Information processing device, information processing method, and program

Abstract

To provide guidance control information that allows an autonomous mobile device to perform an appropriate voice guidance.SOLUTION: An information processing device, which generates guidance information for allowing an autonomous mobile device autonomously traveling in a travel space to perform voice guidance, includes an information processing unit. The information processing unit sets, as voice guidance conditions for making the autonomous mobile device perform voice guidance, at least a place in the movement space, a travel direction when the autonomous mobile device enters the place, and a content of voice guidance in the place; and generates guidance control information which includes the set voice guidance conditions and is used by the autonomous mobile device for controlling the voice guidance.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to an information processing device, an information processing method, and a program. [Background technology]

[0002] A technology is known in which a moving body creates an environmental map by estimating its own position while moving through a moving space, and then generates a route to a final destination using the created environmental map, thereby enabling the moving body to move autonomously (autonomous movement) (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-047680 Summary of the Invention [Problem to be solved by the invention]

[0004] As described above, when an autonomously movable vehicle (autonomous mobile device) is moving autonomously, it is preferable to enable the autonomous mobile device to provide voice guidance (voice guidance) to people. In this case, it is preferable to obtain guidance control information that enables the autonomous mobile device to provide accurate voice guidance.

[0005] In consideration of the above-mentioned problems, an object of the present invention is to obtain guidance control information that enables an autonomous mobile device to provide accurate voice guidance. [Means for solving the problem]

[0006] One aspect of the present invention that solves the above-mentioned problems is an information processing device that includes guidance execution conditions that specify at least a location in a moving space and a direction of travel when an autonomous moving device moving autonomously in the moving space enters the location, and guidance content information that indicates the content of the guidance, and that is equipped with an information processing unit that generates guidance control information that causes the autonomous moving device moving autonomously to execute guidance.

[0007] One aspect of the present invention is an information processing method in an information processing device, in which an information processing unit generates guidance control information that causes the autonomously moving autonomous mobile device to execute guidance, the guidance control information including guidance execution conditions that specify at least a location in a moving space and a direction of travel when an autonomous mobile device moving autonomously in the moving space enters the location, and guidance content information that indicates the content of the guidance.

[0008] One aspect of the present invention is a program for causing a computer serving as an information processing device to function as an information processing unit that generates guidance control information for causing an autonomously moving device to execute guidance, the guidance control information including conditions for whether or not guidance can be executed that specify at least a location in a moving space and a direction of travel when an autonomously moving device moving autonomously in the moving space enters the location, and guidance content information that indicates the content of the guidance. Effect of the Invention

[0009] According to the present invention, guidance control information is obtained that enables an autonomous mobile device to provide accurate voice guidance. [Brief description of the drawings]

[0010] [Figure 1] 1 is a diagram illustrating an example of the configuration of a map-related information processing system according to an embodiment of the present invention. [Diagram 2] 1 is a diagram illustrating an example of a functional configuration of a map-related information processing device according to an embodiment of the present invention. [Diagram 3] FIG. 13 is a diagram showing an example of an information generation screen in the present embodiment. [Figure 4]11A and 11B are diagrams illustrating an example of a process for generating a map-related information file set in the present embodiment. [Diagram 5] 4 is a diagram showing an example of a guidance control file in the present embodiment. FIG. [Figure 6] FIG. 4 is a diagram showing an example of a guidance setting screen in the present embodiment. [Figure 7] 11A to 11C are diagrams illustrating an example of transition of a guidance setting screen in response to a user's operation for changing settings in the present embodiment. [Figure 8] 10 is a flowchart illustrating an example of a processing procedure executed by the map-related information processing device in the present embodiment in response to a change in a reference position and a reference direction in guidance control information. [Figure 9] 10 is a flowchart illustrating an example of a processing procedure executed by the map-related information processing device in the present embodiment in response to a change in a trigger range in guidance control information. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] 1 shows an example of the configuration of a map-related information processing system according to the present embodiment. The map-related information processing system according to the present embodiment includes an autonomous mobile device 100 and a map-related information processing device 200. The map-related information processing system of this embodiment performs processing related to map-related information (autonomous movement-related control information) used when the autonomous moving device 100 performs autonomous movement. The map-related information includes a map for autonomous movement and guidance control information. The map for autonomous movement is information on a map of a moving space used by the autonomous moving device 100 when it moves autonomously in the moving space. When moving to a destination set in a building BL, the autonomous moving device 100 moves autonomously by autonomously estimating its own position and planning a route without relying on external control or the like. For the above-mentioned autonomous movement, the autonomous moving device 100 uses a map (map for autonomous movement) used for estimating its own position and planning a route. The map for autonomous movement includes a map for estimating its own position and a map for planning a route. The map for estimating its own position is a map used by the autonomous moving device 100 to estimate its own position. The map for planning a route is a map used by the autonomous moving device 100 for planning a route. The guidance control information is information that the autonomous mobile device 100 uses to provide voice guidance.

[0012] The autonomous mobile device 100 moves in accordance with a predetermined purpose in a building BL (an example of a moving space). The purpose of the autonomous mobile device 100 is not particularly limited, but in the following description, an example will be given in which the autonomous mobile device 100 is used to guide a visually impaired person to a desired destination in various facilities such as a museum or a hospital. The autonomous mobile device 100 has, for example, a handle-shaped grip portion. The person to be guided can be guided to the destination by the autonomous mobile device 100 by holding the grip portion and walking along with the movement of the autonomous mobile device 100 moving to the destination.

[0013] The autonomous mobile device 100 includes a range sensor. The range sensor is a two-dimensional sensor (two-dimensional range sensor) that measures the distance to an obstacle in a direction (two dimensions) perpendicular to the vertical direction by performing two-dimensional scanning with, for example, laser light (which may be radio waves, ultrasonic waves, etc.).

[0014] In the map-related information processing system of this embodiment, when generating a map for autonomous movement, first, the autonomous mobile device 100 generates a two-dimensional map of the building BL by SLAM (Simultaneous Localization and Mapping) using a range sensor. The two-dimensional map generated in this way is a map that is the basis for generating the map for autonomous movement, and is therefore hereinafter referred to as an original map. The original map generated by the autonomous mobile device 100 is passed to the map-related information processing device 200. The autonomous mobile device 100 and the map-related information processing device 200 may be connected by a cable corresponding to a predetermined data interface, or may be connected via communication such as a network. Although the figure shows a case where the map-related information processing device 200 is provided outside the building BL, the map-related information processing device 200 may be provided inside the building BL.

[0015] The map-related information processing device 200 executes processing related to map-related information (map for autonomous movement, voice control information) used by the autonomous moving device 100. The processing related to map-related information includes generation of map-related information. The map-related information processing device 200 generates a map for self-position estimation and a map for route planning, using the original map generated by the autonomous mobile device 100 as a map for autonomous movement corresponding to the building BL. The map-related information (map for autonomous movement, voice control information) generated by the map-related information processing device 200 is passed to the autonomous moving device 100 and stored in the autonomous moving device 100. The autonomous moving device 100 uses the map-related information to perform autonomous movement in the building BL and voice guidance in the building BL.

[0016] An example of the functional configuration of the map-related information processing device 200 will be described with reference to Fig. 2. The map-related information processing device 200 includes, as hardware, a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), and storage devices such as a hard disk drive (HDD) and a solid state drive (SSD). The functions of the map-related information processing device 200 shown in the figure are realized by a central processing unit (CPU) included in the hardware of the map-related information processing device 200 executing a program. The map-related information processing device 200 in FIG.

[0017] The data interface unit 201 transmits and receives data to and from external devices such as the autonomous mobile device 100 . The control unit 202 executes various controls in the map-related information processing device 200. The control unit 202 includes a map-related information generating unit 221 and a guidance information processing unit 222. The map-related information generating unit 221 uses the original map to newly generate a map for self-location estimation and a map for route planning as a map for autonomous movement. The map-related information generating unit 221 can also newly generate a guidance control file by copying a template of a file of guidance control information (guidance control file) stored in the template storage unit 233. The guidance control file includes one or more pieces of guidance control information set corresponding to a building BL. One piece of guidance control information corresponds to one guidance target. The map-related information generating unit 221 can edit maps for autonomous movement (maps for self-position estimation and maps for route planning) in response to, for example, a user operation. The guidance information processing unit 222 edits the guidance control information generated by the map-related information generating unit 221 . The map-related information generating unit 221 and the guidance information processing unit 222 may be functional units corresponding to separate applications, or may be functional units included in a single application.

[0018] The storage unit 203 stores information corresponding to the map-related information processing device 200. The storage unit 203 includes a map-related information storage unit 231, an original map storage unit 232, and a template storage unit 233. The map-related information storage unit 231 stores map-related information. Specifically, the map-related information storage unit 231 stores map-related information files corresponding to buildings BL in sets. One file set includes an autonomous movement map file (a map file for self-location estimation, a map file for route planning) and a voice control information file. The map-related information storage unit 231 may store a set of map-related information files in the same directory. In this case, when the building BL has a multi-story structure or multiple buildings, the map-related information storage unit 231 may store each set of map-related information files generated corresponding to each floor or building in a directory corresponding to each floor or building. The original map storage unit 232 stores an original map generated by the autonomous mobile device 100. The original map storage unit 232 stores the original map as a file in a predetermined format (original map file). The original map storage unit 232 may store, for example, a plurality of original map files generated for each floor or building of the building BL. The template storage unit 233 stores a template file of guidance control information (voice guidance control template file).

[0019] The user interface unit 204 is a part corresponding to a user interface. Specifically, the user interface unit 204 includes a display device, a sound output device, and an input device (such as a mouse, a keyboard, and a touch panel).

[0020] 3 shows an example of an information generation screen used by the user to newly generate map-related information. When the user newly generates map-related information, the user causes the display unit of the user interface unit 204 to display the information generation screen. The information generation screen in FIG. 3 has a new generation operation area AR1 and a file list area AR2 arranged therein. The new generation operation area AR1 is an area where an operation for newly generating a file corresponding to map-related information (map-related information file) is performed. In the new generation operation area AR1, a file name input area AR11, a new generation button BT11, an image display button BT12, a directory display button BT13, and a file selection button BT14 are arranged. The file name input area AR11 is an area for inputting a file name to be applied to a newly created map-related information file. The file name may be input into the file name input area AR11 by inputting a character string using, for example, a keyboard. The new generation button BT11 is a button operated to instruct the execution of new generation of a map-related information file using the file name input in the file name input area AR11. The image display button BT12 is a button for instructing the display of an image of a file such as an original map, which is the copy source of a newly created file. The directory display button BT13 is a button operated to instruct the map related information storage unit 231 to display a corresponding directory. The file selection button BT14 is a button that is operated when selecting an original map file that is to be the source of a newly generated map file for autonomous travel. When the file selection button BT14 is operated, a window that allows a directory selection operation for selecting an original map file is displayed. Note that, in cases where the original map file that is to be the source of a newly generated map file for autonomous travel is fixed to one, the file selection button BT14 may be omitted.

[0021] The file list area AR2 is an area where a list of map related information file sets stored in the map related information storage unit 231 is presented. Each list item of the map related information file set is presented with a file name such as "BLD_1F", "BLD_2F", etc., and also has a copy button BT21 and a delete button BT22 arranged therein. The copy button BT21 is a button for performing an operation of copying the file name presented in the corresponding list item and inputting it into the file name input area AR11 of the new generation operation area AR1. The user can operate the copy button BT21 to input the corresponding file name into the file name input area AR11, and then perform an operation of, for example, changing a part of the character string in the input file name. For example, when generating a map-related information file set corresponding to each floor of the building BL, the file name can be efficiently input by changing the character string portion indicating the floor in the input file name using the copy button BT21. The delete button BT22 is a button for performing an operation of deleting the corresponding map-related information file set.

[0022] 3 in response to the new generation of a map-related information file set is as follows, for example: The process of generating a new map-related information file set in response to the operation may be executed by the map-related information generating unit 221. The user operates the file selection button BT14 to select the original map file to be copied, and then inputs a file name that will be common to each file of the map-related information file set to be newly generated in the file name input area AR11. After the user inputs a file name in the file name input area AR11, the user operates the new create button BT11. In response to the operation of the new create button BT11, a new map-related information file set is generated with the input file name. A list item of the newly generated related information file set is added to the file list area AR2.

[0023] FIG. 4 shows an example of a process for generating a new map-related information file set, which is executed by the map-related information generating unit 221 in response to the above operation. The original map storage unit 232 stores "map01.pgm" and "map01.yaml" as the selected original map files. "map01.pgm" corresponding to the original map is an image file, and "map01.yaml" is a text file in which parameters corresponding to the original map are written. The template storage unit 233 stores a template file "poi_template_yaml" for guidance control information. Note that the format of the image file as the original map file is not limited to "pgm". Furthermore, the formats of the text file as the original map file and the template file for guidance control information are not limited to "yaml".

[0024] For example, in response to the operation of the new generation button BT11, the map-related information generating unit 221 acquires a file name input in the file name input area AR11. In the figure, an example is shown in which the file name "BLD6F" is acquired. The map related information generating unit 221 generates a map for self-location estimation, a map for route planning, and a guidance control file in response to an operation of the new generation button BT11. To generate the map for self-location estimation, the map-related information generating unit 221 copies and acquires the original map files "map01.pgm" and "map01.yaml" stored in the original map storage unit 232. The map-related information generating unit 221 assigns the file names "BLD6F_localization.pgm" and "BLD6F_localization.yaml" as map files for self-location estimation including "BLD6F" input in the file name input area AR11 to each file acquired by copying, in accordance with the file naming rules. The map-related information generating unit 221 creates a folder corresponding to the file name "BLD6F", and stores the files "BLD6F_localization.pgm" and "BLD6F_localization.yaml" in the created folder. Furthermore, in generating the route planning map, the map related information generating unit 221 assigns the file names "BLD6F_pathplanning.pgm" and "BLD6F_pathplanning.yaml" of the route planning map files including "BLD6F" input in the file name input area AR11 to each file acquired by copying from the original map files "map01.pgm" and "map01.yaml" in accordance with the file naming rules. The map related information generating unit 221 stores the files "BLD6F_pathplanning.pgm" and "BLD6F_pathplanning.yaml" in the "BLD6F" folder. Furthermore, to generate guidance control information, the map-related information generation unit 221 obtains a file obtained by copying the template file "poi_template_yaml" stored in the template storage unit 233. The map-related information generation unit 221 assigns the file name "BLD6F_poi.yaml" to the guidance control file including "BLD6F" input in the file name input area AR11 according to the file naming rules. The map-related information generation unit 221 stores the "BLD6F_poi.yaml" file in the "BLD6F" folder. In this way, a new set of map-related information files is generated by storing the map files for self-location estimation ("BLD6F_localization.pgm", "BLD6F_localization.yaml"), the map files for route planning ("BLD6F_pathplanning.pgm", "BLD6F_pathplanning.yaml"), and the guidance control information ("BLD6F_poi.yaml") in the same folder.

[0025] At the stage of being newly created, the map file for self-location estimation and the map file for route planning have the same contents as the original map file. The map file for self-location estimation may be used for autonomous movement by the autonomous mobile device 100 with the same contents as the original map file. However, the user may correct any unclear parts of the map file for self-location estimation, for example, by using a drawing function of an application. Furthermore, the user edits the map file for route planning so as to reflect obstacles and the like within the building BL that are not shown in the map file for self-location estimation.

[0026] In addition, when a guidance control file is newly created, the content is the same as that of the template file. Therefore, the user operates the user interface unit 204 of the map-related information processing device 200 to edit the guidance control file by creating voice guidance information corresponding to each guidance point in the building BL.

[0027] Fig. 5 shows an example of a guidance control file edited by a user. One record (one line) in the figure is guidance control information corresponding to one guidance point. One piece of guidance control information includes fields for a point name, a voice-enabled notation, a reference position, a trigger range (an example of a spatial range based on the reference position), a reference direction, and a tag. The point name field stores the name (point name) of the point (location) where the corresponding voice guidance is provided. The voice-enabled notation field stores text (voice-enabled notation) that indicates the notation content corresponding to the voice guidance. When synthesizing voice guidance, text in the language indicated as the voice-enabled notation is used. The information stored in the voice-enabled notation field is an example of guidance content information. The reference position field stores coordinates as a reference position on a map for self-location estimation (or a map for route planning) corresponding to a point where the corresponding voice guidance is provided. The trigger range field stores the trigger range. The trigger range is a spatial range set based on a reference position, and is a range in which the corresponding voice guidance should be provided. The corresponding voice guidance is started, for example, when the device reference position set in the autonomous mobile device 100 reaches within the trigger range. The reference direction field stores a reference direction. The reference direction is a direction to be compared with the moving direction of the autonomous mobile device 100 when it enters the trigger range in determining whether or not to provide the corresponding voice guidance. The tag field stores tags that are assigned to voice guidance controls. A tag is meta information that is assigned to one or more corresponding voice guidance controls. Specifically, in the figure, four types of tags are listed: "direction match," "direction difference," "voice interruption possible," and "voice interruption not possible." The “direction match” tag states that “the condition for executing voice guidance (voice guidance condition) is that the reference direction and the moving direction of the autonomous mobile device 100 when it enters the trigger range match.” The “directional difference” tag states that “the voice guidance condition is that the angular difference between the reference direction and the moving direction of the autonomous mobile device 100 when it enters the trigger range falls within a predetermined range.” The “audio interruption allowed” tag describes that “if the autonomous mobile device 100 reaches a trigger range corresponding to another voice guidance before the corresponding voice guidance has ended, the previous voice guidance may be interrupted and the other voice guidance may be started.” The “audio interruption not permitted” tag describes that “even if the autonomous mobile device 100 reaches a trigger range corresponding to another voice guidance before the corresponding voice guidance has ended, the previous voice guidance may be continued without being interrupted until the corresponding voice guidance ends.” The reference direction and the information stored in the tag are examples of conditions for whether or not guidance can be executed. In addition, in the guidance control information in the same figure, the location where voice guidance is provided is specified by the point coordinates as a reference position and a trigger range, but for example, an area divided by dividing the building BL into a grid may be specified as the location where voice guidance is provided.

[0028] The map-related information processing device 200 may be capable of displaying a guidance setting screen that reflects the settings of the guidance control file stored in the map-related information storage unit 231 on a map of the building BL using an application capable of editing the guidance control file. Fig. 6 shows an example of a guidance setting screen. The guidance setting screen in Fig. 6 shows guidance setting images 10 (10-1, 10-2) corresponding to each piece of guidance control information included in the voice guidance control arranged on a map of the building BL viewed from a planar direction. In Fig. 6, the map of the building BL is shown corresponding to the east-west-north-south directions. Note that the dashed lines shown at a certain distance from the walls of the building BL are interference areas where it is determined that no route should be set when the autonomous mobile device 100 plans a route. One guidance setting image 10 shows the setting contents of the corresponding guidance control information. That is, the guidance setting image 10 has a point name 11, a reference position 12, a direction indicator 13, and a trigger range image 14. As can be seen from the figure, the trigger range image 14 shows an example in which the trigger range image 14 is a circle centered on the reference position 12. The shape of the trigger range is not limited to a circle, and may be, for example, an ellipse, a square, or the like. The direction indicator 13 is an indicator indicating a reference direction set in the corresponding guidance control information. The direction indicator 13 is arranged so that the base of the arrow is positioned at the reference position 12 and the tip of the arrow indicates the reference direction. In the figure, the reference position 12 is displayed as a point, but it may not be displayed.

[0029] The contents of the corresponding tag may be displayed in a predetermined manner in the guidance setting image 10. For example, the contents of the tag may be displayed by the color or shape of the direction indicator 13. The contents of the tag may be displayed by changing the color, stencil, or the like of the trigger range image 14.

[0030] In the figure, the guidance setting image 10-1 with the point name 11 of "Conference room" has "direction match" set as a voice guidance condition by the tag. The direction indicator 13 in the guidance setting image 10-1 is pointing north. In this case, when the autonomous mobile device 100 travels in a northerly direction (a predetermined angle margin may be secured) and enters the trigger range image 14 of the guidance setting image 10-1, voice guidance is executed, for example, "There is a conference room on the right." On the other hand, when the autonomous mobile device 100 travels in a direction corresponding to the south and enters the trigger range image 14 of the guidance setting image 10-1, voice guidance is not executed.

[0031] In addition, in the same figure, the guidance setting image 10-2 with the point name 11 of "Restroom Women" has "directional difference" set as a voice guidance condition by the tag. In this case, the tag as "directional difference" describes that voice guidance should be provided when the traveling direction of the autonomous mobile device 100 when entering the trigger range image 14 is either +90 degrees or -90 degrees with respect to the reference direction (a predetermined angle margin may be secured). Also, the direction indicator 13 in the guidance setting image 10-2 points to the south where the entrance to the women's restroom is located. In this case, when the autonomous mobile device 100 travels in the east direction and enters the trigger range image 14, it executes voice guidance such as "The women's restroom is on the right". Also, when the autonomous mobile device 100 travels in the west direction and enters the trigger range image 14, it executes voice guidance such as "The women's restroom is on the left".

[0032] Furthermore, the user can change (edit) the settings of the guidance control information by operating the guidance setting image 10 on the guidance setting screen. This will be described with reference to Fig. 7. Screens P1 to P4 in Fig. 7 show extracted portions of the guidance setting screen related to the operation of changing the settings of the guidance control information, and the illustration of walls and the like within the building BL is omitted. The transition of the guidance setting screen according to the operation of the user to change the settings is shown in the order of screens P1 to P4. In explaining FIG. 7, a case where a user performs an operation using a mouse, which is a pointing device, will be taken as an example.

[0033] First, the screen P1 shows a guidance setting image 10 corresponding to the guidance control information to be changed. In the procedure for changing the guidance control information, first, a selection operation is performed by clicking on the guidance setting image 10 corresponding to the guidance control information to be changed. Next, the user performs an operation to change the reference position of the guidance control information corresponding to the selected guidance setting image 10. Specifically, in this case, the user moves the cursor CSR to a position to be set as a new reference position as shown in screen P1, and performs an operation to press the left button of the mouse. By the operations up to this point, a new reference position rp is set.

[0034] As a procedure for changing the guidance control information, after the reference position rp is set, an operation for changing the reference direction is performed. Specifically, the user continues to press the left button of the mouse used to set the reference position rp, and a direction change operator arr for setting the reference direction is placed as shown in the screen P2. In the figure, the direction change operator arr has an arrow shape of a predetermined length and is placed so that the base of the arrow is located at the reference position rp. The direction change operator arr rotates arbitrarily in 360 degrees around the reference position rp as the user moves the mouse while continuing to press the left button, and the pointing direction changes. When the user operates the direction change operator arr to match the direction it points with the desired reference direction, the user releases the left button pressed down.

[0035] When the left button is released, the reference position rp and reference direction set by the previous operations are confirmed, and the target guidance setting image 10 transitions to a state that reflects the confirmed reference position rp and reference direction, as shown as screen P3 on the guidance setting screen. On screen P3, the entire target guidance setting image 10 is moved so that the reference position 12 coincides with the confirmed reference position rp. Also, the direction indicator 13 of the guidance setting image 10 on screen P3 is in a state of pointing to the confirmed reference direction.

[0036] The trigger range of the guidance control information may also be changed by an operation on the guidance setting screen. As a specific operation mode, the user may change the size of the trigger range by, for example, selecting the guidance setting image 10 to be operated by clicking a position in the trigger range image 14, and then enlarging or reducing the trigger range image 14 by a drag operation. The shape of the trigger range may also be changed by an operation to change the shape of the trigger range image 14. Screen P4 shows an example in which the size of the trigger range is enlarged from the state of screen P3 for the guidance setting image 10 shown on screen P3.

[0037] An example of a processing procedure executed by the map-related information processing device 200 in response to a change in the reference position and reference direction in the guidance control information (screens P1 to P3 in FIG. 8) will be described with reference to a flowchart in FIG.

[0038] Step S100: The user performs an operation to select the guidance setting image 10 corresponding to the guidance control information to be changed by clicking on the guidance setting screen using a pointing device such as a mouse. In response to receiving the operation to select the guidance setting image 10, the guidance information processing unit 222 of the map-related information processing device 200 selects the guidance control information to be changed.

[0039] Step S102: The user performs an operation to specify a new reference position rp for the guidance control information to be changed (reference position specification operation) on the map of the building BL displayed on the guidance setting screen. The reference position specification operation may be an operation of positioning the cursor at a position to be newly set as the reference position rp and pressing the left button of the pointing device, as shown in screen P1 of Fig. 8. The guidance information processing unit 222 sets the reference position rp at the position specified by the reference position specification operation.

[0040] Step S104: The guidance information processing unit 222 newly places an object as a direction change operator arr at a position starting from the reference position rp on the guidance setting screen. The position indicated by the direction change operator arr in the initial state may be the currently set reference direction or a specific direction determined in advance.

[0041] Step S106: After the reference position rp is set in step S102, the guidance information processing unit 222 determines whether or not an operation for changing the reference direction (reference direction change operation) has been performed. The reference direction change operation may be, for example, an operation for rotating the direction change operation button arr by a drag operation as shown in the screen P2 of FIG. Step S108: When a reference direction change operation has been performed, the guidance information processing unit 222 sets (changes) the reference direction in response to the reference direction change operation.

[0042] Step S110: After the process of step S108, or if the reference direction change operation has not been performed in step S106, the guidance information processing unit 222 judges whether the change operation of the guidance control information has ended. The change operation may be ended by releasing the left button of the pointing device that has been pressed until now. If the change operation has not ended, the process returns to step S106.

[0043] Step S112: When the change operation is completed, the guidance information processing unit 222 updates the reference position and reference direction in the target guidance control information with the reference position rp set in step S102 and the reference direction set in step S108.

[0044] Step S114: The guidance information processing unit 222 updates the display of the corresponding guidance setting image 10 so as to reflect the content updated in step S112, as shown by the transition from screen P2 to screen P3 in FIG.

[0045] An example of a process procedure executed by the map-related information processing device 200 in response to a change in the trigger range in the guidance control information (screens P3 to P4 in FIG. 8) will be described with reference to a flowchart in FIG.

[0046] Step S200: In response to receiving an operation to select the guidance setting image 10, the guidance information processing unit 222 selects the corresponding guidance control information as the object to be changed, similarly to step S100 in FIG.

[0047] Step S202: In response to an operation (size change operation) for changing the size of the trigger range image 14 of the guidance setting image 10 selected in step S100, the guidance information processing unit 222 accepts the size change operation. In response to the size change operation, the guidance information processing unit 222 changes the trigger range as a parameter of the guidance control information, and changes the size of the trigger range image 14 in the selected guidance setting image 10.

[0048] Step S204: Upon completion of the size change operation, the guidance information processing unit 222 updates the target guidance control information with the parameter value of the trigger range last set in step S202.

[0049] Step S206: The guidance information processing unit 222 updates the display of the corresponding guidance setting image 10 so that the trigger range of the guidance control information updated in step S204 is reflected as the trigger range image 14.

[0050] In the above embodiment, the autonomous mobile device 100 has a handle, and the visually impaired person holds the handle while accompanying the autonomous mobile device 100 in its movement, and provides audio guidance to the visually impaired person. The autonomous mobile device 100 of the present embodiment is not limited to this. The autonomous mobile device 100 of the present embodiment may be, for example, a robot that guides visitors to appropriate locations, or a robot that leads visitors to facilities such as museums and provides audio explanations of artworks. The guidance by the autonomous mobile device 100 of this embodiment may be provided by display, or may be provided by a combination of voice and display.

[0051] In addition, a program for realizing the functions of the autonomous mobile device 100, the map-related information processing device 200, etc. described above may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read into a computer system and executed to perform processing as the autonomous mobile device 100, the map-related information processing device, etc. described above. Here, "reading a program recorded on a recording medium into a computer system and executing it" includes installing the program into a computer system. The "computer system" here includes hardware such as an OS and peripheral devices. In addition, the "computer system" may include multiple computer devices connected via a network including a communication line. The recording medium also includes a recording medium provided inside or outside and accessible from a distribution server to distribute the program.

[0052] [SDGs Goal Note] The "Sustainable Development Goals (SDGs)" are 17 international goals that were adopted at the United Nations Summit in September 2015. The site management system, site management method, and program according to this embodiment can contribute to the achievement of the 17 SDGs, for example, goal 9. "Build resilient infrastructure, promote industry, innovation and infrastructure." [Explanation of symbols]

[0053] 10 Guidance setting image, 100 Autonomous mobile device, 200 Map-related information processing device, 201 Data interface unit, 202 Control unit, 203 Storage unit, 204 User interface unit, 221 Map-related information generating unit, 222 Guidance information processing unit, 231 Map-related information storage unit, 232 Original map storage unit, 233 Template storage unit

Claims

1. An information processing unit that generates guidance control information that includes guidance execution conditions that specify at least a location in a moving space and a traveling direction when an autonomous moving device that moves autonomously in the moving space enters the location, and guidance content information that indicates the content of the guidance, and causes the autonomous moving device to execute the guidance. An information processing device comprising:

2. The guidance content information indicates the contents of speech in the voice guidance. The information processing device according to claim 1 .

3. The location is a reference position and a spatial range based on the reference position.

3. The information processing device according to claim 1 or 2.

4. The information processing unit changes the reference position in response to an operation. The information processing device according to claim 3 .

5. The information processing unit changes the spatial range in response to an operation. The information processing device according to claim 3 .

6. the guidance execution condition defines a relationship between a reference direction and a traveling direction of the autonomous mobile device, The information processing unit changes the reference direction in response to an operation.

3. The information processing device according to claim 1 or 2.

7. The guidance execution condition that defines the relationship between the reference direction and the traveling direction of the autonomous mobile device is The traveling direction has a predetermined angle difference with respect to a reference direction. The information processing device according to claim 6.

8. The guidance execution condition that defines the relationship between the reference direction and the traveling direction of the autonomous mobile device is that the traveling direction coincides with the reference direction. The information processing device according to claim 7.

9. An information processing method in an information processing device, An information processing step in which an information processing unit generates guidance control information including a guidance execution condition that specifies at least a location in a moving space and a traveling direction when an autonomous moving device moving autonomously in the moving space enters the location, and guidance content information that indicates the content of the guidance, and causes the autonomous moving device to execute guidance. An information processing method comprising:

10. A computer as an information processing device An information processing unit that generates guidance control information that includes guidance execution conditions that specify at least a location in a moving space and a traveling direction when an autonomous moving device that moves autonomously in the moving space enters the location, and guidance content information that indicates the content of the guidance, and causes the autonomous moving device to execute the guidance. A program to function as a

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