Information processing system, information processing method, and program

Abstract

To appropriately plan a traveling route, in which an autonomous mobile travels, according to surrounding conditions.SOLUTION: An information processing system comprises: an event processing section which changes an operation plan depending on overlap conditions between the operation plan which is defined while including regulations of a traveling time and a traveling route of an autonomous mobile regarding an event as travel of the autonomous mobile as event information which is defined while including space-time regulations regarding an event in a target space and other event information.SELECTED DRAWING: Figure 11

Description

[Technical Field]

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

[0002] A technology is known in which a movement path from a first position point to a second position point selected on a map is analyzed according to predetermined movement path analysis rules, and a robot is controlled to move along the analyzed movement path (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6800989 Summary of the Invention [Problem to be solved by the invention]

[0004] When moving an autonomous moving body, it is preferable that the path along which the autonomous moving body will move is appropriately planned in accordance with the surrounding circumstances.

[0005] In consideration of the above-mentioned problems, an object of the present invention is to enable a travel path for an autonomous moving body to be appropriately planned in accordance with the surrounding circumstances. [Means for solving the problem]

[0006] One aspect of the present invention that solves the above-mentioned problems is an information processing system that includes an event processing unit that changes the operation plan in accordance with an overlapping situation with other event information, as event information that defines an event in a target space including time-space specifications, and an operation plan that defines an event as the movement of an autonomous moving body including specifications for the movement time and movement path of the autonomous moving body.

[0007] One aspect of the present invention is an information processing method in an information processing system, which includes an event processing step in which an event processing unit defines event information for an event in a target space, including time-space specifications, and an operation plan for an event as the movement of an autonomous mobile body, including specifications for the movement time and movement path of the autonomous mobile body, and changes the operation plan depending on an overlap situation with other event information.

[0008] One aspect of the present invention is a program for causing a computer in an information processing system to function as an event processing unit that defines event information, including spatiotemporal specifications, for events in a target space, and an operation plan, defined for events as the movement of an autonomous mobile body, including specifications for the movement time and movement path of the autonomous mobile body, and changes the operation plan in accordance with an overlapping situation with other event information. [Effects of the Invention]

[0009] According to the present invention, it is possible to obtain an effect that the travel route along which an autonomous moving body travels can be appropriately planned in accordance with the surrounding circumstances. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram illustrating a conceptual configuration of a time-space management system according to an embodiment of the present invention. [Figure 2] FIG. 10 is a diagram showing a specific example of a procedure for registering an event by the time-space management system according to the present embodiment. [Figure 3] FIG. 2 is a diagram illustrating an example of the functional configuration of a time-space management device according to the present embodiment. [Figure 4] FIG. 3 is a diagram illustrating an example of the structure of event information in the present embodiment. [Figure 5] 10 is a flowchart illustrating an example of a processing procedure in response to event registration in the time-space management system of the present embodiment. [Figure 6] FIG. 10 is a diagram illustrating an example of format conversion of event information in the present embodiment. [Figure 7]FIG. 10 is a diagram illustrating an example of format conversion of event information in the present embodiment. [Figure 8] FIG. 2 is a diagram showing an example of space control (change of travel route) by the time-space management device in this embodiment. [Figure 9] FIG. 2 is a diagram showing an example of space control (change of travel route) by the time-space management device in this embodiment. [Figure 10] FIG. 10 is a diagram showing a time schedule corresponding to FIG. 9 in this embodiment. [Figure 11] 10A and 10B are diagrams illustrating a second example of space control by the space control device in this embodiment. [Figure 12] 10A and 10B are diagrams illustrating a third example of space control by the space control device in this embodiment. [Figure 13] 10A and 10B are diagrams illustrating a fourth example of space control by the space control device in this embodiment. [Figure 14] FIG. 10 is a diagram showing a time table corresponding to a fourth example of spatial control in this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] 1 shows a conceptual configuration of a space-time management system (an example of an information processing system) according to this embodiment. In the space-time management system according to this embodiment, a space-time management device 100 manages space-time for a target space 10. That is, the space-time management device 100 manages various events that occur in the target space 10 using information defined by space and time (space-time). It should be noted that the "management" by the time-space management device 100 may also include controlling events in the target space 10 as targets. Note that the "occurrence" of an event here includes not only dynamic changes in events such as the movement of people or autonomous moving bodies, or the operation of lighting or air conditioning devices, but also the specification of fixed content (e.g., a dangerous area) for a specific spatial portion in the target space 10. In other words, the events in this embodiment may include not only events that exist dynamically but also events that exist statically. In the following description, the occurrence itself is also called an event, and information that defines the event in terms of time and space (space-time) is also called event information.

[0012] The target space 10 can be decomposed into, for example, multiple managed object spaces 11, each corresponding to a different managed object. Five managed object spaces 11 (11-1 to 11-5) are shown as an example in the figure. Although not shown in the figure, each managed object space 11 may be provided with a corresponding management system. The figure also shows an example in which the target space 10 includes a real space 10A and a virtual space 10B. The real space 10A includes managed object spaces 11-1 to 11-4, and the virtual space 10B includes a managed object space 11-5. The figure shows an example in which multiple managed object spaces 11 are included in the real space 10A and one managed object space 11 is included in the virtual space 10B, but the virtual space 10B may also include multiple managed object spaces 11.

[0013] Specifically, the management target-specific space 11-1 is a space in which an architectural structure in the real space 10A is a management target. The architectural structure is, for example, a partition of a building. The architectural structure to which the management target-specific space 11-1 corresponds may be specified, for example, by a building map stored in a building management system (not shown). In this case, the building management system may associate, with the map, information defining a specific spatial region (spatial portion) formed under the architectural structure, such as a dangerous area that poses a risk for the movement of an autonomous moving body, or a congested area that tends to be crowded with people and autonomous moving bodies.

[0014] The separate management target space 11-2 is a space in which air conditioners provided in the real space 10A are managed. The air conditioners present in the separate management target space 11-2 may be controlled by, for example, an air conditioning management system (not shown) provided in correspondence with the real space 10A.

[0015] The management-subject-specific space 11-3 is a space in which lighting devices provided in the real space 10A are managed. The lighting devices present in the management-subject-specific space 11-3 may be managed by, for example, a lighting management system (not shown) provided in correspondence with the real space 10A.

[0016] The management target space 11-4 is a space that is a management target for autonomous moving objects that exist in the real space 10A. The management target space 11-5 may be managed by, for example, an autonomous moving object management system (not shown) that is provided corresponding to the real space 10A.

[0017] The managed space 11-5 is a space constructed as a digital twin of the virtual space 10B corresponding to the target space 10. In the virtual space 10B as a digital twin, for example, a human user can exist as an avatar. The virtual space 10B as a digital twin may be managed by a virtual space management system (not shown).

[0018] In addition to the above examples, the management target space 11 may also include, for example, a space for managing people who exist in the real space 10A, a space for managing facilities other than air conditioning and lighting (for example, elevators), and a space for managing static objects such as furniture and fixtures. In the case of the management target space 11 for managing people, management related to people may be performed by, for example, a schedule management system that manages the schedules of people in the real space 10A.

[0019] Note that there are no particular limitations on the specific example of the space as the target space 10. The target space 10 may be, for example, a space corresponding to the inside of a building. The target space 10 may also be a space including a building and its surrounding outdoors, a commercial facility, a leisure facility, a public facility, a park, or the like, or may be a city block within a predetermined range.

[0020] The time-space management device 100 manages each of the various events that occur in the target space 10 using event information in a format defined by time and space. In correspondence with the target space 10 illustrated in Fig. 1, each of the events that occur in each of the management target spaces 11 is managed using an event in a common format. That is, the time-space management device 100 in this embodiment can centrally manage a variety of events occurring in the target space 10 using event information in a common format, regardless of differences in the management target type for each management target space 11. Furthermore, such management by the time-space management device 100 can be seen as integrating and managing the management target spaces 11 that exist individually in the target space 10. The time-space management device 100 may be configured to control the building structure, air conditioning, lighting, autonomous moving bodies, avatars in the virtual space 10B, etc. by cooperating with management systems corresponding to the respective management target spaces 11.

[0021] A specific example of a procedure for registering an event in the time-space management system will be described with reference to FIG. The time-space management device 100 is communicably connected to an external management system 20. The external management system 20 may be, for example, a system that manages an object corresponding to one of the management target-specific spaces 11 in Fig. 1. Specifically, in the case of the management target-specific space 11-4 that manages an autonomous moving object, the management system that manages the autonomous moving object corresponds to the external management system 20. In order to enable the time-space management device 100 to manage an event (phenomenon) under its management, the external management system 20 performs event registration to register event information of the target event in the time-space management device 100 (step S10). As an event registration, the external management system 20 transmits, for example, registration information indicating the content of the event (phenomenon) to be registered to the time-space management device 100.

[0022] The time-space management device 100 generates the event information 30 based on the registration information received from the external management system 20 (step S12). The event information has a format including, for example, event type information, area information, schedule information, and metadata. The event type information is information that indicates the type of the corresponding event. The area information is information indicating an area (spatial region) related to the corresponding event. The schedule information is information about the time for the corresponding event. Metadata is information that describes various attributes of a target event.

[0023] The time-space management device 100 determines the type of the event indicated in the received registration information, and generates event type information indicating the determined event type.

[0024] In addition, the time-space management device 100 converts the information indicating the area corresponding to the corresponding event, which is included in the received registration information, from a format compatible with the external management system 20 into a format compatible with the event information, thereby generating area information.

[0025] Furthermore, the time-space management device 100 generates a timestamp based on information about the time of the corresponding event included in the received registration information, and associates the generated timestamp with, for example, a spatial region indicated in the area information. That is, the timestamp associated with the spatial region in the area information may be used as schedule information. In other words, the event information can define the relationship between space and time for the corresponding event using the area information and schedule information. As a specific example, in the event information for a movement event corresponding to an autonomous moving body, the relationship between space and time is defined in such a way that the time occupied by the autonomous moving body is indicated by the schedule information for a spatial region corresponding to the movement route indicated by the area information.

[0026] Furthermore, the time-space management device 100 generates metadata by adding information indicating attributes of the corresponding event contained in the received registration information.

[0027] The time-space management device 100 performs processing (event registration processing) corresponding to the registration of the generated event information (step S14). As part of the event registration processing, the time-space management device 100 determines whether there is any time-space overlap between the generated event information and event information already stored (registered) in the event information storage unit 131. If there is no overlap with other event information, the time-space management device 100 may store the generated event information newly in the event information storage unit 131. The event information storage unit 131 stores the registered event information as a database. On the other hand, if there is overlap with other event information, the time-space management device 100 changes at least one of the generated event information and the other overlapping event information to avoid the overlap, and then stores the generated event as a new event in the event information storage unit 131. At this time, if the other event information has been changed, the time-space management device 100 updates the other event information stored in the event information storage unit 131 to the changed content.

[0028] 3 shows an example of the functional configuration of the time-space management device 100. The time-space management device 100 includes, as hardware, a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and storage devices such as HDD (Hard Disk Drive) and SSD (Solid State Drive). The functions of the time-space management device 100 shown in the figure are realized when the CPU included in the time-space management device 100 executes a program.

[0029] The time-space management device 100 in FIG. 3 includes a communication unit 101, a control unit 102, and a storage unit 103. The communication unit 101 is connected to various devices shown in FIG. 2 via a network (wireless or wired) so as to be able to communicate with them.

[0030] The control unit 102 executes various controls in the time-space management device 100. The control unit 102 includes an event processing unit 121 (an example of an event processing unit). The event processing unit 121 processes the event information stored in the event information storage unit 131, thereby managing events in the target space 10. The event processing unit 121 can also generate event information based on the definition of a specified event, and store (register) the generated event information in the event information storage unit 131. The processes of steps S12 and S14 in FIG.

[0031] The storage unit 103 stores various types of information corresponding to the time-space management device 100. The storage unit 103 in the figure includes an event information storage unit 131. The event information storage unit 131 stores events. An event is information used by the time-space management device 100 for time-space management, and is information in which a description is made to define a predetermined event in the target space 10. The event information storage unit 131 stores event information corresponding to each event in the target space 10.

[0032] 4 shows an example of the structure of event information corresponding to one event. One piece of event information has fields for event type information, area information, schedule information, and metadata.

[0033] The event type information field stores event type information indicating the type of the corresponding event. The event types may be classified into events that define an area in the target space 10, events that control the movement of an autonomous moving body, events that guide the user's movement (not autonomous movement), events that represent objects such as furniture and fixtures, and events that detect predetermined events such as congestion or disaster situations in a specific area in the target space. The event type may also indicate a management object type corresponding to the management object-specific space 11 described in FIG. 1.

[0034] The area information field stores area information (an example of spatial region information) corresponding to an event. The area information is information describing the region (spatial region) in the target space 10 to which the event corresponds. The area information field may also store information indicating which of the management target spaces 11 described in FIG. 1 the corresponding event belongs to. As a specific example, when an event defines a spatial area through which an autonomous moving body can pass within the target space 10, the area information has description content indicating the spatial area through which the autonomous moving body can pass. The spatial area indicated by the area information may be represented by, for example, the coordinates of the corresponding space. The spatial region described by the area information may be a planar (two-dimensional) region in the target space 10, or may be a region in three-dimensional space.

[0035] The area information may also define the shape of the spatial region as a corresponding three-dimensional space. Specifically, the shape of the spatial region in the area information may be defined by coordinates, a three-dimensional shape such as a rectangular parallelepiped or a sphere, a shape of one or more overlapping cubes such as a voxel format, or a complex shape defined by 3D data. Depending on the area information, the shape of the spatial region may be defined as changing over time using information such as metadata as a condition (trigger).

[0036] The schedule information field stores schedule information about the corresponding event. As a specific example, if the event defines a combination of a spatial region in the target space where an autonomous moving body can pass and a time period, the schedule information has a description indicating the time period where the autonomous moving body can pass.

[0037] Note that events may be dynamic events that change over time, as well as static events that do not change over time. Examples of dynamic events include "the location of an autonomous moving body changing over time," "reservation of use of a rental space during a certain time period," and "the congestion rate of a certain space during a certain time period." Examples of static events include "(fixed) allowed areas for autonomous mobile units," "(fixed) no-entry areas (locations) for autonomous mobile units," "no-stop areas for autonomous mobile units," and "hourly rental fees for areas." The schedule information corresponding to a dynamic event may indicate a timestamp corresponding to the change of the corresponding event over time. On the other hand, schedule information corresponding to a static event may be configured to stipulate that the corresponding event does not change over time.

[0038] Metadata is information that describes various attributes of a target event (phenomenon). The figure shows an example of the definition of metadata items included in the metadata. The figure lists the metadata items as event ID, whether space can be occupied, priority, preceding events, subsequent events, related events, whether movement has occurred, who is moving, starting point, arrival point, whether area has changed, space definition, and status reference. The metadata may include metadata items used to manage the corresponding event among the above metadata items, and may also include metadata items other than the above depending on the definition of the corresponding event.

[0039] The event ID metadata is an identifier that uniquely identifies the corresponding event.

[0040] The spatial occupancy metadata indicates whether the spatial region defined by the area information of the corresponding event can be occupied, excluding the spatial regions of other events. If the spatial occupancy metadata indicates "yes," the spatial region of the corresponding event is not allowed to overlap with the spatial regions of other events simultaneously. If the spatial occupancy metadata indicates "no," the spatial region of the corresponding event is allowed to overlap with the spatial regions of other events simultaneously.

[0041] The priority metadata indicates the priority of space occupancy. For example, if the metadata indicating whether an event can occupy space indicates "yes" and the metadata of other overlapping events also indicates "yes," the event with the highest priority can occupy the space to the exclusion of the other events.

[0042] The pre-event metadata is written when an event (pre-event) that must be processed before the corresponding event occurs is specified, and indicates the event ID of the pre-event. The metadata of a post-event is written when an event (post-event) to be processed following the corresponding event is specified, and indicates the event ID of the post-event. The metadata of the related event is written when another event (related event) that is highly related to the corresponding event is specified, and indicates the event ID of the related event.

[0043] The movement metadata indicates whether the corresponding event involves the movement of a mobile object, such as a user or an autonomous mobile object. Here, "movement" can be distinguished into "capable of autonomous movement (like a service robot)," "not moving autonomously but capable of being moved (like furniture)," and "not moving."

[0044] The metadata of the moving subject indicates what the moving subject is when the metadata of the corresponding event indicating whether or not movement occurred indicates "movement occurred." The moving subject may be, for example, an autonomous moving body that moves in real space or virtual space, a person (user) that moves in real space, or an avatar that moves in virtual space. When the moving subject is an autonomous moving body, the event processing unit 121 executes processing related to the autonomous movement of the target autonomous moving body based on the corresponding event.

[0045] The metadata of the starting point indicates the starting point defined for the corresponding movement when the metadata of whether or not there is movement indicates “movement.” The starting point may be indicated as a coordinate in the object space 10, for example. The arrival point metadata indicates the arrival point defined for the corresponding movement when the movement presence / absence metadata indicates “movement present.” The arrival point may be indicated as a coordinate in the object space 10, for example. For example, if the corresponding event information describes the movement of a certain autonomous moving body, and the preceding event or subsequent event describes the movement of the same autonomous moving body, the arrival point of the preceding event and the departure point of the next event may be made to indicate the same coordinates.

[0046] The area change presence / absence metadata indicates whether the spatial area described in the area information of the corresponding event information can be changed.

[0047] The space definition metadata indicates the definition of the spatial region indicated by the area information stored in the corresponding event information. For example, the space definition metadata can indicate that the corresponding spatial region is an area where autonomous moving bodies can pass or an area where autonomous moving bodies are prohibited from passing. The metadata for a space definition may also include data that indicates the characteristics of that specific spatial region. For example, it may be the temperature or illuminance value at a specific point in the space. These values may be measured values, values calculated by simulation, or values (threshold values) specified as conditions. Comparison, calculation, and conditional branching of this metadata may be reflected in control across different managed spaces.

[0048] The metadata of the state reference destination indicates a reference destination when the corresponding event information needs to refer to a specific state. Specifically, for example, when the corresponding event information is defined as indicating a sensing result, the metadata of the state reference destination indicates a reference destination such as a database that stores the sensing result.

[0049] An example of a processing procedure in response to event registration in the time-space management system of this embodiment will be described with reference to the flowchart of FIG. Step S100: In the time-space management device 100, the event processing unit 121 generates event type information indicating the type of the corresponding event based on the input information specifying the event type.

[0050] Step S102: The event processing unit 121 generates area information based on information corresponding to the input area definition.

[0051] Step S104: The event processing unit 121 generates schedule information based on information related to the time specified for the target event. Note that the processing of step S104 may be omitted, for example, if the target event simply defines a spatial region and does not require a definition related to time.

[0052] Step S106: The event processing unit 121 generates metadata based on the data for each item of the metadata input in correspondence with the target event.

[0053] Step S108: The event processing unit 121 generates event information including the event type information generated in step S100, the area information generated in step S102, the schedule information generated in step S104, and the metadata generated in step S106. The event processing unit 121 stores the generated event information in the event information storage unit 131.

[0054] Step S110: The event processing unit 121 determines whether the event specified by the event information (new event information) newly generated in step S108 overlaps (interferes with) another event specified by other registered event information. Here, the other registered event information refers to event information stored in the event information storage unit 131. Specific examples of overlap include, when the event specified by the new event information is a movement event that specifies the movement of an autonomous moving body, a situation in which the spatial movement schedule of the autonomous moving body specified by the new event information (including the specification of the movement route and the specification of the time for moving along the movement route) overlaps with the spatial movement schedule of another registered movement event, or overlaps with a space-time specified as being granted exclusivity by an area event.

[0055] Step S112: The event processing unit 121 determines whether or not the result of the determination in step S110 indicates that there is overlap.

[0056] Step S114: If it is determined in step S112 that there is no overlap, the event processing unit 121 newly registers new event information. That is, the event processing unit 121 newly stores the new event information in the event information storage unit 131.

[0057] Step S116: On the other hand, if it is determined in step S112 that there is an overlap, the event processing unit 121 determines the event information to be changed to eliminate the overlap from among the new event information and the event information of other registered events that overlap with the new event information. In this case, the event processing unit 121 may refer to information such as the priority of the new event information and the other event information, whether or not there has been a move, whether or not there has been a change in area, and may decide to change the event information that can be changed without changing the event information, or may decide to change the event information with a lower priority. Also, in step S116, both the new event information and the other event information may be decided to be changed.

[0058] Step S118: The event processing unit 121 changes the event information determined to be changed in step S116 so as to eliminate duplication. A specific example of changing the event information to eliminate duplication will be described later.

[0059] Step S120: The event processing unit 121 determines whether or not the event information changed in step S118 includes other event information that has already been registered.

[0060] Step S122: If it is determined in step S120 that other event information is included, the event processing unit 121 updates the other event information stored in the event information storage unit 131 with the content changed in step S118. After the process of step S122, the process proceeds to step S114, where new event information is registered. Note that in this case, the new event information to be registered may have been changed in step S118.

[0061] On the other hand, if it is determined in step S120 that other registered event information is not included, the event processing unit 121 skips step S122 and proceeds to the processing of step S114. That is, in this case, the new event information changed in step S118 is registered.

[0062] In addition, the external management system 20 may execute the process of generating event information from steps S100 to S108, and then transmit the generated event information to the time-space management device 100, and the time-space management device 100 may register the event information by executing the process from step S110 onwards in response to receiving the event information.

[0063] As described above, in this embodiment, in order to standardize the format of event information across a variety of events, a format conversion is performed to convert, for example, a format corresponding to an external management system into a format corresponding to event information (event-compatible format).

[0064] FIG. 6 shows an example of format conversion. Map MP1-1 in the figure is an example of a map corresponding to a certain building existing in the target space 10. The lines expressed in map MP1-1 correspond to the line representation of a map in an external management system or the virtual walls on a map in a robot driving management system. For convenience, a two-dimensional map showing the interior of the building from a plan view is shown in the figure, but map MP1-1 may also be a three-dimensional map. In map MP1-1, walls, partitions, etc. within a building are shown by lines. When generating area information based on the structure within the building shown in map MP1-1, the event processing unit 121 of the time-space management device 100 performs format conversion into the area format defined in the present invention, as shown in map MP1-2 in the same figure. In other words, the event processing unit 121 converts the structure within the building shown by lines in map MP1-1 into a spatial range (i.e., an area) having an area and volume. By converting the space represented by lines into an area in this way, the structural space within the building can be treated as area information for an event.

[0065] 7 shows another example of format conversion. Map MP2-1 in the figure shows the travel route information of one autonomous moving object managed by an external system. The travel route information managed by the external management system is represented by waypoints WP1, WP2, and WP3 as shown in the figure. Waypoint WP1 indicates the departure point, waypoint WP3 indicates the arrival point (destination), and waypoint WP2 indicates a relay point.

[0066] The event processing unit 121 converts the movement route based on waypoints shown on map MP2-1 into a movement route RT1 based on a ribbon-shaped area having a predetermined width as shown on map MP2-2. By converting the movement route RT1 into an area format in this way, it becomes possible to handle the movement route of the autonomous moving body as area information represented by area and volume in an event that defines the movement of the autonomous moving body. The width of the converted travel path may be set based on, for example, the maximum width of the corresponding autonomous moving body when viewed from the front. In this case, the width of the converted travel path may be a width obtained by adding a margin width for safety purposes, for example, to the maximum width of the autonomous moving body when viewed from the front, to avoid contact with surrounding people or objects. Alternatively, information on both the maximum width and the width with the margin width added may be used for the width of the converted travel path.

[0067] Such format conversion of the movement route of the autonomous moving body into area information may also be applied to an event in which an avatar moves systematically in the virtual space 10B.

[0068] The time-space management device 100 of this embodiment processes events generated as described above and stored in the event information storage unit 131, thereby making it possible to appropriately perform various controls in the corresponding target space 10, regardless of whether the corresponding target space 10 is a real space or a virtual space.

[0069] 8 and 9, as a first example of space control by the time-space management device 100, event control (time-space management) in the case of changing (correcting) a movement path when moving a moving subject will be described. The event control described below may target either the real space 10A or the virtual space 10B in the target space 10. Furthermore, the control of the moving subject here may be movement control of an autonomous moving body in the real space, or may be movement guidance for a user (human), etc. Furthermore, the control of the moving subject here may be movement control of an avatar in the virtual space 10B, movement route guidance for an avatar corresponding to a user, etc. In the following description, a case where the movement path of an autonomous moving body in real space is changed will be taken as an example.

[0070] In FIG. 8, a map MP3-1 shows a movement route RT2 in the target space 10 indicated by area information of event information (movement event information) that defines the movement of one autonomous moving body as an event (movement event). The event processing unit 121, as a movement control of the autonomous moving body based on the movement event information, is configured to determine the interference state between the movement route RT2 indicated by the current movement event information and an event (phenomenon) indicated by other event information. Therefore, the event processing unit 121 searches the event information stored in the event information storage unit 131 for event information that overlaps (interferes with) a combination of, for example, the movement route indicated by the movement event information and the time (travel time) during which movement along that movement route occurs. Here, an example is given in which three events corresponding to maps MP3-2, MP3-3, and MP3-4 in FIG. 8 are searched. The map MP3-2 shows a spatial region (movable area AR1) in which the autonomous moving body can move in the same target space 10 as the target of the moving event. In other words, the map MP3-2 shows the content of the event information that defines the movable area AR1 in the same target space 10 as the target of the moving event information, as area event information that defines an event as a spatial area (area event).

[0071] Note that area event information may or may not include schedule information. Area event information without schedule information is set so that the definition of the spatial region indicated by the area information is always valid. Area event information with schedule information is set so that the definition of the spatial region indicated by the area information is valid only during the time indicated by the schedule information.

[0072] The map MP3-3 shows a spatial region (no-entry area AR2) where entry of autonomous moving bodies is prohibited in the same target space 10 as the target of the movement event information. In other words, the map MP3-3 shows the content of the area event that defines the no-entry area AR2 in the same target space 10 as the target of the movement event.

[0073] The map MP3-4 shows a spatial region (no-stop area AR3) where stopping of an autonomous moving body is prohibited in the same target space 10 as the target of the movement event. In other words, the map MP3-4 shows the content of the area event that defines the no-stop area AR3 in the same target space 10 as the target of the movement event.

[0074] Furthermore, map MP3-5 in FIG. 9 shows a reserved area AR5 that is set in the same target space 10 as the target of the mobile event, during a time period that overlaps with the travel time indicated by the corresponding mobile event information. During the time period in which the reserved area AR5 is valid, autonomous moving objects are prohibited from entering the reserved area AR5 based on metadata such as whether the space can be occupied or not, priority, etc.

[0075] The event processing unit 121 checks the travel route RT1 defined by the travel event information as shown on the map MP2-2 against the permitted area AR1, the no-entry area AR2, the no-stop area AR3, and the reserved area AR5. Map MP3-6 in Figure 10 shows the results of comparing travel route RT2 with permitted area AR1, no-entry area AR2, no-stopping area AR3, and reserved area AR5. As can be seen from map MP3-6, the area of the current travel route RT2 exists within permitted area AR1 and does not overlap with no-entry area AR2, but does partially overlap with reserved area AR5.

[0076] The time schedule table in FIG. 10 shows an example of a state in which the schedule of travel route RT2 is compared with the schedules of permitted area AR1, no-entry area AR2, no-stopping area AR3, and reserved area AR5 based on the schedule information. The permitted area AR1, the no-entry area AR2, and the no-stopping area AR3 are not time-specifically defined as events by schedule information, but are defined as areas that constantly exist. On the other hand, the reserved area AR5 has a time period determined as an event by schedule information. Specifically, in the figure, the reserved area AR5 is set for the period from time t1 to time t4. Furthermore, the travel route RT1 of the autonomous moving body is determined to be the period from time t2 to time t3 according to the schedule information. As can be seen from the figure, the period from time t2 to t3 during which the autonomous moving body travels along the travel route RT1 overlaps with the period during which the no-entry area AR2, no-stopping area AR3, and reserved area AR5 are set.

[0077] Therefore, the event processing unit 121 searches for a route that does not overlap with the reserved area AR5 for the travel route RT2, as exemplified in map MP3-7 in Fig. 9, and changes the travel route RT2 to the searched route. The event processing unit 121 updates the area information in the travel event information to indicate the changed travel route RT2.

[0078] In this way, the event processing unit 121 adjusts the temporal and spatial overlap between events based on the time schedule, thereby enabling appropriate time-space management. The event processing unit 121 may notify the updated travel route RT2 to the external management system that manages the target in the corresponding management target space 11. At this time, the event processing unit 121 may notify the external management system after converting the travel route RT2 into a format (for example, a waypoint format) that is compatible with the external management system to be notified.

[0079] 11, as a second example of space control by the time-space management device 100, an example of control of the movement path of an autonomous moving body in accordance with the congestion state in the target space 10 will be described. Here, a case where the movement path of an autonomous moving body in a real space 10A of the target space 10 is controlled will be taken as an example. In the map MP4-1 in the figure, two waypoints WPs and WPg and two congestion monitoring areas AR11 and AR12 are located.

[0080] The waypoints WPs and WPg are information on the movement route of the autonomous mobile body, which is planned by the autonomous mobile body management system corresponding to the management target space 11-4 when controlling the movement of the autonomous mobile body. The waypoint WPs indicates the movement start position of the autonomous mobile body, and the waypoint WPg indicates the destination.

[0081] The congestion monitoring areas AR11 and AR12 are areas designated by the corresponding area events as areas where congestion monitoring is to be performed. The area events may be defined, for example, by the event type of the area events. The congestion monitoring may be performed regularly or may be performed during a specific time period. The schedule for monitoring the congestion may be defined by the schedule information of the area events. The monitoring of the congestion status in the congestion status monitoring areas AR11 and AR12 may be performed by detecting the congestion status using a sensor provided in the real space 10A, for example. Furthermore, the detected congestion status may be stored in the metadata of the area event.

[0082] In this case, the event processing unit 121 of the time-space management device 100 converts the travel route in a format using waypoints WPs and WPg into a format as an event. Specifically, as the format conversion in this case, the event processing unit 121 formulates a driving plan including a travel route from waypoint WPs to waypoint WPg, and generates a travel event that defines the formulated driving plan. An operation plan for a travel event may be defined by the contents of area information and schedule information, for example, in correspondence with Fig. 4. In this case, the area information may indicate the travel route of the autonomous moving body, and the schedule information may indicate the time corresponding to the travel route. Here, for example, when the time-space management device 100 performs format conversion of the travel route in the operation plan, the autonomous mobile object management system is specified to plan a travel route with as little congestion as possible.

[0083] In this case, the event processing unit 121 generates candidate travel routes along which the autonomous moving body will travel in the real space 10A based on the waypoints WPs and WPg. In this case, two candidate travel routes are generated: a travel route RT3-A shown on map MP4-2 in Fig. 11 and a travel route RT3-B shown on map MP4-3. The travel route RT3-A overlaps with the congestion monitoring area AR11, and the travel route RT3-B overlaps with the congestion monitoring area AR12.

[0084] The event processing unit 121 refers to area events corresponding to the congestion status monitoring areas AR11 and AR12, respectively, and determines which of the congestion status monitoring areas AR11 and AR12 has a lower degree of congestion. The event processing unit 121 may determine the travel route that overlaps with the congestion status monitoring area with the lower degree of congestion as the planned result for the travel route of the autonomous moving body. The event processing unit 121 may generate a travel event having the travel route determined as the plan result as its definition content, and store the event in the event information storage unit 131 . Furthermore, the event processing unit 121 may transmit (feed back) information about the movement route indicated by the generated movement event to the autonomous mobile object management system. When transmitting the movement route information to the autonomous mobile object management system, the event processing unit 121 may convert the movement route information into a format that can be handled by the autonomous mobile object management system, for example, by converting a movement route as an area having a certain width into information about a movement route with multiple waypoints.

[0085] 12, a description will be given of an example of controlling the movement path of an autonomous moving body in accordance with a dangerous situation in the target space 10, as a third example of space control by the time-space management device 100. In this example, too, an example will be given of controlling the movement path of an autonomous moving body in a real space 10A of the target space 10. In the map MP5-1 in the figure, two waypoints WPs and WPg and three danger areas AR21, AR22, and AR23 are located.

[0086] The danger areas AR21, AR22, and AR23 are areas that are defined as being dangerous by the corresponding area events. Whether an area event corresponds to a danger area may be defined by the event type. Furthermore, if there are certain time periods when a danger area is dangerous and certain time periods when it is not dangerous, the dangerous time periods may be defined by schedule information. Furthermore, information indicating the degree of danger of the danger area may be stored as one of the metadata items in the area event.

[0087] In this example, the event processing unit 121 of the time-space management device 100 also plans a travel route from waypoint WPs to waypoint WPg as a format conversion of the travel route using waypoints WPs and WPg indicated in the operation plan of the autonomous mobile body, and generates a travel event that defines the planned travel route. Furthermore, in this case, the autonomous mobile body management system was specified to plan a travel route with as little danger as possible when the time-space management device 100 performs format conversion of the travel route information.

[0088] The event processing unit 121 generates candidate travel routes along which the autonomous moving body will travel in the real space 10A based on the waypoints WPs and WPg. In this case, two candidate travel routes are generated: a travel route RT4-A shown in map MP5-2 in Fig. 12 and a travel route RT4-B shown in map MP5-3. The travel route RT4-A overlaps with the dangerous area AR21, and the travel route RT4-B overlaps with the dangerous areas AR22 and AR23.

[0089] A travel route defined by a travel event has an area due to its predetermined width. Therefore, the event processing unit 121 may calculate the area (overlapping area) of each of the generated travel routes RT4 (RT4-A, RT4-B) overlapping with the dangerous area. The event processing unit 121 may determine the travel route RT4 with the smaller calculated overlapping area as the planned result for the travel route of the autonomous moving body. In this case, since the travel route RT4-B has a smaller overlapping area, the travel route RT4-B may be determined as the planned result for the travel route. In this case as well, the event processing unit 121 may generate a travel event that defines the travel route confirmed as a plan result, and store it in the event information storage unit 131. Furthermore, the event processing unit 121 may transmit (feed back) information about the travel route indicated by the generated travel event to the autonomous mobile object management system. Furthermore, when transmitting the information about the travel route to the autonomous mobile object management system, the event processing unit 121 may convert the information about the travel route into a format that can be handled by the autonomous mobile object management system.

[0090] 13 and 14, an adjustment when the movement paths of multiple autonomous moving bodies planned in the autonomous moving body management system overlap will be described as a fourth example of space control by the time-space management device 100. In this example, too, a case where processing is performed corresponding to an autonomous moving body in the real space 10A of the target space 10 will be exemplified. In the map MP5-1 of FIG. 13, a pair of waypoints WPs-5 and WPg-5 and a pair of waypoints WPs-6 and WPg-6 are shown corresponding to the two travel routes.

[0091] In this case, the event processing unit 121 of the time-space management device 100 converted the information on the travel routes indicated by the pair of waypoints WPs-5 and WPg-5 and the pair of waypoints WPs-6 and WPg-6 into travel routes RT5 and RT6 formatted as areas with a certain width. As a result of the conversion, the event processing unit 121 recognizes the existence of an overlapping section OV between the travel routes RT5 and RT6, as shown in map MP5-1.

[0092] Also, timetable TT6-1 in FIG. 14 shows the travel schedule of travel routes RT5 and RT6 that are initially determined by the autonomous mobile object management system in an operation plan for the autonomous mobile object that includes a travel route based on waypoints. According to the timetable TT6-1, the travel schedule specifies that travel route RT5 starts moving from time t1, and travel route RT6 starts moving from time t2. In this travel schedule, travel routes RT5 and RT6 overlap each other in the overlap section OV from time t3 to t4, so the autonomous moving body on travel route RT5 will collide with the autonomous moving body on travel route RT6. Here, "collision" may include a state in which the autonomous moving bodies physically come into contact with each other, as well as a positional relationship in which they do not physically come into contact but are within a certain distance. Therefore, in this case, the event processing unit 121 performs spatial control by adjusting the time related to the movement of the movement routes RT5 and RT6 (movement time adjustment) so that the movement routes RT5 and RT6 do not overlap.

[0093] As an example, the event processing unit 121 can adjust the travel time as shown in timetable TT6-2. Specifically, timetable TT6-2 shows an example in which the travel schedule in the original plan for travel route RT5 is not changed, and the travel start time for travel route RT6 is set to a time that is delayed by a period of time equal to or longer than the period from time t2 to times t3 to t4. In this way, in the timetable TT6-2, by shifting the travel schedule of the travel route RT6 to a later time, it is possible to prevent collisions between an autonomous moving body traveling on the travel route RT5 and an autonomous moving body traveling on the travel route RT6.

[0094] The event processing unit 121 can also adjust the travel time as shown in the timetable TT6-3. Specifically, the timetable TT6-3 shows an example in which the travel schedule in the original plan for the travel route RT6 is not changed, and the travel start time for the travel route RT5 is set to a time that is delayed by a period of time equal to or longer than the period from time t2 to times t3-t4. Even if the travel time is adjusted in this way, it is possible to prevent collision between the autonomous moving body moving along the travel route RT5 and the autonomous moving body moving along the travel route RT6. The event processing unit 121 may determine whether to adjust the travel time between the timetable TT6-2 and the timetable TT6-3 by referring to the priority in the metadata of the events corresponding to the travel routes RT5 and RT6, for example.

[0095] As for the travel time adjustment, the time width for shifting the travel start time may be changed as appropriate as long as collisions between autonomous moving bodies are prevented. The travel start time may be shifted earlier than the initial time. Furthermore, in the travel schedule, for example, the travel route RT5 and the travel route RT6 may be mutually changed.

[0096] When generating travel events corresponding to the travel routes RT5 and RT6, the event processing unit 121 may reflect the changed travel schedule in the schedule information of the travel event for the travel route whose travel schedule has been changed by the above-mentioned travel time adjustment. In this case, the event processing unit 121 may also transmit (feed back) information about the travel route indicated by the generated travel event to the autonomous mobile object management system. Furthermore, when transmitting the information about the travel route to the autonomous mobile object management system, the event processing unit 121 may convert the information about the travel route into a format that can be handled by the autonomous mobile object management system.

[0097] Furthermore, in this embodiment, when generating a travel event and planning or changing the travel route of an autonomous moving body, an optimal travel route may be estimated based on the results of past travel events. To achieve this, for example, movement events that have been used in the movement of the autonomous moving body up to now may be input as learning data, and a movement route estimation model may be constructed that learns the optimal movement route based on the input learning data, and the event processing unit 121 may use the movement route estimation model to plan, change, etc. the movement route.

[0098] The time-space management device 100 may be configured to be distributed across multiple devices or servers, for example.

[0099] It should be noted that each of the cases described with reference to FIGS. 8 to 14 is merely an example, and there are various possibilities for the content defined by an event of an autonomous moving body and the processing corresponding to the event.

[0100] Note that a program for implementing the functions of the time-space management device 100 or the like may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be loaded into a computer system and executed to perform the processing of the time-space management device 100 or the like. Here, "loading a program recorded on a recording medium into a computer system and executing it" includes installing the program on a computer system. The term "computer system" here includes hardware such as an OS and peripheral devices. The term "computer system" may also include multiple computer devices connected via a network, including the Internet, a WAN, a LAN, a dedicated line, or other communication lines. The term "computer-readable recording medium" refers to portable media such as floppy disks, optical magnetic disks, ROMs, and CD-ROMs, as well as storage devices such as HDDs and SSDs built into a computer system. Thus, a recording medium storing a program may be a non-transitory recording medium such as a CD-ROM. The term "recording medium" also includes internal or external recording media accessible from a distribution server for distributing the program. The program code stored on the distribution server's recording medium may be different from the program code executable on a terminal device. In other words, the format in which the program is stored on the distribution server does not matter as long as it can be downloaded from the distribution server and installed in a form that is executable on the terminal device. The program may be divided into multiple parts, each of which may be downloaded at different times and then combined on the terminal device, or each of the divided programs may be distributed by a different distribution server. Furthermore, the term "computer-readable recording medium" also includes a storage medium that stores a program for a certain period of time, such as volatile memory (RAM) within a computer system that serves as a server or client when a program is transmitted over a network. The program may also be a program that realizes part of the above-described functions. Furthermore, the program may be a so-called differential file (differential program) that can realize the above-described functions in combination with a program already stored in the computer system.

[0101] The Sustainable Development Goals (SDGs) are 17 international goals adopted at the United Nations Summit in September 2015. The display control system according to this embodiment can contribute to achieving one of the 17 SDGs, for example, goal 9, "Build resilient infrastructure, promote inclusive and sustainable industrialization, foster innovation and promote sustainable development." [Explanation of symbols]

[0102] 10 target space, 10A real space, 10B virtual space, 11 management target space, 11-1 management target space, 11-2 management target space, 11-3 management target space, 11-4 management target space, 11-5 management target space, 20 external management system, 30 event information, 40 terminal, 100 time-space management device, 101 communication unit, 102 control unit, 103 memory unit, 121 event processing unit, 131 event information memory unit

Claims

1. An event processing unit that changes an operation plan defined for an event as movement of an autonomous mobile body, including a specification of a movement time and a movement route of the autonomous mobile body, in accordance with an overlapping state with other event information, as event information defined for an event in a target space including a specification of a time and space. An information processing system comprising:

2. The other event information includes content defining a congestion state of a specific area in the target space, The event processing unit changes the operation plan so as to reduce congestion in the specific area according to an overlap state between a movement path of the autonomous moving body indicated by the operation plan and a congestion state in a time space defined by the other event information. The information processing system according to claim 1 .

3. The event processing unit changes the driving plan according to an overlap state between the driving plan and congestion states in time and space defined by each of the plurality of pieces of other event information so that the autonomous moving body passes through a specific area with the lowest degree of congestion. The information processing system according to claim 2 .

4. The other event information includes content defining that a specific area in the target space is a location of a dangerous condition, The event processing unit changes the operation plan in accordance with an overlap state between the operation plan and a specific area defined by the other event information so as to minimize the degree of risk. The information processing system according to claim 1 .

5. The event processing unit changes a travel time in an operation plan for mobile event information that is a change target among the plurality of mobile event information according to an overlapping state of operation plans included in each of the plurality of mobile event information. The information processing system according to claim 1 .

6. An information processing method in an information processing system, comprising: An event processing step in which the event processing unit changes an operation plan defined by the event processing unit as event information defined by the event processing unit, including time-space specifications for an event in the target space, including specifications for the movement time and movement route of the autonomous moving body for an event as movement of the autonomous moving body, in accordance with an overlapping state with other event information. An information processing method including:

7. The computer in the information processing system An event processing unit that changes an operation plan defined for an event as movement of an autonomous mobile body, including a specification of a movement time and a movement route of the autonomous mobile body, in accordance with an overlapping state with other event information, as event information defined for an event in a target space including a specification of a time and space. A program to function as a

Images