8 (S201). Next, the transmitter 15 of the external control device 110 transmits the detected environmental information to the management device 301 via the network N (S202c). The management device 301 then performs control information generation processing, which will be described later, based on the environmental information received via the network N (S203c).

FIG. 15 is a flowchart showing the flow of control information generation processing in the movement control method in the management device 301 according to the third embodiment. First, the receiving unit 33 of the management device 301 acquires environmental information from the external control device 110 via the network N (S211). Further, in parallel with step S211, the calculation unit 34 of the management device 301 acquires control related information 320 of the autonomous mobile device 200 from the storage unit 32 (S212).

After steps S211 and S212, the calculation unit 34 calculates control information for the autonomous mobile device 200 from the environmental information acquired in step S211 and the control-related information 320 acquired in step S212 (S213). Thereafter, the transmitter 31a of the management device 301 transmits the calculated control information to the external control device 110 via the network N (S214).

Returning to FIG. 14, the explanation will be continued. After that, the presentation information generation unit 10 of the external control device 110 acquires control information of the autonomous mobile device 200 from the management device 301 via the network N (S204c). After this, the same processing as that from step S205 in FIG. 8 is performed.

In this manner, in the third embodiment, since control information is not calculated within the external control device 110, the processing load can be reduced compared to the second embodiment.

FIG. 16 is a block diagram showing the hardware configuration of the management device 301 according to the third embodiment as a computer 400. The computer 400 includes a CPU (Central Processing Unit) 401, a ROM (Read Only Memory) 402, a RAM (Random Access Memory) 403, a storage device 404, a drive device 405, and a communication IF (InterFace) 406. It is equipped with an output IF 407. The storage device 404 is a nonvolatile storage device and stores a program 408. The program 408 is a computer program in which processing of the movement control method in the management device 301 according to the third embodiment is implemented. Communication IF 406 exchanges information with an external device via network N. The input/output IF 407 exchanges information with peripheral devices (input device, display device, etc.). The communication IF 406 and the input/output IF 407 can function as components that acquire or output information. Program 408 may be stored in ROM 402. Further, the program 408 may be stored in a storage medium 409 such as a memory card and read by the drive device 405, or may be received from an external device via the network N.

The CPU 401 reads the program 408 from the storage device 404 or the like to the RAM 403 and executes it. Thereby, the CPU 401 realizes the functions of the transmitting section 31a, the receiving section 33, and the calculating section 34. Furthermore, the storage device 404 corresponds to the storage unit 32 described above, and stores control related information 320. Note that the components of the computer 400 shown in FIG. 16 may be configured by a single circuit (such as a processor), or may be configured by a combination of multiple circuits. The circuit referred to herein may be either dedicated or general-purpose. For example, a part of the computer 400 may be realized by a dedicated processor, and another part may be realized by a general-purpose processor. Further, the functions of the computer 400 may be realized by collaboration of multiple computers using, for example, cloud computing technology.

<Fourth embodiment>
The fourth embodiment is an application of the third embodiment described above to control of a set of two or more autonomous mobile devices and external control devices. In the description of the fourth embodiment, the same reference numerals are given to parts with the same names as the respective constituent parts of the first to third embodiments, and redundant explanation of the common parts will be omitted.

FIG. 17 is a block diagram showing the configuration of a movement control system 3000 according to the fourth embodiment. The mobility control system 3000 includes external control devices 110a to 110d, autonomous mobile devices 200a to 200d, and an integrated control system 302. Here, the autonomous mobile device 200a is equipped with an external control device 110a, the autonomous mobile device 200b is equipped with an external control device 110b, the autonomous mobile device 200c is equipped with an external control device 110c, and the autonomous mobile device 200d is equipped with an external control device 110c. It is equipped with an external control device 110d. The external control devices 110a to 110d and the integrated control system 302 are connected via a network N.

The autonomous mobile devices 200a to 200d have the same configuration as the autonomous mobile device 200 described above. Here, the autonomous mobile devices 200a to 200d are not necessarily autonomous mobile devices from the same manufacturer, but may be various types of autonomous mobile devices from a plurality of different manufacturers.

Further, each of the external control devices 110a to 110d has the same configuration as the external control device 110 described above. Here, the external control device 110a receives the first control information corresponding to itself from the integrated control system 302 that transmits the first control information corresponding to each of the external control devices 110a to 110d via the network. It can be said that you can obtain . The same applies to external control devices 110b to 110d.

The integrated control system 302 is an extension of the management device 301 described above, and is an information system realized by one or more information processing devices. The integrated control system 302 includes a control information calculation section 35 and a storage section 32. The storage unit 32 stores control related information 321a to 321d. Here, each of the control related information 321a to 321d is information equivalent to the control related information 320 described above. However, the control related information 321a corresponds to the autonomous mobile device 200a, the control related information 321b corresponds to the autonomous mobile device 200b, the control related information 321c corresponds to the autonomous mobile device 200c, and the control related information 321d corresponds to the autonomous mobile device 200d. In other words, each of the control related information 321a to 321d may include a control policy specific to the corresponding autonomous mobile device, or may include a control policy common to some or all autonomous mobile devices. There may be. The control information calculating section 35 includes functions corresponding to the transmitting section 31a, the receiving section 33, and the calculating section 34 described above.

FIG. 18 is a sequence diagram showing the flow of the movement control method in the autonomous mobile devices 200a to d and the external control devices 110a to d according to the fourth embodiment. First, the sensors 12 of the external control devices 110a to 110d detect (second) environmental information around each of the autonomous mobile devices 200a to 200d (S301a to d). Next, the transmitter 15 of each of the external control devices 110a to 110d transmits the detected environmental information to the integrated control system 302 via the network N (S302a to d). That is, the sensor 12 of the external control device 110a detects (second) environmental information around the autonomous mobile device 200a, similarly to step S201 in FIG. 8. Then, the transmitter 15 of the external control device 110a transmits the detected environmental information to the integrated control system 302 via the network N, similarly to step S202c in FIG. Similar processing is then performed in each of the external control devices 110b, 110c, and 110d. Then, the integrated control system 302 performs a control information generation process, which will be described later, based on each piece of environmental information received via the network N (S303).

FIG. 19 is a flowchart showing the flow of control information generation processing in the movement control method in the integrated control system 302 according to the fourth embodiment. First, the control information calculation unit 35 of the integrated control system 302 acquires environmental information from each of the external control devices 110a to 110d via the network N (S311). That is, the control information calculation unit 35 acquires the environmental information detected by the sensor 12 of the external control device 110a from the external control device 110a via the network N. Similarly, the control information calculation unit 35 acquires environmental information detected in each of the external control devices 110b to 110d.

In parallel with step S311, the control information calculation unit 35 acquires control related information 321a to 321d from the storage unit 32 (S312). After steps S311 and S312, the control information calculation unit 35 calculates control information for each of the external control devices 110a to 110d from the acquired environmental information and control-related information (S313). That is, the control information calculation unit 35 calculates control information corresponding to the autonomous mobile device 200a using the environmental information acquired from the external control device 110a and the control related information 321a. Similarly, the control information calculation unit 35 calculates control information corresponding to each of the autonomous mobile devices 200b to 200d.

After that, the control information calculation unit 35 transmits control information corresponding to each of the autonomous mobile devices 200a to 200d to each of the external control devices 110a to 110d via the network N (S314). Here, the control information calculation unit 35 may individually transmit corresponding control information to each of the external control devices 110a to 110d.

Returning to FIG. 18, the explanation will be continued. Thereafter, the presentation information generation unit 10 of each of the external control devices 110a to 110d obtains control information of each of the autonomous mobile devices 200a to 200d from the integrated control system 302 via the network N (S304a to d). That is, the presentation information generation unit 10 of the external control device 110a acquires the control information of the autonomous mobile device 200a from the integrated control system 302 via the network N. Similar processing is then performed in each of the external control devices 110b, 110c, and 110d.

Then, the presentation information generation unit 10 of the external control device 110a generates presentation information based on the control information, and presents the generated presentation information to the sensor 20 of the autonomous mobile device 200a (S305a). Then, the sensor 20 of the autonomous mobile device 200a detects the presentation information presented by the presentation information generation unit 10 of the external control device 110a as environmental information, and the autonomous control unit 21 controls the autonomous mobile device according to the detected environmental information. control (S306a). Further, similar processing is performed in each of the external control device 110b and the autonomous mobile device 200b, the external control device 110c and the autonomous mobile device 200c, and the external control device 110d and the autonomous mobile device 200d (S305b and S306b, S305c and S306c, and S305d and S306d).

In this way, in the fourth embodiment, the operations of a plurality of autonomous mobile devices that correspond to different specifications or protocols can be collectively controlled from the outside. Then, each of the plurality of autonomous mobile devices can be individually controlled using a common or different control policy. Therefore, autonomous mobile devices from multiple manufacturers can be integrally controlled as if they were one control system.

In addition, since sensor information is also acquired by each external control device, it is possible to perform cooperative control such as determining which autonomous mobile device should be moved preferentially and avoiding deadlock. In general, autonomous mobile devices manufactured by manufacturers are controlled by the protocols of each manufacturer, and it is difficult to perform integrated control as described above. In order to handle it in an integrated manner, it is necessary to construct control systems for each manufacturer. Furthermore, it is necessary to have a control layer that can handle this in a unified manner, and to transmit commands from the integrated control layer to each autonomous mobile device via the API of each manufacturer's control system. Therefore, constructing a system that integrally controls autonomous mobile devices from multiple manufacturers requires large human and financial costs. Therefore, by using the fourth embodiment, it is possible to reduce the cost.

<Fifth embodiment>
The fifth embodiment is an improvement on Example 2-2 of the second embodiment described above, and like the fourth embodiment, controls a set of two or more autonomous mobile devices and an external control device. It was applied to In addition, in the description of the fifth embodiment, the same reference numerals are given to parts with the same names as those of the respective constituent parts of the first to fourth embodiments, and redundant explanation of the common parts will be omitted.

FIG. 20 is a block diagram showing the configuration of a movement control system 3001 according to the fifth embodiment. The movement control system 3001 includes external control devices 120a to 120d, autonomous movement devices 200a to 200d, and an integrated control system 303. Here, the autonomous mobile device 200a is equipped with an external control device 120a, the autonomous mobile device 200b is equipped with an external control device 120b, the autonomous mobile device 200c is equipped with an external control device 120c, and the autonomous mobile device 200d is equipped with an external control device 120c. It is equipped with an external control device 120d. The external control devices 120a to 120d and the integrated control system 303 are connected via a network N.

Each of the external control devices 120a to 120d has the same configuration as the external control device 101a described above. Here, the external control device 120a receives control-related information (second control information) corresponding to each of the external control devices 120a to 120d from the integrated control system 303 that transmits via the network. It can be said that control related information is acquired. The same applies to external control devices 120b to 120d.

The integrated control system 303 is an improved version of the management device 301 and the integrated control system 302 described above, and is an information system realized by one or more information processing devices. The integrated control system 303 includes a transmitting section 31b and a storage section 32. The transmitting unit 31b acquires the control related information 321a to 321d stored in the storage unit 32, and transmits it to each of the external control devices 120a to 120d via the network N.

FIG. 21 is a sequence diagram showing the flow of the movement control method in the autonomous mobile devices 200a to d and the external control devices 120a to d according to the fifth embodiment. First, the sensors 12 of the external control devices 120a to 120d detect (second) environmental information around each of the autonomous mobile devices 200a to 200d, similar to steps S301a to d in FIG. 18 (S401a ~d). After or in parallel with steps S401a to d, the control information calculation units 11a of the external control devices 120a to d receive respective control related information 321a to 321d from the integrated control system 303 via the network N. (S402a to d). That is, the control information calculation unit 11a of the external control device 120a acquires the control related information 321a of the autonomous mobile device 200a from the integrated control system 303 via the network N, similarly to step S202a in FIG. Similar processing is then performed in each of the external control devices 120b, 120c, and 120d.

After steps S401a and S402a, the control information calculation unit 11a of the external control device 120a calculates the control information of the autonomous mobile device 200a using the environmental information detected in step S401a and the control-related information acquired in step S402a. (S403a). Then, the presentation information generation unit 10 of the external control device 120a generates presentation information based on the control information, and presents the generated presentation information to the sensor 20 of the autonomous mobile device 200a, as in step S305a of FIG. 18. (S404a). Then, similarly to step S306a in FIG. 18, the sensor 20 of the autonomous mobile device 200a detects the presentation information presented by the presentation information generation section 10 of the external control device 120a as environmental information, and the autonomous control section 21 Autonomous control is performed according to the detected environmental information (S405a). Further, similar processing is performed in each of the external control device 120b and the autonomous mobile device 200b, the external control device 120c and the autonomous mobile device 200c, and the external control device 120d and the autonomous mobile device 200d (S404b and S405b, S404c and S405c, and S404d and S405d).

FIG. 22 is a flowchart showing the flow of the movement control method in the integrated control system according to the fifth embodiment. First, it is assumed that the integrated control system 303 starts processing in response to an instruction from the administrator or a request from the external control device 120a or the like. Then, the transmitting unit 31b of the integrated control system 303 acquires the control related information 321a to 321d from the storage unit 32 (S312a). Next, the transmitting unit 31b transmits control related information 321a to 321d corresponding to each of the autonomous mobile devices 200a to d to each of the external control devices 120a to 120d via the network N (S314a). Here, the transmitter 31b may individually transmit corresponding control-related information to each of the external control devices 110a to 110d.

In this way, the fifth embodiment can achieve the same effects as the fourth embodiment described above. Furthermore, since the fifth embodiment does not hold control related information inside each external control device, the storage area of the external control device can be saved compared to the fourth embodiment.

Note that the integrated control system 303 may transmit the control-related information after internally calculating it.

<Sixth embodiment>
The sixth embodiment is a concrete example of the second embodiment described above. That is, it is assumed that the presentation information generation unit 10 according to the sixth embodiment has a display or a screen and can display color or monochrome images or videos. In that case, the camera, which is the sensor 20 of the autonomous mobile device 200, can detect images or videos as environmental information. Therefore, the autonomous control unit 21 can control an image or a video showing a specific situation to perform a specific operation. In other words, the autonomous mobile device 200 can recognize the situation in which the autonomous mobile device 200 is placed using the camera, and perform autonomous operations such as collision avoidance and curve following.

Therefore, the control device internally stores combinations of actions that the autonomous mobile device 200 wants the autonomous mobile device 200 to perform and videos thereof, and presents the video or image that the autonomous mobile device 200 wants the autonomous mobile device 200 to perform as desired. The following actions can be performed. For example, by presenting various videos to the autonomous mobile device 200 and recording the resulting actions, combinations of videos and actions can be comprehensively recorded. General machine learning or the like may be used to learn such combinations.

<Seventh embodiment>
The seventh embodiment is a specific embodiment of the second embodiment described above, and a case will be described in which the sensor 20 of the autonomous mobile device 200 is an infrared sensor.

An infrared sensor generally detects the proximity of an object by emitting infrared rays and detecting the reflection thereof. Infrared sensors are used, for example, in collision detection. That is, the autonomous operation is performed in response to the proximity of an object. The presentation information generation unit 10 according to the seventh embodiment is a device that can change the reflectance of infrared rays. It is assumed that the presentation information generation unit 10 has, for example, a board having a structure like a blind made of a plurality of elongated boards. Here, if the plate rotates and the sensor 20 of the autonomous mobile device 200 and the plate are arranged in parallel, most of the infrared rays will pass through the control device and the sensor 20 will not detect proximity. On the other hand, if the plates are rotated and arranged so as to be perpendicular to the sensor 20, the infrared rays will be reflected and the sensor 20 will detect the proximity of the plates. Therefore, by making the position of the board of the presentation information generating section 10 variable, the position detected by the sensor 20 can also be controlled. Alternatively, the presentation information generation unit 10 may have a transparent display whose transmittance can be changed using liquid crystal. Infrared reflection can be controlled by changing the transmittance.

<Eighth embodiment>
The eighth embodiment is a specific embodiment of the second embodiment described above, and a case will be described in which the sensor 20 of the autonomous mobile device 200 is a laser radar. In this case, the autonomous mobile device 200 performs autonomous operation according to the three-dimensional structure detected by the laser radar.

A laser radar is a device that detects the three-dimensional structure of the surrounding area by emitting a laser beam and detecting the reflection. In other words, a laser radar is a device with an ultra-small structure that combines a prism, a mirror, and MEMS (Micro Electro Mechanical Systems), and is a device that artificially creates a three-dimensional optical structure by changing its optical properties. I can do it.
Therefore, by arranging the presentation information generation unit 10 so as to surround the laser radar of the autonomous mobile device 200 and artificially configuring a three-dimensional structure based on control input, the autonomous mobile device 200 can perform specific actions. can be made to do so.

<Other embodiments>
In the above embodiments, each element described in the drawings as a functional block that performs various processes can be configured with a CPU (Central Processing Unit), memory, and other circuits in terms of hardware. In terms of software, this is realized by a program loaded into memory and executed by the CPU. Therefore, those skilled in the art will understand that these functional blocks can be implemented in various ways using only hardware, only software, or a combination thereof, and are not limited to either.

Additionally, the above programs can be stored and provided to a computer using various types of non-transitory computer readable media. Non-transitory computer-readable media includes various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tape, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Compact Disc-Read Only Memory), CDs. -R (CD-Recordable), CD-R/W (CD-ReWritable), semiconductor memory (e.g. mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory)) include. The program may also be provided to the computer on various types of transitory computer readable media. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. The temporary computer-readable medium can provide the program to the computer via wired communication channels, such as electrical wires and fiber optics, or wireless communication channels.

Note that the present disclosure is not limited to the above embodiments, and can be modified as appropriate without departing from the spirit. Further, the present disclosure may be implemented by appropriately combining the respective embodiments.

Part or all of the above embodiments may be described as in the following additional notes, but are not limited to the following.
(Appendix A1)
installed in a mobile device that moves according to first environmental information detected from the surroundings,
A control system comprising: a presentation information generation unit that generates presentation information for prompting the mobile device to act, and presents the presentation information so that it is detected as the first environmental information by a first sensor included in the mobile device. Device.
(Appendix A2)
The presentation information generating means includes:
The control device according to appendix A1, wherein the presentation information is generated based on control information including designation of an operation of the mobile device.
(Appendix A3)
The control device includes:
obtaining the control information via a network;
The presentation information generating means includes:
The control device according to appendix A2, which generates the presentation information using the acquired control information.
(Appendix A4)
The control device includes:
The control device according to appendix A3, wherein the control device acquires the control information corresponding to itself from a management device that transmits the control information corresponding to each of the two or more control devices via the network.
(Appendix A5)
The control device includes:
further comprising at least one second sensor that detects second environmental information from the vicinity of the mobile device,
transmitting the detected second environment information via the network to a management device that stores control-related information including a control policy for the mobile device;
The control device according to appendix A3, wherein the control information calculated in the management device based on the second environment information and the control-related information is acquired from the management device via the network.
(Appendix A6)
The control device includes:
at least one second sensor that detects second environmental information from the vicinity of the mobile device;
control information calculation means for calculating the control information using the detected second environment information and control related information including a control policy of the mobile device;
Furthermore,
The presentation information generating means includes:
The control device according to appendix A2, wherein the presentation information is generated using the calculated control information.
(Appendix A7)
The control device includes:
further comprising a storage means for storing the control related information,
The control information calculation means includes:
The control device according to appendix A6, wherein the control information is calculated using the detected second environment information and control-related information stored in the storage means.
(Appendix A8)
The control device includes:
The control device according to appendix A6, which acquires the control related information via a network.
(Appendix A9)
The control device includes:
The control device according to appendix A8, wherein the control device acquires the control related information corresponding to itself from a management device that transmits the control related information corresponding to each of the two or more control devices via the network.
(Appendix A10)
The control device includes:
further comprising at least one third sensor that detects the control-related information from the vicinity of the mobile device,
The control information calculation means includes:
The control device according to appendix A6, wherein the control information is calculated using second environmental information detected by the second sensor and control-related information detected by the third sensor.
(Appendix A11)
The third sensor is
an imaging device that images the surroundings of the mobile device;
The control device according to appendix A10, wherein character information extracted from an image captured by the imaging device is acquired as the control-related information.
(Appendix A12)
The second sensor is
The control device according to any one of appendices A5 to A11, which is at least one of an imaging device, an infrared sensor, a laser radar, a millimeter wave radar, a radio wave radar, an ultrasonic sensor, a pressure sensor, or a proximity sensor.
(Appendix A13)
The first sensor is an imaging device,
The presentation information generating means includes:
a display device arranged so that the display means is included in the imaging range of the imaging device;
The control device according to any one of appendices A1 to A12, wherein the presentation information is presented to the first sensor by displaying the presentation information on the display device.
(Appendix A14)
The presentation information generating means includes:
The presentation information is presented to the first sensor which is at least one of an infrared sensor, a laser radar, a millimeter wave radar, a radio wave radar, an ultrasonic sensor, a pressure sensor, or a proximity sensor. The control device according to any one of the items.
(Appendix A15)
The control device includes:
The control device according to any one of Supplementary Notes A1 to A14, which is mounted on the mobile device that is at least one of an automatic guided vehicle, an automatic driving vehicle, an automatic driving vehicle, an aerial photography device, an unmanned aircraft, or an unmanned submarine. .
(Appendix B1)
It is mounted on a mobile device that moves according to first environmental information detected from the surroundings, generates presentation information for prompting the mobile device to move, and uses a first sensor included in the mobile device to Information comprising: a transmitting means for transmitting control information used for generating the presentation information via a network to a control device comprising a presentation information generating means for presenting the presentation information so as to be detected as environmental information of the Processing equipment.
(Appendix B2)
The transmitting means includes:
The information processing device according to Appendix B1, wherein first control information including designation of an operation of the mobile device is transmitted as the control information.
(Appendix B3)
The transmitting means includes:
The information processing device according to Appendix B2, wherein the first control information corresponding to each of the two or more control devices is transmitted to each of the two or more control devices via the network.
(Appendix B4)
storage means for storing second control information including a control policy for the mobile device;
receiving means for receiving second environmental information detected from the vicinity of the mobile device from the control device via the network;
Calculating means for calculating the first control information based on the second environmental information and the second control information;
Furthermore,
The transmitting means includes:
The information processing device according to Appendix B2, wherein the calculated first control information is transmitted to the control device via the network as the control information.
(Appendix B5)
further comprising a storage means for storing second control information including a control policy for the mobile device,
The transmitting means includes:
The information processing device according to appendix B1, wherein the second control information stored in the storage means is transmitted to the control device via the network as the control information.
(Appendix C1)
It is mounted on a mobile device that moves according to first environmental information detected from the surroundings, generates presentation information for prompting the mobile device to move, and uses a first sensor included in the mobile device to at least one or more control devices comprising presentation information generation means for presenting the presentation information so as to be detected as environmental information of
a management device comprising a transmitting means for transmitting control information used to generate the presentation information to the control device via a network;
A movement control system equipped with
(Appendix C2)
The transmitting means includes:
The mobility control system according to appendix C1, wherein first control information including designation of an operation of the mobile device is transmitted as the control information.
(Appendix C3)
The transmitting means includes:
The mobility control system according to appendix C2, wherein the control information corresponding to each of the plurality of control devices is transmitted to each of the plurality of control devices via the network.
(Appendix C4)
The management device includes:
storage means for storing a plurality of second control information including control policies for each of the plurality of mobile devices;
Receiving means for receiving a plurality of second environmental information detected from the vicinity of the plurality of mobile devices from each of the plurality of control devices via the network;
Calculating means for calculating a plurality of first control information corresponding to each of the plurality of control devices based on the plurality of second environment information and the plurality of second control information;
Furthermore,
The transmitting means includes:
The movement control system according to appendix C2, wherein each of the plurality of calculated first control information is transmitted as the control information to each of the plurality of control devices via the network.
(Appendix C5)
The management device includes:
further comprising a storage means for storing a plurality of second control information including control policies for each of the plurality of mobile devices,
The transmitting means includes:
The movement control system according to appendix C1, wherein the plurality of second control information stored in the storage means is transmitted as the control information to each of the plurality of control devices via the network.
(Appendix D1)
A control device installed in a mobile device that moves according to first environmental information detected from the surrounding area,
generating presentation information for prompting the mobile device to operate;
A movement control method, wherein the presentation information is presented so as to be detected as the first environmental information by a first sensor included in the mobile device.
(Appendix E1)
A computer installed in a mobile device that moves according to first environmental information detected from the surrounding area,
a process of generating presentation information for prompting the mobile device to operate;
a process of presenting the presentation information so as to be detected as the first environmental information by a first sensor included in the mobile device;
A movement control program that executes.
(Appendix F1)
It is mounted on a mobile device that moves according to first environmental information detected from the surroundings, generates presentation information for prompting the mobile device to move, and uses a first sensor included in the mobile device to obtaining control information used to generate the presentation information in a control device comprising presentation information generation means for presenting the presentation information so as to be detected as environmental information;
A mobility control method, comprising: transmitting the control information to the control device via a network.
(Appendix G1)
It is mounted on a mobile device that moves according to first environmental information detected from the surroundings, generates presentation information for prompting the mobile device to move, and uses a first sensor included in the mobile device to A process of acquiring control information used to generate the presentation information in a control device including presentation information generation means for presenting the presentation information so as to be detected as environmental information of the computer;
a process of transmitting the control information to the control device via a network;
A movement control program that causes a computer to execute.

Although the present invention has been described above with reference to the embodiments (and examples), the present invention is not limited to the above embodiments (and examples). The configuration and details of the present invention can be modified in various ways that can be understood by those skilled in the art within the scope of the present invention.

100 Control device 101 External control device 101a External control device 101b External control device 110 External control device 110a External control device 110b External control device 110c External control device 110d External control device 120a External control device 120b Outside Attached control device 120c External control device 120d External control device 10 Presentation information generation section 11 Control information calculation section 11a Control information calculation section 11b Control information calculation section 12 Sensor 13 Storage section 131 Control related information 14 Sensor 15 Transmission section 200 Autonomous movement Device 200a Autonomous mobile device 200b Autonomous mobile device 200c Autonomous mobile device 200d Autonomous mobile device 20 Sensor 21 Autonomous control unit N Network 1000 Mobility control system 2000 Mobility control system 3000 Mobility control system 3001 Mobility control system 300 Management device 301 Management device 302 Integrated control System 303 Integrated control system 31 Transmission section 31a Transmission section 31b Transmission section 32 Storage section 320 Control related information 321a Control related information 321b Control related information 321c Control related information 321d Control related information 33 Receiving section 34 Calculation section 35 Control information calculation section 400 Computer 401 CPU
402 ROM
403 RAM
404 Storage device 405 Drive device 406 Communication IF
407 Input/output IF
408 Program 409 Recording medium

Claims (10)

installed in a mobile device that moves according to first environmental information detected from the surroundings,
Presentation information generating means installed opposite to a first sensor included in the mobile device;
The presentation information generating means acquires control information including a designation of an action from the mobile device, and based on the acquired control information, generates an autonomous control behavior of the mobile device to prompt the mobile device to perform an action. A control device that generates presentation information to induce and presents the presentation information so that it is detected as the first environmental information by the first sensor. The control device includes:
further comprising at least one second sensor that detects second environmental information from the vicinity of the mobile device,
The presentation information generating means includes:
The control device according to claim 1, wherein the presentation information is generated using control information including a designation of an operation of the mobile device based on the second environment information and control related information including a control policy of the mobile device. The control device includes:
transmitting the detected second environment information via a network to a management device that stores the control related information;
The control device according to claim 2, wherein the control information calculated in the management device based on the second environment information and the control-related information is acquired from the management device via the network. The control device includes:
The control device according to claim 3, wherein the control device acquires the control information corresponding to itself from a management device that transmits the control information corresponding to each of the two or more control devices via the network. The control device includes:
further comprising control information calculation means for calculating the control information using the detected second environment information and the control related information,
The presentation information generating means includes:
The control device according to claim 2, wherein the presentation information is generated using the calculated control information. It is mounted on a mobile device that moves in response to first environmental information detected from the surrounding area, is installed opposite to a first sensor of the mobile device, and receives control information including operation designation from the mobile device. generating presentation information for inducing an autonomous control behavior of the mobile device to urge the mobile device to operate based on the acquired control information; An information processing device comprising: a transmitting means for transmitting control information used for generating the presentation information via a network to a control device comprising a presentation information generating means for presenting the presentation information so as to be detected as information. . It is mounted on a mobile device that moves in response to first environmental information detected from the surrounding area, is installed opposite to a first sensor of the mobile device, and receives control information including operation designation from the mobile device. generating presentation information for inducing an autonomous control behavior of the mobile device to urge the mobile device to operate based on the acquired control information; at least one control device comprising presentation information generation means for presenting the presentation information so as to be detected as information;
a management device comprising a transmitting means for transmitting control information used to generate the presentation information to the control device via a network;
A movement control system equipped with The computer is
A control device is mounted on a mobile device that moves according to first environmental information detected from the surrounding area, and is installed opposite to a first sensor included in the mobile device,
control information including a designation of an action is obtained from the mobile device, and based on the obtained control information, presentation information for inducing an autonomous control behavior of the mobile device is generated to prompt the mobile device to perform an action. ,
A movement control method, wherein the presentation information is presented so as to be detected as the first environmental information by the first sensor. a computer mounted on a mobile device that moves in response to first environmental information detected from the surrounding area and installed opposite to a first sensor included in the mobile device;
obtaining control information including a designation of an action from the mobile device, and generating presentation information that induces an autonomous control behavior of the mobile device to prompt the mobile device to perform an action based on the obtained control information; processing and
a process of presenting the presentation information so as to be detected as the first environmental information by the first sensor;
A movement control program that executes. The computer is
It is mounted on a mobile device that moves in response to first environmental information detected from the surrounding area, is installed opposite to a first sensor of the mobile device, and receives control information including operation designation from the mobile device. generating presentation information for inducing an autonomous control behavior of the mobile device to urge the mobile device to operate based on the acquired control information; Obtaining control information used to generate the presentation information in a control device comprising presentation information generation means for presenting the presentation information so as to be detected as information;
A mobility control method, comprising: transmitting the control information to the control device via a network.

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