Information processing devices, information processing methods and program products

Abstract

In this invention, the route / path planning unit (37) of the server (30) performs the following processes: distinguishing the waypoint with the highest mobility efficiency relative to another mobile device in the direction of movement from the path start point of the mobile device toward the destination; setting a path from the path start point toward the waypoint with the highest mobility efficiency; and updating the path start point to the waypoint with the highest mobility efficiency. Furthermore, by repeating these processes until the waypoint with the highest mobility efficiency is the destination, the route / path planning unit (37) generates a path plan indicating a path for efficient movement to the destination. The path plan generated by the route / path planning unit (37) is sent to the mobile device via a communication unit. Therefore, the server (30) is able to efficiently operate the mobile device (20).

Description

Technical Field

[0001] This technology relates to information processing apparatus, information processing methods and programs, and enables efficient operation of mobile devices. Background Technology

[0002] Typically, systems using mobile devices are used for various purposes, such as transporting goods, inspecting facilities, and security. For a mobile device to move, it needs to reach its destination without colliding with static and dynamic obstacles in the environment (including other mobile robots). Therefore, for example, in Patent Document 1, a manager generates and updates a map of an arbitrary environment in which multiple robots operate, and provides data used by one or more robots in the environment.

[0003] Reference List

[0004] Patent documents

[0005] Patent Document 1: WO 2009 / 102970 A Summary of the Invention

[0006] The problem the invention aims to solve

[0007] Incidentally, when the movable area is wide, the manager can easily allow mobile devices to pass each other by setting up multiple lanes and specifying which lanes the mobile devices should move in. Furthermore, if the manager configures lanes using waypoints (hereinafter referred to as "waypoints") that serve as the coordinates of the mobile devices to pass through, and allows the mobile devices to pass through a sequence of waypoints indicating the lanes, multiple mobile devices can pass each other without performing conflict control.

[0008] However, when lanes are designated, the mobile device cannot shorten its travel distance to its destination by using, for example, a lane further inside the designated lane. Furthermore, if numerous waypoints are set to perform detailed movement control, the path control burden on the mobile device becomes heavy. Therefore, the manager may be unable to operate the mobile device efficiently.

[0009] Therefore, the purpose of this technology is to provide an information processing apparatus, information processing method, and program that enables efficient operation of mobile devices.

[0010] Solution to the problem

[0011] The first aspect of this technology is

[0012] An information processing apparatus, comprising:

[0013] The route planning unit generates a route plan indicating a route to a destination by: determining a passpoint with the highest mobility efficiency in the direction of movement from the path origin of the mobile device toward the destination within a non-interference range with other mobile devices; setting a route from the path origin to the passpoint with the highest mobility efficiency; and updating the path origin to the passpoint with the highest mobility efficiency.

[0014] In this technology, the path planning unit determines the passing point with the highest mobility efficiency in the direction of movement from the starting point of the path (which is the predetermined target of the path) toward the destination, within a non-interference range with other mobile devices. The non-interference range is specified based on the positions of other mobile devices when the mobile device moves from the starting point to the determined passing point with the highest mobility efficiency. For example, nodes are set on the route along which the mobile device and other mobile devices move, and the path planning unit specifies the non-interference range based on the node closest to the determined passing point in the direction of movement and the node closest to other mobile devices in the direction of movement.

[0015] For example, the route planning unit specifies a non-interference range for the mobile device's own lane, and sets the determined passing point as the passing point with the highest movement efficiency when the travel distance is shortened by eliminating passing points located between the path start point and the determined passing point with the highest movement efficiency. Furthermore, if there are no obstacles between the path start point and the determined passing point with the highest movement efficiency after eliminating passing points, the determined passing point is set as the passing point with the highest movement efficiency.

[0016] Furthermore, the route planning unit can specify non-interference ranges for its own lane and other lanes on which the mobile device moves. In this case, the route planning unit determines the passing point with the highest travel efficiency based on passing points in its own lane and other lanes included in the non-interference range. If the route origin is in another lane and the next passing point in another lane is not within the non-interference range, the route planning unit sets the determined passing point or route origin for determining travel efficiency as a passing point in its own lane.

[0017] The second aspect of this technology is

[0018] An information processing method, comprising:

[0019] The route planning unit generates a route plan indicating a route to a destination by: determining a passpoint with the highest mobility efficiency in the direction of movement from the path origin of the mobile device toward the destination within a non-interference range with other mobile devices; setting a route from the path origin to the passpoint with the highest mobility efficiency; and updating the path origin to the passpoint with the highest mobility efficiency.

[0020] The third aspect of this technology is

[0021] A program for causing a computer to generate a route plan for a mobile device, the program causing the computer to perform the following processes:

[0022] The process of determining the point of passage with the highest mobility in the direction of movement from the starting point of the path of the mobile device toward the destination, within a non-interference range with other mobile devices;

[0023] The process of setting a path from the starting point of the path to the transit point with the highest mobility; and

[0024] The process of updating the starting point of the path to the point with the highest movement efficiency.

[0025] Note that the program of this technology can be, for example, a program that can be provided to a general-purpose computer capable of executing various programs or code through storage media, communication media, etc., provided in a computer-readable format. For example, storage media include optical discs, magnetic disks, semiconductor memory, etc., and communication media include networks, etc. By providing such a program in a computer-readable format, processing according to the program is implemented on the computer. Attached Figure Description

[0026] Figure 1 This is a diagram showing the configuration of the mobile device control system.

[0027] Figure 2 This is a diagram showing the configuration of the mobile device and the server.

[0028] Figure 3 It is a map showing the movable area.

[0029] Figure 4 This is a diagram showing the results of the Voronoi region division.

[0030] Figure 5 This is a diagram showing the boundary lines where lane number information has been assigned.

[0031] Figure 6 It is a map showing a route including information on the number of lanes.

[0032] Figure 7This is a diagram used to illustrate the generation of lane maps.

[0033] Figure 8 It shows the use Figure 6 The route map shown is a diagram of the lane map generated from the route map.

[0034] Figure 9 This is a flowchart illustrating the operations used to generate a route plan.

[0035] Figure 10 This is a diagram illustrating a specific example of a route plan without performing lane changes.

[0036] Figure 11 This is a flowchart illustrating another operation used to generate a route plan.

[0037] Figure 12 This is a diagram illustrating a specific example of a route plan in the case of a lane change.

[0038] Figure 13 This is a diagram illustrating another specific example of a route plan in the case of a lane change. Detailed Implementation

[0039] The following sections will describe the modes used to implement this technology. Note that the descriptions will be presented in the following order.

[0040] 1. Configuration of the mobile device control system

[0041] 2. Configuration of mobile devices and servers

[0042] 3. Server Operation

[0043] 3-1. Operations for generating lane maps

[0044] 3-2. Operations for generating route plans

[0045] 3-3. Another operation for generating route plans

[0046] 4. Application Examples

[0047] <1. Configuration of Mobile Device Control System>

[0048] Figure 1 The configuration of the mobile device control system is shown. The mobile device control system 10 includes multiple mobile devices 20 and a server 30.

[0049] In the mobile device control system 10, server 30 receives a movement task performed by mobile device 20, and server 30 generates a path plan for performing the movement task and provides the path plan to mobile device 20. Mobile device 20 performs the movement task by moving along the path indicated by the path plan provided by server 30.

[0050] A movement task is a task involving the movement of a movement device 20, which may be a robot, an automated guided vehicle (AGV), a vehicle, or the like. Furthermore, a movement task can be performed by any movement device, a movement device with predetermined functions or capabilities, a designated movement device, or the like. Additionally, a movement task can be simply reaching a specific point and performing a task (e.g., inspection), or it can involve further movement to other points (e.g., transportation).

[0051] Server 30 executes task planning to determine which mobile device will be assigned to the mobile task input from the user (or whether to change the existing assignment). Task planning can use various methods without particular limitations. For example, when using any mobile device, a method can be used to select the available mobile device closest to the destination of the mobile task, or a method can be used to select the mobile device with the fewest assigned tasks when there are no available mobile devices.

[0052] Server 30 determines the mobile device to which it will assign a movement task and generates a route plan based on the lane map. The lane map is generated based on the route map. The route map is represented, for example, as a topology map, which includes groups of relay nodes that serve as intermediate destination candidates in the environment and groups of edges connecting relay nodes that are directly accessible to each other. In the lane map, edges are provided at each node with the same number of lanes that the mobile device can pass through, nodes are set at both ends (hereinafter also referred to as waypoints), and the number of lanes at the waypoints and edges is set to one.

[0053] Route planning uses a lane map to determine which waypoints will be traversed between the current location and the destination. Route planning employs methods such as Dijkstra's algorithm to select waypoints. Furthermore, route planning can be a method of adding a mobile device's route plan as a predetermined destination without altering the route plans of other mobile devices, or it can perform an overall optimization that includes checking the route plans of other mobile devices.

[0054] Furthermore, for mobile devices whose paths are set by assigning mobile tasks, server 30 determines the passpoint with the highest mobility efficiency within a non-interference range with other mobile devices in the direction of movement from the path origin to the destination, sets the path from the path origin to the passpoint with the highest mobility efficiency, updates the path origin to the passpoint with the highest mobility efficiency, and generates a path plan indicating the path to the destination. Server 30 sends the generated path plan to mobile device 20, enabling mobile device 20 to perform mobile tasks efficiently.

[0055] <2. Configuration of Mobile Devices and Servers>

[0056] The configuration of the mobile device (e.g., a trackless automated guided vehicle) and the server will be described next. Figure 2 The configuration of the mobile device and server is shown.

[0057] The mobile device 20 includes a sensor unit 21, a surrounding map generation unit 22, a self-position estimation unit 23, a communication unit 24, a path following unit 25, a drive control unit 26, and a drive unit 27.

[0058] Sensor unit 21 includes external sensors and internal sensors. The external sensors of sensor unit 21 acquire information about the surrounding environment of the mobile device (e.g., information about surrounding objects, etc.). Examples of external sensors include distance measurement sensors (light detection and ranging, laser imaging detection and ranging (LIDAR), time-of-flight (TOF), stereo cameras, etc.). The external sensors generate sensing data (also called "distance measurement data") indicating the distance to surrounding objects and output the sensing data to the surrounding map generation unit 22 and the self-position estimation unit 23. Furthermore, the internal sensors of sensor unit 21 acquire information about the mobile device itself (e.g., information indicating the position and attitude of the mobile device, its changes, etc.). Examples of internal sensors include position sensors, angle sensors, accelerometers, gyroscopes, etc. The internal sensors output the generated sensing data (also called "internal sensing data") to the self-position estimation unit 23.

[0059] The surrounding map generation unit 22 generates map information indicating objects and other objects in the surrounding area based on distance measurement data generated by the sensor unit 21. The surrounding map generation unit 22 outputs the generated map information to the communication unit 24 and the path following unit 25.

[0060] The self-position estimation unit 23 estimates its own position based on internal sensing data or internal sensing data generated by the sensor unit 21 and distance measurement data generated by external sensors, and outputs self-position information indicating the estimated self-position to the communication unit 24 and the path following unit 25.

[0061] Communication unit 24 is connected to a network and performs wireless communication with server 30. Wireless communication may include cellular communication using, for example, any of LTE, WCDMA (registered trademark), 5G, etc., and may include near-field communication using any of Wi-Fi, Bluetooth (registered trademark), etc. Communication unit 24 performs wireless communication with server 30 and sends map information generated by surrounding map generation unit 22 and its own position estimated by self-position estimation unit 23 to server 30. Note that mobile device 20 may send mobile device information indicating its size, performance, etc., from communication unit 24 to server 30. Communication unit 24 receives information such as route planning sent from server 30 and outputs this information to route following unit 25.

[0062] The path following unit 25 uses map information generated by the surrounding map generation unit 22 and the estimation results of its own position estimation unit 23 to perform movement control of the mobile device 20, so as to move on the path indicated by the path plan provided by the server 30. As will be described later, in the path plan, waypoints to the destination are sequentially indicated based on the lane map indicating the lane and the movement task assigned to the mobile device, and the lane tracking unit 25 determines the optimal movement speed, angular velocity, etc. at this time based on the identification of the surrounding environment of the mobile device 20 and the position of the next waypoint, generates control signals so that the mobile device can move from the current position to the next waypoint while avoiding static or dynamic obstacles, and outputs the control signals to the drive control unit 26.

[0063] Based on the control signal generated by the path following unit 25, the drive control unit 26 generates a drive signal to cause the mobile device 20 to move on the path indicated by the path plan, and outputs the drive signal to the drive unit 27.

[0064] The drive unit 27 includes wheels, a drive source (e.g., a motor), etc., and uses the drive source to drive the wheels based on the drive signal from the drive control unit 26, so as to move the moving device 20.

[0065] Server 30 includes a communication unit 31, a route map generation unit 32, a lane map generation unit 33, a map storage unit 34, a mobile device information storage unit 35, a task planning unit 36, and a route / path planning unit 37.

[0066] Communication unit 31 is configured to perform wireless communication with communication unit 24 of mobile device 20. Wireless communication may include cellular communication as described above, or it may include near-field communication. Communication unit 31 performs wireless communication with mobile device 20 and receives map information, estimated self-location information, and mobile device information generated by mobile device 20. Communication unit 31 outputs the received map information and self-location information to route map generation unit 32, and outputs self-location information and mobile device information to mobile device information storage unit 35. Furthermore, communication unit 31 sends a route plan generated by route / path planning unit 37 to mobile device 20.

[0067] The route map generation unit 32 integrates the map information generated by each mobile device 20 based on its own location information, and generates a movable area map indicating the areas that the mobile device 20 can traverse throughout the environment. Note that the route map generation unit 32 can generate the movable area map based on sensing data acquired by external sensors located separately from the mobile device, or it can acquire a pre-generated movable area map from an external device, etc. Furthermore, the route map generation unit 32 generates a route map with lane number information related to the passageway and its width based on the movable area map. Note that the route map generation unit 32 updates the route map according to changes in the movable area. For example, when it is determined that the movable area that the mobile device 20 can traverse has changed due to the installation, movement, or removal of obstacles, the route map generation unit 32 automatically updates the movable area map, and automatically updates the route map in response to the update of the movable area map.

[0068] The lane map generation unit 33 generates a lane map indicating the lanes through which the mobile device 20 travels, based on the route map with lane number information generated by the route map generation unit 32. Note that the details of generating the route map and lane map will be described later.

[0069] The map storage unit 34 stores the route map generated by the route map generation unit 32 and the lane map generated by the lane map generation unit 33.

[0070] The mobile device information storage unit 35 stores mobile device information and its own location information for each mobile device. Note that the mobile device information can be obtained by communicating with the mobile device 20 as described above, or the user can pre-enter the mobile device information.

[0071] The task planning unit 36 ​​accepts a movement task request made by a user or other entity, and determines the movement device to perform the movement task. Furthermore, the task planning unit 36 ​​outputs task allocation information, including instructions for the movement device and the movement task assigned to it, to the route / path planning unit 37.

[0072] The route / path planning unit 37 generates a route plan for each mobile device to perform its assigned mobile task. In generating the route plan, the route to the destination is determined based on the number of pathways and lanes indicated by the route map generated by the route map generation unit 32. Furthermore, the route / path planning unit 37 generates a path plan indicating the path of the mobile device along the determined route to the destination, for example, sequentially indicating a list of waypoints passed along the lanes. Additionally, the route / path planning unit 37 sets up routes and paths to improve the overall system's mobility efficiency when multiple mobile devices perform mobile tasks. Furthermore, when the route map is updated or when new task assignment information is provided, the route / path planning unit 37 performs processing to update the route plan or path plan. For example, when updating the number of lanes in a mobile route, or when the routes of mobile devices performing newly received mobile tasks overlap, the route / path planning unit 37 considers the updated number of lanes or the routes and lanes of other mobile devices to generate a new route plan or path plan. The route / path planning unit 37 sends the route plan generated for each mobile device to the corresponding mobile device 20 via the communication unit 31.

[0073] <3. Server Operation>

[0074] The server establishes boundary lines between obstacles within a movable area defined by obstacles. These boundary lines comprise a group of points equidistant from the obstacles. The server determines the number of lanes relative to the boundary lines based on the distances to the obstacles and the size of the mobile device moving between the obstacles. Furthermore, the server generates a route map with lane number information based on the boundary lines and the determined number of lanes. Additionally, the server generates a lane map from the route map based on the lane number information, indicating which lanes the mobile device can pass through.

[0075] Furthermore, the server sets nodes along the mobile device's route and limits the number of mobile devices that can exist simultaneously based on the number of lanes determined at nodes or edges. The server also selects the mobile device to perform the movement task and generates a route plan indicating the path the selected mobile device will take. Additionally, the server generates a path plan based on the route plan and lane map, which sequentially indicates the waypoints traversed by the mobile device performing the movement task, i.e., the mobile device serving as the designated destination of the path. Note that if the route map is updated, the server generates the route plan and path plan again based on the updated route map and the current position of each mobile device. The server sends the generated path plan to the mobile device. The mobile device executes movement control to move along the path indicated by the path plan generated by the server and performs the movement task.

[0076] <3-1. Operations for generating lane maps>

[0077] Next, the operation for generating the lane map will be described. The route map generation unit 32 integrates, for example, map information generated by each mobile device, to generate a movable area map indicating areas where the mobile device can traverse throughout the environment. Note that... Figure 3 A map of the movable area is displayed, and detected obstacles are indicated by lines (or dots).

[0078] The route map generation unit 32 extracts the boundary lines of the skeleton indicating the movable area from the movable area map. For example, a Voronoi region division method is used to extract the boundary lines of the skeleton. Two-dimensional Voronoi region division is a method of dividing a plane into regions by determining "which is the closest point" when multiple points are pre-arranged on the plane. The route map generation unit 32 performs Voronoi region division on the entire movable area and extracts the boundary lines of point groups with the characteristic of having the same distance to two different obstacles as the boundary lines of the skeleton. Note that... Figure 4 The results of the Voronoi region partitioning are shown, and the use of... Figure 3 The movable area map processing is shown below. Furthermore, the route map generation unit 32 generates lane number information indicating the number of lanes for the mobile device based on the extracted boundary lines. For example, at each point on the boundary line indicating the skeleton, if the distance W to an obstacle is less than half the size of the mobile device (referred to as "size R"), the mobile device cannot pass, and therefore the route map generation unit 32 deletes the boundary line that the mobile device cannot pass. Note that the size of the mobile device is the maximum value of the width of the mobile device orthogonal to the direction of movement. Furthermore, if the mobile device is a trackless automated guided vehicle (AGV) or the like, the width of the mobile device is set to include the size of the item to be transported. Additionally, the size of the mobile device may include a margin.

[0079] When the boundary lines are separated, the route map generation unit 32 retains only the boundary line with the longest total distance and deletes the rest. Furthermore, the route map generation unit 32 generates lane number information for the remaining boundary lines. For example, if the distance W from the boundary line to the obstacle is equal to or greater than N times the size R and less than (N+1) times the size R, the route map generation unit 32 sets the lane number information of the boundary line to the number of lanes N and assigns the lane number information to the boundary line. Figure 5 The boundary lines with assigned lane number information are shown, and the use of... Figure 4 The diagram shows the results of the Voronoi region partitioning. Figure 5 In this process, boundary lines indicating paths that mobile devices cannot pass through were removed, and with the remaining boundary lines separated, only the boundary line with the longest total distance remained, while the other boundary lines were deleted. Note that in Figure 5 In the middle, the thick line indicates the boundary line with the number of lanes "2", and the thin line indicates the boundary line with the number of lanes "1".

[0080] The route map generation unit 32 assigns nodes to the boundary lines that have been allocated lane number information, and connects the nodes through the edges to generate a route map. Note that during route map generation, the arrangement of nodes can be optimized by deleting, adding, or moving nodes so that the distance between nodes or the spacing between the edges of nodes and the boundary lines falls within a predetermined range. Furthermore, the route map generation unit 32 also includes lane number information in the generated route map. Figure 6 A route map with lane number information is displayed, and based on the assigned lanes... Figure 5 The route map is generated using the boundary lines showing the number of lanes.

[0081] The route map generation unit 32 generates a lane map based on a route map including lane number information. The route map generation unit 32 generates a lane map where the number of lanes at nodes and edges is 1 by providing an edge with the same number of lanes as the number of lanes and setting nodes at both ends. For example, the route map generation unit 32 sets N new waypoints near the nodes at both ends of an edge with N lanes, connects the waypoints through the edge, and sets the lane number to "1". Alternatively, a lane map can be generated by connecting waypoints in a grid shape to the edge and setting the lane number to "1".

[0082] Figure 7 This is a diagram used to illustrate the generation of lane maps, where... Figure 7 (a) shows a topology map in which lane number information is assigned to nodes and edges, and Figure 7 (b) shows the lane map corresponding to the topology map. When the above processing is performed on a topology map in which lane number information is assigned to nodes and edges, a lane map in which the number of lanes at waypoints and edges is "1" can be generated. Figure 8 It shows the use of Figure 6 The route map shown is the lane map generated from the route map. In the lane number information of the route map, one edge is set for the route with a lane number of "1", and two edges are set for the route with a lane number of "2".

[0083] <3-2. Operations for Generating Route Plans>

[0084] Next, the operation for generating the route plan will be described. The route / route planning unit 37 uses the route map generated by the route map generation unit 32 to generate a route plan indicating the route from the current location to the nodes at the destination location, in a manner not exceeding the number of lanes indicated by the lane number information. Furthermore, the route / lane planning unit 37, based on the generated route plan and lane map, generates a route plan indicating the lanes to be used as waypoints when the mobile device moves along the route indicated by the route plan. In the route plan, waypoints indicate the path from the current location to the destination, and the mobile device can move to the destination by sequentially following the waypoints indicated in the route plan. Furthermore, the route / route planning unit 37 specifies the range (referred to as the "non-interference range") in the direction of movement from the path start point (e.g., the current location of the mobile device) towards the target point where deadlocks, collisions, etc., with other mobile devices would occur, and determines the passage point with the highest movement efficiency within the non-interference range. Furthermore, it performs the process of setting the path from the path start point to the passage point with the highest movement efficiency and updating the path start point to the passage point with the highest movement efficiency, and repeats this process to generate a route plan indicating the path to the destination. As described above, the route / path planning unit 37 generates an optimized path plan taking into account the movement of other mobile devices, so that the movement task can be performed efficiently.

[0085] Figure 9 This is a flowchart illustrating the operations used to generate a route plan, and it shows the case where lane changes are not performed. The route / route planning unit 37 eliminates waypoints intermediate from the route start point, determines the waypoint with the shortest travel time from the route start point without causing deadlocks or collisions with obstacles or other moving devices, and sets the path from the route start point to the waypoint with the highest travel efficiency.

[0086] In step ST1, the route / route planning unit registers other mobile devices in the route overlap list. Based on the route plans already generated for mobile devices performing mobile tasks based on the generated route plans (also referred to as "route setting mobile devices") and other mobile devices, the route / route planning unit 37 registers other mobile devices whose routes overlap with the route setting mobile devices in the route overlap list, and proceeds to step ST2.

[0087] In step ST2, the route / path planning unit sets the determination point. The route / path planning unit 37 removes the next waypoint of the waypoint that serves as the starting point of the path (hereinafter referred to as the "path starting point"), sets the removed waypoint as the determination point (determined passage point), and proceeds to step ST3.

[0088] In step ST3, the route / path planning unit determines whether the path to the determined point includes obstacles. If the path connecting the starting point and the determined point does not include obstacles, the route / path planning unit 37 proceeds to step ST4; if obstacles are included, it proceeds to step ST13.

[0089] In step ST4, the route / path planning unit calculates the travel time. The route / path planning unit 37 calculates the travel time of the route setting moving device when it moves on a path that connects the path start point and the destination point in a straight line (also known as "travel time after rejection"), and the travel time of the route setting moving device when it moves on a path that connects the path start point and the destination point without rejecting waypoints (also known as "travel time before rejection"), and proceeds to step ST5.

[0090] In step ST5, the route / path planning unit determines whether the travel time has decreased. If the travel time after rejection is shorter than the travel time before rejection, the route / path planning unit 37 determines that the travel time has decreased and proceeds to step ST6. If the travel time after rejection is not shorter than the travel time before rejection, the route / path planning unit determines that the travel time has not decreased and proceeds to step ST13.

[0091] In step ST6, the route / path planning unit extracts the nearest node NDa. The route / path planning unit 37 extracts the nearest node NDa that is closest to the determined point in the direction of travel and proceeds to step ST7.

[0092] In step ST7, the route / path planning unit extracts another unextracted mobile device from the route overlap list. Route / path planning unit 37 extracts another mobile device from the route overlap list where other mobile devices were registered in step ST1, and proceeds to step ST8.

[0093] In step ST8, the route / path planning unit extracts the nodes NDb that can be reached by the other extracted mobile devices. Based on the route plan and the mobile device information of the other extracted mobile devices, the route / path planning unit 37 extracts the nearest node NDb that is closest to the other mobile device in the direction of travel when the post-elimination travel time calculated in step ST4 has elapsed, and proceeds to step ST9.

[0094] In step ST9, the route / path planning unit determines whether node NDb is located before node NDA. When the path-setting mobile device moves from the path start point to the determined point of travel efficiency, the route / path planning unit 37 specifies a non-interference range based on the positions of other mobile devices. Specifically, the route / path planning unit 37 specifies the non-interference range based on the nearest node in the travel direction relative to the determined point and the nearest node in the travel direction relative to other mobile devices. If node NDb is located before node NDA on the route in the travel direction of the path-setting mobile device, the determined point corresponding to node NDA is a waypoint within the non-interference range. If other mobile devices have not reached the position of the path-setting mobile device, that is, if the determined point is within the non-interference range, the route / path planning unit 37 proceeds to step ST10. Furthermore, if node NDb is located before node NDA in the travel direction of the path-setting mobile device, that is, if the determined point is not within the non-interference range, the route / path planning unit 37 proceeds to step ST13.

[0095] In step ST10, the route / route planning unit determines whether all mobile devices have been extracted from the route overlap list. If all mobile devices in the route overlap list have been extracted, the route / route planning unit 37 proceeds to step ST11; otherwise, it returns to step ST7 if there are other mobile devices that have not been extracted.

[0096] In step ST11, the route / path planning unit updates the path toward the determined point. The route / path planning unit 37 updates the path before the elimination to a path from the path origin to the determined point, and proceeds to step ST12.

[0097] In step ST12, the route / path planning unit updates the determined point. The route / path planning unit 37 updates the current determined point to the next waypoint and returns to step ST3.

[0098] In step ST13, the route / path planning unit sends the path. The route / path planning unit 37 sends the path set by the processing from step ST2 to step ST12 to the mobile device.

[0099] As described above, after detecting a determined point with high mobility efficiency through the processing of steps ST1 to ST12, and determining that the waypoint is the waypoint with the highest mobility efficiency when the waypoint is set as a determined point and the mobility efficiency decreases, the path from the path start point to the waypoint with the highest mobility efficiency is sent to the mobile device 20.

[0100] Notice, Figure 9This illustrates the scenario where a path plan indicative of the established path is sent to the mobile device each time a path from the starting point to the waypoint with the highest mobility efficiency is established. Therefore, for example, server 30 can sequentially establish the optimal path to the destination by updating the starting point to the waypoint with the highest mobility efficiency and repeating the process from step ST2 to step ST13 until the determined point becomes the destination. Furthermore, server 30 can generate a path plan indicating the optimal path to the destination and send this path plan to mobile device 20. Moreover, the waypoint with the highest mobility efficiency is not limited to the point with the shortest travel time from the starting point without causing deadlocks or collisions with obstacles or other mobile devices, and can be determined considering the performance of the mobile device. For example, if time is required to change the orientation of the mobile device, the path can be set to minimize the change in orientation.

[0101] Furthermore, waypoints with the highest mobility efficiency can be determined based on cost values. For example, parameters are set to increase the cost value when the travel distance is long. Additionally, parameters are set to increase the cost value when time is needed to change orientation, based on the performance of the mobile device. Furthermore, parameters are set to increase the cost value when considering the mobile environment, such as a steep incline on the travel surface. Server 30 can determine the waypoint with the lowest total cost value as the waypoint with the highest mobility efficiency.

[0102] Figure 10 A specific example of route planning without lane changes is shown. The route map generated by server 30 indicates nodes ND1 to ND8, and the lane map indicates lanes with waypoints WP1-n and WP2-n. Route setting mobile device 20-1 moves in the lane with waypoints WP1-n, and other mobile devices 20-2 move in the lane with waypoints WP2-n.

[0103] Server 30 sets waypoint WP1-1, located in the movement direction of path setting mobile device 20-1, as the path start point, removes waypoints immediately following the path start point, and sets the removed waypoint WP1-3 as the fixed point.

[0104] Since there are no obstacles in the path connecting waypoints WP1-1 and WP1-3, server 30 calculates the travel time T(1, 3) required for path setting mobile device 20-1 to move from waypoint WP1-1 to waypoint WP1-3. If the calculated travel time T(1, 3) is shorter than the travel time T(1, 2, 3) required to move from waypoint WP1-1 to waypoint WP1-3 via waypoint WP1-2, server 30 extracts the node ND3 (=NDa) that is closest to the determined point WP1-3 in the direction of travel.

[0105] Next, for other mobile devices 20-2 included in the route overlap list, server 30 extracts the closest node ND7 (=NDb) in the direction of travel from the position where the calculated travel time T(1,3) has already passed. Node ND7 is located before node ND3 in the direction of travel of path-setting mobile device 20-1, and point WP1-3 is determined to be a waypoint within the non-interference range with other mobile devices in the direction of travel towards the destination. When moving from waypoint WP1-1 to waypoint WP1-3, path-setting mobile device 20-1 does not cause deadlocks, collisions, etc. with other mobile devices 20-2, and therefore sets the next waypoint of waypoint WP1-1 as waypoint WP1-3.

[0106] Next, server 30 sets the next waypoint WP1-4 of waypoint WP1-3 as the destination. Since there are no obstacles in the path connecting waypoint WP1-1 and waypoint WP1-4, server 30 calculates the travel time T(1, 4) required for path setting mobile device 20-1 to move from waypoint WP1-1 to waypoint WP1-4. If the calculated travel time T(1, 4) is shorter than the travel time T(1, 3, 4) required to move from waypoint WP1-1 to waypoint WP1-4 via waypoint WP1-3, server 30 extracts the node ND4 (=NDa) that is closest to destination WP1-4 in the direction of travel.

[0107] Furthermore, for other mobile devices 20-2 included in the route overlap list, server 30 extracts the closest node ND6 (=NDb) in the direction of travel, starting from the position where the calculated travel time T(1,4) has already passed. Note that the position where the travel time T(1,4) has already passed is the position where other mobile devices 20-2 have moved at maximum speed and have already passed travel time T(1,4). Additionally, if the speed of other mobile devices 20-2 on the path is set, the position where the travel time T(1,4) has already passed can be the position where the mobile device has moved at the set speed and has already passed travel time T(1,4). Node ND6 is the position preceding node ND4 in the direction of travel of path-setting mobile device 20-1. That is, when path-setting mobile device 20-1 moves from waypoint WP1-1 to waypoint WP1-4, since no deadlock or collision with other mobile devices 20-2 has occurred, the next waypoint of waypoint WP1-1 is set as waypoint WP1-4.

[0108] Next, server 30 sets the next waypoint WP1-5 after waypoint WP1-4 as the designated point. Since there are obstacles in the path connecting waypoints WP1-1 and WP1-5, server 30 determines waypoint WP1-4 as the waypoint with the highest mobility efficiency within the non-interference range, and sends the path from waypoint WP1-1 (which is the starting point of the path) to waypoint WP1-4 with the highest mobility efficiency to path setting mobile device 20-1.

[0109] Note that, even if not shown, when other mobile devices 20-2 are approaching path-setting mobile device 20-1 and, for example, nodes NDa = ND4 and NDb = ND3 are satisfied, waypoint WP1-4 is outside the non-interference range, and when path-setting mobile device 20-1 moves from waypoint WP1-1 to waypoint WP1-4, it passes other mobile devices 20-2. Furthermore, by eliminating waypoints, the path of path-setting mobile device 20-1 approaches the lanes of other mobile devices 20-2, and path-setting mobile device 20-1 may cause deadlocks, collisions, etc., with other mobile devices 20-2 when passing each other. Therefore, server 30 sets the path with the waypoint having the highest mobility efficiency within the non-interference range as waypoint WP1-3.

[0110] Server 30 updates the path origin to the waypoint with the highest movement efficiency within the non-interference range, performs similar processing as described above, and sets the path to the destination.

[0111] As described above, server 30 specifies the non-interference range of its own lane for the mobile device to move on the path, determines the waypoint with the highest movement efficiency in the non-interference range in the direction of movement toward the destination, sets the path from the path start point to the passing point with the highest movement efficiency, and updates the path start point to the passing point with the highest movement efficiency through route / path planning unit 37, so that a path plan that can operate the mobile device efficiently can be generated.

[0112] Furthermore, in cases where other mobile devices 20-2 move or their paths change, when new mobile devices are added, or when the location of obstacles is changed, the server 30 regenerates a path plan and sends the path plan to the path-setting mobile device 20-1, enabling the mobile device to operate efficiently in response to changes in the mobile environment.

[0113] <3-2. Another step in generating a route plan>

[0114] Next, another operation for generating the route plan will be described. When generating a route plan that indicates the path from the current location to the destination as waypoints, the route / route planning unit 37 makes waypoints for lanes traversed by other mobile devices available. Furthermore, the route / route planning unit 37 generates a route plan that allows for efficient execution of the movement task, taking into account the movement of other mobile devices.

[0115] Figure 11 This is a flowchart illustrating another operation used to generate a route plan, and it shows the case of performing a lane change. When a lane change is performed, the route / lane planning unit 37 determines whether the travel time can be shortened without causing deadlocks, collisions, etc. with other moving devices, and generates an optimal lane plan based on the determination result.

[0116] In step ST21, the route / route planning unit registers other mobile devices in the route overlap list. The route / route planning unit 37, based on the route plans already generated for the route-setting mobile device and other mobile devices performing the mobile task based on the generated route plan, registers other mobile devices whose routes overlap with the route-setting mobile device in the route overlap list, and proceeds to step ST22.

[0117] In step ST22, the route / path planning unit sets the determination point including other lanes. For the path setting mobile device, the route / path planning unit 37 increases the cost value as the spatial distance from the path start point to the next waypoint becomes longer. For example, it includes the lane along its own movement direction (also called its own lane) and the lane along the movement direction of other mobile devices (e.g., called the lane in the opposite direction of movement or another lane) as costs. The route / path planning unit 37 uses Dijkstra's algorithm or similar methods to calculate the waypoint with the minimum cost value, sets the calculated waypoint as the determination point, and proceeds to step ST23.

[0118] In step ST23, the route / path planning unit calculates the travel time. The route / path planning unit 37 calculates the travel time by dividing the distance between the path start point and the determined point set in step ST22 by the travel speed (e.g., average travel speed) of the path setting mobile device, and proceeds to step ST24.

[0119] In step ST24, the route / path planning unit extracts the nearest node NDa. The route / path planning unit 37 extracts the node NDa that is closest to the determined point in the direction of travel and proceeds to step ST25.

[0120] In step ST25, the route / path planning unit extracts another unextracted mobile device from the route overlap list. Route / path planning unit 37 extracts another unextracted mobile device from the route overlap list where other mobile devices were registered in step ST21, and proceeds to step ST26.

[0121] In step ST26, the route / path planning unit extracts the nodes NDb that can be reached by other extracted mobile devices. Based on the route plan and the mobile device information of other extracted mobile devices, the route / path planning unit 37 extracts the node NDb that is closest to other mobile devices in the direction of travel when the travel time calculated in step ST23 has elapsed, and proceeds to step ST27.

[0122] In step ST27, the route / path planning unit determines whether node NDb is not included in the node sequence leading to node NDa. When the path setting mobile device moves from the path start point to a determined point of travel efficiency, the route / path planning unit 37 specifies a non-interference range based on the positions of other mobile devices. Specifically, if node NDb is not included in the node sequence leading to node NDa, the route / path planning unit 37 sets the determined point corresponding to node NDa as a waypoint within the non-interference range. Furthermore, if node NDb is included in the node sequence leading to node NDa, the route / path planning unit 37 sets the determined point corresponding to node NDa as a waypoint outside the non-interference range. The route / path planning unit 37 proceeds to step ST28 if the determined point is within the non-interference range, and proceeds to step ST29 if the determined point is outside the non-interference range.

[0123] In step ST28, the route / route planning unit determines whether all mobile devices have been extracted from the route overlap list. If all mobile devices in the route overlap list have been extracted, the route / route planning unit 37 proceeds to step ST30; otherwise, it returns to step ST25 if there are any unextracted mobile devices.

[0124] When processing proceeds from step ST27 to step ST29, the route / route planning unit determines whether the route start point is in another lane. Route / route planning unit 37 proceeds to step ST30 if the route start point is in its own lane, and proceeds to step ST31 if the route start point is in another lane.

[0125] In step ST30, the route / path planning unit sets the path toward the designated point. Route / path planning unit 37 sets the path from the path start point to the designated point set in step ST22, and proceeds to step ST32.

[0126] In step ST31, the route / path planning unit sets a path with a path start point in its own lane. The route / path planning unit 37 generates a path to update the path start point from waypoints in other lanes to waypoints in its own lane, and proceeds to step ST32.

[0127] In step ST32, the route / route planning unit sends a route. The route / route planning unit 37 sends the route set by the processing from step ST22 to step ST31 to the mobile device. For example, the route / route planning unit 37 sends the route with the lowest cost when there is no conflict with other mobile devices, and sends the route with the lowest cost value while avoiding conflict with other mobile devices during travel.

[0128] Notice, Figure 11 This illustrates the case where the path start point is set to a waypoint in its own lane when the lane start point is in another lane and the determined point in that other lane is not within the non-interference range. However, the determined point can also be changed to a waypoint in its own lane, and the processing from step ST23 onwards can be performed.

[0129] Figure 12 A specific example of route planning in the event of a lane change is shown. The route map generated by server 30 indicates nodes ND1 to ND9, and the lane map indicates the user's own lane with waypoints WP1-n and other lanes with waypoints WP2-n, with the user's own lane and other lanes set in opposite directions of movement. Furthermore, when the mobile device can shorten the travel distance and travel time by using not only its own lane but also other lanes, the mobile device uses other lanes to avoid causing deadlocks, collisions, etc., with other mobile devices.

[0130] For example, server 30 uses waypoint WP1-1 as the starting point of the path and sets the waypoint WP2-7, which has the lowest cost value to the next waypoint in the direction of movement of the path setting mobile device 20-1, as the fixed point.

[0131] Server 30 calculates the travel time required for the path-setting mobile device 20-1 to move from the path start point to the determined point based on the distance from the path start point to the determined point and the moving speed (e.g., average moving speed) of the path-setting mobile device 20-1. Furthermore, server 30 extracts the nearest node relative to the determined point, i.e., the node NDa (=ND2) closest in the direction of travel.

[0132] Next, server 30 extracts the node NDb (=ND7) that is closest to the position PS1 of mobile device 20-2 in the direction of travel, based on the travel time required for mobile device 20-1 to move from the starting point of the path to the determined point.

[0133] Since node NDb (=ND7) is not included in the node sequence from node ND1 to node NDa (=ND2), which is closest to the path start point in the direction of travel, server 30 sets the path such that the determined point WP2-7 is a waypoint within the non-interference range of other mobile devices in the direction of travel towards the destination, and the path sets mobile device 20-1 to move from the path start point (=WP1-1) to the determined point (=WP2-7). Furthermore, when the determined point is not the destination, server 30 updates the path start point to the determined point (=WP2-7).

[0134] Server 30 sets the waypoint WP2-6, which has the lowest cost value from the updated path start point (=WP2-7) to the next waypoint, as the fixed point and performs similar processing. In this case, the nearest node relative to the fixed point (i.e., the closest node NDa in the direction of travel) is node ND3, and if the mobile device 20-2 is at position PS2 after the travel time has elapsed, the closest node NDb in the direction of travel is node ND6.

[0135] Since node NDb (=ND6) is not included in the node sequence from node ND2 to node NDa (=ND3), server 30 sets the path such that the determined point WP2-6 is a waypoint within the non-interference range of other mobile devices in the direction of movement toward the destination, and the path sets mobile device 20-1 to move from the path start point (=WP2-7) to the determined point (=WP2-6). Furthermore, when the determined point is not the destination, server 30 updates the path start point to the determined point (=WP2-6).

[0136] Server 30 sets the waypoint WP2-5, which has the lowest cost value from the updated path start point (=WP2-6) to the next waypoint, as the fixed point and performs similar processing. In this case, the nearest node relative to the fixed point (i.e., the closest node NDa in the direction of travel) is node ND4, and if the mobile device 20-2 is at position PS3 after the travel time has elapsed, then the closest node NDb in the direction of travel is node ND5.

[0137] Since node NDb (=ND5) is not included in the node sequence from node ND3 to node NDa (=ND4), server 30 sets the path such that the determined point WP2-5 is a waypoint within the non-interference range of other mobile devices in the direction of movement toward the destination, and the path sets mobile device 20-1 to move from the path start point (=WP2-6) to the determined point (=WP2-5). Furthermore, when the determined point is not the destination, server 30 updates the path start point to the determined point (=WP2-5).

[0138] In the following text, if similar processing is performed, other lanes can be used to set up a path with a lower cost than the path that only uses its own lane (WP1-1→WP2-7→WP2-6→WP2-5→WP1-9) without causing deadlock, collision or other issues with the mobile device 20-2.

[0139] Figure 13 Another concrete example of route planning in the event of a lane change is shown. The route map generated by server 30 indicates nodes ND1 to ND9, and the lane map indicates the user's own lane with waypoints WP1-n and other lanes with waypoints WP2-n, with the user's own lane and other lanes set in opposite directions of movement. Furthermore, when the mobile device can shorten the travel distance and time by using not only its own lane but also other lanes, the mobile device uses other lanes to avoid deadlocks, collisions, etc., with other mobile devices. Note that... Figure 13 The mobile device 20-2 ratio is shown. Figure 12 The mobile device 20-2 is closer to the situation.

[0140] For example, server 30 uses waypoint WP1-1 as the starting point of the path and sets the waypoint WP2-7, which has the lowest cost value to the next waypoint in the direction of movement of the path setting mobile device 20-1, as the fixed point.

[0141] Server 30 calculates the travel time required for the path-setting mobile device 20-1 to move from the path start point to the determined point based on the distance from the path start point to the determined point and the moving speed (e.g., average moving speed) of the path-setting mobile device 20-1. Furthermore, server 30 extracts the nearest node relative to the determined point, i.e., the node NDa (=ND2) closest in the direction of travel.

[0142] Next, server 30 extracts the node NDb (=ND5) that is closest to the position PS1 of mobile device 20-2 in the direction of travel, based on the travel time required for mobile device 20-1 to move from the starting point of the path to the determined point.

[0143] Since node NDb (=ND5) is not included in the node sequence from node ND1 to node NDa (=ND2), which is closest to the starting point of the path in the direction of travel, server 30 sets the path such that the determined point WP2-7 is a waypoint within the non-interference range of other mobile devices in the direction of travel towards the destination, and the path sets mobile device 20-1 to move from the path starting point (=WP1-1) to the determined point (=WP2-7). Furthermore, when the determined point is not the destination, server 30 updates the path starting point to the determined point (=WP2-7).

[0144] Server 30 sets the waypoint WP2-6, which has the lowest cost value from the updated path start point (=WP2-7) to the next waypoint, as the fixed point and performs similar processing. In this case, the nearest node relative to the fixed point (i.e., the node NDa closest in the direction of travel) is node ND3, and if the mobile device 20-2 is at position PS2 after the travel time has elapsed, the nearest node NDb in the direction of travel is node ND4.

[0145] Since node NDb (=ND4) is not included in the node sequence from node ND2 to node NDa (=ND3), server 30 sets the path such that the determined point WP2-6 is a waypoint within the non-interference range of other mobile devices in the direction of movement toward the destination, and the path sets mobile device 20-1 to move from the path start point (=WP2-7) to the determined point (=WP2-6). Furthermore, when the determined point is not the destination, server 30 updates the path start point to the determined point (=WP2-6).

[0146] Server 30 sets the waypoint WP2-5, which has the lowest cost value from the updated path start point (=WP2-6) to the next waypoint, as the fixed point and performs similar processing. In this case, the nearest node relative to the fixed point (i.e., the node NDa closest in the direction of travel) is node ND4, and if the mobile device 20-2 is at position PS3 after the travel time has elapsed, then the nearest node NDb in the direction of travel is node ND3.

[0147] Since node NDb (=ND3) is included in the node sequence from node ND3 to node NDa (=ND4), server 30 determines that waypoint WP2-5 is a waypoint outside the non-interference range. Furthermore, when path setting mobile device 20-1 moves to waypoint WP2-5, deadlock or conflict occurs with other mobile devices 20-2. Therefore, server 30 sets a path for moving to its own lane and updates the path start point to a waypoint on its own lane.

[0148] For example, server 30 sets the destination to the path of its own lane's waypoint (=WP1-3), which is closest to the path start (=WP2-6), and sets the waypoint (=WP1-3) of the destination to the updated path start. Furthermore, if time is spent in the path setting mobile device 20-1, etc., switching the movement direction to the waypoint (=WP1-3) of the destination, server 30 can set the waypoint (=WP1-3) of its own lane as the path to the destination starting from the previous waypoint (=WP2-7) on the path. Additionally, if mobile device 20-2 is far from the lane start (=WP2-6), server 30 can set the lane of the waypoint (=WP1-4) closest to the determined point (=WP2-7) in its own lane as the destination, and set the lane to return to its own lane before deadlock, contact, or other issues occur with mobile device 20-2.

[0149] Furthermore, if the path setting for mobile device 20-1 to pass between other mobile devices 20-2 is completed, server 30 continues to set a determination point with the minimum cost value and performs the above-described processing.

[0150] As described above, server 30 specifies the non-interference range for the movement of mobile devices in its own lane and other lanes for movement of other mobile devices in the lane setting, determines the waypoint with the highest movement efficiency in the non-interference range in the direction of movement toward the destination, sets a path from the lane start point to the passing point with the highest movement efficiency, updates the path start point to the passing point with the highest movement efficiency, and if the path start point is in other lanes and the determined point in other lanes is not in the non-interference range, route / path planning unit 37 sets a path for moving the path start point to its own lane or the determined point in its own lane, and sets the path toward the determined point, so that a path plan that can be used to operate mobile devices efficiently using multiple lanes can be generated.

[0151] <4. Application Examples>

[0152] The technology according to embodiments of this disclosure can be applied to various fields. For example, the technology according to embodiments of this disclosure can be implemented as a device installed on any type of mobile device, such as automobiles, electric vehicles, hybrid electric vehicles, motorcycles, bicycles, personal mobility devices, ships, robots, etc. Furthermore, this disclosure can be implemented as a device installed on equipment used in factory production processes, equipment used in the construction field, or equipment used in agriculture, forestry, etc. When applied to such fields, even in environments where the traversable area of ​​the mobile device changes according to working conditions, multiple devices can be used to efficiently perform tasks.

[0153] The series of processes described in the manual can be executed by hardware, software, or a combination of both. When processing is performed via software, a program containing the processing sequence is installed in the memory of a computer containing dedicated hardware and executed. Alternatively, the program can be installed and executed in a general-purpose computer capable of performing various types of processing.

[0154] For example, the program can be pre-recorded on a hard disk, solid-state drive (SSD), or read-only memory (ROM) as the recording medium. Alternatively, the program can be temporarily or permanently stored (recorded) on a removable recording medium such as a floppy disk, CD-ROM, magneto-optical (MO) disk, DVD, Blu-ray disc (BD) (registered trademark), magnetic disk, semiconductor memory card, etc. Such removable recording media can be provided as so-called packaged software.

[0155] In addition to installing programs from removable recording media to a computer, programs can also be wirelessly or wiredly transferred from a download site to the computer via a network such as a local area network (LAN) or the Internet. In the computer, programs transferred in this way can be received and installed on recording media such as an internal hard drive.

[0156] Note that the effects described in this specification are merely illustrative and not limiting, and additional effects not described may exist. Furthermore, this technology should not be construed as limited to the embodiments described above. Embodiments of this technology are disclosed in an illustrative form, and it is apparent that those skilled in the art can modify and substitute the embodiments without departing from the spirit of this technology. That is, the claims should be considered in order to determine the spirit of this technology.

[0157] Furthermore, the information processing apparatus according to this technology may also have the following configuration.

[0158] (1) An information processing device, comprising

[0159] The route planning unit generates a route plan indicating a route to a destination by: determining a passpoint with the highest mobility efficiency in the direction of movement from the path origin of the mobile device toward the destination within a non-interference range with other mobile devices; setting a route from the path origin to the passpoint with the highest mobility efficiency; and updating the path origin to the passpoint with the highest mobility efficiency.

[0160] (2) The information processing device according to (1),

[0161] The path planning unit specifies the non-interference range based on the positions of other mobile devices when the mobile device moves from the starting point of the path to a determined pass point for determining the movement efficiency.

[0162] (3) The information processing device according to (2),

[0163] Nodes are set along the routes taken by the mobile device and the other mobile devices, and

[0164] The path planning unit specifies the non-interference range based on the node closest to the determined pass point in the direction of movement and the node closest to the other mobile device in the direction of movement.

[0165] (4) The information processing apparatus according to any one of (1) to (3),

[0166] The route planning unit specifies the non-interference range for the mobile device's own lane on which it moves.

[0167] (5) The information processing device according to (4),

[0168] The path planning unit determines the passing point with the highest movement efficiency based on the result of eliminating passing points.

[0169] (6) The information processing device according to (5),

[0170] Wherein, when the travel time is shortened by eliminating transit points located between the starting point of the path and the determined transit point used to determine the travel efficiency, the path planning unit sets the determined transit point as the transit point with the highest travel efficiency.

[0171] (7) The information processing apparatus according to (6),

[0172] Where there are no obstacles between the starting point of the path and the determined passing point, the path planning unit sets the determined passing point as the passing point with the highest movement efficiency.

[0173] (8) The information processing apparatus according to any one of (1) to (7),

[0174] The route planning unit specifies the non-interference range for the mobile device's own lane and other lanes on which other mobile devices move.

[0175] (9) The information processing apparatus according to (8),

[0176] The route planning unit determines the passing point with the highest mobility based on the passing points on its own lane and the passing points on other lanes included in the non-interference range.

[0177] (10) The information processing apparatus according to (9),

[0178] Where the path origin is in another lane and the next passing point in that other lane is not in the non-interference range, the lane planning unit will set the determined passing point for determining movement efficiency or the path origin as the passing point in its own lane.

[0179] Reference tag list

[0180] 10 Mobile Device Control System

[0181] 20,20-2 Mobile Device

[0182] 20-1 Path Setting Mobile Device

[0183] 21 sensor units

[0184] 22 Surrounding Map Generation Units

[0185] 23 Self-position estimation units

[0186] 24 communication units

[0187] 25 Path Following Units

[0188] 26 drive control unit

[0189] 27 drive units

[0190] 30 servers

[0191] 31 Communication Units

[0192] 32 Route Map Generation Unit

[0193] 33-lane map generation unit

[0194] 34 map storage units

[0195] 35 Mobile Device Information Storage Unit

[0196] 36 Task Planning Units

[0197] 37 Route / Path Planning Unit

Claims

1. An information processing device, comprising: A route planning unit, configured to generate a route plan for a mobile device to a destination by repeatedly executing a process until a determined waypoint becomes the destination, the process including: Determining the point of passage with the highest mobility efficiency in the direction of movement from the starting point of the path of the mobile device toward the destination, within a non-interference range with other mobile devices, includes: Define a specific transit point that is located outside of at least one intermediate transit point relative to the starting point of the path. Calculate the first movement efficiency of the potential path segment that directly connects the starting point of the path to the determined transit point. Calculate the second movement efficiency of the path through the path origin and the at least one intermediate transit point between the determined transit point, and When the first movement efficiency is higher than the second movement efficiency, and the potential path segment is determined to be within the non-interference range and free of obstacles, the determined passpoint is selected as the passpoint with the highest movement efficiency. Set a path from the starting point of the path to the transit point with the highest mobility; and Update the path starting point to the point with the highest movement efficiency. The mobile device performs movement control to move along the path.

2. The information processing device according to claim 1, in, The route planning unit is configured to specify the non-interference range based on the positions of other mobile devices when the mobile device moves from the route start point to the determined transit point.

3. The information processing device according to claim 2, in, Nodes are set along the routes taken by the mobile device and the other mobile devices, and The path planning unit is configured to specify the non-interference range based on the node closest to the determined pass point in the direction of movement and the node closest to the other mobile device in the direction of movement.

4. The information processing device according to claim 1, in, The route planning unit is configured to specify the non-interference range for the mobile device's own lane on which it moves.

5. The information processing apparatus according to claim 1 further includes a communication unit. The communication unit is configured to send the path to the mobile device.

6. The information processing apparatus according to claim 1, in, The first mobility efficiency is the first mobility time, and The second movement efficiency is the second movement time.

7. The information processing apparatus according to claim 6, in, The path planning unit is configured to select the determined pass point as the pass point with the highest movement efficiency when the first movement time is shorter than the second movement time and the potential path segment is determined to be within the non-interference range and without obstacles.

8. The information processing apparatus according to claim 1, in, The route planning unit is configured to specify the non-interference range for the mobile device's own lane and other lanes on which the other mobile devices move.

9. The information processing apparatus according to claim 8, in, The route planning unit is configured to determine the passing point with the highest mobility based on passing points in its own lane and passing points in the other lanes included in the non-interference range.

10. The information processing apparatus according to claim 9, in, When the path origin is in another lane and the next transit point in that other lane is not in the non-interference range, the path planning unit is configured to set the transit point with the highest mobility efficiency as the transit point in its own lane.

11. The information processing apparatus according to claim 1, in, The pass point with the highest mobility efficiency is determined based on the lane map, and The lane map is generated based on a route map containing lane number information.

12. The information processing apparatus according to claim 11, wherein, The route map is generated in the following way: Perform Voronoi partitioning on the movable area map to extract boundary lines, and The number of lanes is generated based on the distance from the boundary line to the obstacle.

13. The information processing apparatus according to claim 1, wherein, The maximum mobility efficiency is determined based on cost values.

14. The information processing apparatus according to claim 13, wherein, The cost value is configured to increase as the distance traveled between the path start point and the determined transit point increases.

15. The information processing apparatus according to claim 8, wherein, The other lanes are lanes used for travel in the opposite direction to the travel direction of the lane itself.

16. The information processing apparatus according to claim 5, wherein, The communication unit is configured to receive map information from the mobile device that indicates objects around the mobile device.

17. The information processing apparatus according to claim 1, wherein, The route plan includes a list of waypoint sequences for the mobile device to follow.

18. The information processing apparatus according to claim 1, wherein, The non-interference range is the range in which there is no deadlock or collision with the other mobile devices.

19. An information processing method, comprising: A route planning unit generates a route plan for the mobile device to the destination by repeatedly executing a process until a determined waypoint becomes the destination. The process includes: Determining the point of passage with the highest mobility efficiency in the direction of movement from the starting point of the path of the mobile device toward the destination, within a non-interference range with other mobile devices, includes: Define a specific transit point that is located outside of at least one intermediate transit point relative to the starting point of the path. Calculate the first movement efficiency of the potential path segment that directly connects the starting point of the path to the determined transit point. Calculate the second movement efficiency of the path through the path origin and the at least one intermediate transit point between the determined transit point, and When the first movement efficiency is higher than the second movement efficiency, and the potential path segment is determined to be within the non-interference range and free of obstacles, the determined passpoint is selected as the passpoint with the highest movement efficiency. Set a path from the starting point of the path to the transit point with the highest mobility; and Update the path starting point to the point with the highest movement efficiency. The mobile device performs movement control to move along the path.

20. A computer program product comprising a computer program / instructions, wherein, When the computer program / instructions are executed by the processor, they implement the steps of the information processing method according to claim 19.

21. A non-transitory computer-readable medium for storing a program that causes a computer to perform an information processing method, the information processing method comprising: A route plan for the mobile device to the destination is generated by repeating the process until the determined waypoint becomes the destination. The process includes: Determining the point of passage with the highest mobility efficiency in the direction of movement from the starting point of the path of the mobile device toward the destination, within a non-interference range with other mobile devices, includes: Define a specific transit point that is located outside of at least one intermediate transit point relative to the starting point of the path. Calculate the first movement efficiency of the potential path segment that directly connects the starting point of the path to the determined transit point. Calculate the second movement efficiency of the path through the path origin and the at least one intermediate transit point between the determined transit point, and When the first movement efficiency is higher than the second movement efficiency, and the potential path segment is determined to be within the non-interference range and free of obstacles, the determined passpoint is selected as the passpoint with the highest movement efficiency. Set a path from the starting point of the path to the transit point with the highest mobility; and Update the path starting point to the point with the highest movement efficiency. The mobile device performs movement control to move along the path.

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