Control system and control method

Abstract

To autonomously move a movable body more smoothly.SOLUTION: In a control system including at least one or more autonomous movable bodies and system control means for performing a control instruction to the autonomous movable body, the system control means transmits route information determined by route determination means and space information about a space included in the route information determined by the route determination means by first network connection means, and the autonomous movable body controls drive means so as to move the autonomous movable body according to a route included in the route information received by second network connection means.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a control system and a control method. [Background technology]

[0002] In recent years, with technological innovations such as autonomous mobility and spatial recognition systems, the competition to develop an overall picture that connects data and systems between different organizations and members of society (hereinafter referred to as "digital architecture") is intensifying around the world. The development of digital architecture is also urgently needed in Japan.

[0003] Patent Document 1 discloses a method for searching for a route with good wireless communication quality by storing a position in association with wireless communication quality information at that position and using the wireless communication quality to search for a route for an autonomously traveling mobile object. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2022-52486 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the technology of Patent Document 1, the route is notified to the mobile object, but the wireless communication quality information on the route is not notified. Also, there is no means for the mobile object to detect the current wireless communication quality information and feed it back to the control system. Therefore, the current wireless communication quality information cannot be reflected when determining the route, and there is a risk of causing a disruption to the movement of the mobile object.

[0006] The present invention has been made in consideration of the above problems, and has an object to allow a moving body to move autonomously more smoothly. [Means for solving the problem]

[0007] A control system according to one embodiment of the present invention has at least one autonomous moving body and a system control means for giving control instructions to the autonomous moving body, the system control means having a format database for managing spatial information indicating a state of a space using a unique identifier, a route determination means for searching for and determining route information regarding a route from a starting point to a destination in the movement of the autonomous moving body using the spatial information managed in the format database, a first network connection means for transmitting and receiving data to and from the autonomous moving body, and a first control means for controlling the entire system control means, the autonomous moving body having a second network connection means for transmitting and receiving data to and from the system control means, a detection means for detecting spatial information regarding a space around the autonomous moving body, a drive means for driving the autonomous moving body, and a second control means for controlling the entire autonomous moving body, the first control means transmitting route information determined by the route determination means and spatial information regarding the space included in the route information determined by the route determination means via the first network connection means, and the second control means controlling the drive means to move the autonomous moving body along a route included in the route information received by the second network connection means. Effect of the Invention

[0008] According to the present invention, it is possible to cause a moving object to move autonomously more smoothly. [Brief description of the drawings]

[0009] [Figure 1] 1 is a diagram showing a system configuration according to a first embodiment of the present invention. [Diagram 2] 1 is a block diagram showing the functional configuration of devices constituting a system according to a first embodiment of the present invention. [Diagram 3] 2 is a flowchart of the autonomous moving body 11 according to the first embodiment of the present invention. [Figure 4] 2 is a flowchart of the system control device 10 according to the first embodiment of the present invention. [Diagram 5]2 is a sequence diagram of the system control device 10 and the autonomous moving body 11. FIG. [Figure 6] FIG. 1 is a layout diagram of a factory in which services provided by a system control device 10 are implemented. [Figure 7] FIG. 2 is a diagram showing a spatial format according to the first embodiment of the present invention. [Figure 8] 11 is a diagram showing a case in which actual spatial information is worse than the spatial information held by the system control device during driving. FIG. [Figure 9] 11 is a diagram showing a case in which actual spatial information is better than the spatial information held by the system control device during driving. FIG. [Figure 10] 13A and 13B are diagrams illustrating a case in which spatial information held by a system control device is insufficient or outdated. [Figure 11] 10 is a flowchart for estimating the extent of influence of a communication failure in a second embodiment of the present invention. [Figure 12] FIG. 11 is a diagram showing a method for estimating the influence range of spatial information by using feature and topographical information of adjacent spaces in the second embodiment of the present invention. [Figure 13] FIG. 11 is a diagram showing a method for estimating the influence range of spatial information by using a movable route in the second embodiment of the present invention. [Figure 14] FIG. 11 is a diagram showing a method for estimating the affected range of spatial information from the positional relationship between a communication failure occurrence point and a base station, an access point, etc. in the second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the following embodiments do not limit the scope of the present invention, and not all of the combinations of features described in the embodiments are necessarily essential to the solution of the present invention.

[0011] <First embodiment> 1. Overview of the autonomous vehicle control system configuration First, a brief description will be given of the configuration of an autonomous mobile control system according to a first embodiment of the present invention. Fig. 1 is a diagram showing the overall configuration of an autonomous mobile control system according to a first embodiment of the present invention.

[0012] As shown in FIG. 1, the autonomous mobile object control system includes a system control device 10 and an autonomous mobile object 11. The autonomous mobile object control system is an example of a control system. The autonomous mobile object control system includes at least one or more autonomous mobile objects 11. The system control device 10 and the autonomous mobile object 11 are connected via a network 12. The network 12 may be the Internet or another network system such as a LAN. LAN is an abbreviation for Local Area Network. The processing units included in each device may be configured as separate devices.

[0013] Each of the system control device 10 and the autonomous mobile body 11 is configured with an information processing device including a CPU, a ROM, a RAM, and a HDD. CPU is an abbreviation for Central Processing Unit. ROM is an abbreviation for Read Only Memory. RAM is an abbreviation for Random Access Memory. HDD is an abbreviation for Hard Disk Drive. The information processing device is, for example, a computer. The functions and internal configurations of each component will be described in detail later.

[0014] 2. Example of the implementation environment of this system Examples of application of this system include automatic transport robots in factories, automatic cleaning services, etc. In this embodiment, an example of a process in which an autonomously traveling mobile object moves autonomously based on a route notified by the system will be described.

[0015] 6 is a diagram showing the factory site, viewed from above, in which the autonomous mobile body 11 travels in this embodiment. The autonomous mobile body 11 autonomously travels from a starting point 603 to a destination point 604. As shown in Fig. 6, the area is surrounded on all four sides by walls 602, and a pillar 601 exists in the center. The space between the wall 602 and the pillar 601 is wide enough for one autonomous mobile body 11 to travel.

[0016] 3. Detailed explanation of the configuration and functions of each device Next, the configuration and function of each device shown in Fig. 1 will be described in detail with reference to Fig. 2. Fig. 2 is a block diagram showing the internal configuration of each device in Fig. 1.

[0017] 3.1 Description of the System Controller 10 The system control device 10 includes a format database 101, a unique identifier management unit 102, an autonomous mobile object information management unit 103, a route determination unit 104, a spatial information determination unit 105, a control unit 106, an information storage unit 107, and a network connection unit 108. The information storage unit 107 includes a memory and a HD. HD is an abbreviation for Hard Disk.

[0018] The format database 101 defines a space of a predetermined size based on the latitude / longitude / altitude of a specific starting point, starting from a specific position, based on the format information described later. It also assigns an identifier (hereinafter, "unique identifier") to the space and manages the space by the unique identifier. The configuration of the format managed by the format database 101 will be described with reference to FIG. 7.

[0019] Fig. 7 is a perspective view showing a predetermined space 701. In Fig. 7, the center of the predetermined space 701 is defined as a center 702. This format divides the space of the earth into a plurality of divided spaces determined by ranges starting from the center 702, which is determined by latitude / longitude / altitude, and makes it possible to manage each divided space by adding a unique identifier to each divided space.

[0020] For example, here, a space 701 is displayed as a predetermined space. The space 701 is a divided space defined with a center 702 defined as latitude 20 degrees north, longitude 140 degrees east, and height H as the starting point, a width in the latitude direction as D, a width in the longitude direction as W, and a width in the height direction as T. In other words, each divided space is a space obtained by dividing the space of the earth into spaces determined by a range starting from latitude / longitude / height.

[0021] The format database 101 manages the states of objects existing within the range of the space 701 as spatial information. This spatial information is updated by information input from an external system connected via a network or an autonomous mobile object under management. In addition, the spatial information of the space in which the autonomous mobile object travels may be information obtained from a sensor node installed on the factory site or BIM data of the factory, or information may be collected in advance by running the autonomous mobile object. BIM is an abbreviation for Building Information Modeling.

[0022] When the spatial information is updated due to object detection by an external system or an autonomous mobile body under its management, the format database 101 notifies the unique identifier management unit 102 and the autonomous mobile body information management unit 103 of the update. Furthermore, the format database 101 can provide a unique identifier corresponding to position information relating to the site and space of a desired factory from the autonomous mobile body 11, etc. Similarly, the format database 101 can share the spatial information with other external systems connected to the network 12.

[0023] The unique identifier management unit 102 manages the position information related to the space based on the unique identifier. When the unique identifier management unit 102 receives an inquiry about space information specifying latitude / longitude / altitude for factory site information from the control unit 106, the unique identifier management unit 102 responds with the unique identifier of the corresponding space information managed in the format database 101.

[0024] The autonomous mobile body management unit 103 manages the autonomous mobile body 11 that travels autonomously within the factory. Specifically, the autonomous mobile body management unit 103 stores device information such as the device size, travel method, and communication method of the autonomous mobile body 11, and manages the travel route. In addition, when the spatial information on the travel route is updated in the format database 101, the autonomous mobile body management unit 103 notifies the spatial information determination unit 105 to that effect.

[0025] The route determination unit 104 searches for a unique identifier corresponding to predetermined position information specified via the network 12, performs a route search using the unique identifier, and determines route information for the searched route. The route determination unit 104 determines a route using spatial information managed in the format database 101. The spatial information includes information that the space is impassable. The route determination unit 104 determines a route while avoiding the impassable space. The route determination unit 104 transmits the determined route information to the autonomous mobile unit information management unit 103. Note that since the searched route information is a continuation of divided spaces defined in the format database 101, it is easy to link the route information to spatial information on the route.

[0026] When the spatial information is updated, the spatial information determination unit 105 determines whether there is an impact on the travel route of the autonomous mobile body 11 under the management of the system control device 10, and whether there is a better route. Furthermore, the spatial information determination unit 105 estimates the range affected by the update of the spatial information, and determines which range around the space where the spatial information has been updated should be updated.

[0027] The control unit 106 is responsible for controlling communication functions of the position information, the route information, and the unique identifier of the system control device 10. The control unit 106 controls processing in each component, such as the format database 101, the unique identifier management unit 102, the autonomous mobile object information management unit 103, the route determination unit 104, the spatial information determination unit 105, the information storage unit, and the network connection unit 108. The control unit 106 transmits predetermined position information acquired from the autonomous mobile object 11 to the route determination unit 104, acquires predetermined route information from the route determination unit 104, and transmits the route information and spatial information linked to the route included in the route information to the autonomous mobile object 11.

[0028] The information storage unit 107 stores various data handled by the system control device 10.

[0029] The network connection unit 108 transmits and receives data to and from the autonomous moving body 11 via the network 12 .

[0030] As described above, the system control device 10 is configured to acquire predetermined location information specified by a user, transmit and receive location information and route information, generate location information, and transmit and receive route information using a unique identifier.

[0031] 3.2 Description of Autonomous Vehicle 11 2, the autonomous moving object 11 includes a detection unit 111, a communication quality acquisition unit 112, a control unit 113, a direction control unit 114, an information storage unit 115, a network connection unit 116, and a drive unit 117. The information storage unit 115 includes a memory and a HD.

[0032] The detection unit 111 has an imaging unit including an image sensor, and a distance measurement unit that measures distance by a phase difference of light using a plurality of image sensors. The detection unit 111 acquires detection information (hereinafter, referred to as "detection information") that detects obstacles such as surrounding terrain and building walls. Furthermore, the detection unit 111 has a self-location estimation unit that estimates its own location from the detection information and acquires it as self-location estimation information.

[0033] The detection unit 111 also includes a self-position detection unit that includes, for example, a GPS and detects its own position and acquires it as self-position detection information. The detection unit 111 also includes, for example, a geomagnetic sensor and has a direction detection unit that detects the direction in which the autonomous mobile unit 11 is facing and acquires it as direction detection information. GPS is an abbreviation for Global Positioning System. The detection unit 111 recognizes information such as the actual location of a feature and the communication quality at the autonomous mobile unit 11 based on the acquired detection information, the self-position estimation information, the self-position estimation information, and the direction detection information, and can express equivalent spatial information as digital data. The information detected by the detection unit 111 is an example of spatial information about the space around the autonomous mobile unit 11.

[0034] Furthermore, the autonomous moving body 11 stores learning result data obtained by performing machine learning, for example, in the information storage unit 115, and can detect objects from captured images.

[0035] The communication quality acquisition unit 112 inquires about the communication quality according to the communication method of the autonomous mobile unit 11. The communication quality is assumed to be the received radio wave strength, throughput, error rate, and the like of the autonomous mobile unit 11.

[0036] The control unit 113 is responsible for controlling the movement, direction changes, and autonomous driving functions of the autonomous mobile body 11. The control unit 113 controls the processing of each component, such as the detection unit 111, the communication quality acquisition unit 112, the direction control unit 114, the information storage unit 115, the network connection unit 116, and the drive unit 117. The control unit 113 controls the drive unit 117 so as to move the autonomous mobile body 11 along a route included in the route information received from the system control device 10.

[0037] The control unit 113 also has a function of determining, based on the object detection result of the detection unit 111 and the communication quality information of the communication quality information acquisition unit 112, whether it is difficult to travel along the route.

[0038] The direction control unit 114 changes the direction of the drive unit 117 to change the moving direction of the autonomous moving body 11.

[0039] The information storage unit 115 stores various data handled by the autonomous moving body 11.

[0040] The network connection unit 116 transmits and receives data to and from the system control device 10 via the network 12 .

[0041] The driving unit 117 is composed of a driving device such as a motor, and generates a propulsive force for the autonomous moving body 11. In this embodiment, the case where the autonomous moving body 11 is a running body having wheels will be described, but the autonomous moving body 11 is not limited to this, and may be an air vehicle such as a drone. In addition, the autonomous moving body 11 is, for example, a moving body equipped with SLAM technology. SLAM is an abbreviation for Simultaneous Localization and Mapping. The autonomous moving body 11 is configured to create a three-dimensional map based on detection information detected by the detection unit 111 and detection information of an external system acquired via the network 12, and to autonomously move along a specified route. The driving unit 117 may include a direction control unit 114.

[0042] With the above configuration, in this embodiment, the autonomous moving body 11 moves autonomously based on route information using the unique identifier provided by the system control device 10.

[0043] 4. Processing flow in the autonomous mobile control system Next, details of the control operation in the autonomous mobile object control system described in Fig. 1 and Fig. 2 will be described with reference to Fig. 3, Fig. 4, and Fig. 5. Fig. 3 is a flowchart of the autonomous mobile object 11 according to this embodiment. Fig. 4(A) is a flowchart of the system control device 10 according to this embodiment. Fig. 4(B) is a flowchart showing details of the autonomous mobile object operation management executed in step S405 of Fig. 4(A). Fig. 5 is a sequence diagram of the system control device 10 and the autonomous mobile object 11.

[0044] As described above, FIG. 6 is a diagram showing the factory site in which the autonomous mobile body 11 travels in this embodiment, viewed from above. The autonomous mobile body 11 autonomously travels from a point 603 as a starting point to a destination point 604. As shown in FIG. 6, the area is surrounded by walls 602 on all four sides, and a pillar 601 is present in the center. The space between the wall 602 and the pillar 601 is wide enough for one autonomous mobile body 11 to travel. Note that the space in which the autonomous mobile body 11 travels is divided by a format managed by the format database 101, and spatial information is assumed to have been acquired in advance by, for example, traveling the autonomous mobile body 11.

[0045] 4.1 Transmission of information from autonomous mobile units to the system control device First, the autonomous mobile body 11 transmits mobile body information such as a current location, a destination, a moving mode, and an equipment size, and communication information such as a communication mode and a bandwidth to the system control device 10 (step S301 in FIG. 3, step S501 in FIG. 5). The moving mode is a legally identified type of mobile body, and means, for example, a type such as an automobile, a drone, or an AMR. AMR is an abbreviation for Autonomous Mobile Robot. In addition, the communication mode means a type of public communication line such as wireless LAN, 4G, or 5G. LAN is an abbreviation for Local Area Network. 4G is the abbreviation for the fourth generation mobile communication system. 5G is the abbreviation for the fifth generation mobile communication system.

[0046] The system control device 10 stores the received current position, destination, mobile unit information and communication information in the autonomous mobile unit information management unit 103 (step S401 in FIG. 4A, step S502 in FIG. 5).

[0047] 4.2 Route planning The system control device 10 searches the divided space corresponding to the current position and destination of the autonomous mobile body 11, and searches for a route between the two points (step S402 in FIG. 4(A), step S503 in FIG. 5). At this time, the system control device 10 searches for a route conforming to the movement method for the route to be searched. The system control device 10 may also search for a route taking into consideration all information linked to spatial information. Here, information linked to spatial information may include information on features and topography, weather information, communication information, people flow information, flying object information, and vehicle information. For example, a space with a large number of people is unlikely to be selected as a route, and a space with good communication quality is more likely to be selected as a route than a space with poor communication quality. The spatial information may include such information linked to spatial information.

[0048] 4.3 Transmission of route and spatial information associated with the route from the system control device to the autonomous mobile unit Next, the system control device 10 links the route to a unique identification number assigned to the autonomous mobile unit 11, and stores and manages it in the autonomous mobile unit information management unit 103 (step S403 in FIG. 4A). The system control device 10 transmits the route and spatial information linked to the route to the autonomous mobile unit 11 via a network (step S404 in FIG. 4A). Note that the system control device 10 may also transmit spatial information about spaces not on the route to the autonomous mobile unit 11, but in this case, it is assumed that spatial information on the route is transmitted due to the trade-off between communication volume and updating of spatial information. The autonomous mobile unit 11 associates the route and the spatial information linked to the route with a three-dimensional map created by SLAM or the like.

[0049] 4.4 Autonomous driving and feedback of differences in spatial information The autonomous mobile body 11 that has received the route starts autonomous traveling according to the route (step S303 in FIG. 3, step S504 in FIG. 5). Since spatial information is linked to the route, the autonomous mobile body 11 can recognize the difference between the spatial information and the actual state of the space by acquiring the result of object detection and communication quality (step S304 in FIG. 3). In this embodiment, the system control device 10 performs operation management of the autonomous mobile body 11 in response to the difference in the spatial information recognized by the autonomous mobile body 11 and a request for re-searching (step S405 in FIG. 4(A)).

[0050] In addition, there are cases where the actual detection results are worse than the spatial information associated with the route while driving, and cases where they are better. Also, it is possible to imagine cases of improvement or deterioration regarding all spatial information associated with the route, but here we will focus on communication quality.

[0051] First, a case where the actual detection result is worse than the spatial information associated with the route while driving will be described with reference to Fig. 8. Fig. 8 is a diagram showing a case where the actual spatial information is worse than the spatial information held by the system control device 10 while driving.

[0052] The autonomous moving body 11 starts traveling from a point 603 and travels along a first traveling route 803. While traveling along the first traveling route 803, the autonomous moving body 11 detects a communication failure based on the communication quality 805. When the autonomous moving body 11 detects the communication failure, it requests the system control device 10 to update the spatial information (step S305 in FIG. 3, step S505 in FIG. 5).

[0053] The autonomous moving body 11 determines whether it is possible to continue traveling along the route, and if it determines that it is not possible (if it is difficult for the autonomous moving body 11 to move) (step S306 in FIG. 3), it requests that the route be searched again (step S307 in FIG. 3, step S507 in FIG. 5).

[0054] The system control device 10 updates the spatial information in the format database 101 in accordance with the spatial information received from the autonomous moving body 11 (step S406 in FIG. 4B). The system control device 10 estimates the extent of the influence of the change to the spatial information received in step S406 from the spatial information in the format database 101 (step S407 in FIG. 4B, step S506 in FIG. 5). When there is a request to re-search for a route, the system control device 10 performs a route re-search in accordance with the spatial information received from the autonomous moving body 11 and the extent of the influence estimated in step S407 (steps S408 and S409 in FIG. 4B).

[0055] If a better route exists than the result of this re-search (Yes in step S410 in FIG. 4B), the system control device 10 performs the re-search again in step S409. If a better route does not exist than the result of this re-search (No in step S410), the system control device 10 executes the process of step S411 in FIG. 4B.

[0056] As a result of the re-search, the system control device 10 transmits the second travel route 804 in FIG. 8 and spatial information associated with the second travel route 804 to the autonomous moving body 11 (step S411 in FIG. 4B, step S508 in FIG. 5). The autonomous moving body 11 continues autonomous travel along the second travel route 804 and heads toward the destination point 604 (step S308 in FIG. 3).

[0057] Next, a case where the actual detection result is better than the spatial information associated with the route during driving will be described with reference to Fig. 9. Here, it is assumed that the system control device 10 controls two autonomous moving bodies, a first autonomous moving body 11a and a second autonomous moving body 11b.

[0058] The first autonomous mobile body 11a is traveling on a first travel path 803a. The second autonomous mobile body 11b is traveling on a second travel path 804. The second autonomous mobile body 11b detects an improvement in communication quality from the communication quality 805 while traveling on the second travel path 804. When the second autonomous mobile body 11b detects an improvement in communication quality, it requests the system control device 10 to update the spatial information. In response to this, the system control device 10 updates the spatial information and determines whether to re-search for the route of the autonomous mobile body under its management (step S410 in FIG. 4(B)). Due to the update of the spatial information (improvement of communication quality due to the communication quality 805), the system control device 10 determines that, for example, it is preferable for the first autonomous mobile body 11a traveling on the first travel path 803a to travel on the third travel path 803b. In this case, the system control device 10 notifies the first autonomous moving body 11a of the route again so as to head toward the third travel route 803b (step S411 in FIG. 4B).

[0059] The above describes the case where a communication failure is detected, but as mentioned above, this embodiment can be applied to any spatial information linked to a route. For example, weather changes may be fed back to the system control device 10 and used for route search. Also, when traveling in a space with few people, if the number of people increases, people flow information may be fed back to the system control device 10 to indicate that the space is difficult to travel in.

[0060] When the spatial information is updated, if the update has a positive effect on the operation of the autonomous mobile body, the space around the updated space may be weighted to make it easier to pass through the space, and if the update has a negative effect on the operation of the autonomous mobile body, the space around the updated space may be weighted to make it harder to pass through the space. The route determination unit 104 re-searches for a route by reflecting this weighting.

[0061] Cases where spatial information is insufficient or outdated are also considered. Fig. 10 is a diagram showing cases where spatial information held by the system control device 10 is insufficient or outdated.

[0062] 10, a case will be described in which the spatial information 802 is insufficient or outdated. The system control device 10 may transmit the spatial information 802 in addition to the spatial information on the route. While traveling on the first traveling route 803, the autonomous moving body 11 detects the spatial information 802 in addition to the spatial information on the route, and transmits it to the system control device 10. The system control device 10 receives this and updates the spatial information in the format database 101.

[0063] <Second embodiment> 4.5 Estimating the extent of the obstacle and updating the surrounding spatial information Next, a second embodiment of the present invention will be described. In the first embodiment, when the autonomous mobile body 11 is traveling along a route notified by the system control device 10, if there is a difference between the spatial information associated with the route and the actual detection result, the difference is fed back to the system control device 10, and a better route is traveled. In the second embodiment, details of a method for estimating the impact range of a failure when a failure is detected and updating surrounding spatial information will be described.

[0064] Hereinafter, the second embodiment of the present invention will be described with reference to Figs. 11, 12, 13, and 14. In the second embodiment, as in the first embodiment, a method of estimating the extent of influence for any spatial information associated with a route can be assumed, but communication quality will be taken up and described here. Fig. 11 is a flowchart for estimating the extent of influence of a communication failure in the second embodiment. Fig. 12 is a diagram showing a method of estimating the extent of influence of spatial information using feature and topographical information of an adjacent space in the second embodiment. Fig. 13 is a diagram showing a method of estimating the extent of influence of spatial information using a movable route in the second embodiment. Fig. 14 is a diagram showing a method of estimating the extent of influence of spatial information from the positional relationship between the point of communication failure and a base station, an access point, etc. in the second embodiment.

[0065] 12, the autonomous mobile body 11 detects a communication failure based on the communication quality 805 while traveling along a first travel route 803. At this time, the autonomous mobile body 11 requests the system control device 10 to update the spatial information in accordance with the first embodiment. In response to this, the system control device 10 updates the spatial information regarding the space in which the communication failure was detected based on the communication quality 805, and also estimates the range of influence of the communication failure (step S901 in FIG. 11).

[0066] As an example of the estimated affected range, the system control device 10 may also update space information of spaces in the communication failure affected range 806 (step S902 in FIG. 11). The communication failure affected range 806 is a range in which there are spaces adjacent to the space in which the communication failure was detected by the communication quality 805, and which is adjacent to the pillar 601.

[0067] As an example of an estimated affected range, when the autonomous mobile body 11 travels along a newly presented second driving route 804 as shown in FIG. 13, the area between the first driving route 803 and the second driving route 804 may be updated as the communication failure affected range 806 (step S903 in FIG. 11).

[0068] Furthermore, when the communication quality 805 is related to communication between the autonomous mobile body 11 and the communication device 807, the estimated affected range may be determined based on the positional relationship between the communication device 807 and the location where the communication failure is detected based on the communication quality 805. The communication device 807 is, for example, a base station or an AP. AP is an abbreviation for access point. In this case, as an example of the estimated affected range, for example, a location farther from the communication device 807 than the distance between the communication device 807 and the location where the communication failure is detected based on the communication quality 805 may be updated as the communication failure affected range 806 (step S904 in FIG. 11). The communication failure affected range 806 may be estimated by any known method based on the positional relationship between the communication device 807 and the location where the communication failure is detected.

[0069] The influence range may also be defined in the height direction. The influence range may be estimated by combining the above methods. When an obstacle is detected, the obstacle influence range may be estimated by estimating the depth from the size of the obstacle as seen from the front.

[0070] (Other embodiments) The present invention can also be realized by a process in which a program for implementing one or more of the functions of the above-described embodiments is supplied to a system or device via a network or a storage medium, and one or more processors in a computer of the system or device read and execute the program. The present invention can also be realized by a circuit (e.g., ASIC) that implements one or more of the functions.

[0071] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and changes are possible within the scope of the gist of the present invention.

[0072] The disclosure of this embodiment includes the following configurations and methods. (Configuration 1) The system includes at least one autonomous moving body and a system control means for issuing control instructions to the autonomous moving body, The system control means a format database for managing spatial information indicating a state of a space using a unique identifier; a route determination means for searching and determining route information regarding a route from a departure point to a destination in the movement of the autonomous moving body by using spatial information managed in the format database; A first network connection means for transmitting and receiving data to and from the autonomous moving body; A first control means for controlling the entire system control means; having The autonomous moving body is A second network connection means for transmitting and receiving data to and from the system control means; A detection means for detecting spatial information about a space around the autonomous moving body; A driving means for driving the autonomous moving body; A second control means for controlling the entire autonomous moving body; having the first control means transmits, via the first network connection means, route information determined by the route determination means and spatial information regarding a space included in the route information determined by the route determination means; the second control means controls the drive means so as to move the autonomous moving body along a route included in the route information received by the second network connection means; A control system comprising: (Configuration 2) When the spatial information received by the second network connection means is different from the spatial information detected by the detection means, the second control means transmits the spatial information detected by the detection means via the second network connection means; the first control means updates the format database with the spatial information received by the first network connection means; 2. The control system according to claim 1, (Configuration 3) When the spatial information received by the second network connection means indicates that it is difficult for the autonomous moving body to move, the second control means requests a re-search for the route information received by the second network connection means. 3. The control system according to configuration 2. (Configuration 4) The space is defined by latitude / longitude / height, 4. A control system according to any one of configurations 1 to 3. (Configuration 5) The spatial information includes feature and topographical information, meteorological information, communication information, pedestrian flow information, flying object information, and vehicle information, 5. A control system according to any one of configurations 1 to 4. (Method 1) A method for controlling at least one autonomous moving body and a system control means that issues control instructions to the autonomous moving body, comprising: The method for controlling the system control means comprises: a route determination step of searching for and determining route information regarding a route from a starting point to a destination in the movement of the autonomous moving body by using spatial information managed in a format database that manages spatial information indicating a spatial state by a unique identifier; a first network connection step of transmitting and receiving data to and from the autonomous moving body; a first control step for controlling the entire system control means; having The method for controlling an autonomous moving object includes: a second network connection step of transmitting and receiving data to and from the system control means; A detection step of detecting spatial information about a space around the autonomous moving body; A driving step of driving the autonomous moving body; A second control step of controlling the entire autonomous moving body; having The first control step transmits, by the first network connection step, route information determined in the route determination step and spatial information regarding a space included in the route information determined in the route determination step; The second control step controls the drive step so as to move the autonomous moving body along a route included in the route information received by the second network connection step. A control method comprising: [Explanation of symbols]

[0073] 10 System control device 11 Autonomous Mobile Vehicles 12 Network

Claims

1. The system includes at least one autonomous moving body and a system control means for issuing control instructions to the autonomous moving body, The system control means a format database for managing spatial information indicating a state of a space using a unique identifier; a route determination means for searching and determining route information regarding a route from a departure point to a destination in the movement of the autonomous moving body by using spatial information managed in the format database; A first network connection means for transmitting and receiving data to and from the autonomous moving body; a first control means for controlling the entire system control means; having The autonomous moving body is A second network connection means for transmitting and receiving data to and from the system control means; A detection means for detecting spatial information regarding a space around the autonomous moving body; A driving means for driving the autonomous moving body; A second control means for controlling the entire autonomous moving body; having the first control means transmits, via the first network connection means, route information determined by the route determination means and spatial information regarding a space included in the route information determined by the route determination means; The second control means controls the driving means so as to move the autonomous moving body along a route included in the route information received by the second network connection means. A control system comprising:

2. When the spatial information received by the second network connection means is different from the spatial information detected by the detection means, the second control means transmits the spatial information detected by the detection means via the second network connection means; the first control means updates the format database with the spatial information received by the first network connection means; 2. The control system of claim 1.

3. When the spatial information received by the second network connection means indicates that it is difficult for the autonomous moving body to move, the second control means requests a re-search for the route information received by the second network connection means.

3. The control system of claim 2.

4. The space is defined by latitude / longitude / height, 2. The control system of claim 1.

5. The spatial information includes feature and topographical information, weather information, communication information, people flow information, flying object information, and vehicle information.

2. The control system of claim 1.

6. A method for controlling at least one autonomous moving body and a system control means that issues control instructions to the autonomous moving body, comprising: The method for controlling the system control means comprises: a route determination step of searching for and determining route information regarding a route from a starting point to a destination in the movement of the autonomous moving body by using spatial information managed in a format database that manages spatial information indicating a spatial state by a unique identifier; a first network connection step of transmitting and receiving data between the autonomous moving body and the first network connection step; a first control step of controlling the entire system control means; having The method for controlling an autonomous moving body includes: a second network connection step of transmitting and receiving data to and from the system control means; A detection step of detecting spatial information about a space around the autonomous moving body; A driving step of driving the autonomous moving body; A second control step of controlling the entire autonomous moving body; having The first control step transmits, by the first network connection step, route information determined in the route determination step and spatial information regarding a space included in the route information determined in the route determination step; The second control step controls the drive step so as to move the autonomous moving body along a route included in the route information received by the second network connection step. A control method comprising:

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