WO2020148872A1

WO2020148872A1 - Control device, information processing device, movement control system, method, and non-transitory computer-readable medium having program stored thereon

Info

Publication number: WO2020148872A1
Application number: PCT/JP2019/001306
Authority: WO
Inventors: 岳大伊藤
Original assignee: 日本電気株式会社
Priority date: 2019-01-17
Filing date: 2019-01-17
Publication date: 2020-07-23
Also published as: JPWO2020148872A1; JP7409324B2

Abstract

A control device (100) according to the present invention is mounted in an autonomous mobile device (200) that moves in accordance with first environmental information detected from the surroundings. The autonomous mobile device (200) has a first sensor (20) for detecting the first environmental information from the surroundings. The control device (100) is provided with a presentation information generation means (10) which generates presentation information for prompting the autonomous mobile device (200) to operate, and which presents the presentation information such that the first sensor (20) detects the presentation information as the first environmental information.

Description

Control device, information processing device, and non-transitory computer-readable medium storing movement control system, method and program

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

In factories and warehouses, there are expectations for the use of automated guided vehicles, etc., because of the labor cost shortage and the cost of laying large-scale equipment such as belt conveyors is high. Many automated guided vehicles have already been commercialized, but the control protocol depends on each vendor. Autonomy of each vehicle tends to increase, and it has functions such as collision avoidance based on sensor information. Also, a method of controlling an autonomous vehicle on a general road has been proposed. For example, the invention disclosed in Patent Document 1 is a method for managing a vehicle group for an autonomous vehicle and an automatic guided vehicle. A method has been proposed in which a control system controls each vehicle via a network. In addition, the invention disclosed in Patent Document 2 proposes a notification device for a self-driving vehicle or a vehicle in which driving assistance is performed, and a vehicle control method based on a notification from the notification device. 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.

JP, 2008-85096, A JP, 2008-136966, A Japanese Patent Laid-Open No. 2018-77652

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

The present disclosure has been made to solve such a problem, and does not involve a dedicated protocol or the like of a mobile device that is autonomously controlled, and a control device for easily controlling the mobile device from the outside. An object is to provide an information processing device, a movement control system, a method, and a program.

The control device according to the first aspect of the present disclosure is
It is mounted on a mobile device that moves according to the first environmental information detected from the surroundings,
Presentation information generating means for generating presentation information for prompting the mobile device to perform an operation and presenting the presentation information so that the first sensor included in the mobile device detects the presentation information as the first environmental information.

An information processing device according to a second aspect of the present disclosure is
The first sensor is mounted on a mobile device that moves in accordance with first environmental information detected from the surroundings, generates presentation information for prompting the mobile device to perform an operation, and uses the first sensor included in the mobile device to perform the first information. The transmitting device transmits the control information used for generating the presentation information via the network to the control device including the presentation information generating device that presents the presentation information so as to be detected as the environmental information.

A movement control system according to a third aspect of the present disclosure is
The first sensor is mounted on a mobile device that moves in accordance with first environmental information detected from the surroundings, generates presentation information for prompting the mobile device to perform an operation, and uses the first sensor included in the mobile device to perform the first information. At least one control device including presentation information generation means for presenting the presentation information so as to be detected as environmental information of
To the control device, via a network, a management device including a transmission unit that transmits control information used to generate the presentation information,
Equipped with.

A movement control method according to a fourth aspect of the present disclosure is
The control device mounted on the moving device that moves according to the first environmental information detected from the surroundings,
Generates presentation information for prompting the mobile device to perform an operation,
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,
A computer mounted on a moving device that moves according to the first environmental information detected from the surroundings,
A process of generating presentation information for prompting the mobile device to perform an operation,
A process of presenting the presentation information so that the first sensor included in the mobile device detects the presentation information as the first environment information;
To execute.

A movement control method according to a sixth aspect of the present disclosure is
The first sensor is mounted on a mobile device that moves in accordance with first environmental information detected from the surroundings, generates presentation information for prompting the mobile device to perform an operation, and uses the first sensor included in the mobile device to perform the first information. Acquiring control information used to generate the presentation information in a control device including a presentation information generation unit that presents the presentation information so as to be detected as environmental information of
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,
The first sensor is mounted on a mobile device that moves in accordance with first environmental information detected from the surroundings, generates presentation information for prompting the mobile device to perform an operation, and uses the first sensor included in the mobile device to perform the first information. A process of acquiring control information used to generate the presentation information in a control device that includes a presentation information generation unit that presents the presentation information so as to be detected as environmental information of
A process of transmitting the control information to the control device via a network,
Causes the computer to execute.

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

It is a block diagram which shows the structure containing the control apparatus concerning 1st Embodiment. It is a sequence diagram which shows the flow of the movement control method concerning 1st Embodiment. It is a block diagram which shows the structure of the movement control system concerning Example 1 of 1st Embodiment. It is a flow chart which shows the flow of the movement control method concerning Example 1 of a 1st embodiment. It is a figure which shows the example of the autonomous mobile device concerning 2nd Embodiment. It is a figure which shows the example which attached the external control apparatus to the autonomous mobile device concerning 2nd Embodiment. FIG. 14 is a block diagram showing the configurations of an autonomous mobile device and an external controller according to Example 2-1 of the second exemplary embodiment. It is a sequence diagram showing a flow of a movement control method according to an example 2-1 of the second embodiment. FIG. 16 is a block diagram showing a configuration of an autonomous mobile device and an external control device according to Example 2-2 of the second exemplary embodiment. It is a sequence diagram showing a flow of a movement control method according to Example 2-2 of the second embodiment. FIG. 13 is a block diagram showing a configuration of an autonomous mobile device and an external controller according to Example 2-3 of the second exemplary embodiment. It is a sequence diagram showing a flow of a movement control method according to Example 2-3 of the second embodiment. It is a block diagram which shows the structure of the movement control system concerning 3rd Embodiment. It is a sequence diagram which shows the flow of the movement control method in the autonomous moving device and external control device concerning 3rd Embodiment. It is a flowchart which shows the flow of a control information generation process in the movement control method in the management apparatus concerning 3rd Embodiment. It is a block diagram which shows the hardware constitutions of the management apparatus concerning 3rd Embodiment. It is a block diagram which shows the structure of the movement control system concerning 4th Embodiment. It is a sequence diagram which shows the flow of the movement control method in the autonomous moving apparatus and external control device concerning 4th Embodiment. It is a flow chart which shows the flow of control information generation processing among the movement control methods in an integrated control system concerning a 4th embodiment. It is a block diagram which shows the structure of the movement control system concerning 5th Embodiment. It is a sequence diagram which shows the flow of the movement control method in the autonomous moving apparatus and the external control apparatus concerning 5th Embodiment. It is a flowchart which shows the flow of the movement control method in the integrated control system concerning 5th Embodiment.

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

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

In factories and warehouses, there are expectations for the use of automated guided vehicles (vehicles) because of the labor cost shortage and the cost of laying large-scale equipment such as belt conveyors is high. Many vendors have developed various types of vehicles, and various types of vehicles are required in factories and warehouses depending on their applications, such as their payload capacity and autonomous performance. Therefore, it is expected that various types of vehicles will run around the facility in the future. In that case, from the viewpoint of transport efficiency, a control method for coordinating the plurality of types of vehicles, such as preventing traffic congestion, is required.

However, at present, the vehicle control protocol depends on each vendor, and there is no common protocol. Therefore, the higher-level cooperative control algorithm must control each vehicle based on each protocol. At present, various APIs and protocols have been proposed, and it is necessary to individually learn each protocol at the time of 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 a plurality of types of vehicles without using a common protocol.

By the way, in recent years, due to the development of control technology, the functions of autonomous operation have been implemented in automated guided vehicles and autonomous vehicles. In other words, it is a function of acquiring environmental information and information on the situation in which the user is placed by a mounted sensor and autonomously changing direction and adjusting speed. For example, an autonomous vehicle recognizes the shape of the road, automatically turns the steering wheel along a curve, and follows the road. It also detects the distance to the vehicle in front and adjusts the speed and avoids collisions. It has a function. The automatic guided vehicle is also equipped with a function of recognizing the shape of a passage in a factory and autonomously traveling so as not to collide. In addition, a robot for cleaning such as Roomba (registered trademark) has a function of detecting an obstacle and autonomously changing its direction. Generally, the autonomous control function determines actions such as the direction and speed of the steering wheel based on sensor information. Therefore, it is possible to control the behavior of the autonomous mobile device by presenting to the sensor information from outside information that causes a desired motion and inducing the autonomous control behavior of the autonomous mobile device.

The present inventor has discovered such a problem and has derived a means for solving the problem. Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings. In the following description, the "moving device" includes an automatic guided vehicle, an autonomous traveling vehicle, an autonomous driving vehicle, an autonomous guided vehicle, an autonomous traveling vehicle, an autonomous driving vehicle, an aerial imaging device, an unmanned aerial vehicle, an automatic construction machine, an autonomous vehicle. It shall include agricultural machinery, automatic tractors, autonomous robots, or unmanned submarines.

<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 the first environmental information from the periphery 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 environment information detected by the sensor 20. Therefore, the autonomous mobile device 200 is an example of a mobile device that moves in accordance with the first environment 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, the control device 100 is assumed to be externally attached to the autonomous mobile device 200. The control device 100 is also connected to an external information processing device or information system via the network N.

The control device 100 includes a presentation information generation unit 10. The presentation information generation unit 10 generates presentation information for prompting the autonomous mobile device 200 to perform an operation. In addition, the presentation information generation unit 10 presents (presents) the presentation information so that the sensor 20 detects the first environment information. Therefore, in the autonomous mobile device 200, the sensor 20 can detect the presentation information as the first environment information and autonomously control the operation including the movement according to the presentation information. That is, it is possible to control the autonomous mobile device 200 to a desired operation from the outside.

Here, it is assumed that the control device 100 acquires (first) control information including designation of operation of the autonomous mobile device 200. Here, “acquisition” includes input from the outside of the control device 100 (so-called control input) or generation inside the control device 100. The “(first) control information” is information that specifies how the autonomous mobile device 200 should operate in a predetermined period, and for example, goes straight, moves backward, turns right or left. , Or command information for stopping, etc., but not limited to these. Then, the presentation information generator 10 generates the presentation information based on the acquired control information. At this time, the presentation information generation unit 10 may generate 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 control information described above (S101). For example, it is assumed that the control device 100 is connected to a remote controller or the like via the network N. Then, the remote controller receives the designation of the operation of the autonomous mobile device 200 input by the operation of the administrator, and transmits the control information including the designation to the control device 100 via the network N. Thereby, the presentation information generation unit 10 acquires the control information via the network N. Alternatively, the presentation information generation unit 10 may acquire the control information generated internally or by reading the 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, for example, information such as images and sounds as the information that the sensor 20 can recognize. The image is, for example, an image captured by an imaging device or an infrared image. If the control information specifies that the autonomous mobile device 200 turns to the right, the presentation information generation unit 10 generates, for example, an image in which the front and left sides are walls and the passage is on the right side as the presentation information. .. In addition, the presentation information is information indicating whether or not there is a factor (for example, an object exists, a step is generated) that prevents the autonomous mobile device 200 from traveling in the traveling direction of the autonomous mobile device 200. 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 and a signal. In other words, the presentation information may be information that can be recognized by the sensor 20, such as a direction in which the sensor 20 can proceed, a direction in which it cannot proceed, or information indicating whether or not there is a factor that hinders the progress according to the control information. However, the present invention is not limited to the above example.

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 an image as presentation information. Alternatively, the presentation information generation unit 10 may output the information in a form recognizable by the sensor 20, for example, using a technique such as projection mapping or a hologram, instead of presenting it to the sensor 20. Then, it is assumed that the presentation information generation unit 10 has installed a built-in screen (not shown) toward the sensor 20 in advance. In this case, the presentation information generation unit 10 displays the generated presentation information on the screen. In addition, when the sensor 20 is a sound collection device capable of voice recognition, the presentation information generation unit 10 generates voice as presentation information. Then, it is assumed that the presentation information generating unit 10 has a built-in speaker (not shown) facing the sensor 20 in advance. In this case, the presentation information generation unit 10 outputs the generated presentation information from the speaker.

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

As described above, in the present embodiment, in order to guide the operation of the autonomous mobile device, the presentation information that can be detected as the environmental information by the sensor of each autonomous mobile device is generated and presented. Accordingly, the operation of the autonomous mobile device can be substantially controlled from the outside without modifying the existing autonomous mobile device that operates according to various specifications and protocols.

The control device 100 includes a processor, a memory, and a storage device, which are not shown. In addition, 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 the 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 unit 10.

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

Also, the presentation information generation unit 10 has an output device that can be detected by the sensor 20. Examples of the output device include, but are not limited to, screens, screens, speakers, infrared output devices, laser output devices, millimeter wave output devices, radio wave output devices, ultrasonic output devices, pressure output devices, and the like.

Further, the sensor 20 is one of general sensors 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/non-contact switch. However, the present invention is not limited to these. That is, the presentation information generation unit 10 presents the presentation information so that the sensors 20 can detect the environmental information.

FIG. 3 is a block diagram showing the configuration of the movement control system 1000 according to the first example of the first exemplary 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 the management device 300. The control device 100 and the management device 300 are connected via the network N.

The management device 300 is one or more information processing devices. The management device 300 includes at least the transmission unit 31. The transmission unit 31 transmits the control information used for generating the presentation information to the control device 100 via the network N. Here, the control information may be control-related information (second control information) described later, in addition to the above-described first control information. In addition, 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 the example 1 of the first exemplary embodiment. First, the management device 300 acquires control information (S111). Next, the transmission unit 31 of the management device 300 transmits the control information to the control device 100 via the network N (S112). Then, thereafter, the above-described movement control method of FIG. 2 is executed.

In this way, the management device 300 provides the control information to the control device 100, so that the control device 100 can generate the 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 a desired operation via the control device 100 by using the management device 300 that is a remote controller.

It should be noted that the present invention is not limited to the above-described embodiments, but includes various modifications. For example, the above-described embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described.

The management device 300 includes a processor, a memory, and a storage device, which are not shown in the figure. In addition, 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 the computer program from the storage device into the memory and executes the computer program. Thereby, the processor realizes the function of the transmission unit 31.

Alternatively, the transmission unit 31 may be realized by dedicated hardware. Further, some or all of the constituent elements of each device may be realized by a general-purpose or dedicated circuit, a processor, or a combination thereof. These may be configured by a single chip, or may be configured by a plurality of chips connected via a bus. Some or all of the constituent elements of each device may be realized by a combination of the above-described circuits and the like and a program. As the processor, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an FPGA (field-programmable gate array), or the like can be used.

When some or all of the constituent elements of the management device 300 are realized by a plurality of information processing devices, circuits, etc., the plurality of information processing devices, circuits, etc. may be centrally arranged or distributed. It may be arranged. For example, the information processing device, the circuit and the like may be realized as a form in which a client server system, a cloud computing system and the like are connected to each other via a communication network. Further, the function of the management device 300 may be provided in the 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 the control information from the outside, but generates the control information using the environmental information detected by the internal sensor. In the description of the second embodiment, components having the same names as those of the control device 100 and the autonomous mobile device 200 according to the first embodiment are designated by the same reference numerals, and duplicate description of the common components will be omitted. To do.

FIG. 5 is a diagram exemplifying 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. The external control device 101 includes at least one second sensor and a control information calculation unit in addition to the configuration of the control device 100 (presentation information generation unit and the like) described above. Here, the second sensor detects the second environment information from around the autonomous mobile device 200. Since the external control device 101 is externally attached to the autonomous mobile device 200, that is, mounted, it moves 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 the (first) control information using the detected second environment information and the control-related information (second control information) including the control policy of the autonomous mobile device 200. The presentation information generation unit also generates presentation information using the calculated control information. In addition, the presentation information generation unit has a high-resolution display arranged toward the sensor 20 (camera) side. That is, the presentation information generation unit has a display device arranged such that the display unit is included in the imaging range of the sensor 20. Then, the presentation information generation unit 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 artificially 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 the second environment information. Then, the control information calculation unit can calculate desired control information that cannot be derived only by the second environment information, by adding the control-related information to the second environment information.

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

FIG. 7 is a block diagram showing the configurations of the autonomous mobile device 200 and the external control device 101 according to the example 2-1 of the second embodiment. The external control device 101 includes a presentation information generation unit 10, a control information calculation unit 11, a sensor 12, and a storage unit 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, a contact-type/non-contact type switch, or the like. However, the present invention is not limited thereto. The storage unit 13 is a storage area that stores the control related information 131. Here, the control related information 131 is an example of second control information, and is information including a control policy of the autonomous mobile device 200. The control policy is information such as an operation target and the priority of movement among a plurality of autonomous mobile devices, and is information indicating a long-term control policy as compared with the above-described first control information. The control policy includes, for example, a final destination due to the movement of the autonomous mobile device 200, and priority such as which one should be prioritized with other autonomous mobile devices that are close to each other at an intersection or the like. Not limited to. The control-related information 131 may further include information on the autonomous mobile device 200. Examples of the control-related information 131 include, but are not limited to, the manufacturer and model number of the autonomous mobile device 200, specifications such as maximum load capacity, maximum speed, and the like.

The control information calculation unit 11 calculates the control information using the second environment information detected by the sensor 12 and the control-related information 131 stored in the storage unit 13. The presentation information generation unit 10 generates presentation information based on the control information calculated by the control information calculation unit 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 the example 2-1 of the second exemplary embodiment. First, the sensor 12 of the external control device 101 detects (second) environment information around the autonomous mobile device 200 (S201). Here, the “environmental information” is position information indicating where the autonomous mobile device 200 is, speed information, map information indicating where an obstacle is located, and the like. In addition, the environment information may include information about the autonomous mobile device 200 that can be observed from the outside. For example, the environmental information may include information such as a blinker indicating to which the autonomous mobile device 200 is going to move, information about how much luggage is loaded, and the like. Moreover, in parallel with step S201, the control information calculation part 11 acquires the control relevant information 131 containing the information regarding the autonomous mobile device 200 which is a control object from the memory|storage part 13 (S202).

After that, the control information calculation unit 11 calculates the control information of the autonomous mobile device 200 from the environment 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) environment information (S207). Then, the autonomous control unit 21 of the autonomous mobile device 200 performs autonomous control according to the detected first environment information (S208).

In the present Example 2-1, for example, when the control information including the designation to turn the autonomous mobile device 200 to the right is given, the presentation information generation unit 10 causes the image for turning the autonomous mobile device 200 to the right. Is generated as presentation information (S204) and output (S205). For example, the presentation information generation unit 10 plays an image as if 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 so as to turn to the right in order to keep the traveling direction straight with respect to the image (S207).

Here, in the above-described first embodiment, the control device 100 acquires control information directly from a remote controller or the like via a network. On the other hand, in the example 2-1, the external control device 101 uses the second environment information and the control-related information to generate the control information by the internal control information calculation unit 11. Therefore, it is possible to control the autonomous mobile device 200 without connecting the controller to the external control device 101 and performing detailed control operations by the administrator. That is, it is possible to operate the autonomous mobile device 200 semi-autonomously by using a control policy or the like which is higher-level information than the control information.

Next, Example 2-2 will be described. The embodiment 2-2 is to acquire the control-related information from outside the external control device.

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

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

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

FIG. 11 is a block diagram showing the configurations 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 at least one sensor 14 is provided instead of the storage unit 13, and the control information calculation unit 11 is replaced with the control information calculation unit 11b. The sensor 14 is an example of a third sensor, and detects control-related information from around the autonomous mobile device 200. Here, the sensor 14 is an imaging device that images the periphery of the autonomous mobile device 200, and acquires character information extracted from an image captured by the imaging device as control-related information. The control information calculation unit 11b calculates control information using the second environment information detected by the sensor 12 and the control-related information detected by the sensor 14. As a result, the same control as that of the embodiment 2-1 can be realized by thereafter performing the same processing as that of the embodiment 2-1. Further, in the present embodiment 2-3, since the control related information is not held inside the external control device 101a, the storage area of the external control device can be saved as compared with the embodiment 2-1. Further, in the present Example 2-3, since it is not necessary to acquire the control related information via the network, the communication load can be reduced as compared with the Example 2-2.

FIG. 12 is a sequence diagram showing the flow of the movement control method according to the example 2-3 of the second embodiment. First, the sensor 12 of the external control device 101b detects (second) environment information around the autonomous mobile device 200, as in step S201 of FIG. 8 (S201). Further, in parallel with step S201, the sensor 14 of the control information calculation unit 11b detects the control related information of the autonomous mobile device 200 (S202b). For example, when the administrator holds a slip or the like in which a control policy or the like is described 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. You may output to the control information calculation part 11b. The destination and priority of the autonomous mobile device 200 may be described in the slip. Further, the external control device 101b may include the storage unit 13, and for example, the storage unit 13 may store information regarding the autonomous mobile device 200 among the control-related information. In this case, together with step S202b, the control information calculation unit 11b may acquire information regarding the autonomous mobile device 200 from the storage unit 13. After that, the control information calculation unit 11b calculates the control information of the autonomous mobile device 200 using the environment information detected in step S201 and the control-related information detected in step S202b (S203b). After this, processing is performed in the same manner as step S204 and subsequent steps in FIG.

<Third Embodiment>
The third embodiment is an improvement of the first embodiment described above, in which control information is calculated in a management device connected to the control device via a network. Therefore, the control device transmits the second environment information detected by the second sensor to the management device. In the description of the third embodiment, parts having the same names as those of the respective constituent parts of the first embodiment or the second embodiment are designated by the same reference numerals, and duplicate description of the common parts will be omitted.

FIG. 13 is a block diagram showing the configuration of the mobility 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 the network N.

The external control device 110 is an improvement of the control device 100 described above, and includes a presentation information generation unit 10, a sensor 12, and a transmission unit 15. The sensor 12 is equivalent to that described above with reference to FIG. The transmission unit 15 transmits the second environment information detected by the sensor 12 to the management device 301 via the network N. The presentation information generation unit 10 acquires, from the management device 301 via the network N, the control information calculated by the management device 301 based on the second environment information and the control-related information. Thereby, thereafter, the presentation information generation unit 10 can realize the same control as that of the first embodiment by performing the same processing as that of the first embodiment.

The management device 301 is an improvement of the above-described management device 300, and includes a transmission unit 31a, a storage unit 32, a reception unit 33, and a calculation unit 34. The storage unit 32 stores the control related information 320. The control-related information 320 is an example of the second control information, is equivalent to the control-related information 131 described above, and is information including the control policy of the autonomous mobile device 200. The control-related information 320 may further include information on 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 transmission unit 31a transmits the calculated first control information as the control information to the external control device 110 via the network N.

FIG. 14 is a sequence diagram showing a 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) environment information around the autonomous mobile device 200, as in step S201 of FIG. 8 (S201). Next, the transmission unit 15 of the external control device 110 transmits the detected environment information to the management device 301 via the network N (S202c). Then, the management device 301 performs a control information generation process described below based on the environment information received via the network N (S203c).

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

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

Return to FIG. 14 and continue the explanation. After that, the presentation information generation unit 10 of the external control device 110 acquires the control information of the autonomous mobile device 200 from the management device 301 via the network N (S204c). After this, processing is performed in the same manner as step S205 and subsequent steps in FIG.

As described above, in the third embodiment, since the control information is not calculated inside the external control device 110, the processing load can be reduced as compared with 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, a communication IF (InterFace) 406, and an input device. And an output IF 407. The storage device 404 is a non-volatile storage device and stores a program 408. The program 408 is a computer program in which the processing of the movement control method in the management device 301 according to the third embodiment is installed. The communication IF 406 exchanges information with an external device via the 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. The program 408 may be stored in the ROM 402. 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 into the RAM 403 and executes it. Thereby, the CPU 401 realizes the functions of the transmission unit 31a, the reception unit 33, and the calculation unit 34. The storage device 404 corresponds to the storage unit 32 described above and stores the control-related information 320. The components of the computer 400 shown in FIG. 16 may be configured by a single circuit (processor or the like) or may be configured by a combination of a plurality of circuits. The circuit here may be either dedicated or general-purpose. For example, part of the computer 400 may be realized by a dedicated processor and the other part may be realized by a general-purpose processor. Furthermore, the functions of the computer 400 may be realized by the cooperation of a plurality of computers using, for example, cloud computing technology.

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

FIG. 17 is a block diagram showing the configuration of the movement control system 3000 according to the fourth embodiment. The movement control system 3000 includes external control devices 110a to 110d, autonomous movement devices 200a to 200d, and an integrated control system 302. Here, the autonomous mobile device 200a is equipped with the external control device 110a, the autonomous mobile device 200b is equipped with the external control device 110b, the autonomous mobile device 200c is equipped with the external control device 110c, and the autonomous mobile device 200d is The external control device 110d is mounted. The external control devices 110a to 110d and the integrated control system 302 are connected via the 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 limited to autonomous mobile devices of the same manufacturer, and may be various types of autonomous mobile devices 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 transmits the first control information corresponding to each of the external control devices 110a to 110d from the integrated control system 302 which transmits via the network, the first control information corresponding to itself. Can be said to get. The same applies to the 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 unit 35 and a storage unit 32. The storage unit 32 stores the control related information 321a to 321d. Here, each of the control related information 321a to 321d is information equivalent to the above-mentioned control related information 320. However, the control-related information 321a is the autonomous mobile device 200a, the control-related information 321b is the autonomous mobile device 200b, the control-related information 321c is the autonomous mobile device 200c, and the control-related information 321d is the information corresponding to the autonomous mobile device 200d. That is, each of the control related information 321a to 321d may include a control policy unique to the corresponding autonomous mobile device, or may include a control policy common to some or all of the autonomous mobile devices. It may be. The control information calculator 35 includes functions corresponding to the transmitter 31a, the receiver 33, and the calculator 34 described above.

FIG. 18 is a sequence diagram showing a flow of a movement control method in the autonomous mobile devices 200a to 200d and the external control devices 110a to 110d according to the fourth embodiment. First, the sensors 12 of the external control devices 110a to 110d detect (second) environment information around each of the autonomous mobile devices 200a to 200d (S301a to d). Next, the respective transmission units 15 of the external control devices 110a to 110d transmit the detected respective 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 the (second) environment information around the autonomous mobile device 200a, as in step S201 of FIG. Then, the transmitting unit 15 of the external control device 110a transmits the detected environment information to the integrated control system 302 via the network N, as in step S202c of FIG. Then, similar processing is performed in each of the

external control devices

110b, 110c, and 110d. Then, the integrated control system 302 performs a control information generation process described later based on each environment information received via the network N (S303).

FIG. 19 is a flowchart showing the flow of control information generation processing of 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 environment 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 environment 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 the environment information detected by each of the external control devices 110b to 110d.

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

After that, the control information calculation unit 35 transmits the 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 the corresponding control information to each of the external control devices 110a to 110d.

Return to FIG. 18 and continue the explanation. After that, the presentation information generation unit 10 of each of the external control devices 110a to 110d acquires the 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. Then, similar processing is 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 environment information, and the autonomous control unit 21 autonomously responds to the detected environment information. It is controlled (S306a). Also, 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).

As described above, in the fourth embodiment, the operations of a plurality of autonomous mobile devices corresponding 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 by a common or different control policy. Therefore, it is possible to integrally control the autonomous mobile devices of a plurality of manufacturers as if they were one control system.

Also, since sensor information is also acquired by each external control device, it is possible to perform coordinated control such as which autonomous mobile device is preferentially moved and deadlock avoidance. Generally, the manufacturer's autonomous mobile devices are controlled by the protocol of each manufacturer, and it is difficult to perform the integrated control as described above. In order to handle them in an integrated manner, it is necessary to build the control system of each manufacturer. Further, it is necessary to transmit a command from the control layer that can handle it in a unified manner, and the command from the integrated control layer to each autonomous mobile device via the API of the control system of each manufacturer. Therefore, construction of a system for integrally controlling autonomous mobile devices of a plurality of manufacturers requires a large human and financial cost. Therefore, the cost can be reduced by using the fourth embodiment.

<Fifth Embodiment>
The fifth embodiment is an improvement of Example 2-2 of the second embodiment described above, and controls a set of two or more autonomous mobile devices and an external control device as in the fourth embodiment. It has been applied to. In the description of the fifth embodiment, parts having the same names as those of the components of the first to fourth embodiments are designated by the same reference numerals, and duplicate description of common parts will be omitted.

FIG. 20 is a block diagram showing the configuration of the movement control system 3001 according to the fifth embodiment. The mobile control system 3001 includes external control devices 120a to 120d, autonomous mobile devices 200a to 200d, and an integrated control system 303. Here, the autonomous mobile device 200a is equipped with the external control device 120a, the autonomous mobile device 200b is equipped with the external control device 120b, the autonomous mobile device 200c is equipped with the external control device 120c, and the autonomous mobile device 200d is The external control device 120d is mounted. The external control devices 120a to 120d and the integrated control system 303 are connected via the 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 corresponds to itself from the integrated control system 303 that transmits the control related information (second control information) corresponding to each of the external control devices 120a to 120d via the network. It can be said that control related information is acquired. The same applies to the external control devices 120b to 120d.

The integrated control system 303 is an improvement of the management device 301 and 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 transmission unit 31b and a storage unit 32. The transmission unit 31b acquires the control related information 321a to 321d stored in the storage unit 32 and transmits the control related information 321a to 321d to each of the external control devices 120a to 120d via the network N.

FIG. 21 is a sequence diagram showing a flow of a movement control method in the autonomous mobile devices 200a to 200d and the external control devices 120a to 120d 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 (S401a), as in steps S301a to d in FIG. ~d). After or in parallel with steps S401a to d, the control information calculation units 11a of the external control devices 120a to 120d are controlled by the integrated control system 303 via the network N and the corresponding control related information 321a to 321d. Is acquired (S402a-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, as in step S202a in FIG. Then, similar processing is 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 environment 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. Yes (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 unit 10 of the external control device 120a as environment information, and the autonomous control unit 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, the integrated control system 303 starts processing in response to an instruction from an administrator or a request from the external control device 120a or the like. Then, the transmission unit 31b of the integrated control system 303 acquires the control related information 321a to 321d from the storage unit 32 (S312a). Next, the transmission unit 31b transmits the control related information 321a to 321d corresponding to each of the autonomous mobile devices 200a to 200d to each of the external control devices 120a to 120d via the network N (S314a). Here, the transmission unit 31b may individually transmit the corresponding control-related information to each of the external control devices 110a to 110d.

As described above, in the fifth embodiment, the same effect as that of the above-described fourth embodiment can be obtained. Further, in the fifth embodiment, since the control related information is not held inside each external control device, the storage area of the external control device can be saved as compared with the fourth embodiment.

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

<Sixth Embodiment>
The sixth embodiment is a concrete implementation of the above-described second embodiment. That is, the presentation information generation unit 10 according to the sixth embodiment has a display or a screen and can display a color or monochrome image or moving image. In that case, the camera, which is the sensor 20 of the autonomous mobile device 200, can detect an image or a moving image as environmental information. Therefore, the autonomous control unit 21 can control to perform a specific operation on an image or a moving image showing a specific situation. That is, the autonomous mobile device 200 can recognize the situation in which the autonomous mobile device 200 is placed by the camera, and can perform an autonomous operation such as avoiding a collision or following a curve.

Therefore, the control device internally stores a combination of an operation desired to be performed by the autonomous mobile device 200 and a moving image for that purpose, and presents a desired moving image or image to the autonomous mobile device 200 to obtain a desired operation. Can be performed. For example, by presenting various moving images to the autonomous mobile device 200 and recording the resulting motions, it is possible to comprehensively record combinations of moving images and motions. General machine learning or the like may be used for learning such a combination.

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

Infrared sensors generally radiate infrared rays and detect the reflection of the infrared rays to detect the proximity of objects. The infrared sensor is used, for example, in collision detection. That is, the autonomous operation is performed when an object approaches. The presentation information generation unit 10 according to the seventh embodiment is a device that can change the reflectance of infrared rays. The presentation information generation unit 10 is assumed to have, for example, a plate having a structure such as a blind composed of a plurality of elongated plates. Here, if the plate rotates and the sensor 20 of the autonomous mobile device 200 and the plate are aligned in parallel, most infrared rays pass through the control device, and the sensor 20 does not detect proximity. On the other hand, when the plates are rotated and arranged so that they are orthogonal to the sensor 20, infrared rays are reflected and the sensor 20 detects the proximity of the plate. Therefore, the position detected by the sensor 20 can also be controlled by making the position of the plate of the presentation information generation unit 10 variable. Alternatively, the presentation information generation unit 10 may have a transparent display whose transmittance can be changed by liquid crystal. Infrared reflection can be controlled by changing the transmittance.

<Eighth Embodiment>
The eighth embodiment is a specific example of the above-described second embodiment, and a case where the sensor 20 of the autonomous mobile device 200 is a laser radar will be described. 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 irradiates a laser to the surroundings and detects the reflection thereof to detect the three-dimensional structure of the surroundings. That is, a laser radar is a device with an ultra-fine structure that combines prisms, mirrors, and MEMS (Micro Electro Mechanical Systems), and artificially creates a three-dimensional optical structure by changing the optical characteristics. You can
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 the control input, the operation specific to the autonomous mobile device 200 is performed. Can be done.

<Other Embodiments>
Note that, in the above-described embodiment, each element illustrated in the drawings as a functional block that performs various processes can be configured by a CPU (Central Processing Unit), a memory, and other circuits in terms of hardware. In terms of software, it is realized by a program or the like that is loaded into the memory and executed by the CPU. Therefore, it is understood by those skilled in the art that these functional blocks can be realized in various forms by only hardware, only software, or a combination thereof, and the present invention is not limited to them.

Also, the above program can be stored in various types of non-transitory computer readable medium and supplied to the computer. Non-transitory computer-readable media include tangible storage media of various types. Examples of non-transitory computer-readable media are magnetic recording media (eg flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (eg magneto-optical disks), CD-ROMs (Compact Disc-Read Only Memory), CDs. -R (CD-Recordable), CD-R/W (CD-ReWritable), semiconductor memory (eg mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory)) Including. In addition, the program may be supplied to the computer by various types of transitory computer readable media. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. The transitory computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

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

The whole or part of the exemplary embodiments disclosed above can be described as, but not limited to, the following supplementary notes.
(Appendix A1)
It is mounted on a mobile device that moves according to the first environmental information detected from the surroundings,
A presentation information generating unit that generates presentation information for prompting the mobile device to perform an operation and presents the presentation information so that the first sensor included in the mobile device detects the presentation information as the first environmental information. apparatus.
(Appendix A2)
The presentation information generating means,
The control device according to supplementary note 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 is
Obtaining the control information via a network,
The presentation information generating means,
The control device according to attachment A2, wherein the presentation information is generated using the acquired control information.
(Appendix A4)
The control device is
The control device according to attachment A3, wherein the control information corresponding to itself is acquired from a management device that transmits the control information corresponding to each of two or more control devices via the network.
(Appendix A5)
The control device is
Further comprising at least one second sensor for detecting second environmental information from the periphery of the mobile device,
The detected second environment information is transmitted via the network to a management device that stores control-related information including a control policy of the mobile device,
The control device according to supplementary note A3, wherein the control information calculated by 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 is
At least one second sensor for detecting second environmental information from around 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;
Further equipped with,
The presentation information generating means,
The control device according to Appendix A2, wherein the presentation information is generated using the calculated control information.
(Appendix A7)
The control device is
Further comprising storage means for storing the control-related information,
The control information calculation means,
The control device according to Appendix A6, wherein the control information is calculated using the detected second environment information and the control-related information stored in the storage unit.
(Appendix A8)
The control device is
The control device according to Appendix A6, wherein the control-related information is acquired via a network.
(Appendix A9)
The control device is
The control device according to attachment A8, wherein the control-related information corresponding to each of the two or more control devices is acquired from a management device that transmits the control-related information via the network.
(Appendix A10)
The control device is
Further comprising at least one third sensor for detecting the control related information from the periphery of the mobile device,
The control information calculation means,
The control device according to Appendix A6, wherein the control information is calculated using the second environment information detected by the second sensor and the control-related information detected by the third sensor.
(Appendix A11)
The third sensor is
An imaging device for imaging the periphery of the moving device,
The control device according to attachment A10, wherein the character information extracted from the 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 supplementary notes 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, and a proximity sensor.
(Appendix A13)
The first sensor is an imaging device,
The presentation information generating means,
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 supplementary notes A1 to A12, which presents the presentation information to the first sensor by displaying the presentation information on the display device.
(Appendix A14)
The presentation information generating means,
Presenting the presentation information 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, and a proximity sensor. The control device according to claim 1.
(Appendix A15)
The control device is
The control device according to any one of supplementary notes A1 to A14, which is mounted on the moving device which is at least one of an automatic guided vehicle, an automatic traveling vehicle, an automatic driving vehicle, an aerial imaging device, an unmanned aerial vehicle, and an unmanned submarine. ..
(Appendix B1)
The first sensor is mounted on a mobile device that moves in accordance with first environmental information detected from the surroundings, generates presentation information for prompting the mobile device to perform an operation, and uses the first sensor included in the mobile device to perform the first information. Information that includes a transmission unit that transmits the control information used for generating the presentation information via a network to a control device that includes the presentation information generation unit that presents the presentation information so as to be detected as the environmental information of Processing equipment.
(Appendix B2)
The transmitting means is
The information processing apparatus according to appendix B1, wherein first control information including designation of operation of the mobile device is transmitted as the control information.
(Appendix B3)
The transmitting means is
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 of the mobile device;
Receiving means for receiving second environment information detected from the periphery of the mobile device from the control device via the network;
Calculation means for calculating the first control information based on the second environment information and the second control information;
Further equipped with,
The transmitting means is
The information processing device according to appendix B2, wherein the calculated first control information is transmitted as the control information to the control device via the network.
(Appendix B5)
Further comprising storage means for storing second control information including a control policy of the mobile device,
The transmitting means is
The information processing device according to appendix B1, wherein the second control information stored in the storage unit is transmitted as the control information to the control device via the network.
(Appendix C1)
The first sensor is mounted on a mobile device that moves in accordance with first environmental information detected from the surroundings, generates presentation information for prompting the mobile device to perform an operation, and uses the first sensor included in the mobile device to perform the first information. At least one control device including presentation information generation means for presenting the presentation information so as to be detected as environmental information of
To the control device, via a network, a management device including a transmission unit that transmits control information used to generate the presentation information,
A movement control system including.
(Appendix C2)
The transmitting means is
The mobility control system according to Appendix C1, which transmits, as the control information, first control information including designation of operation of the mobile device.
(Appendix C3)
The transmitting means is
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 is
Storage means for storing a plurality of second control information including respective control policies of the plurality of mobile devices;
Receiving means for receiving a plurality of second environment information detected from the periphery of the plurality of mobile devices from each of the plurality of control devices via the network,
Calculation means for calculating a plurality of the 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;
Further equipped with,
The transmitting means is
The movement control system according to attachment C2, wherein each of the calculated plurality of 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 is
Further comprising storage means for storing a plurality of second control information including respective control policies of the plurality of mobile devices,
The transmitting means is
The movement control system according to appendix C1, wherein the plurality of second control information stored in the storage unit is transmitted as the control information to each of the plurality of preceding control devices via the network.
(Appendix D1)
The control device mounted on the moving device that moves according to the first environmental information detected from the surroundings,
Generates presentation information for prompting the mobile device to perform an operation,
A movement control method of presenting the presentation information so that the first sensor included in the mobile device detects the presentation information as the first environmental information.
(Appendix E1)
A computer mounted on a moving device that moves according to the first environmental information detected from the surroundings,
A process of generating presentation information for prompting the mobile device to perform an operation,
A process of presenting the presentation information so that the first sensor included in the mobile device detects the presentation information as the first environment information;
A movement control program for executing.
(Appendix F1)
The first sensor is mounted on a mobile device that moves in accordance with first environmental information detected from the surroundings, generates presentation information for prompting the mobile device to perform an operation, and uses the first sensor included in the mobile device to perform the first information. Acquiring control information used to generate the presentation information in a control device including a presentation information generation unit that presents the presentation information so as to be detected as environmental information of
A movement control method for transmitting the control information to the control device via a network.
(Appendix G1)
The first sensor is mounted on a mobile device that moves according to first environment information detected from the surroundings, generates presentation information for prompting the mobile device to perform an operation, and uses the first sensor included in the mobile device to generate the first information. A process of acquiring control information used to generate the presentation information in a control device that includes a presentation information generation unit that presents the presentation information so that the presentation information is detected as environmental information.
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 with reference to the exemplary embodiments (and examples), the present invention is not limited to the above-described exemplary embodiments (and examples). Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention 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 external Attachment control device 120c External attachment control device 120d External attachment control device 10 Presentation information generation unit 11 Control information calculation unit 11a Control information calculation unit 11b Control information calculation unit 12 Sensor 13 Storage unit 131 Control related information 14 Sensor 15 Transmission unit 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 Mobile control system 2000 Mobile control system 3000 Mobile control system 3001 Mobile control system 300 Management device 301 Management device 302 Integrated control System 303 Integrated control system 31 Transmitter 31a Transmitter 31b Transmitter 32 Storage unit 320 Control-related information 321a Control-related information 321b Control-related information 321c Control-related information 321d Control-related information 33 Receiving unit 34 Calculation unit 35 Control-information calculating unit 400 computer 401 CPU
402 ROM
403 RAM
404 Storage device 405 Drive device 406 Communication IF
407 I/O IF
408 program 409 recording medium

Claims

It is mounted on a mobile device that moves according to the first environmental information detected from the surroundings,
A presentation information generating unit that generates presentation information for prompting the mobile device to perform an operation and presents the presentation information so that the first sensor included in the mobile device detects the presentation information as the first environmental information. apparatus.
The presentation information generating means,
The control device according to claim 1, wherein the presentation information is generated based on control information including designation of an operation of the mobile device.
The control device is
Obtaining the control information via a network,
The presentation information generating means,
The control device according to claim 2, wherein the presentation information is generated using the acquired control information.
The control device is
The control device according to claim 3, wherein the control information corresponding to each of the two or more control devices is acquired from a management device that transmits the control information via the network.
The control device is
Further comprising at least one second sensor for detecting second environmental information from the periphery of the mobile device,
The detected second environment information is transmitted via the network to a management device that stores control-related information including a control policy of the mobile device,
The control device according to claim 3, wherein the control information calculated by 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 is
At least one second sensor for detecting second environmental information from around 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;
Further equipped with,
The presentation information generating means,
The control device according to claim 2, wherein the presentation information is generated using the calculated control information.
The control device is
Further comprising storage means for storing the control-related information,
The control information calculation means,
The control device according to claim 6, wherein the control information is calculated using the detected second environment information and the control-related information stored in the storage unit.
The control device is
The control device according to claim 6, wherein the control-related information is acquired via a network.
The control device is
The control device according to claim 8, wherein the control related information corresponding to each of the two or more control devices is acquired from the management device that transmits the control related information via the network.
The control device is
Further comprising at least one third sensor for detecting the control related information from the periphery of the mobile device,
The control information calculation means,
The control device according to claim 6, wherein the control information is calculated using the second environment information detected by the second sensor and the control-related information detected by the third sensor.
The third sensor is
An imaging device for imaging the periphery of the moving device,
The control device according to claim 10, wherein character information extracted from an image captured by the imaging device is acquired as the control-related information.
The second sensor is
The control device according to any one of claims 5 to 11, which is at least one of an image pickup device, an infrared sensor, a laser radar, a millimeter wave radar, a radio wave radar, an ultrasonic sensor, a pressure sensor, and a proximity sensor.
The first sensor is an imaging device,
The presentation information generating means,
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 claims 1 to 12, wherein the display information is displayed on the display device to present the presentation information to the first sensor.
The presentation information generating means,
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, and a proximity sensor. The control device according to any one of 1.
The control device is
The control according to any one of claims 1 to 14, which is mounted on the moving device which is at least one of an automated guided vehicle, an autonomous vehicle, an autonomous vehicle, an aerial imaging device, an unmanned aerial vehicle, and an unmanned submarine. apparatus.
The first sensor is mounted on a mobile device that moves in accordance with first environmental information detected from the surroundings, generates presentation information for prompting the mobile device to perform an operation, and uses the first sensor included in the mobile device to perform the first information. Information that includes a transmission unit that transmits the control information used for generating the presentation information via a network to a control device that includes the presentation information generation unit that presents the presentation information so as to be detected as the environmental information of Processing equipment.
The transmitting means is
The information processing apparatus according to claim 16, wherein first control information including designation of operation of the mobile device is transmitted as the control information.
The transmitting means is
The information processing device according to claim 17, 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.
Storage means for storing second control information including a control policy of the mobile device;
Receiving means for receiving second environment information detected from the periphery of the mobile device from the control device via the network;
Calculation means for calculating the first control information based on the second environment information and the second control information;
Further equipped with,
The transmitting means is
The information processing apparatus according to claim 17, wherein the calculated first control information is transmitted as the control information to the control apparatus via the network.
Further comprising storage means for storing second control information including a control policy of the mobile device,
The transmitting means is
The information processing device according to claim 16, wherein the second control information stored in the storage unit is transmitted to the control device via the network as the control information.
The first sensor is mounted on a mobile device that moves in accordance with first environmental information detected from the surroundings, generates presentation information for prompting the mobile device to perform an operation, and uses the first sensor included in the mobile device to perform the first information. At least one control device including presentation information generation means for presenting the presentation information so as to be detected as environmental information of
To the control device, via a network, a management device including a transmission unit that transmits control information used to generate the presentation information,
A movement control system including.
The transmitting means is
The mobility control system according to claim 21, wherein first control information including designation of operation of the mobile device is transmitted as the control information.
The transmitting means is
The mobility control system according to claim 22, 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.
The management device is
Storage means for storing a plurality of second control information including respective control policies of the plurality of mobile devices;
Receiving means for receiving a plurality of second environment information detected from the periphery of the plurality of mobile devices from each of the plurality of control devices via the network,
Calculation means for calculating a plurality of the 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;
Further equipped with,
The transmitting means is
The movement control system according to claim 22, wherein each of the calculated plurality of first control information is transmitted as each of the control information to each of the plurality of control devices via the network.
The management device is
Further comprising storage means for storing a plurality of second control information including respective control policies of the plurality of mobile devices,
The transmitting means is
22. The movement control system according to claim 21, wherein the plurality of second control information stored in the storage unit is transmitted as the control information to each of a plurality of preceding storage control devices via the network.
The control device mounted on the moving device that moves according to the first environmental information detected from the surroundings,
Generates presentation information for prompting the mobile device to perform an operation,
A movement control method of presenting the presentation information so that the first sensor included in the mobile device detects the presentation information as the first environmental information.
A computer mounted on a moving device that moves according to the first environmental information detected from the surroundings,
A process of generating presentation information for prompting the mobile device to perform an operation,
A process of presenting the presentation information so that the first sensor included in the mobile device detects the presentation information as the first environment information;
A non-transitory computer-readable medium that stores a movement control program for executing the.
The first sensor is mounted on a mobile device that moves in accordance with first environmental information detected from the surroundings, generates presentation information for prompting the mobile device to perform an operation, and uses the first sensor included in the mobile device to perform the first information. Acquiring control information used to generate the presentation information in a control device including a presentation information generation unit that presents the presentation information so as to be detected as environmental information of
A movement control method for transmitting the control information to the control device via a network.
The first sensor is mounted on a mobile device that moves in accordance with first environmental information detected from the surroundings, generates presentation information for prompting the mobile device to perform an operation, and uses the first sensor included in the mobile device to perform the first information. A process of acquiring control information used to generate the presentation information in a control device that includes a presentation information generation unit that presents the presentation information so as to be detected as environmental information of
A process of transmitting the control information to the control device via a network,
A non-transitory computer-readable medium that stores a movement control program that causes a computer to execute.