Information processing method and apparatus

Abstract

To mitigate the reduction in the reliability of pathfinding. [Solution] Based on a travel path plan from the starting point to the ending point of the movement of a moving object, the system detects obstacles on the path the moving object can travel, derives the cost required to resolve the detected obstacles, and searches for a path from the starting point to the ending point of the movement of the moving object based on the cost of resolving the obstacles and the travel cost related to the movement of the moving object. This disclosure can be applied, for example, to an information processing device, an information processing method, or a program.

Description

Technical Field

[0001] The present disclosure relates to an information processing method and apparatus, and more particularly, to an information processing method and apparatus configured to suppress a reduction in the reliability of route search.

Background Art

[0002] Conventionally, for example, in systems such as driving assistance, automated driving control, vehicle dispatch, and transportation, there has been a method of planning a movement route for a moving body such as a vehicle, and controlling the moving body to move along the route. In the case of such route planning, for example, a search for a route that allows the moving body to travel to a destination at a lower cost was performed based on the movement cost of each edge on a map.

[0003] However, in practice, an obstacle may occur on the route, making it impossible for the moving body to pass along the planned route. Accordingly, there has been a method of modifying the route plan to avoid such an obstacle when it occurs. A method of changing the arrangement of nodes in response to the occurrence of an obstacle so that the moving body can pass has also been conceived (for example, see Patent Document 1).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, as mentioned above, even if the route or node placement was changed, there was still a possibility that the mobile object could not reach its destination due to a failure. In that case, it would be impossible to plan the route, and controlling the mobile object could become difficult. While it is possible to issue a warning when a failure occurs, such information alone may unnecessarily increase the cost for maintenance personnel to resolve the failure, and thus unnecessarily increase the cost of moving the mobile object to its destination. In other words, conventional route planning methods do not take failure resolution into consideration, and the reliability of route planning may be reduced in environments where failures are likely to occur.

[0006] This disclosure is made in light of these circumstances and aims to mitigate the reduction in the reliability of pathfinding. [Means for solving the problem]

[0007] One aspect of this technology is an information processing method that includes detecting obstacles on a path the moving body can travel, based on a travel path plan from the starting point to the ending point of the moving body's movement; deriving the cost of resolving the detected obstacles; and searching for a path for the moving body's movement from the starting point to the ending point, based on the cost of resolving the obstacles and the travel cost related to the movement of the moving body.

[0008] One aspect of this technology is an information processing device comprising: a resolution cost derivation unit that detects obstacles on a path the moving object can travel along based on a travel path plan from the starting point to the ending point of the moving object's movement; a resolution cost derivation unit that derives the resolution cost required to resolve the detected obstacles; and a path search unit that searches for a path for the moving object's movement from the starting point to the ending point based on the resolution cost and the travel cost related to the movement of the moving object.

[0009] In one aspect of this technology, the information processing method and apparatus include the following steps: detecting obstacles on the path the moving object can travel, based on a travel path plan from the starting point to the ending point of the moving object's movement; deriving the cost required to resolve the detected obstacles; and searching for a path from the starting point to the ending point of the moving object's movement based on the cost of resolving the obstacles and the travel cost related to the movement of the moving object. [Brief explanation of the drawing]

[0010] [Figure 1] This figure shows an example of a map for route planning. [Figure 2] This figure shows an example of a path planning process. [Figure 3] This figure shows an example of a failure. [Figure 4] This figure shows an example of a route plan that takes obstacle resolution into consideration. [Figure 5] This is a block diagram showing the main configuration examples of a route planning system. [Figure 6] This flowchart shows an example of the pathfinding process. [Figure 7] This figure shows an example of how to set the start and end points. [Figure 8] This figure shows an example of how fault detection and resolution cost derivation work. [Figure 9] This figure shows an example of route planning that takes solution costs into consideration. [Figure 10] This figure shows an example of route planning that takes solution costs into consideration. [Figure 11] This figure shows an example of how search results are presented. [Figure 12] This flowchart shows an example of the pathfinding process. [Figure 13] This flowchart shows an example of the pathfinding process. [Figure 14] This is a system diagram showing a typical configuration of a transport system. [Figure 15] This block shows the main configuration examples for the management server. [Mode for Carrying Out the Invention]

[0011] Hereinafter, modes for carrying out the present disclosure (hereinafter referred to as embodiments) will be described. The description will be performed in the following order. 1. Documents and the like supporting technical contents and technical terms 2. Route planning 3. Route planning in consideration of solution cost 4. First embodiment (transport system) 5. Appendices

[0012] <1. Documents and the like supporting technical contents and technical terms> The scope disclosed by the present technology includes not only the contents described in the embodiments, but also the contents described in the following patent documents and the like that were publicly known at the time of filing, and the contents of other documents referenced in the following patent documents.

[0013] Patent Document 1: (described above)

[0014] That is, the contents described in the above-mentioned patent documents, the contents of other documents referenced in the above-mentioned patent documents, and the like also serve as the basis for judging the support requirements.

[0015] <2. Route planning> <Planning of travel route from start point to end point> Conventionally, for example, in systems such as driving assistance, automatic driving control, vehicle dispatch, and transportation, there has been a method of planning a travel route for a moving body such as a vehicle, and controlling the moving body to travel along that route. In the case of such route planning, for example, a route that allows the moving body to travel to the destination at a lower cost was searched based on the travel cost of each edge on the map.

[0016] In such path planning, a map consisting of nodes and edges, as shown in Figure 1, for example, was used. This map is map information that shows the paths a mobile object can travel within the movement area. Nodes indicate predetermined locations within the movement area, and edges indicate paths between nodes. In other words, in this map, the paths a mobile object can travel are schematically shown by these edges and nodes. In the example in Figure 1, the map consists of six nodes (nodes 1 to 6) and six edges (edges 11 to 16). Each edge is assigned a cost (also referred to as the travel cost in this specification) that the mobile object will need to travel to. In the example in Figure 1, the travel cost is shown by the number in brackets []. A larger number means a higher travel cost, and a smaller number means a lower travel cost. For example, the movement cost to edge 11 is

[10] , the movement cost to edge 12 is

[12] , the movement cost to edge 13 is

[10] , the movement cost to edge 14 is

[10] , the movement cost to edge 15 is

[10] , and the movement cost to edge 16 is

[10] .

[0017] In such a map, a starting point (node ​​1, indicated as "S" in the figure) and an ending point (node ​​3, indicated as "G" in the figure) are defined, and a travel path (which edges the moving object will pass through) from the starting point to the ending point is planned. In this specification, the "starting point" indicates the point where the movement of the moving object begins, and the "ending point" indicates the point where the movement of the moving object ends. At that time, a path that allows for travel at the lowest cost is searched based on the travel cost described above. In the example in Figure 1, the path passing through edges 11 and 12 is the lowest cost, so the path is set as shown by the thick arrow 21 in A of Figure 2.

[0018] <How to deal with a malfunction> However, in reality, obstacles sometimes occurred along the route, making it impossible for the moving object to travel along the planned route. For example, if an obstacle occurs at edge 12 shown in Figure 2B (marked with an "x"), making it impossible for the moving object to pass, the route shown by the thick arrow 21 in Figure 2A cannot move the moving object to its destination (endpoint). When such an obstacle occurs, there are ways to change the route plan to avoid that obstacle. For example, a route that bypasses the impassable edge 12 can be set up, as shown by the thick arrow 22 in Figure 2B. Alternatively, as described in Patent Document 1, for example, a method of changing the arrangement of nodes in response to the occurrence of an obstacle to allow the moving object to pass could also be considered.

[0019] However, as mentioned above, even if the route or node placement is changed, there may still be cases where the mobile object cannot reach its destination due to an obstacle. For example, in the map in Figure 1, if an obstacle occurs at edges 12 and 14, making it impossible for the mobile object to pass through those edges, there is no route connecting the starting point to the ending point, and the mobile object cannot be moved to its destination. In that case, it would be impossible to plan a route, and controlling the mobile object could become difficult.

[0020] Furthermore, methods such as issuing warnings in the event of a malfunction could also be considered. However, such limited information could unnecessarily increase the cost for maintenance personnel to resolve the malfunction, and could also unnecessarily increase the cost of moving the mobile system to its destination.

[0021] For example, as shown in Figure 3A, if an obstacle occurs at edges 12, 13, and 14, making it impossible for a moving object to pass, it is not immediately clear which obstacle caused the inability to establish a path to the destination. In the example in Figure 3A, the obstacles at edges 12 and 14 are the cause of the problem, but the obstacle at edge 13 is not. Therefore, even if the obstacle at edge 13 is resolved in this example, it will not be possible to establish a path connecting the starting point to the ending point. In other words, if the obstacle at edge 13 is resolved, there is a risk that the cost will increase unnecessarily for that work.

[0022] Furthermore, even if there are multiple impassable edges that prevent a path from being drawn, it is not always necessary to resolve all of them. In the example A in Figure 3, resolving the obstacle at either edge 12 or edge 14 is sufficient to establish a path connecting the starting point to the ending point of the moving object. In other words, if both obstacles at edge 12 and edge 14 were to be resolved, the cost of that work would have increased unnecessarily.

[0023] As described above, based on warnings such as those notifying of route planning failures or the occurrence of faults, it was difficult for maintenance personnel to determine which of these faults needed to be resolved to move the mobile object to its destination at a lower cost. In other words, conventional route planning methods did not take fault resolution into consideration, and in environments where faults could occur, the cost of moving the mobile object to its destination could unnecessarily increase. That is, the reliability of route planning (finding a route that moves the mobile object at a lower cost) could be reduced.

[0024] In reality, a wider variety of routes can be planned than in example A of Figure 3, and it may also be necessary to resolve multiple obstacles. For example, in the case shown in Figure 3B, multiple obstacles must be resolved. There are numerous combinations of obstacles that, once resolved, can establish a route from the starting point to the ending point. Furthermore, the cost required to resolve each obstacle (also referred to as the resolution cost in this specification) may not all be the same, as in example B of Figure 3.

[0025] In such cases, in order to move a mobile object to its destination at a lower cost, it is necessary to plan the route by considering not only the cost of traversing edges but also the cost of resolving them (i.e., planning which edges to traverse and which obstacles to resolve). However, conventional methods do not take such costs into account, which can lead to unnecessary cost increases and a decrease in the reliability of route planning.

[0026] For example, in a system that controls the movement of a robot, if the route planning fails due to a malfunction, the robot will stop moving and effectively become non-functional. Similarly, in a logistics warehouse, if a transport system controls the movement of transport machines that carry goods, a malfunction that causes the route planning to fail and the machine to stop could reduce transport efficiency and worsen the ROI (Return on Investment). There are also cases where picking must be completed by a certain time for express delivery, and even a slight delay can lead to fatal consequences. Therefore, generally speaking, if a moving object cannot reach its destination, it is often crucial to resolve the problem as quickly as possible.

[0027] <3. Route planning considering solution costs> Therefore, the system searches for a route that is less expensive based on the resolution cost and the travel cost. For example, as shown in Figure 4, suppose the resolution cost of the fault at edge 12 is "2000" and the resolution cost of the fault at edge 14 is "1000". In the case of a route via edge 12, the total cost is "10 + 12 + 2000 = 2022", while in the case of a route indicated by the thick arrow 51 (a route via edge 14), the total cost is "10 + 10 + 1000 + 10 + 10 = 1040". In other words, the route indicated by the thick arrow 51 (a route that resolves and passes through the fault at edge 14) allows the moving object to be moved at a lower cost. In short, by performing route searching in this way, it is possible to suppress the reduction in the reliability of route searching even in environments where faults may occur.

[0028] <Route Planning System> Figure 5 shows an example of the main configuration of a path planning device, which is one embodiment of an information processing device to which this technology is applied. The path planning device 100 shown in Figure 5 is a device that plans the movement path of a moving object (not shown) from a starting point to an ending point.

[0029] <Route Planning Department> As shown in Figure 5, this route planning device 100 (information processing device) has at least a route planning unit 111. The route planning unit 111 performs processing related to route planning for a moving object. This route planning unit 111 applies the technology described above and searches for a route that is as low cost as possible based on the solution cost and travel cost. As shown in Figure 5, the route planning unit 111 has a solution cost derivation unit 121 and a route search unit 122.

[0030] The resolution cost derivation unit 121 performs processing related to the derivation of the resolution cost required to resolve the problem. For example, based on the acquired problem information, the resolution cost derivation unit 121 derives the resolution cost required to resolve the problem detected on the path that the mobile body can travel along, in the travel path plan from the starting point to the ending point of the mobile body's movement. The resolution cost derivation unit 121 also supplies the derived resolution cost (resolution cost for each problem) to the path search unit 122.

[0031] The path search unit 122 performs processing related to path searching. For example, the path search unit 122 obtains the solution cost supplied from the solution cost derivation unit 121 and searches for a path from the start point to the end point of the movement of the moving object based on the solution cost and the movement cost related to the movement of the moving object. For example, the path search unit 122 may search for a path that moves the moving object from the start point to the end point at a lower cost.

[0032] Here, the "mobile object" can be anything as long as it moves according to a path plan. For example, it can be a manned aircraft with a driver on board, or an unmanned aircraft. Furthermore, the movement of this "mobile object" may be controlled by a driver (operator), or it may be controlled by a system, etc. (so-called autonomous driving). For example, this "mobile object" can be a so-called drone. The area in which this "mobile object" moves can be anywhere, for example, on the ground, on the water, underwater, or in the air. In other words, this area of ​​movement can be a two-dimensional (planar) area or a three-dimensional (solid) area. In other words, the map can be a two-dimensional map or a three-dimensional map. Furthermore, the method of movement and power source of this "mobile object" can be anything. For example, it may receive energy from an external source. For example, this "mobile object" can be a vehicle, an N-legged walking robot, a ship, a submarine, or an aircraft. The purpose of the movement of this "mobile object" can be anything. For example, this "mobile object" could be a transporter that moves for the purpose of transporting goods or people, or it could be a non-transporter that does not transport goods or people.

[0033] In this specification, "transportation" means carrying people or goods, and is synonymous with "shipping," "transportation," "delivery," etc.

[0034] Furthermore, "travel cost" refers to the cost required for travel and can include any concept necessary for travel. For example, this "travel cost" may include the time required for travel, the difficulty of travel, etc. Also, this "(travel cost for each moving object)" may be predetermined for each edge.

[0035] Furthermore, "obstacles" can be anything that hinders the movement of a moving object. For example, obstacles related to the path, such as obstacles placed along the path, people standing in the path, or holes formed in the floor of the path, may be included in "obstacles." Also, equipment-related obstacles, such as malfunctions of equipment placed along the path, may be included in "obstacles." This equipment could include anything that affects the movement of a moving object, such as elevators, lifts, conveyor belts, gates (automatic doors), sensors, and processing equipment for moving objects. Also, obstacles related to the moving object, such as malfunctions or battery depletion of the moving object, may be included. Also, malfunctions such as a moving object becoming immobile because it gets too close to a wall or another moving object may be included in "obstacles related to the moving object." In addition, any other obstacle, such as poor health of the driver or operator, may be included in "obstacles."

[0036] Here, "resolution cost" refers to the cost required to resolve the problem, and can include any concept necessary for resolving the problem. For example, resolution cost may include a parameter indicating the time required for resolution. It may also include a parameter indicating the effort required for resolution. It may also include a parameter indicating the budget required for resolution. Of course, resolution cost may include parameters indicating any other arbitrary indicators.

[0037] With this configuration, the route planning device 100 can perform route searches in a way that is lower in cost by considering not only travel costs but also resolution costs. Therefore, the route planning device 100 can suppress a decrease in the reliability of route searches even in environments where failures may occur.

[0038] The pathfinding method used by the pathfinding unit 122 may be anything. For example, the pathfinding unit 122 may use a weighting calculation of resolution cost and movement cost to find a path from the start point to the end point of the movement of the moving object. For example, this weighting calculation may be a weighted sum (movement cost * w1 + resolution cost * w2). Here, the weight coefficient w1 is a coefficient that indicates the weight of the movement cost, and the larger its value, the more importance is given to the movement cost. Similarly, the weight coefficient w2 is a coefficient that indicates the weight of the resolution cost, and the larger its value, the more importance is given to the resolution cost. In other words, the values ​​of the weight coefficients w1 and w2 indicate which of the movement cost and the resolution cost is given more importance. For example, in pathfinding, if the movement cost is given more importance (if the movement cost is to be kept as small as possible), the value of the weight coefficient w1 should be increased and the value of the weight coefficient w2 should be decreased. Conversely, in pathfinding, if the resolution cost is given more importance (if the resolution cost is to be minimized), the value of the weight coefficient w2 should be increased and the value of the weight coefficient w1 should be decreased. Note that the sum of the weight coefficients w1 and w2 may be a constant (for example, "1").

[0039] By weighting the solutions and travel costs in this way, it becomes possible to compare them in a desired balance and perform route planning, enabling more flexible route planning tailored to the system's characteristics and circumstances.

[0040] <Presentation of search results> Furthermore, as shown in Figure 5, the route planning device 100 may have a search result presentation unit 112. The search result presentation unit 112 performs processing related to the presentation of route search results. For example, the route search unit 122 may supply route search results to the search result presentation unit 112. The search result presentation unit 112 may then acquire those search results. The search result presentation unit 112 may also present the acquired search results. For example, the search result presentation unit 112 may present these search results as an image. For example, the search result presentation unit 112 may generate a presentation screen that displays the acquired search results and have that presentation screen displayed on a display unit (not shown). For example, the search result presentation unit 112 may display the presentation screen on its own display unit, or it may supply the presentation screen to another device and have it displayed on the display unit of that device. The search result presentation unit 112 may also present these search results by voice. The destination to which these search results are presented can be any target. For example, the search results may be presented to a system administrator (device used by the administrator of the mobile area in which the mobile object moves), to a maintenance worker who maintains the system (device used by a maintenance worker who maintains the mobile area in which the mobile object moves), or to an operator who drives the conveyor.

[0041] By doing so, users who are presented with the search results (e.g., administrators, maintenance workers, transport equipment operators, etc.) can more easily understand the search results for the moving object's path.

[0042] Furthermore, the search results may include any information. For example, a map showing the searched route may be included in the search results. In other words, the search result presentation unit 112 may generate a presentation screen that includes a map showing the searched route, and display that presentation screen on a display unit (not shown). By displaying the search results (route) on a map in this way, users who are presented with the search results (e.g., administrators, maintenance workers, transporter operators, etc.) can more easily grasp the route of the searched moving object.

[0043] Furthermore, the map may include information indicating the location of the fault. In other words, the search result presentation unit 112 may generate a presentation screen that includes a map showing the searched route and the detected fault locations, and display this presentation screen on a display unit (not shown). By displaying the search results (route and fault locations) on a map in this way, users who are presented with the search results (e.g., administrators, maintenance workers, transport equipment operators, etc.) can more easily grasp the searched route of the moving object and the locations of the faults.

[0044] Furthermore, if an obstacle occurs in the explored path, a solution to resolve that obstacle may be included in the explored results. In other words, if an obstacle occurs in the explored path, the explored result presentation unit 112 may generate a presentation screen that includes a solution to resolve that obstacle, and display that presentation screen on a display unit (not shown). By displaying the explored results (solutions) in this way, users who are presented with the explored results (e.g., administrators, maintenance workers, transport equipment operators, etc.) can resolve the obstacle more easily based on the solution.

[0045] Any information may be included in this solution. For example, this solution may include information regarding the cost of solving it. In other words, the search result presentation unit 112 may generate a presentation screen that includes a solution containing information regarding the cost of solving it, and display that presentation screen on a display unit (not shown). By displaying the search results (solutions) in this way, users who are presented with the search results (e.g., administrators, maintenance workers, transport machine operators, etc.) can more easily grasp the cost of solving the desired problem based on the solution.

[0046] This information regarding the resolution cost may include any information. For example, this information regarding the resolution cost may include information indicating the time required to resolve the problem. In other words, the search result presentation unit 112 may generate a presentation screen that includes a solution proposal, which includes information regarding the resolution cost, which includes information indicating the time required to resolve the problem, and display this presentation screen on a display unit (not shown). By displaying the search results (solution proposals) in this way, users who are presented with the search results (e.g., administrators, maintenance workers, transport machine operators, etc.) can more easily grasp the time required to resolve the problem based on the solution proposal.

[0047] Furthermore, this information regarding the resolution cost may include information indicating the number of workers required to resolve the problem or the number of robots required to resolve the problem. In other words, the search result presentation unit 112 may generate a presentation screen that includes a solution proposal, which includes information regarding the resolution cost, including information indicating the number of workers or robots required to resolve the problem, and display this presentation screen on a display unit (not shown). By displaying the search results (solution proposals) in this way, users who are presented with the search results (e.g., managers, maintenance workers, transport machine operators, etc.) can more easily grasp the number of workers or robots required to resolve the problem based on the solution proposal.

[0048] Furthermore, this information regarding the resolution cost may include information indicating the costs required to resolve the problem. In other words, the search result presentation unit 112 may generate a presentation screen that includes a solution proposal, which includes information regarding the resolution cost, including information indicating the costs required to resolve the problem, and display this presentation screen on a display unit (not shown). By displaying the search results (solution proposals) in this way, users who are presented with the search results (e.g., administrators, maintenance workers, transport equipment operators, etc.) can more easily grasp the costs required to resolve the problem based on the solution proposal.

[0049] Furthermore, this information regarding the resolution cost may include information indicating the means necessary to resolve the problem. In other words, the search result presentation unit 112 may generate a presentation screen that includes a solution proposal including information regarding the resolution cost, which includes information indicating the means necessary to resolve the problem, and display this presentation screen on a display unit (not shown). For example, this "means necessary to resolve the problem" may include "tools necessary to resolve the problem." These "tools" can be anything that can be used to resolve the problem, and may include, for example, a shovel, spade, pickaxe, or hammer. Also, "means necessary to resolve the problem" may include "maintenance workers necessary to resolve the problem." Also, "means necessary to resolve the problem" may include "a robot necessary to resolve the problem." These "robots" can be anything that can be used to resolve the problem, and may include, for example, a robot with a function to fill holes or a robot with a function to remove obstacles. By displaying the search results (proposed solutions) in this way, users who are presented with the search results (e.g., administrators, maintenance workers, transport equipment operators, etc.) can more easily understand the means necessary to resolve the problem based on those proposed solutions.

[0050] Furthermore, this solution may include information about the solution method. In other words, the search result presentation unit 112 may generate a presentation screen that includes a solution containing information about the solution method, and display that presentation screen on a display unit (not shown). By displaying the search results (solutions) in this way, users who are presented with the search results (e.g., administrators, maintenance workers, transport machine operators, etc.) can more easily grasp how to solve the desired problem based on the solution.

[0051] Furthermore, the search results may include multiple routes that have been explored and proposed solutions for each of those routes (for example, information regarding the cost of solving them). In other words, the search result presentation unit 112 may generate a presentation screen that includes multiple routes that have been explored and proposed solutions for each of those routes, and display that presentation screen on a display unit (not shown). By displaying the search results (proposed solutions) in this way, users who are presented with the search results (for example, administrators, maintenance workers, transport machine operators, etc.) can more easily grasp the multiple routes and the proposed solutions for problems that have occurred on each route.

[0052] In that case, the solutions for each route (for example, information regarding the solution cost) may be ranked according to the solution cost. That is, the search result presentation unit 112 may generate a presentation screen that includes the multiple routes that were searched and the solutions for each of those routes, ranked according to the solution cost, and display that presentation screen on a display unit (not shown). By displaying the search results (solutions) in this way, the user who is presented with the search results (for example, an administrator, maintenance worker, transport machine operator, etc.) can grasp the solutions for the problems that occurred in each of the multiple routes, in order of increasing (or decreasing) solution cost. Therefore, it becomes easier to prioritize each solution.

[0053] <Supply of resolution control information> Furthermore, as shown in Figure 5, the route planning device 100 may also have a resolution control information supply unit 113. The resolution control information supply unit 113 performs processing related to the supply of resolution control information. Here, "resolution control information" is control information related to the resolution of obstacles that occur in the route. For example, the route search unit 122 may supply the route search results to the resolution control information supply unit 113. The resolution control information supply unit 113 may then acquire the search results. Also, if an obstacle occurs in the searched route based on the acquired search results, the resolution control information supply unit 113 may generate and supply resolution control information to resolve that obstacle. The recipient of this resolution control information is arbitrary. For example, the resolution control information supply unit 113 may supply the resolution control information to a resolution machine, which is equipment that performs work to resolve obstacles. Also, the resolution control information supply unit 113 may supply the resolution control information to a transport machine that has the function of performing work to resolve obstacles. The content of this resolution control information can be anything as long as it controls the resolution of the obstacle.

[0054] By doing this, the process of resolving the detected fault can be controlled based on the search results (fault detection results), making it easier to resolve the fault.

[0055] <Troubleshooting> Furthermore, as shown in Figure 5, the route planning device 100 may also have a problem resolution processing unit 114. The problem resolution processing unit 114 performs processing related to work for resolving obstacles. For example, the route search unit 122 may supply the route search results to the problem resolution processing unit 114. The problem resolution processing unit 114 may then acquire the search results. Also, based on the acquired search results, the problem resolution processing unit 114 may perform work to resolve obstacles if an obstacle has occurred in the searched route. In other words, the route planning device 100 may have a function to resolve obstacles and perform work to resolve obstacles based on the route search results. Note that this work to resolve obstacles may be any kind of work.

[0056] By doing this, the work to resolve the detected fault can be performed based on the search results (fault detection results), making it easier to resolve the fault.

[0057] <Deduction of solution costs> The resolution cost derivation unit 121 may also derive the resolution cost based on the information regarding the detected fault. By doing so, the resolution cost derivation unit 121 can derive the resolution cost more easily.

[0058] For example, this "information about the obstacle" may include information indicating the size of the obstacle. In other words, the resolution cost derivation unit 121 may derive the resolution cost based on the information indicating the size of the detected obstacle. For example, the larger the size of the obstacle installed in the path, the higher the resolution cost may be. For example, the resolution cost of an obstacle less than 1m wide may be set to "1", and the resolution cost of an obstacle 1m or wider may be set to "2". By doing so, the resolution cost derivation unit 121 can more easily derive the resolution cost according to the size of the obstacle.

[0059] For example, this "information about obstacles" may include information indicating the number of obstacles. In other words, the resolution cost derivation unit 121 may derive the resolution cost based on information indicating the number of detected obstacles. For example, the resolution cost may increase as the number of obstacles installed in the path increases. For example, the resolution cost for a single obstacle may be set to "1," and the resolution cost for multiple obstacles may be set to "2." By doing so, the resolution cost derivation unit 121 can more easily derive the resolution cost according to the number of obstacles.

[0060] For example, this "information about the obstacle" may include information indicating the type of obstacle. In other words, the solution cost derivation unit 121 may derive the solution cost based on information indicating the type of obstacle detected. For example, the solution cost may be determined according to what the obstacle is. For example, if a cardboard box is placed in the path as an obstacle, the solution cost may be "1", and if there is a hole in the floor of the path, the solution cost may be "100". In this way, the solution cost derivation unit 121 can more easily derive the solution cost according to the type of obstacle.

[0061] For example, this "information about the obstacle" may include information indicating the location of the obstacle. In other words, the resolution cost derivation unit 121 may derive the resolution cost based on the information indicating the location of the detected obstacle. For example, the resolution cost may be set according to how much the obstacle obstructs the movement of the moving object. For example, the resolution cost of an obstacle located at the end of the path may be set to "1", and the resolution cost of an obstacle located in the middle of the path may be set to "2". By doing so, the resolution cost derivation unit 121 can more easily derive the resolution cost according to the location of the obstacle.

[0062] The resolution cost derivation unit 121 may also derive the resolution cost by comprehensively considering multiple items of the "information regarding the obstacle" described above. For example, the resolution cost of an obstacle located in the center of a path (resolution cost "2"), with a width of 1m or more (resolution cost "2"), and a single (resolution cost "1") cardboard box (resolution cost "1") may be calculated as "2+2+1+1=6". The combination patterns of items are arbitrary and are not limited to this example.

[0063] Furthermore, the resolution cost derivation unit 121 may derive the resolution cost based on the status of maintenance workers. For example, the resolution cost may be derived according to the number of maintenance workers who can respond to the fault. For example, the resolution cost may be reduced as the number of maintenance workers who can respond to the fault increases. In this way, the resolution cost derivation unit 121 can more easily derive the resolution cost according to the status of maintenance workers.

[0064] Furthermore, the solution cost derivation unit 121 may derive the solution cost based on the condition of the moving object. For example, the solution cost may be derived according to the size of the moving object. For example, the larger the moving object, the higher the solution cost may be. Alternatively, the solution cost may be derived depending on whether or not the moving object is in a movable state. By doing so, the solution cost derivation unit 121 can more easily derive the solution cost according to the condition of the moving object.

[0065] Furthermore, the resolution cost derivation unit 121 may derive the resolution cost based on the conditions at the location where the fault occurred. For example, the resolution cost may be derived according to the width of the path where the fault occurred. For example, if the path is wide enough even if a fault occurs, it is less likely that it will obstruct the movement of the moving object. In other words, the fault is easier to resolve. Therefore, the resolution cost may be reduced as the path width increases. For example, the resolution cost may be set to "0" when the path is wide enough, and to "1" when it is not wide enough. By doing so, the resolution cost derivation unit 121 can more easily derive the resolution cost according to the conditions at the location where the fault occurred.

[0066] The solution cost derivation unit 121 may also derive the solution cost by comprehensively considering the multiple items mentioned above. The combination patterns of the items are arbitrary.

[0067] <Detection of failures> Furthermore, as shown in Figure 5, the route planning device 100 may also have a fault information acquisition unit 115. The fault information acquisition unit 115 performs processing related to the acquisition of fault information. For example, the fault information acquisition unit 115 may acquire fault information supplied from an external source (other devices, etc.). This fault information is information about detected faults. In other words, this fault information includes information indicating where and what kind of fault was detected. The external source (other device) supplying the fault information can be any device. For example, it could be a sensor installed on a moving object that monitors the surroundings of the moving object, a sensor installed on a route that monitors the route, or a sensor installed on equipment that monitors equipment failures, operating status, etc. Also, the user may manually input the fault information. In other words, the fault information does not have to be current (real-time) information (it can be past information). The fault information acquisition unit 115 may then supply the acquired fault information to the resolution cost derivation unit 121. The resolution cost derivation unit 121 may acquire fault information supplied from the fault information acquisition unit 115 and derive the resolution cost required to resolve the fault indicated in the acquired fault information.

[0068] By doing so, the cost of resolving the detected fault can be derived more easily.

[0069] Furthermore, as shown in Figure 5, the route planning device 100 may also have a fault detection unit 116. The fault detection unit 116 performs processing related to fault detection. For example, the fault detection unit 116 may detect faults on the path that the moving object can travel along, based on the movement path plan from the starting point to the ending point of the moving object's movement. For example, the fault detection unit 116 may be a sensor installed on the moving object that monitors the area around the moving object, a sensor installed on the path that monitors the path, or a sensor installed on equipment that monitors equipment failures, operating status, etc. The fault detection unit 116 may be any type of sensor. For example, it may be an image sensor, an infrared sensor, a LiDAR sensor, a radar sensor, or any other type of sensor.

[0070] For example, the fault detection unit 116 may detect obstacles using image processing from video footage of a camera installed in the passageway. Alternatively, the fault detection unit 116 may detect the presence of an obstacle using a pressure sensor installed on the floor of the passageway. Furthermore, the fault detection unit 116 may detect equipment failures, such as automatic doors or elevators, through system integration. Additionally, field operators may manually register edges that a mobile object cannot pass through to the fault detection unit 116. The fault detection unit 116 may also detect obstacles using sensors on the robot, such as an RGB camera or LiDAR, when the robot is moving through the passageway. Furthermore, the fault detection unit 116 may acquire operational information from equipment operating in the same work area as the robot, such as a forklift.

[0071] The fault detection unit 116 may supply information about the fault it has detected to the resolution cost derivation unit 121. In other words, the resolution cost derivation unit 121 may derive the resolution cost required to resolve the fault detected by the fault detection unit 116. By doing so, the resolution cost of the detected fault can be derived more easily.

[0072] <Pathfinding process flow 1> Next, referring to the flowchart in Figure 6, an example of the flow of the route search process (information processing method, program) executed by the route planning device 100 will be explained. Figures 7 to 11 will be referred to as needed.

[0073] When the pathfinding process begins, the pathfinding unit 122 sets a start point and an end point on the map in step S101. For example, as shown in Figure 7, the pathfinding unit 122 sets a start point (S) and an end point (G) at a desired node on the map 200 corresponding to the area where the moving object moves. As shown in Figure 7, each edge of the map 200 has a pre-set travel cost for the moving object (the number in brackets).

[0074] In step S102, the obstacle detection unit 116 detects obstacles on the path the moving object can travel, based on the movement path plan from the starting point to the ending point of the moving object's movement. For example, the obstacle detection unit 116 performs image analysis on the captured image 210, as shown in Figure 8A, to detect obstacles 211 and 212 placed along the path and sets a bounding box 213 that encloses them. Through this image analysis, the obstacle detection unit 116 estimates that obstacles 211 and 212 are cardboard boxes. The obstacle detection unit 116 also estimates the sizes of obstacles 211 and 212 from the size of the bounding box 213, etc. In this way, the cost of resolving the detected obstacles can be derived more easily.

[0075] In step S102, instead of detecting a fault, fault information supplied from an external source (such as another device) may be acquired. This makes it easier to derive the cost of resolving the detected fault.

[0076] In step S103, the resolution cost derivation unit 121 derives the resolution cost required to resolve obstacles detected on the path the moving body can travel along, in the plan of the moving path from the starting point to the ending point of the moving body's movement. Then, in step S104, the path search unit 122 searches for a path from the starting point to the ending point of the moving body's movement based on the movement cost and the resolution cost.

[0077] By performing this process, the route planning device 100 can perform route searching in a way that is lower in cost by considering not only travel costs but also resolution costs. Therefore, the route planning device 100 can suppress a decrease in the reliability of route searching even in environments where failures may occur.

[0078] Furthermore, the resolution cost derivation unit 121 may derive the resolution cost based on the detected fault information. By doing so, the resolution cost derivation unit 121 can derive the resolution cost more easily. For example, this "fault information" may include information indicating the size of the fault. For example, the larger the size of the obstacle installed in the path, the greater the resolution cost. By doing so, the resolution cost derivation unit 121 can derive the resolution cost according to the size of the fault more easily. For example, this "fault information" may include information indicating the number of faults. By doing so, the resolution cost derivation unit 121 can derive the resolution cost according to the number of faults more easily. For example, this "fault information" may include information indicating the type of fault. By doing so, the resolution cost derivation unit 121 can derive the resolution cost according to the type of fault more easily. For example, this "fault information" may include information indicating the location of the fault. By doing so, the resolution cost derivation unit 121 can derive the resolution cost according to the location of the fault more easily.

[0079] The resolution cost derivation unit 121 may also derive the resolution cost by comprehensively considering multiple items of the "information regarding the problem" described above. The combination patterns of the items are arbitrary.

[0080] Furthermore, the resolution cost derivation unit 121 may derive the resolution cost based on the status of maintenance workers. For example, the resolution cost may be derived according to the number of maintenance workers who can respond to the fault. In this way, the resolution cost derivation unit 121 can more easily derive the resolution cost according to the status of maintenance workers. Furthermore, the resolution cost derivation unit 121 may derive the resolution cost based on the status of the moving object. In this way, the resolution cost derivation unit 121 can more easily derive the resolution cost according to the status of the moving object. Furthermore, the resolution cost derivation unit 121 may derive the resolution cost based on the status of the fault location. In this way, the resolution cost derivation unit 121 can more easily derive the resolution cost according to the status of the fault location.

[0081] The solution cost derivation unit 121 may also derive the solution cost by comprehensively considering the multiple items mentioned above. The combination patterns of the items are arbitrary.

[0082] For example, the solution cost derivation unit 121 may have table information 220 as shown in Figure 8B, and derive the solution costs corresponding to the types and sizes of obstacles 211 and 212 based on this table information 220. In the example of Figure 8A, the obstacle is a cardboard box with a width of 0.8m, so a solution cost of "5" is derived using the table information 220. By using table information in this way, the solution cost can be derived more easily.

[0083] The route search unit 122 places the solution costs derived as described above on the map 200, as shown in Figure 9, for example, and adds them to the travel costs. Then, the route search unit 122 uses the map 200 with the solution costs added to search for a route. For example, as shown in Figure 10A, the route indicated by the thick arrow is obtained as the search result. In this way, the route search unit 122 can easily perform route searching based on both travel costs and solution costs.

[0084] The pathfinding method used by the pathfinding unit 122 may be any method. For example, the pathfinding unit 122 may use a weighting calculation of resolution cost and travel cost to find a path from the starting point to the ending point of the movement of the moving object. For example, this weighting calculation may be a weighted sum (travel cost * w1 + resolution cost * w2). For example, in pathfinding, if travel cost is considered more important than resolution cost (if the resolution cost is to be kept as low as possible), the value of the weight coefficient w2 should be increased and the value of the weight coefficient w1 should be decreased. Conversely, in pathfinding, if resolution cost is considered more important than travel cost (if the travel cost is to be kept as low as possible (i.e., if the moving object is to be moved to the destination faster)), the value of the weight coefficient w2 should be increased and the value of the weight coefficient w1 should be decreased. The sum of the weight coefficients w1 and w2 may be a constant (for example, "1").

[0085] By weighting the solutions and travel costs in this way, it becomes possible to compare them in a desired balance and perform route planning, enabling more flexible route planning tailored to the system's characteristics and circumstances.

[0086] In step S105, the route search unit 122 determines whether or not there are obstacles in the searched route. If it is determined that there are obstacles in the searched route, the process proceeds to step S106.

[0087] In step S106, the search result presentation unit 112 presents a solution. That is, if an obstacle occurs in the searched path, the presented search result may include a solution to resolve that obstacle. For example, as shown in Figure 10B, it is indicated that the cardboard box must be removed in order for the moving object to move along the path indicated by the thick arrow. By displaying the search result (solution) in this way, the user who is presented with the search result (e.g., administrator, maintenance worker, transporter operator, etc.) can resolve the obstacle more easily based on the solution.

[0088] Any information may be included in the proposed solution. For example, the solution may include information regarding the cost of resolution. By displaying the search results (proposed solutions) in this way, users who are presented with the search results (e.g., administrators, maintenance workers, transport equipment operators, etc.) can more easily grasp the cost of resolving the desired problem based on the proposed solution. Any information may be included in the information regarding the cost of resolution. For example, the information regarding the cost of resolution may include information indicating the work time required to resolve the problem. By displaying the search results (proposed solutions) in this way, users who are presented with the search results (e.g., administrators, maintenance workers, transport equipment operators, etc.) can more easily grasp the work time required to resolve the problem based on the proposed solution. Furthermore, the information regarding the cost of resolution may include information indicating the number of workers required to resolve the problem. By displaying the search results (proposed solutions) in this way, users who are presented with the search results (e.g., administrators, maintenance workers, transport equipment operators, etc.) can more easily grasp the number of workers required to resolve the problem based on the proposed solution. Furthermore, the information regarding the cost of resolution may include information indicating the expenses required to resolve the problem. In this way, by displaying the search results (proposed solutions), users who are presented with the search results (e.g., administrators, maintenance workers, transport equipment operators, etc.) can more easily understand the costs required to resolve the problem based on the proposed solutions. Furthermore, the information regarding the cost of resolution may include information indicating the means required to resolve the problem. For example, the means required to resolve the problem may include the tools required to resolve the problem. Also, the means required to resolve the problem may include the maintenance workers required to resolve the problem. Also, the means required to resolve the problem may include the robots required to resolve the problem. In this way, by displaying the search results (proposed solutions), users who are presented with the search results (e.g., administrators, maintenance workers, transport equipment operators, etc.) can more easily understand the means required to resolve the problem based on the proposed solutions.

[0089] Furthermore, the proposed solutions may include information on how to resolve the problem. By displaying the search results (proposed solutions) in this way, users who are presented with the search results (e.g., administrators, maintenance workers, transport equipment operators, etc.) can more easily understand how to resolve the desired problem based on the proposed solutions.

[0090] Furthermore, the search results presented may include multiple routes explored and solutions for each of those routes (e.g., information regarding the cost of solving the problem). By displaying the search results (solutions) in this way, users who are presented with the search results (e.g., administrators, maintenance workers, transport equipment operators, etc.) can more easily grasp the multiple routes and the solutions to the problems that occurred on each route. In this case, the solutions for each route (e.g., information regarding the cost of solving the problem) may be ranked according to the cost of solving the problem. By displaying the search results (solutions) in this way, users who are presented with the search results (e.g., administrators, maintenance workers, transport equipment operators, etc.) can grasp the solutions to the problems that occurred on each of the multiple routes in order of increasing (or decreasing) cost of solving the problem. Therefore, it becomes easier to prioritize each solution.

[0091] When the processing in step S106 is completed, the process returns to step S102. While an obstacle occurs in the path, the processing from step S102 to step S106 is repeatedly executed. Then, in step S105, if it is determined that there is no obstacle in the explored path, the process proceeds to step S107.

[0092] In step S107, the search result presentation unit 112 presents the route search results. For example, the search result presentation unit 112 may present these route search results as an image or as audio. For example, the search result presentation unit 112 may display the presentation screen on its own display unit, or it may supply the presentation screen to another device and have it displayed on the display unit of that device. The recipient of these search results can be any target. For example, these search results may be presented to a system administrator, to a maintenance worker who maintains the system, or to an operator who operates a transport machine. In this way, users who are presented with the search results (e.g., administrators, maintenance workers, transport machine operators, etc.) can more easily grasp the route search results for the moving object. Any information may be included in these search results. For example, a map showing the searched route may be included in the search results. For example, the route search results (thick arrows) may be presented using a map 200 as shown in Figure 10A. In this way, by displaying the search results (route) on a map, users who are presented with the search results (e.g., administrators, maintenance workers, transport equipment operators, etc.) can more easily understand the route of the searched moving object. Furthermore, as shown in the example in Figure 10B, the map 200 may also include information (marked with an "x") indicating the location of the fault. In this way, by displaying the search results (route and fault location) on a map, users who are presented with the search results (e.g., administrators, maintenance workers, transport equipment operators, etc.) can more easily understand the route of the searched moving object and the location of the fault.

[0093] Once the process in step S107 is completed, the route search process ends.

[0094] <Example presentation> The search results may be presented on a display screen, for example, as shown in Figure 11. The display screen 250 shown in Figure 11 is a screen for presenting the search results and has a map display area 251 that displays a map showing the searched route and a solution display area 252 that displays solutions to resolve obstacles that occurred in the route.

[0095] As shown in Figure 11, the map display area 251 may display the explored route (the route the mobile object will take if the obstacle is resolved) and information indicating the detected obstacle. The solution display area 252 displays solutions for resolving the obstacle for each route. The solution display area 252 can display solutions for multiple routes. In other words, the solution display area 252 can display multiple solutions. In this case, as shown in Figure 11, each solution may be ranked and displayed based on the resolution cost (most likely candidate, second-best candidate, etc.). Furthermore, each solution may be displayed in association with the route shown in the map display area 251.

[0096] This type of presentation allows users to more easily understand the explored path, the obstacles to be resolved, and how to resolve them.

[0097] <Pathfinding process flow 2> Next, with reference to the flowchart in Figure 12, another example of the flow of the route search process (information processing method, program) executed by the route planning device 100 will be explained.

[0098] When the route search process starts, each of the processes from step S121 to step S125 is executed in the same way as each of the processes from step S101 to step S105 in Figure 6.

[0099] In step S126, the resolution control information supply unit 113 generates and supplies resolution control information to resolve an obstacle if an obstacle is found in the explored path based on the search results. The recipient of this resolution control information is arbitrary. For example, the resolution control information may be supplied to a resolution machine, which is equipment that performs work to resolve the obstacle, or to a conveyor that has the function of performing work to resolve the obstacle. The content of this resolution control information may be anything as long as it controls the resolution of the obstacle.

[0100] By doing this, the process of resolving the detected fault can be controlled based on the search results (fault detection results), making it easier to resolve the fault.

[0101] When the processing in step S126 is completed, the process returns to step S122. While an obstacle occurs in the path, the processing from step S122 to step S126 is repeatedly executed. Then, in step S125, if it is determined that there is no obstacle in the explored path, the process proceeds to step S127.

[0102] The process in step S127 is executed in the same way as in step S107 in Figure 6. Once the process in step S127 is completed, the route search process is terminated.

[0103] <Pathfinding process flow 3> Next, referring to the flowchart in Figure 13, we will explain yet another example of the flow of the route search process (information processing method, program) executed by the route planning device 100.

[0104] When the route search process starts, each of the processes from step S141 to step S145 is executed in the same way as each of the processes from step S101 to step S105 in Figure 6.

[0105] In step S146, the resolution processing unit 114, based on the search results, executes a task to resolve any obstacles found in the searched path. In other words, the path planning device 100 has a function to resolve obstacles and executes a task to resolve obstacles based on the path search results. Note that this task to resolve obstacles can be any type of task.

[0106] By doing this, the work to resolve the detected fault can be performed based on the search results (fault detection results), making it easier to resolve the fault.

[0107] When the processing in step S146 is completed, the process returns to step S142. While an obstacle occurs in the path, the processing from step S142 to step S146 is repeatedly executed. Then, in step S145, if it is determined that there is no obstacle in the explored path, the process proceeds to step S147.

[0108] The process in step S147 is executed in the same way as in step S107 in Figure 6. Once the process in step S147 is completed, the route search process ends.

[0109] <4. First Embodiment> <Conveying System> The technology described above can be applied to any configuration (device, system, unit, processing unit, etc.). Figure 14 shows an example of the main configuration of a transport system, which is one aspect of an information processing system to which this technology is applied.

[0110] The transport system 300 shown in Figure 14 comprises a management server 311, transporters 312-1, transporters 312-2, and a resolution unit 313, which are connected to each other via a network 310 so as to be able to communicate with one another. When it is not necessary to distinguish between transporters 312-1 and 312-2, they will be referred to as transporter 312.

[0111] The transport system 300 is a system that transports goods and other items using transporters 312. In other words, the transporters 312 transport the goods and other items, and the management server 311 manages the transport of each transporter 312. In addition, the troubleshooting unit 313 performs the work of resolving the problem if a problem occurs. The management server 311 also manages the behavior of the troubleshooting unit 313.

[0112] In Figure 14, two transporters 312 (transporter 312-1 and transporter 312-2) are shown, but the transport system 300 may have any number of transporters 312, for example, one or three or more. Also, in Figure 14, one management server 311 is shown, but the transport system 300 may have any number of management servers 311, for example, two or more. Also, in Figure 14, one resolution unit 313 is shown, but the transport system 300 may have any number of resolution units 313, for example, two or more. Similarly, the transport system 300 may have multiple networks 310.

[0113] Network 310 is a communication network composed of any communication medium. Communication conducted through network 310 may be wired communication, wireless communication, or both. In other words, network 310 may be a communication network for wired communication, a communication network for wireless communication, or a communication network composed of both. Furthermore, network 310 may be composed of a single communication network or of multiple communication networks.

[0114] For example, the internet may be included in this network 310. Public telephone network lines may also be included in this network 310. Furthermore, wide-area communication networks for wireless mobile devices, such as so-called 3G and 4G lines, may also be included in this network 310. For example, LPWA (Low Power Wide Area) communication networks such as LTE-M, which enable long-distance data communication and have low power consumption, may also be included in this network 310. Furthermore, WAN (Wide Area Network) and LAN (Local Area Network) may also be included in this network 310. Furthermore, wireless communication networks that perform communication compliant with the Bluetooth® standard may also be included in this network 310. Near-field communication (NFC) communication channels may also be included in this network 310. Furthermore, infrared communication channels may also be included in this network 310. Finally, wired communication networks compliant with standards such as HDMI (High-Definition Multimedia Interface)® and USB (Universal Serial Bus)® may also be included in this network 310. Thus, network 310 may include communication networks and communication channels of any communication standard. Furthermore, these communication networks and communication channels may include not only communication media such as cables, but also devices and circuits necessary for communication, such as communication equipment and relay equipment.

[0115] The management server 311, the transporter 312, and the resolution device 313 can communicate with other devices via this network 310 and exchange information. That is, the management server 311, the transporter 312, and the resolution device 313 may communicate in any manner conforming to any of the various communication standards described above. For example, the management server 311, the transporter 312, and the resolution device 313 may use wired communication, wireless communication, or both.

[0116] <Management Server> The management server 311 performs processing related to the control of the behavior of the transporter 312 and the resolution machine 313. Figure 15 is a block diagram showing an example of the hardware configuration of the management server 311. As shown in Figure 15, in the management server 311, the CPU (Central Processing Unit) 321, ROM (Read Only Memory) 322, and RAM (Random Access Memory) 323 are interconnected via the bus 324.

[0117] An input / output interface 330 is also connected to bus 324. An input / output interface 330 is connected to an input unit 331, an output unit 332, a storage unit 333, a communication unit 334, and a drive 335.

[0118] The input unit 331 consists of, for example, a keyboard, mouse, microphone, touch panel, and input terminals. The output unit 332 consists of, for example, a display, speaker, and output terminals. The storage unit 333 consists of, for example, a hard disk, RAM disk, and non-volatile memory. The communication unit 334 consists of, for example, a network interface. The drive 335 drives removable media 341 such as a magnetic disk, optical disk, magneto-optical disk, or semiconductor memory.

[0119] In the management server 311 configured as described above, the CPU 321 performs a series of processes by loading, for example, a program stored in the memory unit 333 into the RAM 323 via the input / output interface 330 and the bus 324, and then executing it. The RAM 323 also stores data necessary for the CPU 321 to perform various processes as appropriate.

[0120] The program executed by the management server 311 can be recorded and applied, for example, on removable media 341 such as package media. In this case, the program can be installed in the storage unit 333 via the input / output interface 330 by inserting the removable media 341 into the drive 335.

[0121] Furthermore, this program can also be provided via wired or wireless transmission media such as local area networks, the internet, or digital satellite broadcasting. In that case, the program can be received by the communication unit 334 and installed in the storage unit 333.

[0122] Additionally, this program can be pre-installed in ROM322 or memory unit333.

[0123] The hardware configuration of the management server 311, as shown in Figure 15, is described assuming that the management server 311 is configured as a single device. In reality, the functions of the management server 311 (i.e., the configuration shown in Figure 15) may be implemented by a single device or by multiple devices. Furthermore, the management server 311 may be configured as a so-called cloud server.

[0124] It can also be said that the transporter 312 and the resolution device 313 have a similar configuration to the management server 311. In other words, the configurations of the transporter 312 and the resolution device 313 may also be explained using the block diagram in Figure 15 (block diagram of the management server 311).

[0125] <Application of this technology> In such a transport system 300, the above-described technology may be applied in <3. Route planning considering solution costs>. In other words, the functions of the route planning device 100 may be implemented using the devices of the transport system 300. For example, the configuration of the route planning device 100 described with reference to Figure 5 and the flowchart in Figure 6 may be implemented in the management server 311, in the transporter 312, or in the solution device 313.

[0126] Furthermore, the functions of the route planning device 100 may be realized using multiple devices. For example, the route planning unit 111 may be provided by the first device, and the other processing units may be provided by the second device. Alternatively, one processing unit may be realized by multiple devices.

[0127] For example, the functions of the route planning device 100 may be realized by combining multiple devices of different types, such as a management server 311 and a transporter 312, a transporter 312 and a resolution device 313, a management server 311 and a resolution device 313, or a management server 311, a transporter 312, and a resolution device 313. Alternatively, the functions of the route planning device 100 may be realized by combining multiple devices of the same type, such as multiple management servers 311, multiple transporters 312, or multiple resolution devices 313. In addition, the functions of the route planning device 100 may be realized by any other combination.

[0128] For example, when implementing the functions of the route planning device 100 in the management server 311, the management server 311 may have the configuration (hardware) of the route planning device 100, or it may implement the functions of the route planning device 100 by executing software. The same applies when implementing it in the transporter 312 or the solution device 313, or when implementing it by combining multiple devices.

[0129] As described above, by applying the aforementioned technology in <3. Route planning considering solution costs>, the transport system 300 can suppress the reduction in the reliability of route searching of the transporter 312.

[0130] <5. Addendum> <Software> The series of processes described above can be executed by hardware or by software. When the series of processes described above are executed by software, the programs that make up the software are installed from a network or storage medium.

[0131] This recording medium, as shown in Figure 15, for example, consists of a removable media 341 on which a program is recorded, which is distributed separately from the main device body to the user for the purpose of delivering the program. This removable media 341 includes magnetic disks (including flexible disks) and optical disks (including CD-ROMs and DVDs). Furthermore, it also includes magneto-optical disks (including MDs (Mini Discs)) and semiconductor memory. In this case, for example, by inserting the removable media 341 into the drive 335, the program stored on the removable media 341 can be read and installed into the storage unit 333.

[0132] Furthermore, this program can also be provided via wired or wireless transmission media such as local area networks, the internet, or digital satellite broadcasting. In that case, the program can be received by the communication unit 334 and installed in the storage unit 333.

[0133] Additionally, this program can be pre-installed in memory units or ROMs. For example, the program can be pre-installed in memory unit 333 or ROM 322.

[0134] <Applicable subjects of this technology> Furthermore, this technology can be applied to any configuration. For example, this technology can be applied to various electronic devices. In addition, this technology can be applied to the automatic driving control technology of any mobile object, not limited to vehicles, but including, for example, ships and airplanes. This mobile object may be a manned aircraft with a person on board, or an unmanned aircraft such as a drone. Moreover, this technology can be applied to any driver assistance technology, not limited to automatic driving control, but including, for example, route guidance and driving operation assistance.

[0135] Furthermore, this technology can also be implemented as part of a device, such as a processor (e.g., a video processor) as a system LSI (Large Scale Integration), a module using multiple processors (e.g., a video module), a unit using multiple modules (e.g., a video unit), or a set with additional functions added to a unit (e.g., a video set).

[0136] Furthermore, this technology can also be applied to network systems composed of multiple devices. For example, this technology may be implemented as cloud computing, where multiple devices share and collaborate on processing via a network. For example, this technology may be implemented in a cloud service that provides image (video) related services to any terminal such as computers, AV (Audio Visual) equipment, portable information processing terminals, and IoT (Internet of Things) devices.

[0137] In this specification, a system refers to a collection of multiple components (devices, modules (parts), etc.), regardless of whether all components are located in the same enclosure. Therefore, multiple devices housed in separate enclosures and connected via a network, and a single device containing multiple modules within a single enclosure, are both considered systems.

[0138] <Fields and applications where this technology can be applied> Systems, devices, and processing units incorporating this technology can be used in any field, such as transportation, healthcare, security, agriculture, livestock farming, mining, beauty, factories, home appliances, weather, and nature monitoring. Furthermore, their applications are entirely arbitrary.

[0139] For example, this technology can be applied to systems and devices used to provide entertainment content. Furthermore, for example, this technology can be applied to systems and devices used for traffic management, such as traffic condition monitoring and automated driving control. In addition, for example, this technology can be applied to systems and devices used for security. Furthermore, for example, this technology can be applied to systems and devices used for automatic control of machinery, etc. Furthermore, for example, this technology can be applied to systems and devices used for agriculture and livestock farming. Furthermore, for example, this technology can be applied to systems and devices that monitor natural conditions such as volcanoes, forests, and oceans, as well as wildlife. Furthermore, for example, this technology can be applied to systems and devices used for sports.

[0140] <Other> In this specification, terms such as "combine," "multiplex," "add," "integrate," "include," "store," "insert," "insert," and "place" mean combining multiple things into one, such as combining encoded data and metadata into a single data, and represent one method of "associating" as described above.

[0141] Furthermore, the embodiments of this technology are not limited to those described above, and various modifications are possible without departing from the gist of this technology.

[0142] For example, the configuration described as a single device (or processing unit) may be divided and configured as multiple devices (or processing units). Conversely, the configurations described above as multiple devices (or processing units) may be combined and configured as a single device (or processing unit). Furthermore, it is also possible to add configurations other than those described above to the configuration of each device (or each processing unit). In addition, if the overall system configuration and operation are substantially the same, a part of the configuration of one device (or processing unit) may be included in the configuration of another device (or other processing unit).

[0143] Furthermore, for example, the program described above may be executed on any device. In that case, the device should have the necessary functions (such as functional blocks) and be able to obtain the necessary information.

[0144] Furthermore, for example, each step of a flowchart may be executed by one device, or it may be divided among multiple devices. Additionally, if a single step includes multiple processes, these processes may be executed by one device, or they may be divided among multiple devices. In other words, multiple processes included in a single step can be executed as multiple steps. Conversely, processes described as multiple steps can be combined and executed as a single step.

[0145] Furthermore, for example, a program executed by a computer may be structured so that the steps of the program are executed chronologically in the order described herein, or they may be executed in parallel or individually at necessary times, such as when a call is made. In other words, the steps may be executed in an order different from the order described above, as long as no inconsistencies arise. Moreover, the steps of this program may be executed in parallel with the processing of other programs, or in combination with the processing of other programs.

[0146] Furthermore, for example, multiple technologies relating to this technology can be implemented independently, as long as they do not create a contradiction. Of course, any multiple technologies can also be implemented in combination. For example, some or all of the technologies described in one embodiment can be implemented in combination with some or all of the technologies described in another embodiment. Also, some or all of the above-mentioned technologies can be implemented in combination with other technologies not mentioned above.

[0147] Furthermore, this technology can also be configured as follows. (1) Based on the movement path plan from the starting point to the ending point of the movement of the moving object, detect obstacles on the path that the moving object can travel, To derive the resolution cost required to resolve the detected fault, Based on the aforementioned solution cost and the travel cost related to the movement of the moving body, the path of the moving body from the starting point to the ending point is searched. Information processing methods including (2) including searching for the path of the moving body from the starting point to the ending point using a weighted calculation of the resolution cost and the movement cost. (1) The information processing method described above. (3) Further includes presenting the results of the route search. The information processing method described in (1) or (2). (4) The results of the route search are presented as images. (3) The information processing method described above. (5) The results of the route search are presented by voice. The information processing method described in (3) or (4). (6) The search results include a map showing the searched path. The information processing method described in any of (3) to (5). (7) The map includes information indicating the location of the fault. (6) The information processing method described above. (8) The search results include, if the fault occurs in the searched path, information regarding the cost of resolving the fault. The information processing method described in any of (3) to (7). (9) The information relating to the resolution cost includes information indicating the time required to resolve the problem. (8) The information processing method described above. (10) The information relating to the resolution cost includes information indicating the number of workers or robots required to resolve the problem. The information processing method described in (8) or (9). (11) The information relating to the resolution costs includes information indicating the costs required to resolve the problem. The information processing method described in any of (8) to (10). (12) The information relating to the cost of resolution includes information indicating the means necessary to resolve the problem. The information processing method described in any of (8) to (11). (13) The means necessary to resolve the said problem include the tools necessary to resolve the said problem. (12) The information processing method described above. (14) The means necessary to resolve the fault include the maintenance workers necessary to resolve the fault. The information processing method described in (12) or (13). (15) The means necessary to resolve the said problem include the robot necessary to resolve the said problem. The information processing method described in any of (12) to (14). (16) The search results include a plurality of the paths that have been explored and information regarding the solution cost for each of the plurality of paths. The information processing method described in any of (8) to (15). (17) The information relating to the resolution cost for each route is ranked according to the resolution cost. The information processing method described in (16). (18) If the fault occurs in the explored path, further comprising supplying resolution control information to resolve the fault. The information processing method described in any of (1) to (17). (19) If the fault is found in the explored path, the further includes performing a process to resolve the fault. The information processing method described in any of (1) to (18). (20) Based on the movement path plan of the moving body from the starting point to the ending point, detect obstacles on the path that the moving body can travel, To derive the resolution cost required to resolve the detected fault, Based on the aforementioned solution cost and the travel cost related to the movement of the moving body, the path of the moving body from the starting point to the ending point is searched. A program that causes a computer to perform a process that includes [a specific action]. (21) A fault detection unit that detects obstacles on the path the moving body can travel, based on a movement path plan from the starting point to the ending point of the moving body's movement, A solution cost derivation unit that derives the solution cost required to resolve the detected fault, A path search unit searches for a path from the starting point to the ending point of the movement of the moving body based on the aforementioned solution cost and the movement cost related to the movement of the moving body. An information processing device equipped with the following features. [Explanation of symbols]

[0148] 100 Route planning device, 111 Route planning unit, 112 Search result presentation unit, 113 Resolution control information supply unit, 114 Resolution processing unit, 115 Fault information acquisition unit, 116 Fault detection unit, 121 Resolution cost derivation unit, 122 Route search unit, 300 Transport system, 310 Network, 311 Management server, 312 Transport machine, 313 Resolution machine

Claims

1. Based on the movement path plan from the starting point to the ending point of the movement of the moving object, the system detects obstacles along the path that the moving object can travel. To derive the resolution cost required to resolve the detected fault, Based on the aforementioned solution cost and the travel cost related to the movement of the moving body, the path of the moving body from the starting point to the ending point is searched. Information processing methods including

2. This includes searching for the path of the moving object from the starting point to the ending point using a weighted calculation of the resolution cost and the movement cost. The information processing method according to claim 1.

3. Further includes presenting the results of the aforementioned path search. The information processing method according to claim 1.

4. The results of the aforementioned path search are presented as an image. The information processing method according to claim 3.

5. The results of the aforementioned route search are presented audibly. The information processing method according to claim 3.

6. The search results include a map showing the searched path. The information processing method according to claim 3.

7. The map includes information indicating the location where the fault occurred. The information processing method according to claim 6.

8. The search results include, if the searched path contains the fault, information regarding the cost of resolving the fault. The information processing method according to claim 3.

9. The information relating to the resolution cost includes information indicating the time required to resolve the problem. The information processing method according to claim 8.

10. The information relating to the resolution cost includes information indicating the number of workers or robots required to resolve the problem. The information processing method according to claim 8.

11. The information relating to the resolution cost includes information indicating the costs required to resolve the problem. The information processing method according to claim 8.

12. The information relating to the resolution cost includes information indicating the means necessary to resolve the problem. The information processing method according to claim 8.

13. The means necessary to resolve the aforementioned problem include the tools necessary to resolve the aforementioned problem. The information processing method according to claim 12.

14. The means necessary to resolve the aforementioned problem include maintenance workers necessary to resolve the aforementioned problem. The information processing method according to claim 12.

15. The means necessary to resolve the aforementioned problem include a robot necessary to resolve the aforementioned problem. The information processing method according to claim 12.

16. The search results include a plurality of the searched paths and information regarding the solution cost for each of the plurality of paths. The information processing method according to claim 8.

17. The information regarding the resolution cost for each of the aforementioned routes is ranked according to the resolution cost. The information processing method according to claim 16.

18. If the explored path contains the aforementioned fault, the further includes providing resolution control information to resolve the fault. The information processing method according to claim 1.

19. If the explored path contains the aforementioned obstacle, the process further includes performing a process to resolve the obstacle. The information processing method according to claim 1.

20. A fault detection unit detects obstacles along the path the moving object can travel, based on a travel path plan from the starting point to the ending point of the moving object's movement. A solution cost derivation unit that derives the solution cost required to resolve the detected fault, A path search unit searches for a path from the starting point to the ending point of the movement of the moving body based on the aforementioned solution cost and the movement cost related to the movement of the moving body. An information processing device equipped with the following features.

Images