WO2023149373A1 - Système de commande, procédé de commande et support de stockage - Google Patents

Système de commande, procédé de commande et support de stockage Download PDF

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Publication number
WO2023149373A1
WO2023149373A1 PCT/JP2023/002646 JP2023002646W WO2023149373A1 WO 2023149373 A1 WO2023149373 A1 WO 2023149373A1 JP 2023002646 W JP2023002646 W JP 2023002646W WO 2023149373 A1 WO2023149373 A1 WO 2023149373A1
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WIPO (PCT)
Prior art keywords
information
space
route
probability
control system
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PCT/JP2023/002646
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English (en)
Japanese (ja)
Inventor
翼 仲谷
洋平 佐藤
Original Assignee
キヤノン株式会社
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Priority claimed from JP2022205347A external-priority patent/JP2023112660A/ja
Application filed by キヤノン株式会社 filed Critical キヤノン株式会社
Publication of WO2023149373A1 publication Critical patent/WO2023149373A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/907—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually
    • G06F16/909—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually using geographical or spatial information, e.g. location
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams

Definitions

  • the present invention relates to control systems, control methods, storage media, and the like.
  • digital architecture an overall picture that connects data and systems between members of different organizations and societies has been promoted in line with technological innovations such as autonomous driving mobility and spatial recognition systems around the world.
  • a single processor divides a spatio-temporal area in time and space according to spatio-temporal management data provided by a user to generate a plurality of spatio-temporal divided areas. Also, in consideration of the temporal and spatial proximity of the spatio-temporal segments, an identifier expressed by a one-dimensional integer value is assigned to uniquely identify each of the plurality of spatio-temporal segments.
  • a spatio-temporal data management system determines the arrangement of time-series data so that data in spatio-temporal divided areas with similar identifiers are arranged closely on the storage device.
  • Patent Document 1 it is only within the processor that generated the data that the data regarding the generated area can be grasped by the identifier. Therefore, users of different systems cannot utilize the information of the spatio-temporal segmented regions. In addition, no consideration is given to countermeasures in the case where there is an object that has an important influence on the operation of the autonomous mobile body and the position of the object cannot be grasped.
  • one object of the present invention is to provide a control system that can appropriately grasp the state of each divided three-dimensional space.
  • the control system of the present invention is holding means for holding in association with a unique identifier assigned to each of the divided three-dimensional spaces space information representing the state of the space, the space information including probability information that a specific object exists in the space; an acquisition means for acquiring the spatial information from and a control means for generating moving route information of the moving object based on the probability information included in the spatial information.
  • FIG. 1 It is a figure which shows the whole structure example of the autonomous mobile body control system concerning Embodiment 1 of this invention.
  • (A) is a diagram showing an example of an input screen when a user inputs position information
  • (B) is a diagram showing an example of a selection screen for selecting an autonomous mobile body to be used.
  • (A) is a diagram showing an example of a screen for confirming the current position of an autonomous mobile body
  • (B) is a diagram showing an example of a map display screen when confirming the current position of an autonomous mobile body.
  • 2 is a functional block diagram showing an internal configuration example of 10 to 15 in FIG. 1;
  • FIG. 1 FIG.
  • FIG. 1 is a perspective view showing a mechanical configuration example of an autonomous mobile body 12 according to Embodiment 1.
  • FIG. 3 is a block diagram showing a specific hardware configuration example of a control unit 10-2, a control unit 11-2, a control unit 12-2, a control unit 13-2, a control unit 14-3, and a control unit 15-2;
  • FIG. 4 is a sequence diagram illustrating processing executed by the autonomous mobile body control system according to the first embodiment;
  • FIG. 9 is a sequence diagram continued from FIG. 8;
  • FIG. 10 is a sequence diagram continued from FIG. 9;
  • (A) is a diagram showing latitude/longitude information of the earth, and
  • (B) is a perspective view showing the predetermined space 100 of (A).
  • 4 is a diagram schematically showing spatial information in space 100.
  • FIG. (A) is a diagram showing route information using map information
  • (B) is a diagram showing route information using position point cloud data using map information
  • (C) is a map showing route information using unique identifiers. It is the displayed figure.
  • FIG. 12 is a sequence diagram showing an example of processing for storing probability information in a format database 14-4;
  • 1 is a functional block diagram of a control system capable of storing information acquired from a weather information database;
  • FIG. 10 is an image diagram of probability information linked to date and time information;
  • FIG. 10 is a sequence diagram for explaining the operation of the process of determining a route by the autonomous mobile body control system;
  • FIG. 10 is a diagram for explaining an example of the maximum human probability for each route;
  • the mobile body may be one in which the user can operate at least a part of the movement of the mobile body. That is, for example, various displays related to the moving route and the like may be displayed to the user, and the user may perform a part of the driving operation of the moving body with reference to the display.
  • FIG. 1 is a diagram showing an overall configuration example of an autonomous mobile body control system according to Embodiment 1 of the present invention.
  • the autonomous mobile body control system also abbreviated as control system
  • the user interface 11 means a user terminal device.
  • each device shown in FIG. 1 is connected via the Internet 16 by respective network connection units, which will be described later.
  • network connection units such as LAN (Local Area Network) may be used.
  • system control device 10 the user interface 11, the route determination device 13, the conversion information holding device 14, etc. do not necessarily have to be individual devices, and the roles of any two or more devices can be realized by one device. I don't mind.
  • the system control device 10, the user interface 11, the autonomous mobile body 12, the route determination device 13, the conversion information holding device 14, and the sensor node 15 each contain information such as a CPU as a computer and ROM, RAM, HDD, etc. as storage media. Contains processing equipment. Details of the function and internal configuration of each device will be described later.
  • screen images displayed on the user interface 11 when the user browses the current position of the autonomous mobile body 12 will be described with reference to FIGS. 3(A) and 3(B). Based on these explanations, an example will be used to explain how the application is operated in the autonomous mobile body control system.
  • map display will be described on a two-dimensional plane for the sake of convenience. You can also enter information. That is, according to this embodiment, a three-dimensional map can be used.
  • Fig. 2(A) is a diagram showing an example of an input screen when a user inputs position information
  • Fig. 2(B) is a diagram showing an example of a selection screen for selecting an autonomous mobile body to be used.
  • the WEB page of the system control device 10 is displayed.
  • the input screen 40 has a list display button 48 for displaying a list of autonomous moving bodies (mobilities) to be used.
  • a list of mobilities is displayed as shown in FIG. A screen 47 is displayed.
  • the user first selects the autonomous mobile body (mobility) to be used on the list display screen 47 .
  • the autonomous mobile body mobility
  • the list display screen 47 for example, mobilities M1 to M3 are displayed in a selectable manner, but the number is not limited to this.
  • the screen automatically returns to the input screen 40 of FIG. 2(A). Also, the selected mobility name is displayed on the list display button 48 . After that, the user inputs the location to be set as the starting point in the input field 41 of "starting point".
  • the user inputs the location to be set as a transit point in the input field 42 of "transit point 1". It is possible to add a waypoint, and when the add waypoint button 44 is pressed once, an input field 46 for "waypoint 2" is additionally displayed, and the waypoint to be added can be input.
  • add waypoint button 44 Each time the add waypoint button 44 is pressed, additional input fields 46 are displayed, such as "waypoint 3" and "waypoint 4", and multiple additional waypoints can be entered. Also, the user inputs a place to be set as the arrival point in the input field 43 of "arrival point". Although not shown in the figure, when the input fields 41 to 43, 46, etc. are clicked, a keyboard or the like for inputting characters is temporarily displayed so that desired characters can be input.
  • the user can set the movement route of the autonomous mobile body 12 by pressing the decision button 45 .
  • "AAA” is set as the departure point
  • "BBB” is set as the transit point 1
  • "CCC” is set as the arrival point.
  • the text to be entered in the input field may be, for example, an address, or it may be possible to enter location information for indicating a specific location, such as latitude/longitude information, store name, and telephone number.
  • FIG. 3A is a diagram showing an example of a screen for confirming the current position of an autonomous mobile body
  • FIG. 3B is a diagram showing an example of a map display screen when confirming the current position of an autonomous mobile body.
  • Reference numeral 50 in FIG. 3(A) denotes a confirmation screen, which is displayed by operating an operation button (not shown) after setting the movement route of the autonomous mobile body 12 on the screen as shown in FIG. 2(A).
  • the current position of the autonomous mobile body 12 is displayed on the WEB page of the user interface 11, like the current position 56, for example. Therefore, the user can easily grasp the current position.
  • the user can update the screen display information to display the latest state. Further, the user can change the place of departure, the waypoint, and the place of arrival by pressing the change waypoint/arrival place button 54 . That is, it is possible to change by inputting the places to be reset in the input field 51 of "departure point", the input field 52 of "route point 1", and the input field 53 of "arrival point".
  • FIG. 3(B) shows an example of a map display screen 60 that switches from the confirmation screen 50 when the map display button 55 of FIG. 3(A) is pressed.
  • the current location of the autonomous mobile body 12 can be confirmed more easily by displaying the current location 62 on the map.
  • the return button 61 the display screen can be returned to the confirmation screen 50 of FIG. 3(A).
  • the user can easily set a movement route for moving the autonomous mobile body 12 from a predetermined location to a predetermined location.
  • a route setting application can also be applied to, for example, a taxi dispatch service, a drone home delivery service, and the like.
  • FIG. 4 is a functional block diagram showing an internal configuration example of 10 to 15 in FIG. Some of the functional blocks shown in FIG. 4 are realized by causing a computer (not shown) included in each device to execute a computer program stored in a memory (not shown) as a storage medium.
  • ASIC application specific integrated circuit
  • DSP digital signal processor
  • each functional block shown in FIG. 4 may not be built in the same housing, and may be configured by separate devices connected to each other via signal paths.
  • the user interface 11 includes an operation unit 11-1, a control unit 11-2, a display unit 11-3, an information storage unit (memory/HD) 11-4, and a network connection unit 11-5.
  • the operation unit 11-1 is composed of a touch panel, key buttons, etc., and is used for data input.
  • the display unit 11-3 is, for example, a liquid crystal screen, and is used to display route information and other data.
  • the display screen of the user interface 11 shown in FIGS. 2 and 3 is displayed on the display section 11-3.
  • the user can use the menu displayed on the display unit 11-3 to select a route, input information, confirm information, and the like. That is, the operation unit 11-1 and the display unit 11-3 provide an operation interface for the user to actually operate.
  • a touch panel may be used as both the operation section and the display section.
  • the control unit 11-2 incorporates a CPU as a computer, manages various applications in the user interface 11, manages modes such as information input and information confirmation, and controls communication processing. Also, it controls the processing in each part in the system controller.
  • the information storage unit (memory/HD) 11-4 is a database for holding necessary information such as computer programs to be executed by the CPU.
  • a network connection unit 11-5 controls communication performed via the Internet, LAN, wireless LAN, or the like.
  • the user interface 11 may be, for example, a device such as a smart phone, or may be in the form of a tablet terminal.
  • the user interface 11 of the present embodiment displays the input screen 40 for the departure point, the waypoint, and the arrival point on the browser screen of the system control device 10, and allows the user to input positional information such as the departure point, the waypoint, and the arrival point. can be entered. Furthermore, the current position of the autonomous mobile body 12 can be displayed by displaying the confirmation screen 50 and the map display screen 60 on the browser screen.
  • the route determination device 13 includes a map information management unit 13-1, a control unit 13-2, a position/route information management unit 13-3, an information storage unit (memory/HD) 13-4, and a network connection unit 13. -5.
  • the map information management unit 13-1 holds wide-area map information, searches for route information indicating a route on the map based on designated predetermined position information, and uses the route information of the search result as a position/ It is transmitted to the route information management section 13-3.
  • the map information is three-dimensional map information that includes information such as topography, latitude/longitude/altitude, and also includes roadway, sidewalk, direction of travel, traffic regulation information related to the Road Traffic Act.
  • information such as topography, latitude/longitude/altitude, and also includes roadway, sidewalk, direction of travel, traffic regulation information related to the Road Traffic Act.
  • coordinate systems other than latitude/longitude/altitude (East, North, Up, etc.) can be used.
  • the three-dimensional map information includes three-dimensional point group information measured by LiDAR and stereo cameras, terrain information, and the like.
  • control unit 13-2 incorporates a CPU as a computer, and controls processing in each unit within the route determination device 13.
  • FIG. 1
  • the position/route information management unit 13-3 manages the position information of the autonomous mobile body acquired via the network connection unit 13-5, and transmits the position information to the map information management unit 13-1. Manage the route information as the search result obtained from 13-1.
  • the control unit 13-2 converts the route information managed by the position/route information management unit 13-3 into a predetermined data format according to a request from the external system, and transmits the converted data to the external system.
  • the route determination device 13 is configured to search for a route in compliance with the Road Traffic Law or the like based on designated position information, and to output the route information in a predetermined data format. It is
  • the conversion information holding device 14 in FIG. -5 and a network connection unit 14-6 The conversion information holding device 14 in FIG. -5 and a network connection unit 14-6.
  • the conversion information holding device 14 assigns a unique identifier to each divided three-dimensional space defined by coordinates such as latitude/longitude/height. Then, it can function as formatting means for formatting and storing spatial information about the state and time of objects existing in the space in association with the unique identifier.
  • the position/route information management unit 14-1 manages predetermined position information acquired through the network connection unit 14-6, and transmits the position information to the control unit 14-3 in accordance with the request of the control unit 14-3.
  • the control unit 14-3 incorporates a CPU as a computer, and controls processing in each unit within the conversion information holding device 14. FIG.
  • the control unit 14-3 Based on the position information acquired from the position/route information management unit 14-1 and the format information managed by the format database 14-4, the control unit 14-3 converts the position information into a unique identifier defined by the format. Convert to Positional information specified via a user interface is converted into coordinates such as latitude/longitude/altitude, and converted into unique identifiers corresponding to the coordinates. Then, it is transmitted to the unique identifier management section 14-2.
  • an identifier (hereinafter referred to as a unique identifier) is assigned to each divided space starting from a predetermined position, and the space is managed by the unique identifier.
  • a unique identifier is assigned to each divided space starting from a predetermined position, and the space is managed by the unique identifier.
  • the unique identifier management unit 14-2 manages the unique identifier converted by the control unit 14-3 and transmits it through the network connection unit 14-6.
  • the format database 14-4 manages format information and transmits the format information to the control unit 14-3 in accordance with a request from the control unit 14-3.
  • the conversion information holding device 14 manages information related to space acquired by external devices, devices, and networks in association with unique identifiers. In addition, it provides information on unique identifiers and associated spaces to external devices, devices, and networks.
  • the conversion information holding device 14 acquires the unique identifier and the information in the space based on the predetermined position information, and can share the information with external devices, devices, and networks connected to itself. managed and provided to Further, the conversion information holding device 14 converts the position information specified by the system control device 10 into a unique identifier and provides the system control device 10 with the unique identifier.
  • the system control device 10 includes a unique identifier management section 10-1, a control section 10-2, a position/route information management section 10-3, an information storage section (memory/HD) 10-4, and a network connection section 10-. 5.
  • the position/route information management unit 10-3 holds simple map information that associates terrain information with latitude/longitude information, and stores predetermined position information and route information obtained through the network connection unit 10-5. to manage.
  • the position/route information management unit 10-3 can also divide the route information at predetermined intervals and generate position information such as the latitude/longitude of the divided locations.
  • the unique identifier management unit 10-1 manages information obtained by converting position information and route information into unique identifiers.
  • the control unit 10-2 incorporates a CPU as a computer, and controls the communication functions of the position information, route information, and unique identifier of the system control device 10, and controls the processing in each unit within the system control device 10.
  • control unit 10 - 2 provides the user interface 11 with the WEB page and transmits predetermined position information acquired from the WEB page to the route determination device 13 . Further, it acquires predetermined route information from the route determination device 13 and transmits each position information of the route information to the conversion information holding device 14 . Then, the route information converted into the unique identifier acquired from the conversion information holding device 14 is transmitted to the autonomous mobile body 12 .
  • the system control device 10 acquires predetermined position information specified by the user, transmits and receives position information and route information, generates position information, transmits and receives route information using a unique identifier, and performs autonomous mobile body is configured to be able to issue control instructions to
  • the system control device 10 collects route information necessary for the autonomous mobile body 12 to move autonomously, and uses a unique identifier for the autonomous mobile body 12. provide route information.
  • the system control device 10, the route determination device 13, and the conversion information holding device 14 function as servers, for example.
  • the autonomous moving body 12 includes a detection unit 12-1, a control unit 12-2, a direction control unit 12-3, an information storage unit (memory/HD) 12-4, a network connection unit 12-5, and a drive unit 12. -6.
  • the detection unit 12-1 has, for example, a plurality of imaging elements, and has a function of performing distance measurement based on parallax obtained from a stereo camera.
  • the detection unit 12-1 may perform distance measurement based on the phase difference of signals obtained from a ToF (Time of Flight) sensor.
  • ToF Time of Flight
  • detection information such as obstacles such as surrounding terrain and building walls
  • the detection unit 12-1 also has a self-position detection function such as GPS (Global Positioning System) and a direction detection function such as a geomagnetic sensor. Furthermore, based on the acquired detection information, self-position estimation information, and direction detection information, the control unit 12-2 can generate a three-dimensional map of cyberspace. Self-location estimation and 3D map generation can also be performed by SLAM (Simultaneous Localization And Mapping) technology.
  • SLAM Simultaneous Localization And Mapping
  • a 3D map of cyberspace is one that can express spatial information equivalent to the position of features in the real world as digital data.
  • the autonomous mobile body 12 that exists in the real world and information on features around it are held as spatially equivalent information as digital data. Therefore, by using this digital data, efficient movement is possible.
  • FIG. 5A is a diagram showing the spatial positional relationship between the autonomous mobile body 12 in the real world and a pillar 99 that exists as feature information around it.
  • FIG. 5B shows the autonomous mobile body 12 and the pillar 99.
  • FIG. 5B is a diagram showing a state of mapping in an arbitrary XYZ coordinate system space with the position P0 as the origin.
  • the position of the autonomous mobile body 12 is determined from the latitude and longitude position information acquired by GPS or the like (not shown) mounted on the autonomous mobile body 12. identified as ⁇ 0. Also, the orientation of the autonomous mobile body 12 is specified by the difference between the orientation ⁇ Y acquired by an electronic compass (not shown) or the like and the moving direction 12Y of the autonomous mobile body 12 .
  • the position of the pillar 99 is specified as the position of the vertex 99-1 from position information measured in advance.
  • the distance measurement function of the autonomous mobile body 12 makes it possible to acquire the distance from ⁇ 0 of the autonomous mobile body 12 to the vertex 99-1.
  • FIG. 5A when the moving direction 12Y is the axis of the XYZ coordinate system and ⁇ 0 is the origin, the coordinates (Wx, Wy, Wz) of the vertex 99-1 are shown.
  • FIG. 5B shows a state in which the autonomous mobile body 12 and the pillar 99 are mapped in an arbitrary XYZ coordinate system space with P0 as the origin.
  • the autonomous mobile body 12 is expressed as P1 and the pillar 99 as P2 in this arbitrary XYZ coordinate system space. be able to.
  • the position P1 of ⁇ 0 in this space can be calculated from the latitude and longitude of ⁇ 0 and the latitude and longitude of P0.
  • the column 99 can be calculated as P2.
  • two of the autonomous mobile body 12 and the pillar 99 are represented by a three-dimensional map of cyber space, but of course, even if there are more, it is possible to treat them in the same way.
  • a three-dimensional map is a mapping of the self-position and objects in the real world in a three-dimensional space.
  • the autonomous mobile body 12 stores learning result data of object detection that has been machine-learned, for example, in an information storage unit (memory/HD) 12-4. Objects can be detected. The detection information can also be acquired from an external system via the network connection unit 12-5 and reflected on the three-dimensional map.
  • an information storage unit memory/HD
  • the control unit 12-2 incorporates a CPU as a computer, controls movement, direction change, and autonomous running functions of the autonomous mobile body 12, and controls processing in each part within the autonomous mobile body 12.
  • the direction control unit 12-3 changes the moving direction of the autonomous moving body 12 by changing the driving direction of the moving body by the driving unit 12-6.
  • the driving unit 12-6 is composed of a driving device such as a motor, and generates a propulsion force for the autonomous mobile body 12.
  • the autonomous mobile body 12 reflects its own position, detection information, and object detection information in a three-dimensional map, generates a route that maintains a certain distance from the surrounding terrain, buildings, obstacles, and objects, and performs autonomous driving. can be done.
  • the route determination device 13 mainly generates routes in consideration of regulatory information related to the Road Traffic Law.
  • the autonomous mobile body 12 more accurately detects the positions of surrounding obstacles on the route determined by the route determination device 13, and generates a route based on its own size so as to move without touching them.
  • the information storage unit (memory/HD) 12-4 of the autonomous mobile body 12 can store the mobility type of the autonomous mobile body itself.
  • the mobility type is, for example, a legally identified type of moving object, such as a car, a bicycle, or a drone. Based on this mobility format, route information can be generated using a format described later.
  • FIG. 6 is a perspective view showing a mechanical configuration example of the autonomous mobile body 12 according to the first embodiment.
  • the autonomous mobile body 12 will be described as an example of a traveling body having wheels, but is not limited to this, and may be a flying body such as a drone.
  • the autonomous moving body 12 includes a detection unit 12-1, a control unit 12-2, a direction control unit 12-3, an information storage unit (memory/HD) 12-4, a network connection unit 12-5, a drive unit 12-6 are mounted, and each part is electrically connected to each other. At least two drive units 12-6 and direction control units 12-3 are provided in the autonomous mobile body 12.
  • FIG. 6 the autonomous moving body 12 includes a detection unit 12-1, a control unit 12-2, a direction control unit 12-3, an information storage unit (memory/HD) 12-4, a network connection unit 12-5, a drive unit 12-6 are mounted, and each part is electrically connected to each other. At least two drive units 12-6 and direction control units 12-3 are provided in the autonomous mobile body 12.
  • the direction control unit 12-3 changes the moving direction of the autonomous mobile body 12 by changing the direction of the driving unit 12-6 by rotating the shaft, and the driving unit 12-6 rotates the autonomous mobile body by rotating the shaft. Perform 12 forwards and backwards.
  • the configuration described with reference to FIG. 6 is an example, and the present invention is not limited to this.
  • an omniwheel or the like may be used to change the movement direction.
  • the autonomous mobile body 12 is, for example, a mobile body using SLAM technology. Further, based on the detection information detected by the detection unit 12-1 or the like and the detection information of the external system acquired via the Internet 16, it is configured so that it can autonomously move along a designated predetermined route.
  • the autonomous mobile body 12 can perform trace movement by tracing finely specified points, and can also generate route information by itself in the space between them while passing through roughly set points and move. It is possible. As described above, the autonomous mobile body 12 of this embodiment can autonomously move based on the route information using the unique identifier provided by the system control device 10 .
  • the sensor node 15 is an external system such as a video surveillance system such as a roadside camera unit, and includes a detection unit 15-1, a control unit 15-2, and an information storage unit (memory/HD) 15-3. , and a network connection unit 15-4.
  • the detection unit 15-1 is, for example, a camera or the like, acquires detection information of an area in which it can detect itself, and has an object detection function and a distance measurement function.
  • the control unit 15-2 incorporates a CPU as a computer, controls the detection of the sensor node 15, data storage, and data transmission functions, and controls processing in each unit within the sensor node 15. Further, the detection information acquired by the detection unit 15-1 is stored in the information storage unit (memory/HD) 15-3, and is transmitted to the conversion information holding device 14 through the network connection unit 15-4.
  • the sensor node 15 is configured so that detection information such as image information detected by the detection unit 15-1, feature point information of a detected object, and position information can be stored in the information storage unit 15-3 and communicated. It is Also, the sensor node 15 provides the conversion information holding device 14 with detection information of the area detectable by itself.
  • FIG. 7 is a block diagram showing a specific hardware configuration example of the control unit 10-2, the control unit 11-2, the control unit 12-2, the control unit 13-2, the control unit 14-2, and the control unit 15-2. It is a diagram. Note that the hardware configuration is not limited to that shown in FIG. Moreover, it is not necessary to have all the blocks shown in FIG.
  • 21 is a CPU as a computer that manages the calculation and control of the information processing device.
  • a RAM 22 functions as a main memory of the CPU 21, an area for execution programs, an execution area for the programs, and a data area.
  • a ROM 23 stores an operation processing procedure of the CPU 21 .
  • the ROM 23 includes a program ROM that records basic software (OS), which is a system program for controlling the information processing device, and a data ROM that records information necessary for operating the system. Note that an HDD 29, which will be described later, may be used instead of the ROM 23.
  • OS basic software
  • HDD 29 which will be described later, may be used instead of the ROM 23.
  • a network interface (NETIF) 24 controls data transfer between information processing devices via the Internet 16 and diagnoses the connection status.
  • a video RAM (VRAM) 25 develops an image to be displayed on the screen of the LCD 26 and controls the display.
  • 26 is a display device such as a display (hereinafter referred to as LCD).
  • KBC controller
  • Reference numeral 28 denotes an external input device (hereinafter referred to as KB) for receiving operations performed by the user, and a pointing device such as a keyboard or mouse is used.
  • HDD 29 is a hard disk drive (hereinafter referred to as HDD), which is used for storing application programs and various data.
  • the application program in this embodiment is a software program or the like that executes various processing functions in this embodiment.
  • CDD external input/output device
  • a removable medium 31 as a removable data recording medium such as a CDROM drive, a DVD drive, a Blu-Ray (registered trademark) disk drive, and the like.
  • the CDD 30 is used, for example, when reading the above application program from removable media.
  • 31 is a removable medium such as a CDROM disk, DVD, Blu-Ray disk, etc., which is read by the CDD 30 .
  • the removable medium may be a magneto-optical recording medium (eg, MO), a semiconductor recording medium (eg, memory card), or the like. It is also possible to store the application programs and data stored in the HDD 29 in the removable medium 31 and use them.
  • Reference numeral 20 denotes a transmission bus (address bus, data bus, input/output bus, and control bus) for connecting the units described above.
  • FIG. 8 is a sequence diagram illustrating processing executed by the autonomous mobile body control system according to the first embodiment
  • FIG. 9 is a sequence diagram following FIG. 8
  • FIG. 10 is a sequence diagram following FIG. is.
  • each device shows the processing executed by each device from when the user inputs position information to the user interface 11 until the current position information of the autonomous mobile body 12 is received.
  • the processing steps of each device are shown in detail, there are cases where they can be omitted or have already been executed in preparation for generating movement route information for a moving object. It should be noted that each step of the sequence shown in FIGS. 8 to 10 is performed by executing a computer program stored in the memory by the computer in the control section of each device.
  • step S201 the user uses the user interface 11 to access the WEB page provided by the system control device 10.
  • step S202 the system control device 10 displays the position input screen as described with reference to FIG. 2 on the display screen of the WEB page.
  • step S203 as described with reference to FIG. 2, the user selects an autonomous mobile object (mobility) and inputs location information (hereinafter referred to as location information) indicating departure/via/arrival points.
  • mobility autonomous mobile object
  • location information hereinafter referred to as location information
  • the location information may be a word (hereinafter referred to as a location word) that specifies a specific location such as a building name, a station name, or an address, or a specific location on a map displayed on a web page as a point (hereinafter referred to as a point).
  • a location word a word that specifies a specific location such as a building name, a station name, or an address, or a specific location on a map displayed on a web page as a point (hereinafter referred to as a point).
  • the method to do is also good.
  • step S204 the system control device 10 saves the type information of the selected autonomous mobile body 12 and the input information such as the input position information. At this time, if the position information is a position word, the position word is saved. Find the latitude/longitude corresponding to , and save the latitude/longitude.
  • step S205 the system control device 10 designates the type of route that can be traveled (hereinafter referred to as route type) from the mobility type (type) of the autonomous mobile body 12 designated by the user. Then, in step S206, it is transmitted to the route determination device 13 together with the positional information.
  • route type the type of route that can be traveled
  • the mobility type is a legally distinguished type of moving object, such as a car, bicycle, or drone.
  • the type of route is, for example, a general road, a highway, an exclusive road for automobiles, or the like, and a predetermined sidewalk, a side strip of an ordinary road, or a bicycle lane for a bicycle.
  • step S207 the route determination device 13 inputs the received positional information into the owned map information as departure/via/arrival points. If the location information is a location word, search the map information by the location word and use the corresponding latitude/longitude information. If the position information is latitude/longitude information, it is used by inputting it into the map information as it is. Furthermore, a pre-search for the route may be performed.
  • step S208 the route determination device 13 searches for a route from the departure point to the arrival point via waypoints.
  • the route to be searched is searched according to the route type.
  • step S209 the route determination device 13 outputs, as a result of the search, a route from the departure point to the arrival point via the waypoints (hereinafter referred to as route information) in GPX format (GPS eXchange Format), and system control is performed.
  • route information a route from the departure point to the arrival point via the waypoints
  • GPX format GPS eXchange Format
  • GPX format files are mainly divided into three types: waypoints (point information without order), routes (point information with order with time information added), and tracks (collection of multiple point information: trajectory). is configured to
  • latitude/longitude is described as the attribute value of each point information
  • altitude, geoid height, GPS reception status/accuracy, etc. are described as child elements.
  • the minimum element required for a GPX file is latitude/longitude information for a single point, and any other information is optional.
  • a route is output as route information, and is a set of point information consisting of latitude/longitude having an order relationship. Note that the route information may be in another format as long as it satisfies the above requirements.
  • FIG. 11(A) is a diagram showing latitude/longitude information of the earth
  • FIG. 11(B) is a perspective view showing the predetermined space 100 in FIG. 11(A).
  • the center of the predetermined space 100 is defined as the center 101.
  • FIG. 12 is a diagram schematically showing spatial information in the space 100. As shown in FIG.
  • the format divides the earth's space into three-dimensional spaces determined by ranges starting from latitude/longitude/height, and each space has a unique identifier. is added to make it manageable.
  • the space 100 is displayed as a predetermined three-dimensional space.
  • a space 100 is defined by a center 101 of 20 degrees north latitude, 140 degrees east longitude, and height (altitude, altitude) H, and the width in the latitudinal direction is defined as D, the width in the longitudinal direction as W, and the width in the height direction as T. is a partitioned space. In addition, it is one space obtained by dividing the space of the earth into spaces determined by ranges starting from latitude/longitude/height.
  • each of the arranged divided spaces has its horizontal position defined by latitude/longitude, overlaps in the height direction, and the position in the height direction is defined by height.
  • the center 101 of the divided space is set as the starting point of latitude/longitude/height in FIG. 11B, the starting point is not limited to this. It is good as Also, the shape may be a substantially rectangular parallelepiped, and when considering the case of laying on a spherical surface such as the earth, it is better to set the top surface of the rectangular parallelepiped slightly wider than the bottom surface, so that it can be arranged without gaps.
  • the format database 14-4 stores information (spatial information) relating to the types of objects that can exist or enter the range of the space 100 and time limits (spatial information) in association with unique identifiers and formatted. Saved. Also, the formatted spatial information is stored in chronological order from the past to the future.
  • the conversion information holding device 14 associates with the unique identifier the spatial information regarding the types of objects that can exist or can enter a three-dimensional space defined by latitude/longitude/height and the time limit, and formats the format database 14-. Saved in 4.
  • the spatial information is updated at predetermined update intervals based on information supplied by information supply means such as an external system (for example, the sensor node 15) communicatively connected to the conversion information holding device 14. Then, the information is shared with other external systems communicably connected to the conversion information holding device 14 .
  • information supply means such as an external system (for example, the sensor node 15) communicatively connected to the conversion information holding device 14. Then, the information is shared with other external systems communicably connected to the conversion information holding device 14 .
  • information about the type of an object that can exist or enter a three-dimensional space defined by latitude/longitude/height and the time limit (hereinafter referred to as spatial information) is associated with a unique identifier. formatted and stored in the database. Space-time can be managed by formatted spatial information.
  • the conversion information holding device 14 of the first embodiment executes a formatting step of formatting and saving information about update intervals of spatial information in association with unique identifiers.
  • the update interval information formatted in association with the unique identifier may be the update frequency, and the update interval information includes the update frequency.
  • step S210 the system control device 10 confirms the interval between each piece of point information in the received route information. Then, the position point group data is created by matching the interval of the point information with the interval between the starting point positions of the divided spaces defined by the format.
  • the system control device 10 thins out the point information in the route information according to the interval of the starting point positions of the divided spaces, and uses it as position point group data. do. Also, if the interval of point information is larger than the interval between the starting point positions of the divided spaces, the system control device 10 interpolates the point information within a range that does not deviate from the route information to obtain position point group data.
  • the system control device 10 transmits the latitude/longitude information of each point information of the position point cloud data to the conversion information holding device 14 in the order of the route.
  • the conversion information holding device 14 searches the format database 14-4 for a unique identifier corresponding to the received latitude/longitude information, and transmits it to the system control device 10 in step S213.
  • the system control device 10 acquires the unique identifier from the database of the conversion information holding device 14 .
  • step S214 the system control device 10 arranges the received unique identifiers in the same order as the original position point cloud data, and stores them as route information using the unique identifiers (hereinafter referred to as format route information).
  • FIG. 13(A) is an image diagram of route information displayed as map information
  • FIG. 13(B) is an image diagram of route information using position point cloud data displayed as map information
  • FIG. 13(C) is an image diagram using unique identifiers.
  • FIG. 10 is an image diagram showing route information as map information;
  • 120 is route information
  • 121 is a non-movable area through which the autonomous mobile body 12 cannot pass
  • 122 is a movable area where the autonomous mobile body 12 can move.
  • the route information 120 generated by the route determining device 13 based on the positional information of the departure point, waypoints, and arrival points designated by the user passes through the departure point, waypoints, and arrival points, and is displayed on the map information. It is generated as a route passing over the movable area 122 .
  • 123 is a plurality of pieces of position information on route information. After acquiring the route information 120 , the system control device 10 generates position information 123 arranged at predetermined intervals on the route information 120 .
  • the position information 123 can be represented by latitude/longitude/height, respectively, and this position information 123 is called position point cloud data in the first embodiment. Then, the system control device 10 transmits the position information 123 (latitude/longitude/height of each point) one by one to the conversion information holding device 14 and converts them into unique identifiers.
  • 124 is positional space information in which the positional information 123 is converted into a unique identifier one by one, and the spatial range defined by the unique identifier is represented by a rectangular frame.
  • the location space information 124 is obtained by converting the location information into a unique identifier.
  • the route represented by the route information 120 is converted into continuous position space information 124 and represented.
  • Each piece of position space information 124 is associated with information about the types of objects that can exist or enter the space and the time limit. This continuous position space information 124 is called format route information in the first embodiment.
  • step S215 acquisition step
  • the system control device 10 downloads and acquires the spatial information associated with each unique identifier of the format path information from the conversion information holding device 14.
  • FIG. At this time, the system control device 10 functions as an acquisition means.
  • step S216 the system control device 10 converts the space information into a format that can be reflected in the three-dimensional map of the cyberspace of the autonomous mobile body 12, and information indicating the positions of multiple objects (obstacles) in the predetermined space.
  • the cost map may be created with respect to the space of all routes in the format route information at first, or may be created in a form divided by fixed areas and updated sequentially.
  • step S217 the system control device 10 associates the format route information and the cost map with the unique identification number (unique identifier) assigned to the autonomous mobile body 12 and stores them.
  • the autonomous mobile body 12 monitors (hereinafter, polling) its own unique identification number via the network at predetermined time intervals, and downloads the associated cost map in step S218.
  • the autonomous mobile body 12 reflects the latitude/longitude information of each unique identifier of the format route information as route information on the three-dimensional map of cyberspace created by itself.
  • step S220 the autonomous mobile body 12 reflects the cost map on the three-dimensional map of cyberspace as obstacle information on the route. If the cost map is created in a form that is divided at regular intervals, after moving the area in which the cost map was created, download the cost map of the next area and update the cost map.
  • step S221 the autonomous mobile body 12 moves along the route information while avoiding the objects (obstacles) entered in the cost map. That is, movement control is performed based on the cost map.
  • step S222 the autonomous mobile body 12 moves while performing object detection, and moves while updating the cost map using the object detection information if there is a difference from the cost map. Also, in step S223, the autonomous mobile body 12 transmits difference information from the cost map to the system control device 10 together with the corresponding unique identifier.
  • the system control device 10 that has acquired the difference information between the unique identifier and the cost map transmits the spatial information to the conversion information holding device 14 in step S224 of FIG. Update the spatial information of the unique identifier.
  • the content of the spatial information updated here does not directly reflect the difference information from the cost map, but is abstracted by the system control device 10 and then sent to the conversion information holding device 14 . Details of the abstraction will be described later.
  • step S226 the autonomous mobile body 12 moving based on the format route information informs the system controller 10 of the space it is currently passing through each time it passes through the divided space associated with each unique identifier. Send the associated unique identifier.
  • the system control device 10 grasps the current position of the autonomous mobile body 12 on the format route information.
  • the system control device 10 can grasp where the autonomous mobile body 12 is currently located in the format route information. Incidentally, the system control device 10 may stop holding the unique identifier of the space through which the autonomous mobile body 12 has passed, thereby reducing the holding data capacity of the format route information.
  • step S227 the system control device 10 creates the confirmation screen 50 and the map display screen 60 described with reference to FIGS. do.
  • the system control device 10 updates the confirmation screen 50 and the map display screen 60 each time a unique identifier indicating the current position is transmitted from the autonomous mobile body 12 to the system control device 10 .
  • the sensor node 15 saves the detection information of the detection range, abstracts the detection information in step S229, and transmits it as spatial information to the conversion information holding device 14 in step S230. Abstraction is information such as whether or not an object exists, or whether or not the state of existence of the object has changed, and is not detailed information about the object.
  • the conversion information holding device 14 stores the spatial information, which is the abstracted detection information, in association with the unique identifier of the position corresponding to the spatial information. Spatial information is thus stored in one unique identifier in the format database.
  • the external system uses the spatial information in the conversion information holding device 14 to obtain the detected information in the sensor node 15 via the conversion information holding device 14. is obtained and utilized.
  • the conversion information holding device 14 also has a function of connecting the communication standards of the external system and the sensor node 15 .
  • the conversion information holding device 14 has a function of connecting data of multiple devices with a relatively small amount of data.
  • steps S215 and S216 of FIG. 9 when the system control device 10 needs detailed object information when creating a cost map, detailed information is sent from an external system storing detailed detection information of spatial information. should be downloaded and used.
  • the sensor node 15 updates the spatial information on the route of the format route information of the autonomous mobile body 12 .
  • the sensor node 15 acquires detection information in step S232 of FIG. 10, generates abstracted spatial information in step S233, and transmits it to the conversion information holding device 14 in step S234.
  • the conversion information holding device 14 stores the spatial information in the format database 14-4 in step S235.
  • the system control device 10 checks changes in the spatial information in the managed format path information at predetermined time intervals, and downloads the spatial information in step S236 if there is a change. Then, in step S237, the cost map associated with the unique identification number assigned to the autonomous mobile body 12 is updated.
  • step S2308 the autonomous mobile body 12 recognizes the update of the cost map by polling and reflects it in the three-dimensional map of cyberspace created by itself.
  • the autonomous mobile body 12 can recognize in advance changes in the route that the autonomous mobile body 12 cannot recognize, and can respond to such changes.
  • a unique identifier is transmitted in step S240.
  • the system control device 10 which has thus recognized the unique identifier, displays an arrival indication on the user interface 11 in step S241, and terminates the application.
  • Embodiment 1 it is possible to provide a digital architecture format and an autonomous mobile body control system using the same.
  • the format database 14-4 stores information (spatial information) about the types of objects that can exist or enter the space 100 and the time limit from the past. It is stored in chronological order such as the future.
  • the spatial information is updated based on information input from an external sensor or the like communicably connected to the conversion information holding device 14, and is shared with other external systems that can be connected to the conversion information holding device 14. .
  • the type information of objects in the space is information that can be obtained from map information, such as roadways, sidewalks, and bicycle lanes on roads.
  • map information such as roadways, sidewalks, and bicycle lanes on roads.
  • information such as the traveling direction of mobility on a roadway, traffic regulations, etc. can also be defined as type information.
  • type information it is also possible to define type information in the space itself.
  • the conversion information holding device 14 can be connected to a system control device that manages information on roads and a system control device that manages information on sections other than roads.
  • the system control device 10 can transmit position point cloud data collectively representing the position information 123 of FIG. Similarly, a system control device that manages information on roads and a system control device that manages information on sections other than roads can also transmit corresponding data to the conversion information holding device 14 .
  • the corresponding data is the position point cloud data information managed by the system control device that manages road information and the system control device that manages information on sections other than roads.
  • Each point of the position point cloud data is hereinafter referred to as a position point.
  • the space information update interval differs according to the type of object existing in the space. That is, when the type of object existing in the space is a moving object, the length of time is set to be shorter than when the type of object existing in the space is not a moving object. Also, when the type of the object existing in the space is a road, the type of the object existing in the space is made shorter than in the case of the partition.
  • the update interval of the space information about each object should be different according to the type of each object (eg moving body, road, section, etc.). Spatial information about the state and time of each of a plurality of objects existing in the space is associated with the unique identifier, formatted and stored. Therefore, the load for updating spatial information can be reduced.
  • the format database 14-4 stores information (spatial information) regarding the state and time of objects existing in a certain range of space in chronological order from the past to the future.
  • information regarding the existence or non-existence of an object that continues to exist within a certain space can be stored in the format database 14-4 while being associated (linked) with the unique identifier corresponding to the divided space.
  • information on the presence or absence of a moving object is obtained by acquiring position information based on the self-position detection function of the object and position information of the object obtained by observing the object from the outside. Then, the unique identifier of the divided space corresponding to the position information of the object and the date and time information when the position information was acquired are stored in the format database 14-4 as a holding means.
  • this includes humans who do not have devices that can be wirelessly connected to the format database 14-4, and animals such as wild birds that are not managed. In reality, it is extremely difficult to continuously acquire accurate position information of animals such as birds.
  • information such as the presence or absence of humans and animals as described above is also important information when an autonomous mobile body such as a drone that moves using an autonomous mobile body control system generates a movement route.
  • an autonomous mobile body In order for an autonomous mobile body to detect and avoid unexpected humans and wild animals using its detection function, it must always move at a low speed, which may hinder efficient movement.
  • information representing the state of the space such as probability information that a specific moving object exists in the divided three-dimensional space that is associated (linked) with the unique identifier, is also included in the space. It is stored in association with the unique identifier of the location. At that time, the spatial information includes temporal information corresponding to the probability information.
  • autonomous moving bodies can select routes that are less likely to encounter moving bodies such as humans and wild animals. Furthermore, even when traveling along a route with a higher probability of encountering a moving object such as a person or a wild animal, the higher the probability of encountering a space, the slower the speed when moving through that space. That is, by controlling the moving speed according to probability information, it is possible to reduce the possibility of an accident.
  • the spatial information representing the state of the space is downloaded in S215
  • the probability information of the presence of a specific object in each divided three-dimensional space is also obtained. Then, considering the probability information, the movement route information determined by the route determination device 13 is generated or corrected based on the probability information.
  • the calculation for generating or modifying movement route information can be executed by the control unit 12-2 of the autonomous mobile body 12, the control unit 102 of the system control device 10, or the like.
  • the control unit 12-2, the control unit 102, and the like function as control means for executing a control process for generating moving route information.
  • the spatial information stored in the format database 14-4 is updated with information input by an external system or the like communicatively connected to the conversion information holding device 14. Then, the information is shared by other external systems communicably connected to the conversion information holding device 14 . By including probability information regarding the presence or absence of an object moving in space as one of these pieces of spatial information, safer movement becomes possible.
  • a method for storing probability information in the format database 14-4 based on the information acquired by the sensor node will be described below.
  • the sensor node 15 is an external system such as a video monitoring system such as a roadside camera unit similar to that described with reference to FIG. It retains the installed location information. Further, it is assumed that the information storage unit (memory/HD) 15-3 acquires in advance from the conversion information holding device 14 and holds the information of the unique identifier corresponding to the installation position and the detection area.
  • the information storage unit (memory/HD) 15-3 acquires in advance from the conversion information holding device 14 and holds the information of the unique identifier corresponding to the installation position and the detection area.
  • FIG. 14 is a sequence diagram showing an example of processing for storing probability information in the format database 14-4. The operation of each step in the sequence of FIG. 14 is performed by executing a computer program stored in the memory by the computer in the control section of each device.
  • step S501 the sensor node 15 uses the object detection function and the distance measurement function of the detection unit 15-1 to obtain image information, feature point information, and position information of an object existing in an area detectable by the sensor node 15 during a predetermined detection period. Detect information, such as information. Then, in step S502, the detected information is stored in the information storage unit (memory/HD) 15-3.
  • step S503 the control unit 15-2 of the sensor node 15 classifies the detected object according to the type such as "human”, “wild bird”, and “cat” from the image information and feature point information of this object. do.
  • step S504 the information on the detected object classified in step S503 is linked with the position information of the object and stored in the information storage unit (memory/HD) 15-3.
  • step S505 probability information is calculated. Therefore, based on the relationship between the classified detected objects stored in step S504 and the position information, the time period during which the classified detected objects stay in each divided space and the detection period (detection performed by the detection unit 15-1 Calculate the ratio of total time). For example, assuming that the detection period is one week (168 hours), if the result is that a "human" has stayed in a certain divided space for 17 hours, the time spent by the human is 10% of the total. is calculated as
  • the probability information about the state of the space is formatted and stored in association with the unique identifier of the divided space.
  • the probability information about the state of the space includes information about the probability that a given object that does not exist regularly exists in the space.
  • the detection period is not limited to one week, and can be set in advance to any period such as one hour, twelve hours, one day (24 hours), one month, etc. Probability information for each day of the week and time period It is calculable.
  • step S505 The number calculated in step S505 is treated as probability information that a "human" exists in the divided space, and in step S506, it is linked with the unique identifier of the divided space and transmitted to the conversion information holding device 14.
  • step S507 the conversion information holding device 14 stores the probability information linked to the unique identifier of the divided space in the format database 14-4.
  • the information transmitted from the sensor node 15 to the conversion information holding device 14 in step S506 may be probability information corresponding to the position information.
  • the position information is converted into a corresponding unique identifier in the conversion information holding device 14, and then the unique identifier is linked to the probability information and stored.
  • the probability information of objects that could not be detected may also be stored as 0%.
  • information such as "0% people” may be stored in the format database 14-4.
  • the probability information is a result based on the past observation results for a predetermined detection period, and is not the probability of perfectly predicting the future. Therefore, even if the probability information is "human 0%", the autonomous mobile body needs to set a route and move based on the fact that the possibility that a human exists is not 0%.
  • probability information cannot be calculated at points outside the detection range of a device having an object detection function, such as the sensor node 15 .
  • probability information may be calculated based on the estimated value and stored in the format database 14-4.
  • the rate is ⁇ human 5%'' at point A, and ⁇ human 5%'' at point B. 3%”.
  • all the waypoints may be estimated by interpolation as "human 4%" and the interpolated values may be stored.
  • a method of referring to population distribution data or geographical conditions and adopting probability information calculated at points close to these conditions as estimated values may be used. For example, if it is a mountain road that is a predetermined distance away from a human settlement, it is "0% human, 1% wild boar, 5% other small animals". Statistical values of values calculated at other points in the condition may be stored as estimated values.
  • the process of calculating the estimated value as described above may be performed by the control unit 14-3 of the conversion information holding device 14, or may be performed by another device capable of acquiring the detection results of a plurality of sensor nodes.
  • probability information is stored as probability information.
  • objects of high safety importance such as "human beings”
  • the probability information of the presence or absence of a "human” is important in order to reduce the possibility of an autonomous mobile body contacting an object of high safety importance such as a "human” as much as possible.
  • the probability information about the state of the space which is stored in association with the unique identifier, includes information about the probability that a given object exists in the space, and the given object includes a movable object of a given size or larger.
  • Predetermined objects also include humans and animals. It should be noted that the predetermined size changes according to the size of the autonomous mobile body.
  • “weather conditions” may interfere with the operation of autonomous mobiles, so it is desirable to store them as probability information.
  • “Weather conditions” that may interfere with the operation of autonomous mobile units include “heavy rain” and “strong wind”. That is, the probability information about the state of the space, which is stored in association with the unique identifier, includes the probability information about the weather conditions above a predetermined level in the space.
  • the results actually detected by a device such as the sensor node 15 may be used, or they may be obtained from an external weather information database.
  • past data under similar conditions such as season and time may be used as estimated values and stored.
  • FIG. 15 is a functional block diagram of a control system capable of storing information acquired from a weather information database, and has a weather information extraction system 801 and a conversion information holding device 14.
  • FIG. 15 Some of the functional blocks shown in FIG. 15 are implemented by causing a computer (not shown) included in the device to execute a computer program stored in a memory (not shown) as a storage medium. However, some or all of them may be realized by hardware. As hardware, a dedicated circuit (ASIC), a processor (reconfigurable processor, DSP), or the like can be used.
  • ASIC application-specific integrated circuit
  • DSP reconfigurable processor
  • each functional block shown in FIG. 15 may not be built in the same housing, and may be configured by separate devices connected to each other via signal paths.
  • a weather information management unit 801-1 in the weather information extraction system 801 holds a weather information database on the earth. Based on the weather information database held by the weather information management unit 801-1, the probability information calculation unit 801-2 recalculates the weather in each divided space into a form that can be used as probability information.
  • the control unit 801-3 controls extraction and calculation of probability information in the weather information extraction system 801. That is, the probability information calculation unit 801-2 sets the positional conditions and the like when calculating the probability, and stores the calculated probability information in the information storage unit (memory/HD) 801-4. It also controls the function of communicating with the conversion information holding device 14 through the network connection unit 801-5.
  • the conversion information holding device 14 has the same configuration as that described in FIG. 4, and description thereof is omitted.
  • the weather information extraction system 801 can provide weather information in a desired divided space as probability information to the conversion information holding device 14, and can store it in association with the unique identifier of the divided space.
  • step S508 the weather information extraction system 801 extracts weather information related to weather conditions that may interfere with the operation of the autonomous mobile body from a predetermined area range in the weather information database.
  • the weather information extraction system 801 recalculates the extracted weather information into a usable form as probability information.
  • the format that can be used is a format in which "weather conditions that may interfere with the operation of the autonomous mobile body" and its “probability” are set. For example, it is in the form of "rain of 7.5 mm or more in one hour (weather conditions that may interfere with the operation of the autonomous mobile body) 10% (probability)".
  • step S510 the weather information extraction system 801 stores the calculated probability information in the information storage unit (memory/HD) 801-4 in association with the position information of the divided space.
  • step S511 the weather information management unit 801-1 transmits the probability information linked with the position information of the divided space to the conversion information holding device 14.
  • step S512 the conversion information holding device 14 determines the unique identifier corresponding to the position information transmitted in step S511, associates the unique identifier with the probability information, and stores it in the format database 14-4.
  • the weather information extraction system 801 can link the probability information to the unique identifier and store it in the format database 14-4.
  • the autonomous moving body can move at a wind speed equal to or less than a predetermined value, but may not be able to move at a wind speed greater than the predetermined value.
  • 0% rain of 1 mm or less may be stored in the database or may be omitted in the same manner as the probability information of "human beings 0%".
  • the probability information about the state of the space which is stored in association with the unique identifier, includes probability information about the conditions that hinder movement in that space. For example, probability information about railroad crossing blockages, probability information about road impassability due to the state of red traffic lights (percentage of red time), and the probability of road congestion are also useful for efficient movement of autonomous vehicles. It is desirable to store it as probability information because it affects For example, in the case of a railroad crossing that is closed for 40 minutes or more per hour in a certain time period, it is stored as probability information such as "65% closed railroad crossing".
  • the probability information regarding conditions that impede movement in the divided space includes probability information regarding congestion in the divided space. As a result, it is possible to set an avoidance route that avoids divided spaces with a high congestion probability.
  • FIG. 16 is an image diagram of probability information linked to date and time information.
  • 802 indicates that the information was obtained at a point corresponding to the unique identifier "ID001", and 803 indicates that the probability information obtained from 6:00 to 12:00 on Monday among the "human probability information” is 10%. indicates that there is Further, 804 indicates that 5% of the "human probability information” is obtained from 6:00 to 12:00 on Friday. Further, 805 indicates that 4% of the "human probability information" is obtained from the entire detection period.
  • probability information regarding the state of the divided space on other dates and times may be stored as estimated values. Moreover, when acquiring the probability information, it is desirable to preferentially acquire the probability information of conditions that greatly affect the movement of the autonomous mobile body.
  • the system control device 10 receives route information from the route determination device 13 based on the user's input of position information indicating departure/via/arrival points, and uses this route information. Originally, the unique identifier corresponding to the latitude/longitude information was searched and stored.
  • FIG. 17 is a sequence diagram for explaining the operation of the route determination process performed by the autonomous mobile body control system.
  • the operation of the route determination process performed by the system control device, the autonomous mobile body 12, and the route determination device 13 that receives the input of position information indicating departure/via/arrival points from the user will be described.
  • step S601 the system control device 10, having received an input of position information indicating departure/via/arrival points from the user via the user interface, determines this position information and the type of travelable route to the route determination device 13 in step S601. Send to
  • step S602 the route determination device 13 inputs the received position information as departure/via/arrival points for the map information it possesses. If the location information is a location word, pre-search the map information according to the location word to obtain the corresponding latitude/longitude information. If the position information is latitude/longitude information, it is used by inputting it into the map information as it is.
  • step S603 the route determination device 13 searches for a route from the departure point to the arrival point via waypoints.
  • the route to be searched is searched according to the route type.
  • step S604 as a result of the search, the route determination device 13 outputs a plurality of route candidate information from the departure point to the arrival point via waypoints and information on the surroundings thereof (hereinafter referred to as route information) in GPX format. and transmits it to the system control device 10 .
  • the minimum element required for a GPX file is the latitude/longitude information of a single point, and description of other information is optional.
  • a route is output as route information, and is a set of point information consisting of latitude/longitude having an order relationship. Note that the route information may be in another format as long as it satisfies the above requirements.
  • a plurality of route candidates are, for example, routes having one or more different waypoints, each of which satisfies the departure/waypoint/arrival points transmitted in step S601 and the difference in travel distance is within a predetermined range.
  • the distance difference L1 from this route 1 can be set arbitrarily, and if there is no desired route candidate in the search results, the distance difference L1 from the route 1 is extended and the search is performed again.
  • multiple route candidates can be extracted by different extraction methods such as "extract all route candidates under specified conditions” or “prioritize conditions such as travel distance and road width and extract the top 10 routes”. It may be explored.
  • routes within a distance difference L1 of 50 m are searched as three route candidates, route 1, route 2, and route 3.
  • the data is transmitted to the system control device 10 in GPX format.
  • the route determining device 13 transmits information on the surroundings of Route 1, Route 2, and Route 3 together in GPX format.
  • the periphery means, for example, a range of L2m in a direction perpendicular to the traveling direction from a point where the autonomous mobile body 12 is supposed to pass.
  • the range L2 for acquiring this peripheral information is determined in consideration of the speed at which the autonomous mobile body 12 moves and the magnitude of the impact on the surroundings and itself when it comes into contact.
  • step S605 the system control device 10 checks the interval between each piece of point information in the received route information.
  • Positional point cloud data (hereinafter referred to as positional point cloud data) is created by matching the interval of the point information with the interval between the starting point positions of the divided spaces defined by the format.
  • step S606 the system control device 10 transmits the latitude/longitude information of each point information of the position point cloud data to the conversion information holding device 14 in the order of the route.
  • step S607 conversion information holding device 14 searches for a unique identifier corresponding to the received latitude/longitude information, and in step S608, transmits the unique identifier as a search result to system control device 10.
  • step S609 the system control device 10 arranges the received unique identifiers in the same order as the original position point cloud data, and refers to the probability information associated with the unique identifiers.
  • the probability information of "human” having high safety importance is referred to.
  • FIG. 18 is a diagram for explaining an example of the maximum human probability for each route.
  • the maximum probability of “human” in the route including the periphery of each route candidate (numerical value at the point where the existence probability of “human” is highest) and the autonomous mobile body 12 held by the system control device 10 indicates the threshold regarding the existence probability of "humans" for safe movement.
  • step S610 the system control device 10 compares the "human" probability for each route candidate (routes 1 to 3) shown in FIG. 18 with a threshold value.
  • the probability of "human” is the lowest, and the probability of "human” is the threshold of the probability of "human” for the autonomous mobile body 12 to move safely (50% in FIG. 18). is identified as “route 1”. Then, in step S611, "route 1" is determined as the route to be used.
  • step S612 the system control device 10 creates and stores the unique identifier of the route determined in step S611 as route information (hereinafter referred to as format route information).
  • step S610 If the route candidates compared in step S610 do not include a route for which the probability of being "human” is lower than the above threshold value, the process returns to step S603, and the distance difference L1 from the route 1 is extended, and then explore.
  • the numerical value at the point with the highest probability of "human” in each route was explained as a comparison object, but the average value of the probability of "human” in the route may be calculated and taken into consideration. .
  • the safety of the movement of the moving body can be improved.
  • the efficiency of the travel path can be optimized.
  • the mobile object of this embodiment is not limited to an autonomous mobile object such as an AGV (Automatic Guided Vehicle) or an AMR (Autonomous Mobile Robot).
  • AGV Automatic Guided Vehicle
  • AMR Automatic Mobile Robot
  • it can be any mobile device that moves, such as automobiles, trains, ships, airplanes, robots, and drones.
  • part of the control system of the present embodiment may or may not be mounted on those moving bodies.
  • this embodiment can be applied to remote control of a moving body.
  • the present invention may be realized by supplying a storage medium recording software program code (control program) for realizing the functions of the above-described embodiments to a system or apparatus. It is also achieved by the computer (or CPU or MPU) of the system or apparatus reading and executing the computer-readable program code stored in the storage medium.
  • control program software program code
  • the program code itself read from the storage medium implements the functions of the above-described embodiments, and the storage medium storing the program code constitutes the present invention.

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Abstract

L'invention concerne un système de commande qui peut saisir de manière appropriée l'état d'un espace dans chacun parmi des espaces tridimensionnels divisés. Le système de commande est configuré : pour acquérir des informations d'espace à partir d'un moyen de maintien qui contient des informations d'espace en association avec un identifiant unique attribué à chacun des espaces tridimensionnels divisés, les informations d'espace comportant des informations de probabilité concernant l'existence d'un objet spécifique dans les espaces, et représentant l'état des espaces ; et pour générer des informations de trajet de mouvement pour un objet mobile sur la base des informations de probabilité incluses dans les informations d'espace.
PCT/JP2023/002646 2022-02-01 2023-01-27 Système de commande, procédé de commande et support de stockage WO2023149373A1 (fr)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017194527A (ja) * 2016-04-19 2017-10-26 トヨタ自動車株式会社 環境地図のデータ構造、環境地図の作成システム及び作成方法、並びに、環境地図の更新システム及び更新方法
JP2018106504A (ja) * 2016-12-27 2018-07-05 株式会社豊田中央研究所 情報管理制御装置、情報管理制御プログラム
JP2019505059A (ja) * 2015-11-04 2019-02-21 ズークス インコーポレイテッド 自律車両の群の派遣および保守管理の協調
JP2020038360A (ja) * 2018-08-31 2020-03-12 株式会社デンソー 車両側装置、方法および記憶媒体
JP2020095336A (ja) * 2018-12-10 2020-06-18 株式会社Ｓｕｂａｒｕ 自動運転支援装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019505059A (ja) * 2015-11-04 2019-02-21 ズークス インコーポレイテッド 自律車両の群の派遣および保守管理の協調
JP2017194527A (ja) * 2016-04-19 2017-10-26 トヨタ自動車株式会社 環境地図のデータ構造、環境地図の作成システム及び作成方法、並びに、環境地図の更新システム及び更新方法
JP2018106504A (ja) * 2016-12-27 2018-07-05 株式会社豊田中央研究所 情報管理制御装置、情報管理制御プログラム
JP2020038360A (ja) * 2018-08-31 2020-03-12 株式会社デンソー 車両側装置、方法および記憶媒体
JP2020095336A (ja) * 2018-12-10 2020-06-18 株式会社Ｓｕｂａｒｕ 自動運転支援装置

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