Route search device, route search method, and program

Abstract

To provide a route search device capable of delivering in the shortest time.SOLUTION: The route search device searches for a route for a delivery robot that delivers a delivery item, and has acquisition means for acquiring information on the road surface of the route, information on the delivery robot, a type of delivery item, and information on the transport speed of the delivery robot, and determination means for determining a route to a delivery destination based on the information on the road surface of the route, the information on the delivery robot, the type of delivery item, and the transport speed of the delivery robot.SELECTED DRAWING: Figure 12

Description

[Technical field]

[0001] The present invention relates to a route search device. [Background technology]

[0002] In recent years, with technological innovations such as autonomous mobility and spatial recognition systems, the competition to develop an overall picture (hereinafter, digital architecture) that connects data and systems between different organizations and members of society is intensifying. In addition, technology related to the transportation and delivery of goods by autonomous robots is also being developed. Patent Document 1 discloses a configuration that searches for a delivery route based on the vibration tolerance of the delivery route and the vibration of the delivered item, rather than simply selecting the shortest distance. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-79730 A [Non-patent literature]

[0004] [Non-Patent Document 1] Transactions of Information Processing Society of Japan Vol.56 No.1 23-24 (Jan.2015) Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the configuration of Patent Document 1, it is determined whether the delivery item can withstand the amount of vibration at each point on the delivery route, and a delivery route is selected that does not pass through a specific point where it is determined that the delivery item cannot withstand the amount of vibration. In other words, even if the delivery route that does not pass through the specific point is a very long detour and takes a long time, a delivery route that passes through the specific point is not selected.

[0006] An object of the present invention is to provide a route search device that enables delivery in the shortest time. [Means for solving the problem]

[0007] A route search device as one aspect of the present invention is a route search device that searches for a route for a delivery robot that delivers a delivery item, and is characterized by having an acquisition means that acquires information on the road surface of the route, information on the delivery robot, the type of delivery item, and information on the transport speed of the delivery robot, and a determination means that determines a route to a delivery destination based on the information on the road surface of the route, information on the delivery robot, the type of delivery item, and the transport speed of the delivery robot. Effect of the Invention

[0008] According to the present invention, it is possible to provide a route search device that enables delivery in the shortest time. [Brief description of the drawings]

[0009] [Figure 1] 1 is a diagram showing an overall configuration of an autonomous mobile control system according to an embodiment of the present invention; [Diagram 2] 1A is a conceptual diagram showing a location information input screen, and FIG. 1B is a conceptual diagram showing a selection screen for selecting an autonomous moving body. [Diagram 3] 1A is a conceptual diagram showing a screen for confirming the current position of an autonomous moving body, and FIG. 1B is a conceptual diagram showing a map display screen for confirming the current position of an autonomous moving body. [Figure 4] FIG. 2 is a block diagram showing the internal configuration of each device in FIG. [Diagram 5] FIG. 1 is an explanatory diagram of a three-dimensional map of cyberspace. [Figure 6] FIG. 2 is a perspective view showing the mechanical configuration of an autonomous moving body. [Figure 7] 4 is a block diagram showing a specific example of the configuration of each control unit. FIG. [Figure 8] FIG. 2 is a sequence diagram showing a process executed by the autonomous mobile control system. [Figure 9] FIG. 1A is a diagram showing latitude / longitude information of the earth, and FIG. [Figure 10]FIG. 2 is a diagram illustrating a schematic diagram of spatial information within a predetermined space. [Figure 11] (a) An image of route information using route information, (b) an image of route information using position point cloud data, and (c) an image of route information using a unique identifier, displayed on map information. [Figure 12] An image showing a building where a delivery robot delivers food. [Figure 13] FIG. 2 is a diagram illustrating a sequence in which a route determination device selects a route. [Figure 14] FIG. 1 is a diagram illustrating the relationship between speed and vibration. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to refer to the same components, and duplicated descriptions will be omitted. <First embodiment> 1. Overview of the autonomous vehicle control system configuration FIG. 1 is a diagram showing the overall configuration of an autonomous mobile control system according to an embodiment of the present invention. The autonomous mobile control system includes a system control device 10, a user interface 11, an autonomous mobile device 12, a route determination device (route search device) 13, a unique identifier conversion information storage device 14, and a sensor node 15. Each device is configured by an information processing device (computer) including a CPU, a ROM, a RAM, and a HDD. Each device is connected to each other via the Internet 16 by a network connection unit described later. Note that the Internet 16 is used in this embodiment, but the present invention is not limited to this. For example, other network systems such as a LAN (Local Area Network) may be used. Also, some of the system control device 10, the user interface 11, the route determination means 13, and the unique identifier conversion information storage device 14 may be configured as a single device.

[0011] 2. Services provided by autonomous mobile control systems The services provided by the autonomous mobile object control system will be described below. First, the screen image displayed on the display screen of the user interface 11 when the user (consumer) inputs location information will be described. Fig. 2(a) is an image diagram showing the location information input screen when the user inputs location information, and Fig. 2(b) is an image diagram showing the selection screen for selecting the autonomous mobile object to be used.

[0012] When the user accesses the Internet 16 on the display screen of the user interface 11 and selects a service for the autonomous mobile body control system, a web page of the system control device 10 is displayed. The web page first displays an input screen 40 for inputting the departure point, intermediate point, and destination when moving the autonomous mobile body 12. The input screen 40 has a list display button 48 for displaying a list for selecting the autonomous mobile body to be used, and when the user presses this button, a list display screen 47 in FIG. 2(b) is displayed.

[0013] When the user selects an autonomous moving body that the user wants to use on the list display screen 47, the screen automatically transitions to the input screen 40. The user can input the locations to be set as the departure point, intermediate point, and arrival point in the "Departure point" input field 41, the "Intermediate point 1" input field 42, and the "Arrival point" input field 43, respectively. It is possible to add intermediate points, and by pressing an add intermediate point button 44, an input field 46 for "Intermediate point 2" is additionally displayed, and the user can input the intermediate point to be added. The user can request the movement of the autonomous moving body 12 by pressing a confirm button 45.

[0014] The information to be entered in the input field may be a word that can specify an arbitrary location, such as an address, or may be location information that indicates a specific location, such as latitude / longitude information or a store name.

[0015] FIG. 3(a) is an image diagram showing a confirmation screen 50 when the current location of the autonomous moving body 12 is displayed on the display screen of the WEB page of the user interface 11 after requesting the movement of the autonomous moving body 12. The user can recognize the current location of the autonomous moving body 12 from the position of the current location 56 on the screen. In addition, the user can update the screen display information to display the latest state by pressing an update button 57. In addition, the user can change the departure point, the intermediate point, and the arrival point by pressing a waypoint / arrival point change button 54. Specifically, the user can change the departure point, the intermediate point, and the arrival point by inputting the location to be reset in the "departure point" input field 51, the "waypoint 1" input field 52, and the "arrival point" input field 53, respectively.

[0016] Fig. 3(b) is an image diagram showing a map display screen 60 which is switched from the confirmation screen 50 when the map display button 55 in Fig. 3(a) is pressed. On the map display screen 60, the current location of the autonomous moving body 12 on the map display can be confirmed based on the position of a current location 62. In addition, the user can return the display screen to the confirmation screen 50 by pressing a back button 61.

[0017] In FIG. 3(b), the map display is a two-dimensional plane, but in this embodiment, the user can specify a three-dimensional position including "height", so that the user can also input "height" information.

[0018] As described above, the user can move the autonomous moving body 12 from a predetermined location to another predetermined location by operating the user interface 11. Examples of applications of this service include taxi dispatch services and drone delivery services.

[0019] 3. Description of the configuration and functions of each device (10-15) The configuration and function of each device (10 to 15) in Fig. 1 will be described with reference to Fig. 4. Fig. 4 is a block diagram of the internal configuration of each device in Fig. 1.

[0020] 3.1 User Interface 11 The user interface 11 includes an operation unit 11-1, a control unit 11-2, a display unit 11-3, an information storage unit (memory / HD) 11-4, and a network connection unit 11-5. The operation unit 11-1 is configured with a touch panel, key buttons, etc., and is used for inputting data. The display unit 11-3 is, for example, a liquid crystal screen, etc., and is used for displaying data. The display screen of the user interface 11 shown in FIG. 2 and FIG. 3 is displayed on the display unit 11-3. The user can select a service, input information, and check information via a menu displayed on the display unit 11-3. That is, the operation unit 11-1 and the display unit 11-3 provide a user interface for the user to actually operate. In the description here, the operation unit 11-1 and the display unit 11-3 are described separately, but if they are a touch panel, they may be treated in common as a display unit on which operations can be performed. The control unit 11-2 manages various services in the user interface 11, and manages modes such as information input and information confirmation, and controls communication processing. It also controls the processing in each control unit such as the operation unit 11-1, the display unit 11-3, the information storage unit 11-4, and the network connection unit 11-5. The information storage unit 11-4 is a database for storing necessary information. The network connection unit 11-5 controls communication performed via the Internet, a LAN, a wireless LAN, etc.

[0021] As described above, user interface 11 is a device such as a smartphone, and is configured to display information required by the user on display unit 11-3 and to receive operations by the user from operation unit 11-1.

[0022] With the above configuration, in this embodiment, the user interface 11 displays an input screen 40 on the browser screen of the system control device 10 and accepts input of location information such as a departure point, a waypoint, and an arrival point by the user. In addition, the user interface 11 displays a confirmation screen 50 and a map display screen 60 on the browser screen to display the current location of the autonomous moving body 12 to the user.

[0023] 3.2 Routing device 13 The route determination device 13 includes a map information management unit 13-1, a control unit (acquisition means, determination means) 13-2, a position / route information management unit 13-3, an information storage unit (memory / HD) 13-4, and a network connection unit 13-5. The map information management unit 13-1 holds map information on the earth, searches for route information showing a route on the map based on specified position information, and transmits the route information of the search result to the position / route information management unit 13-3. The map information not only manages information such as topography and latitude / longitude / altitude, but also manages information such as roadways, sidewalks, travel directions, and traffic regulations related to the Road Traffic Act. The control unit 13-2 controls the route information search function in the route determination device 13, and controls the processing in each control unit such as the map information management unit 13-1, the position / route information management unit 13-3, the information storage unit 13-4, and the network connection unit 13-5. The position / route information management unit 13-3 manages the position information acquired through the network connection unit 13-5, transmits the position information to the map information management unit 13-1, and manages the route information of the search result acquired from the map information management unit 13-1. In response to a request from an external system, the control unit 13-2 converts the route information managed by the position / route information management unit 13-3 into a predetermined data format and transmits it to the external system.

[0024] As described above, the route determination device 13 is configured to search for a route that complies with the Road Traffic Act based on specified, predetermined position information, and to output the route in a predetermined data format.

[0025] With the above configuration, in this embodiment, the route determination device 13 searches for route information based on the position information specified by the system control device 10, and provides it to the system control device 10 in a predetermined data format.

[0026] 3.3 Unique identifier conversion information storage device 14 The unique identifier conversion information holding device 14 includes a position / route information management unit 14-1, a unique identifier management unit 14-2, a control unit 14-3, a format database 14-4, an information storage unit (memory / HD) 14-5, and a network connection unit 14-6. The position / route information management unit 14-1 manages predetermined position information acquired through the network connection unit 14-6, and transmits the position information to the control unit 14-3 in response to a request from the control unit 14-3. The control unit 14-3 is responsible for controlling the unique identifier conversion function in the unique identifier conversion information holding device 14. The control unit 14-3 controls the processing in each control unit such as the position / route information management unit 14-1, the unique identifier management unit 14-2, the format database 14-4, the information storage unit 14-5, and the network connection unit 14-6. The control unit 14-3 converts the location information into a unique identifier based on the location information acquired from the location / route information management unit 14-1 and the format information managed by the format database 14-4, and transmits the unique identifier management unit 14-2. The format will be described later, but an identifier (hereinafter, a unique identifier) ​​is assigned to a space starting from a predetermined location, and the space is managed by the unique identifier, and the corresponding unique identifier and information within the space can be acquired based on the predetermined location information. The unique identifier management unit 14-2 manages the unique identifier converted by the control unit 14-3 and transmits it through the network connection unit 14-6. The format database 14-4 manages format information and transmits format information to the control unit 14-3 according to a request from the control unit 14-3. In addition, the format is used to manage information within the space acquired through the network connection unit 14-6. The unique identifier conversion information holding device 14 manages information regarding the space acquired by external devices, equipment, and networks connected to itself, by linking it to the unique identifier. It also provides information about a unique identifier and the space associated with it to external devices, equipment, and networks connected to it.

[0027] As described above, the unique identifier conversion information holding device 14 collects unique identifiers and information within a space based on specified location information, and manages and provides the information in a state where it can be shared by external devices, equipment, and networks connected to it.

[0028] With the above configuration, in this embodiment, the unique identifier conversion information holding device 14 converts the location information specified by the system control device 10 into a unique identifier and provides it to the system control device 10.

[0029] 3.4 System Control Device 10 The system control device 10 includes a unique identifier management unit 10-1, a control unit 10-2, a position / route information management unit 10-3, an information storage unit (memory / HD) 10-4, and a network connection unit 10-5. The position / route information management unit 10-3 holds simple map information that matches topographical information and latitude / longitude information, and manages predetermined position information and route information acquired through the network connection unit 10-5. The position / route information management unit 10-3 can also divide the route information at predetermined intervals and generate position information such as latitude / longitude of the divided locations. The unique identifier management unit 10-1 manages information obtained by converting the position information and route information into a unique identifier. The control unit 10-2 is responsible for controlling the communication functions of the position information, route information, and unique identifier of the system control device 10. The control unit 10-2 controls the processing in each control unit of the unique identifier management unit 10-1, the position / route information management unit 10-3, the information storage unit 10-4, and the network connection unit 10-5. The control unit 10-2 provides a WEB page to the user interface 11, and transmits predetermined position information acquired from the WEB page to the route determination device 13. The control unit 10-2 also acquires predetermined route information from the route determination device 13, and transmits each position information of the route information to the unique identifier conversion information holding device 14. Then, the control unit 10-2 transmits the route information converted into the unique identifier acquired from the unique identifier conversion information holding device 14 to the autonomous moving body 12.

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

[0031] With the above configuration, in this embodiment, the system control device 10 collects route information required for the autonomous moving body 12 to move autonomously, based on the position information input to the user interface 11. In addition, the system control unit 10 provides the autonomous moving body 12 with route information using a unique identifier.

[0032] 3.5 Autonomous Vehicles 12 The autonomous moving body 12 includes a detection unit 12-1, a control unit 12-2, a direction control unit 12-3, an information storage unit (memory / HD) 12-4, a network connection unit 12-5, a driving unit 12-6, and a vibration detection unit 12-7. The detection unit 12-1 has a distance measurement function based on the phase difference of light using multiple image pickup elements, and a self-position estimation function that estimates its own position from detection information (hereinafter, detection information) of obstacles such as the surrounding terrain and building walls. The detection unit 12-1 also has a self-position detection function such as a GPS (Global Positioning System) and a direction detection function such as a geomagnetic sensor. Based on the detection information, self-position estimation information, and direction detection information, the control unit 12-2 can create a three-dimensional map in cyberspace.

[0033] Here, the three-dimensional map of cyberspace is capable of expressing spatial information equivalent to the positions of features in the real world as digital data. Since the autonomous mobile body 12 existing in the real world and its surrounding feature information are held as spatially equivalent digital data in the three-dimensional map of cyberspace, efficient movement is possible based on the digital data.

[0034] The three-dimensional map of cyberspace will now be described.

[0035] FIG. 5(a) shows the spatial positional relationship between the autonomous mobile body 12 in the real world and a pillar 99 existing as the surrounding feature information. The position of the autonomous mobile body 12 is identified as the same position α0 in the autonomous mobile body 12 from the position information of latitude and longitude acquired by the GPS or the like of the autonomous mobile body 12. The orientation of the autonomous mobile body 12 is identified by the difference between the orientation αY acquired by an electronic compass or the like and the moving direction 12Y of the autonomous mobile body 12. The position of the pillar 99 is identified as the position of the vertex 99-1 from the position information measured in advance. The distance from the position α0 of the autonomous mobile body 12 to the vertex 99-1 can be acquired by the distance measuring function of the autonomous mobile body 12. In FIG. 5(a), the coordinates (Wx, Wy, Wz) of the vertex 99-1 are shown when the 12Y direction is the axis of the XYZ coordinate system and the position α0 is the origin.

[0036] In the three-dimensional map of cyberspace, the information thus acquired is managed as digital data, and can be reconstructed as spatial information shown in FIG. 5(b). FIG. 5(b) shows the state in which the autonomous mobile body 12 and the pillar 99 are mapped in an arbitrary XYZ coordinate system space with P0 as the origin. By setting P0 to a predetermined latitude and longitude in the real world, and taking the azimuth north of the real world as the Y-axis direction, the autonomous mobile body 12 can be expressed as P1 and the pillar 99 as P2 in this arbitrary XYZ coordinate system space. Specifically, from the latitude and longitude of the position α0 and the latitude and longitude of P0, the position P1 of the position α0 in this space, and similarly, the pillar 99 can be managed as P2. In this example, the autonomous mobile body 12 and the pillar 99 are represented in a three-dimensional map of cyberspace, but multiple pillars can be handled in the same way.

[0037] As described above, a 3D map is a mapping of the user's own position and objects in the real world into a 3D space.

[0038] In addition, the autonomous moving body 12 has learning result data obtained by performing machine learning in, for example, the information storage unit 12-4, and can detect objects from captured images. The detection information can be acquired from an external system via the network connection unit 12-5 and reflected in the three-dimensional map. The control unit 12-2 controls the movement, direction change, and autonomous driving function of the autonomous moving body 12. The control unit 12-2 controls the processing in each control unit such as the detection unit 12-1, the direction control unit 12-3, the information storage unit 12-4, the network connection unit 12-5, and the driving unit 12-6. The direction control unit 12-3 changes the direction of movement of the autonomous moving body 12 by changing the direction of the driving unit 12-6. The driving unit 12-6 is composed of a driving device such as a motor, and generates a propulsive force for the autonomous moving body 12. The autonomous moving body 12 can reflect its own position and detection information in a three-dimensional map, generate a route that maintains a certain distance from surrounding terrain, buildings, obstacles, and objects, and perform autonomous driving. As described above, the route determination means 13 generates a route that mainly takes into consideration regulatory information related to the Road Traffic Act. Meanwhile, the autonomous moving body 12 generates a route by more accurately detecting its own size and the positions of surrounding obstacles on the route determined by the route determination means 13, and moving in a manner that does not come into contact with them.

[0039] Here, the main body configuration of the autonomous moving body 12 of this embodiment will be described. Fig. 6 is a perspective view showing the mechanical configuration of the autonomous moving body 12. Note that in this embodiment, the autonomous moving body 12 will be described as a running body having wheels, but the present invention is not limited to this. An air vehicle such as a drone can also be the autonomous moving body 12.

[0040] The autonomous moving body 12 is electrically connected to a detection unit 12-1, a control unit 12-2, a direction control unit 12-3, an information storage unit (memory / HD) 12-4, a network connection unit 12-5, and a driving unit 12-6. At least two or more driving units 12-6 and direction control units 12-3 are provided in the autonomous moving body 12. The direction control unit 12-3 changes the direction of movement of the autonomous moving body 12 by changing the direction of the driving unit 12-6 by rotating the shaft. The driving unit 12-6 moves the autonomous moving body 12 forward and backward by rotating the shaft. Note that the configuration of the autonomous moving body 12 in FIG. 6 is an example, and the present invention is not limited thereto. For example, any structure that can achieve the same effect as the adoption of an omniwheel in the moving direction changing structure may be used.

[0041] As described above, the autonomous mobile body 12 is a mobile body equipped with, for example, SLAM technology. The autonomous mobile body 12 is configured to be able to autonomously move along a specified route based on detection information detected by the detection unit 12-1 and detection information of an external system acquired via the Internet 16.

[0042] The autonomous moving body 12 can perform a trace movement, tracing precisely specified points, or can pass through roughly set points while generating its own route information and moving in the space between them.

[0043] The vibration detection unit 12-7 detects the vibration amount of the autonomous moving body 12. Current position information by GPS, moving body information of the autonomous moving body 12 that detected the vibration, and the detected vibration amount are transmitted to the unique identifier conversion device 14 through the network connection unit as needed. The unique identifier conversion device 14 calculates a unique identifier from the position information, and stores the moving body information and the vibration amount in association with the unique identifier. As a result, the vibration amount at the positions that the autonomous moving body 12 has passed through is recorded and accumulated as needed.

[0044] With the above configuration, in this embodiment, the autonomous moving body 12 moves autonomously based on route information using a unique identifier provided by the system control device 10.

[0045] 3.6 Sensor Node 15 The sensor node 15 is an external system such as a video monitoring system, and includes a detection unit 15-1, a control unit 15-2, an information storage unit (memory / HD) 15-3, and a network connection unit 15-4. The detection unit 15-1 acquires detection information of an area in which it can detect itself, and has an object detection function and a distance measurement function. The control unit 15-2 controls the detection, data storage, and data transmission functions of the sensor node 15. The sensor node 15 controls the processing in each control unit such as the detection unit 15-1, the information storage unit 15-3, and the network connection unit 15-4. In addition, the detection information acquired by the detection unit 15-1 is stored in the information storage unit 15-3, and the function of transmitting the information to the unique identifier conversion information holding device 14 via the network connection unit 15-4 is controlled.

[0046] As described above, the sensor node 15 is configured to store and communicate detection information such as image information detected by the detection unit 15-1, feature point information of an object, and position information in the information storage unit 15-3.

[0047] With the above configuration, in this embodiment, the sensor node 15 provides the unique identifier conversion information holding device 14 with detection information of the area in which the sensor node 15 itself can be detected.

[0048] 4. Hardware configuration of each control unit A specific configuration of each control unit (control units 10-2, 11-2, 12-2, 13-2, 14-3, and 15-2) in Fig. 4 will be described below. Fig. 7 is a block diagram showing a specific configuration example of each control unit.

[0049] The central processing unit (hereinafter, CPU) 21 controls the calculation and control of the information processing device. The random access memory (hereinafter, RAM) 22 functions as the main memory of the CPU 21, as an area for executing programs, and as an execution area and data area for the programs. The read-only memory (hereinafter, ROM) 23 stores the operation processing procedure of the CPU 21. The ROM 23 includes a program ROM in which an operating system (OS), which is a system program for controlling the equipment of the information processing device, is recorded, and a data ROM in which information necessary for operating the system is recorded. Note that the HDD 29 described below may be used instead of the ROM 23. The network interface (NETIF) 24 controls data transfer between the information processing devices via the Internet 16 and diagnoses the connection status. The video RAM (VRAM) 25 develops an image to be displayed on the screen of the CRT 26 and controls the display. The CRT 26 is a display device such as a display. The controller (hereinafter, KBC) 27 controls input signals from an external input device 28. The external input device (hereinafter, referred to as KB) 28 is, for example, a pointing device such as a keyboard or a mouse, and accepts operations performed by the user. The hard disk drive (hereinafter, referred to as HDD) 29 is used for storing application programs and various data. In this embodiment, the application program is a software program or the like that executes various processing functions of this embodiment. The external input / output device (hereinafter, referred to as FDD) 30 is for inputting and outputting data from a removable data recording device (removable media) such as a floppy (registered trademark) disk drive or a CD-ROM drive. The FDD 30 is used when reading the above-mentioned application program from a removable media. The FD 31 is a removable media such as a magnetic recording medium (for example, a floppy (registered trademark) disk or an external hard disk) or an optical recording medium (for example, a CD-ROM) that is read by the FDD 30. It may also be a removable media such as a magneto-optical recording medium (for example, an MO) or a semiconductor recording medium (for example, a memory card).It is also possible to use application programs and data stored in the HDD 29 by storing them in the FDD 30. A transmission bus (address bus, data bus, input / output bus, and control bus) 20 connects the above-mentioned units together.

[0050] 5. Processing flow in the autonomous mobile control system The following describes the control operations in the autonomous mobile object control system for realizing the services described in Fig. 2 and Fig. 3. Fig. 8 is an explanatory sequence diagram showing the processing executed by the autonomous mobile object control system from when the user inputs position information to the user interface 11 until when the current position information of the autonomous mobile object 12 is received.

[0051] 5-1. User input of information First, the user accesses a WEB page provided by the system control device 10 through the user interface 11 (S201). The system control device 10 displays the position input screen described in FIG. 2 on the display screen of the WEB page (S202). As described in FIG. 2, the user selects an autonomous moving body and inputs position information (hereinafter, position information) indicating a departure / passage / arrival point (S203). For the position information, a word (hereinafter, position word) specifying a specific location such as a building name, station name, or address may be used, or a method of specifying a specific position on a map displayed on a WEB page as a point (hereinafter, point) may be used. The system control device 10 saves information on the selected autonomous moving body (autonomous moving body 12 in this description) and the input position information (S204). At this time, if the position information is a position word, the position word is saved, and if the position information is a point, the latitude / longitude corresponding to the point is searched for based on simple map information saved in the position / route information management unit 10-3, and the latitude / longitude is saved.

[0052] 5-2. Obtaining route information Next, the system control device 10 designates the type of the route that can be traveled (hereinafter, route type) from the mobility type of the autonomous moving body 12 designated by the user (S205), and transmits it to the route determination device 13 together with the position information (S206). The mobility type is the type of the moving body that is legally identified, such as an automobile, a bicycle, and a drone. The route type is, for example, a general road or a highway for an automobile, and a specified sidewalk, a shoulder of a general road, and a bicycle lane for a bicycle. The route determination device 13 inputs the received position information into the map information it possesses as a starting / via / arrival point. If the position information is a position word, it searches the map information by the position word (S207), and uses the corresponding latitude / longitude information. If the position information is latitude / longitude information, it is input directly into the map information and used. Next, the route determination device 13 searches for a route from the starting point to the arrival point via the via point (S208). At this time, the route to be searched is a route that conforms to the route type. Then, as a result of the search, the route determination device 13 outputs a route (hereinafter, route information) from the departure point to the arrival point via the waypoints in GPX format and transmits it to the system control device 10 (S209). A file in GPX format (GPS eXchange Format) is mainly composed of three types of information: waypoints (point information with no sequential relationship), routes (point information with sequential relationship to which time information is added), and tracks (a collection of multiple point information: trajectories). The attribute values ​​of each point information are latitude / longitude, and the subelements are altitude, geoid height, GPS reception status, accuracy, etc. The minimum element required for a GPX file is the latitude / longitude information of a single point, and other information can be described arbitrarily. The route information is output as route information, which is a collection of point information consisting of latitude / longitude with sequential relationship. Note that the route information may be in another format as long as it satisfies the above.

[0053] 5-3. Format structure Here, the configuration of the format managed in the format database 14-4 of the unique identifier conversion device 14 will be described. Fig. 9(a) is a diagram showing the latitude / longitude information of the Earth, and Fig. 9(b) is a perspective view showing a predetermined space 100 in Fig. 9(a). In Fig. 9(b), the center of the predetermined space 100 is defined as center 101. Fig. 10 is a diagram showing the spatial information within the predetermined space 100.

[0054] In Fig. 9(a) and Fig. 9(b), the format divides the space of the earth into divided spaces determined by the range starting from latitude / longitude / height, and allows management by adding a unique identifier to each space. For example, here, a space 100 is displayed as a predetermined space. The space 100 is a divided space defined as center 101 at 20 degrees north latitude, 140 degrees east longitude, and height H, with a width in the latitude direction defined as D, a width in the longitude direction defined as W, and a width in the height direction defined as T. In Fig. 9(a), only the space 100 is displayed for ease of understanding, but in the format definition, as described above, spaces defined in the same way as the space 100 are arranged side by side in the latitude / longitude / height directions. The horizontal position of each of the arranged divided spaces is defined by the latitude / longitude, and they overlap in the height direction, and their height position is defined by the height. In Fig. 9(b), the center of the divided space is set as the starting point of the latitude / longitude / height, but the present invention is not limited to this. For example, the starting point may be a corner of the space or the center of the bottom. The shape may be roughly a rectangular parallelepiped, and if you are planning to place the tiles on a spherical surface such as the Earth, it is better to set the top of the rectangular parallelepiped slightly wider than the bottom so that there are no gaps between them.

[0055] 10, taking space 100 as an example, the format database 14-4 stores information (spatial information) relating to the state and time of objects existing within the range of space 100 in a time series from the past to the future. The spatial information is updated by information inputted from an external system (e.g., sensor node 15) communicatively connected to the unique identifier conversion information holding device 14, and the information is shared with other external systems communicatively connected to the unique identifier conversion information holding device 14.

[0056] The above is a format that enables the management of space-time by associating information (hereinafter referred to as spatial information) regarding the state and time of an object in a space determined by a range starting from latitude / longitude / altitude with a unique identifier.

[0057] 5-4. Create location point cloud data from route information Returning to FIG. 8, the process executed by the autonomous mobile control system will be described below. The system control device 10 checks the intervals between each piece of point information in the received route information, and creates position point cloud data (hereinafter, position point cloud data) that is consistent with the intervals between the point information and the intervals between the starting points of the divided space defined by the format (S210). At this time, if the intervals between the point information are smaller than the intervals between the starting points of the divided space, the system control device 10 thins out the point information in the route information to match the intervals between the starting points of the divided space, and creates the position point cloud data. Also, if the intervals between the point information are larger than the intervals between the starting points of the divided space, the system control device 10 interpolates the point information within a range that does not deviate from the route information, and creates the position point cloud data.

[0058] 5-5. Convert location point cloud data into format route information Next, the system control device 10 transmits the latitude / longitude information of each point information of the position point cloud data to the unique identifier conversion information storage device 14 in the order of the route (S211). The unique identifier conversion information storage device 14 searches for a unique identifier corresponding to the received latitude / longitude information (S212) and transmits it to the system control device 10 (S213). The system control device 10 arranges the received unique identifiers in the same order as the original position point cloud data, and stores it as route information using the unique identifiers (hereinafter, formatted route information) (S214).

[0059] Here, we will explain the process of generating position point cloud data from route information and converting it into route information using unique identifiers. Figures 11(a) to 11(c) are image diagrams showing route information, position point cloud data, and route information using unique identifiers, respectively, displayed as map information.

[0060] 11(a), 120 is route information, 121 is a non-movable area that the autonomous moving body 12 cannot pass through, and 122 is a movable area that the autonomous moving body 12 can pass through. Route information 120 generated by the route determination device 13 based on the position information of the departure point, intermediate point, and arrival point specified by the user is generated as a route that passes through the departure point, intermediate point, and arrival point, and passes through the movable area 122 on the map information.

[0061] In Fig. 11(b), 123 is position information on the route information. The system control unit 10, which has acquired the route information 120, generates position information 123 arranged at a predetermined interval on the route information 120. The position information 123 can be expressed by latitude / longitude / altitude, and the position information 123 is collectively expressed as position point cloud data. Then, the system control unit 10 transmits the latitude / longitude / altitude of each point of the position information 123 one by one to the unique identifier conversion information holding device 14, and converts it into a unique identifier.

[0062] In Fig. 11(c), 124 is position-spatial information obtained by converting the position information 123 into unique identifiers one by one and expressing the spatial range defined by the unique identifiers in a rectangular frame. By converting the position information into unique identifiers, the position-spatial information 124 is obtained. As a result, the route expressed by the route information 120 is expressed by the continuous position-spatial information 124, and data is created in which the intra-space information is linked to the position-spatial information 124. This continuous position-spatial information 124 is collectively referred to as formatted route information.

[0063] 5-6. Conversion of unique identifier to cost map Returning to FIG. 8, the process executed by the autonomous mobile control system will be described below. The system control device 10 downloads the spatial information linked to each unique identifier of the formatted route information from the unique identifier conversion information storage device 14 (S215). Next, the system control unit 10 converts the spatial information into a format that can be reflected in a three-dimensional map of the cyberspace of the autonomous mobile device 12, and creates information indicating the positions of multiple objects in a predetermined space (hereinafter, a cost map) (S216). The cost map may be created initially for all routes in the formatted route information, or may be created by dividing the cost map into certain regions and updating it sequentially.

[0064] 5-7. Load formatted route information and cost map onto the autonomous vehicle Next, the system control device 10 stores the formatted route information and the cost map by linking them to the unique identification number assigned to the autonomous mobile unit 12 (S217). The autonomous mobile unit 12 monitors (hereinafter, polls) its own unique identification number via the network at a predetermined interval, and downloads the linked data (S218). The autonomous mobile unit 12 reflects the formatted route information as route information in the three-dimensional map of cyberspace that it has created, based on the latitude / longitude information of each unique identifier in the formatted route information (S219).

[0065] 5-8. Update the cost map Next, the autonomous mobile body 12 reflects the cost map as obstacle information on the route in a three-dimensional map of the cyberspace (S220). If the cost map is created in a form divided at regular intervals, after moving through the area where the cost map is created, the autonomous mobile body 12 downloads the cost map of the next area and updates the cost map. The autonomous mobile body 12 moves along the route information while avoiding objects input in the cost map (S221). At this time, the autonomous mobile body 12 moves while performing object detection, and if there is a difference with the cost map, updates the cost map using the object detection information (S222) and moves. In addition, the autonomous mobile body 12 transmits difference information with the cost map together with the corresponding unique identifier to the system control device 10 (S223). The system control device 10, which has acquired the difference information between the unique identifier and the cost map, transmits spatial information to the unique identifier conversion information holding device 14 (S224), and the unique identifier conversion information holding device 14 updates the spatial information of the corresponding unique identifier (S225). The contents of the spatial information to be updated do not directly reflect the difference information with respect to the cost map, but are abstracted by the system control device 10 and transmitted to the unique identifier conversion information holding device 14 .

[0066] 5-9. Location information notification The autonomous moving body 12 moving based on the format route information transmits to the system control device 10 the unique identifier corresponding to the space in which it currently exists each time it passes through a divided space to which each unique identifier is linked (S226). In addition, during polling, it may be linked to the unique identification number that it corresponds to. The system control device 10 grasps the current position of the autonomous moving body 12 on the format route information based on the unique identifier information received from the autonomous moving body 12. By repeating the process of S226, the system control device 10 can grasp where the autonomous moving body 12 is currently located in the format route information. The system control device 10 may stop holding the unique identifiers that the autonomous moving body 12 has passed through, thereby reducing the data capacity held in the format route information.

[0067] 5-10. Status notification to users 2 and 3 based on the current location information of the autonomous moving body 12 that has been grasped, and displays them on the display screen of the web page (S227). Every time the autonomous moving body 12 transmits a unique identifier indicating its current location to the system control device 10, the system control device 10 updates the confirmation screen 50 and the map display screen 60.

[0068] 5-11. Updating information in partitioned space by sensor nodes The sensor node 15 saves the detection information of the detection range (S228), and abstracts the detection information (S229) and transmits it as spatial information to the unique identifier conversion information holding device 14 (S230). The abstraction is information such as whether an object exists or not, and whether there has been a change in the existence state of the object, and is not detailed information about the object. The detailed information about the object is held in the memory in the sensor node 15. Then, the unique identifier conversion information holding device 14 holds the spatial information by linking it to the unique identifier of the position to which the spatial information corresponds (S231). At this point, the spatial information is stored in one unique identifier in the format database.

[0069] Furthermore, when an external system different from the sensor node 15 utilizes the spatial information, the external system acquires and utilizes the detection information in the sensor node 15 via the unique identifier conversion information holding device 14 based on the spatial information in the unique identifier conversion information holding device 14. In this case, the unique identifier conversion information holding device 14 also has a function of connecting the communication standard between the external system and the sensor node 15.

[0070] By storing spatial information not only in the sensor node 15 but also among multiple devices, the unique identifier conversion information storage device 14 can function as a format that connects data from multiple devices with a relatively light data volume. In "5-6. Conversion from unique identifier to cost map", if the system control device 10 requires detailed object information when creating the cost map, it downloads and uses the detailed information from an external system that stores detailed detection information of the spatial information.

[0071] 5-12. Update spatial information to the moving object Here, it is assumed that the sensor node 15 updates the spatial information on the route of the format route information of the autonomous moving body 12. At this time, the sensor node 15 acquires the detection information (S232), generates the spatial information (S233), and transmits it to the unique identifier conversion information holding device 14 (S234). The unique identifier conversion information holding device 14 stores the spatial information in the format database 14-4 (S235). The system control device 10 checks the change of the spatial information in the format route information it manages at a predetermined time interval, and if there is a change, downloads the spatial information (S236) and updates the cost map. In addition, it updates the cost map linked to the unique identification number assigned to the autonomous moving body 12 (S237). The autonomous moving body 12 recognizes the update of the cost map by polling and reflects it in the three-dimensional map of the cyberspace that it created (S238). As described above, by utilizing the spatial information shared by multiple devices, the autonomous moving body 12 can recognize changes on the route that it cannot recognize in advance and can respond to the changes.

[0072] After carrying out the above series of processes, the system control device 10 recognizes that the autonomous moving body 12 has arrived at the destination point (S239) from the transmitted unique identifier (S240). The system control device 10 then displays an arrival indication on the user interface 11 (S241) and the service ends.

[0073] As described above, the configuration of this embodiment can provide a digital architecture format and an autonomous mobile control system using the same.

[0074] In the following, the most important part of the present invention, the route search method, will be described. Here, a food delivery robot in a large building will be used as an example. FIG. 12 is an image diagram showing a building where a delivery robot delivers food. In FIG. 12, there is a restaurant district in the basement, and each restaurant in the restaurant district offers takeout food. There are offices on the upper floors, and the situation is that the people working there ask the delivery robot to deliver food from the restaurants in the basement at lunchtime. Since the building is large, there are multiple elevators to the upper floors, and several patterns of delivery routes can be assumed. For example, the delivery route from the departure point 1201 indicated by ★ to the arrival point (delivery point) 1202 indicated by ◎ has a black arrow 1203, which is the shortest route, and a white arrow 1204, which is a detour route. Since the objects and shapes placed on the route road surface are different, the magnitude of vibration also differs depending on the route. For example, there are various types such as smooth tiles, tiles with a stone-like surface, carpets, and in some places, guide blocks for visually impaired people. On the other hand, some meals to be delivered are not affected by vibrations during delivery, such as sandwiches and bread, while others are greatly affected by vibrations, such as ramen and miso soup. In some cases, the container may tip over and the contents may spill out. Therefore, depending on the meal to be delivered, the routes that can be taken are limited. Also, depending on the shape and type of floor to be passed over, there may be routes that are acceptable if the speed is reduced. In this embodiment, the allowable vibration amount of the item to be delivered, the vibration amount of the route, and the passing speed (transportation speed) are used as parameters to select a route that delivers the meal in the shortest time.

[0075] FIG. 13 is a diagram for explaining a sequence in which the route determination device 13 selects a route. The user interface 11, the system control device 10, the route determination device 13, and the map information management unit 13-1, which will be described later, are elements of FIG. 4. In steps S1301 and 1302, the departure point and the arrival point inputted through the user interface 11 are inputted to the route determination device 13 through the system control device 10. As described above, the map information management unit 13-1 holds map information on the earth, so in step S1303, map information on the departure point and the arrival point surrounding area is loaded into a RAM (not shown) for preparation. In step S1304, the vibration classification of the delivery item is acquired. Specifically, the degree of influence on the vibration of the delivery item inputted in the frame 47 of the user interface 11, namely "no influence", "weak influence", and "strong influence", is acquired. Here, the user is asked to input the vibration classification of the delivery item, but the user may also input the type of delivery item, such as bread or ramen. In that case, the delivery item and the vibration classification are stored in a table in advance, and the vibration classification according to the type of delivery item inputted may be acquired. In step S1305, if the vibration classification is "not affected", the process proceeds to step S1309. Otherwise, the process proceeds to step S1306. In step S1306, if the vibration classification is "highly affected", the process proceeds to step S1307 since the device is highly susceptible to the effects of vibration. If the vibration classification is "lowly affected", the process proceeds to step S1308. Since the allowable vibration amount is registered in advance in each of steps S1307, 1308, and 1309, the allowable vibration amount is called. In step S1310, the allowable vibration amount called in steps S1307, 1308, and 1309 is set to the maximum allowable vibration amount VIBmax.

[0076] In step S1311, the model of the delivery robot is obtained, and a stability coefficient S that is pre-linked to the model information is obtained. The stability coefficient S is a coefficient that assumes that the vibration impact level of a predetermined standard vehicle body is 1, and when the stability coefficient S is doubled, the amount of vibration is halved. This stability coefficient S is calculated at the stage when the delivery robot is designed, and is stored as a table in the information storage unit 13-4.

[0077] In step S1312, the route generation count is cleared to 0. The route generation count is intended to impose a limit when a pattern with an extremely large number of routes can be generated. In this embodiment, it is set to 10. In step S1313, the shortest route from the departure point to the destination point is generated. Since the method of searching for the shortest route is not the essence of the present invention, a detailed explanation will be omitted, but a general algorithm such as Dijkstra's algorithm may be used. In step S1314, a vibration coefficient R, which is normalized vibration information on the generated route, is obtained.

[0078] Here, the vibration amount (vibration information) generated by unevenness of the road surface, which is included in the road surface information of the route stored in the unique identifier, will be described. In this embodiment, since a building is a closed space, the delivery robot runs through each corridor in advance before the building starts operation, and the vibration amount is stored in the unique identifier. Since the state of the corridor changes over time, as explained in FIG. 4, the detection unit of the delivery robot updates the vibration amount of the passed places as needed. The delivery robot may be operated at night to update the vibration amount, or a cleaning robot may be equipped with a detection unit that detects the vibration amount and updates it as needed.

[0079] In step S1314, all unique identifiers are listed. A vibration coefficient R is obtained from each unique identifier in the created unique identifier list. In step S1315, the maximum speed VELmax for each unique identifier is found from the obtained vibration coefficient R and stability coefficient S. FIG. 14 is a diagram for explaining the relationship between speed VEL and vibration VIB (see FIG. 5 in Non-Patent Document 1). The horizontal axis is speed VEL and the vertical axis is vibration VIB; increasing speed VEL also increases vibration VIB, and decreasing speed VEL does not cause vibration VIB to fall below a predetermined value. This relationship is expressed by the following equation (1).

[0080]

number

[0081] β is the minimum vibration amount and is a constant that is determined in advance. Equation (1) can be transformed into equation (2) in which the velocity VEL is expressed by the vibration VIB, the stability coefficient S, the vibration coefficient R, and the minimum vibration amount β.

[0082]

number

[0083] The maximum allowable vibration amount VIBmax set in step S1310 is substituted for the vibration VIB in equation (2). The stability coefficient S in step 1311 and the vibration coefficient R in step 1314 are also substituted. This allows the maximum speed VELmax for each unique identifier to be found. Here, if the minimum vibration amount β is greater than the maximum allowable vibration amount VIBmax, the maximum speed VELmax becomes negative and does not hold. In other words, even if the speed is reduced, it will exceed the maximum allowable vibration amount VIBmax. Therefore, in step S1316, if the minimum vibration amount β is greater than the maximum speed VELmax, it is determined that the location of the unique identifier is impassable, and the process proceeds to step S1317. In step S1317, the location determined to be impassable is registered as an impassable point, and the process returns to step S1313. If the minimum vibration amount β is smaller than the maximum speed VELmax in step S1316, the process proceeds to step S1318. In step S1318, the smallest of the calculated maximum speed VELmax, the speed limit of the road or passage, and the maximum speed that the mobile body can achieve is set as the maximum speed VELmax of each unique identifier. In step S1319, it is determined that there is no unique identifier that cannot be passed on the route, and the route is determined. At this point, the maximum speed VELmax of each unique identifier has been calculated, so in step S1320, it is possible to calculate the required time for the route from the maximum speed VELmax of each unique identifier. In step S1321, the required time calculated in step S1320 is saved in a memory area (not shown) with the route generation count number as the route number. This makes it possible to obtain the required time from the route number. In step S1322, the route generation count is counted up. In step S1323, if the route generation count is equal to or less than a predetermined count, the process proceeds to step S1313. If the route generation count is equal to or more than a predetermined count, the process proceeds to step S1324. In step S1324, the route with the smallest required time is picked up from multiple routes. In step S1325, the route picked up in step S1324 is determined as the delivery route.

[0084] As described above, if the delivery route is set, the delivery item can be delivered safely and in the shortest time possible according to the vibration tolerance of the delivery item. For the sake of explanation, this embodiment uses the delivery of meals to a building as an example, but the delivery item is not limited to meals. The delivery route is also not limited to buildings, and can be applied to mail delivery and home delivery. [Other Examples] 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-mentioned 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. It can also be realized by a circuit (e.g., ASIC) that implements one or more of the functions.

[0085] The disclosure of this embodiment includes the following configurations and methods. (Configuration 1) A route search device that searches for a route for a delivery robot that delivers a delivery item, An acquisition means for acquiring road surface information of the route, information of the delivery robot, a type of the delivery item, and information of a transport speed of the delivery robot; A route search device characterized by having a determination means for determining a route to a delivery destination based on road surface information of the route, information about the delivery robot, the type of delivery item, and information about the transport speed of the delivery robot. (Configuration 2) 2. The route search device according to configuration 1, wherein the road surface information includes vibration information generated due to unevenness of the road surface. (Configuration 3) The route search device according to configuration 2, characterized in that the determination means determines the route so that the vibration amount obtained using the model of the delivery robot, the transport speed, and the normalized vibration information at each point does not exceed the allowable vibration amount corresponding to the type of the delivery item. (Configuration 4) The route search device according to any one of configurations 1 to 3, wherein the road surface information is data acquired in the past by at least one delivery robot. (Method 1) A route search method for searching a route for a delivery robot that delivers a delivery item, comprising: acquiring road surface information of the route, information of the delivery robot, a type of the delivery item, and information of a transport speed of the delivery robot; and determining a route to a delivery destination based on road surface information of the route, information about the delivery robot, the type of the delivery item, and information about the transport speed of the delivery robot. (Configuration 5) A program for causing a computer to execute the route search method according to method 1.

[0086] 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. [Explanation of symbols]

[0087] 13 Route determination device (route search device) 13-2 Control unit (acquisition means, decision means)

Claims

1. A route search device that searches for a route for a delivery robot that delivers a delivery item, An acquisition means for acquiring road surface information of the route, information of the delivery robot, a type of the delivery item, and information of a transport speed of the delivery robot; A route search device characterized by having a determination means for determining a route to a delivery destination based on road surface information of the route, information about the delivery robot, the type of delivery item, and information about the transport speed of the delivery robot.

2. 2. The route search device according to claim 1, wherein the road surface information includes vibration information generated due to unevenness of the road surface.

3. The route search device according to claim 2, characterized in that the determination means determines the route so that the vibration amount obtained using the model of the delivery robot, the transport speed, and the normalized vibration information at each point does not exceed an allowable vibration amount corresponding to the type of the delivery item.

4. 3. The route search device according to claim 1, wherein the road surface information is data previously acquired by at least one delivery robot.

5. A route search method for searching a route for a delivery robot that delivers a delivery item, comprising: acquiring road surface information of the route, information of the delivery robot, a type of the delivery item, and information of a transport speed of the delivery robot; and determining a route to a delivery destination based on road surface information of the route, information about the delivery robot, the type of the delivery item, and information about the transport speed of the delivery robot.

6. A program for causing a computer to execute the route search method according to claim 5.

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