Information processing system, information processing method, and program

Abstract

To appropriately plan a moving route along which an autonomous moving body moves according to a surrounding situation.SOLUTION: An information processing system includes an event processing unit that processes, as a processing target, moving-body event information including an operation plan defining a movement time and a movement route of an autonomous moving body, as event information defining a time and a space for an event in a control target space, and changes the operation plan of the moving-body event information of the processing target so as to divide the operation plan into a plurality of operation plans according to an overlap between the operation plan included in the moving-body event information of the processing target and a predetermined event defined by 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 a movement plan for the autonomous moving body be appropriately planned in accordance with the surrounding situation.

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

[0006] One aspect of the present invention that solves the above-mentioned problems is an information processing system that processes mobile body event information as a processing target, which includes an operation plan that defines the movement time and movement space of an autonomous mobile body as event information that defines the time and space for an event in a target space, and modifies the operation plan of the mobile body event information to be processed so as to divide it into multiple divided operation plans depending on the overlap between the operation plan included in the mobile body event information to be processed and a specified event defined by other event information.

[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 processes mobile object event information as a processing target, the mobile object event information including an operation plan that defines the travel time and travel path of an autonomous mobile object, as event information that defines time and space for an event in a target space, and modifies the operation plan of the mobile object event information to be processed so as to divide it into a plurality of divided operation plans depending on the overlap between the operation plan included in the mobile object event information to be processed and a specified event defined by 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 processes mobile object event information as a processing target, the mobile object event information including an operation plan that defines the travel time and travel path of an autonomous mobile object as event information that defines time and space for an event in a target space, and modifies the operation plan of the mobile object event information to be processed so as to divide it into multiple divided operation plans depending on the overlap between the operation plan included in the mobile object event information to be processed and a specified event defined by other event information. [Effects of the Invention]

[0009] According to the present invention, it is possible to obtain an effect that it is possible to appropriately plan the movement of an autonomous moving body in accordance with the surrounding situation. [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 illustrating an example of space control by a time-space management device according to the present embodiment. [Figure 9] FIG. 2 is a diagram illustrating an example of space control by a time-space management device according to the present 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 time-space management device in this embodiment. [Figure 12] 10A and 10B are diagrams illustrating a second example of space control by the time-space management device in this embodiment. [Figure 13] 10A and 10B are diagrams illustrating a third example of space control by the time-space management device in this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] 1 shows a conceptual configuration of a time-space management system (an example of an information processing system) according to this embodiment. In this time-space management system, a time-space management device 100 manages time-space with a target space 10 as the target. In other words, the time-space management device 100 manages various events that occur in the target space 10 using information defined by space and 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 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 defined by the event information (new event information) newly generated in step S108 overlaps (interferes with) another event defined 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 defined by the new event information is a movement event that defines the movement of an autonomous moving body, a situation in which movement in space by the autonomous moving body defined by the new event information overlaps with movement in space by other registered movement events, or overlaps with an exclusive area defined as an event 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 and 12, a control example will be described as a second example of space control by the time-space management device 100, in which a time occurs when a plurality of autonomous moving bodies move in the target space 10 according to each of operation plans defined by a plurality of movement events, and the positions of the plurality of autonomous moving bodies overlap. Here, a case where space control is performed targeting autonomous moving bodies in the real space 10A of the target space 10 is taken as an example. The occurrence of a time when the positions of the plurality of autonomous moving bodies overlap corresponds to the autonomous moving bodies colliding with each other at that time.

[0080] Note that "collision" here may include a state in which the autonomous moving bodies come into physical contact with each other, as well as a positional relationship in which they are not in physical contact but are within a certain distance.

[0081] It is preferable to avoid collisions between autonomous moving bodies in consideration of the smooth operation and safety of the autonomous moving bodies. Therefore, in this example, as a control for when there is a time when the positions of multiple autonomous moving bodies overlap, the time-space management device 100 changes the operation plans of the autonomous moving bodies in the movement event so as to avoid collisions between the multiple autonomous moving bodies.

[0082] In FIG. 11, a map MP4-1 shows, as an example, two movement routes RT3 and RT4 that are defined by respective driving plans defined by movement events of two autonomous moving bodies. In the figure, the travel routes RT3 and RT4 are shown intersecting. Furthermore, under the current schedules of the operation plans for the two autonomous moving bodies, the autonomous moving bodies are in a situation where they collide with each other in an intersection area AR11 where the travel routes RT3 and RT4 intersect. The event processing unit 121 of the time-space management device 100 recognizes the above-mentioned collision situation by referring to the travel events of the two autonomous moving bodies.

[0083] 12 shows the status of the travel routes RT3 and RT4 on the map MP4-1 described above along a time axis. The autonomous moving body corresponding to the travel route RT3 starts moving at time t2, and the autonomous moving body corresponding to the travel route RT4 starts moving at time t1. The travel routes RT3 and RT4 collide in the intersection area AR11 during the period from time t3 to time t4, a predetermined time after time t2.

[0084] In this case, the event processing unit 121 can change the driving plan so that the autonomous moving bodies do not collide with each other, as one example, in the following manner. First, the event processing unit 121 determines which of the travel events corresponding to the travel routes RT3 and RT4 has a higher priority by referring to the metadata of the priority of the travel events corresponding to the travel routes RT3 and RT4. In this case, it is determined that the travel event corresponding to the travel route RT3 has a higher priority than the travel event corresponding to the travel route RT4.

[0085] In this case, the event processing unit 121 does not change the operation plan defined by the travel event corresponding to the travel route RT3. Then, for the operation plan of the travel event with the lower priority, the event processing unit 121 divides the travel route RT4 into two travel routes, divided travel routes RT4-1 and RT4-2, as shown in map MP4-2 in Fig. 11. The divided travel routes RT4-1 and RT4-2 are formed by dividing the travel route RT4 using the point immediately before the intersection area AR11 as the division point.

[0086] Then, the event processing unit 121 causes the operation plan corresponding to the travel route RT4 to include instruction information that the corresponding autonomous moving body will temporarily stop when it has moved to the end of the divided travel route RT4-1, and that another autonomous moving body moving on the travel route RT3 will start moving along the divided travel route RT4-2 when it has passed through the intersection area AR11. Such instruction information may be included, for example, in the schedule information for the corresponding travel event.

[0087] By dividing the travel route in this way, a travel schedule is also set corresponding to each divided travel route. The setting of such a schedule can be regarded as being obtained by dividing the schedule of the travel route before division. Therefore, in this embodiment, it can be regarded as the corresponding operation plan being divided in accordance with the division of the travel route.

[0088] The timetable TT4-2 in Fig. 12 shows the division of the above-mentioned movement route RT4 in correspondence with the time axis. In the same figure, there is no change from the timetable TT4-1 for the movement route RT3. On the other hand, the movement route RT4 is divided into a divided movement route RT4-1 from time t1 to t3, and a divided movement route RT4-2 starting from time t4. Autonomous moving bodies moving on the divided movement routes RT4-1 and RT4-2 thus divided are prevented from colliding with autonomous moving bodies moving on the movement route RT3 in the intersection area AR11.

[0089] The event processing unit 121 may update the content of the travel event corresponding to the travel route RT4 so that the changed driving plan as described above is reflected. Furthermore, the event processing unit 121 may transmit (feed back) the driving plan indicated by the generated travel event to the autonomous mobile object management system. When feeding back the driving plan to the autonomous mobile object management system, the event processing unit 121 may convert the driving plan into a format that can be handled by the autonomous mobile object management system, for example, by converting a travel route as an area having a certain width into information on a travel route with multiple waypoints.

[0090] 13, as a third example of space control by the time-space management device 100, a description will be given of a change in an operation plan in a case where an autonomous moving body moves within the target space 10 according to an operation plan defined by one movement event and must pass through a dangerous area defined by an area event. In this example, too, a case where space control is performed on an autonomous moving body in the real space 10A of the target space 10 will be taken as an example.

[0091] A travel route RT5 is shown in the map MP5-1 in Fig. 13. The travel route RT5 may be generated by, for example, converting the format of information on the travel route based on waypoints WPs and WPg indicated in the driving plan acquired from the autonomous mobile management system. In this case, the event processing unit 121 compares the generated travel route RT5 with the area defined by the area event, and as a result, it determines that a dangerous area AR12 exists along the travel route RT5, as shown in map MP5-1. In this case, there is a restriction that the travel route RT5 cannot be changed to avoid the dangerous area AR12, and there are no other candidates for the travel route RT5 other than those shown on map MP5-1.

[0092] In such a situation, the event processing unit 121 changes the driving plan corresponding to the travel route RT5 so that the autonomous moving body traveling along the travel route RT5 passes through the dangerous area AR12 after confirming safety. Specifically, as shown in map MP5-2 in Figure 13, the event processing unit 121 divides the travel route RT5 into a divided travel route RT5-1 just before the dangerous area AR12 and a divided travel route RT5-2 after the dangerous area AR12, using the position just before the dangerous area AR12 as the division point. Then, the event processing unit 121 temporarily stops the movement of the autonomous moving body in response to reaching the end point of the divided movement route RT5-1, and maintains the paused state until safety in the dangerous area AR12 can be confirmed. Then, if safety in the dangerous area AR12 is confirmed, it generates instruction information to instruct the autonomous moving body to start movement along the divided movement route RT5-2.

[0093] The event processing unit 121 may generate a travel event that defines a driving plan that reflects the divided travel routes RT5-1 and RT5-2 obtained by dividing the travel route RT5 as described above and the generated instruction information, and store the generated travel event in the event information storage unit 131. Also in this example, the event processing unit 121 may transmit (feed back) the driving plan indicated by the generated travel event to the autonomous mobile object management system. In this case, too, when feeding back the driving plan to the autonomous mobile object management system, the event processing unit 121 may convert information such as the travel route into a format that can be handled by the autonomous mobile object management system.

[0094] 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.

[0095] The time-space management device 100 may be configured to be distributed across multiple devices or servers, for example.

[0096] It should be noted that the cases described with reference to FIGS. 8 to 13 are merely examples, and there are many different possibilities for the content defined by an event of an autonomous moving body and the processing performed in response to the event.

[0097] 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.

[0098] 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]

[0099] 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. Processing, as a processing target, mobile object event information including an operation plan that defines a travel time and a travel route of the autonomous mobile object, as event information that defines time and space for an event in a target space; An event processing unit that changes the operation plan of the mobile object event information to be processed so as to divide the operation plan into a plurality of divided operation plans according to an overlap state between the operation plan included in the mobile object event information to be processed and other event information. An information processing system comprising:

2. The event processing unit divides the operation plan included in the mobile object event information to be processed at a position and time at which the operation plan collides with an autonomous mobile object moving according to another operation plan defined by the other mobile object event information, using the position and time as a division point. The information processing system according to claim 1 .

3. The event processing unit divides the operation plan included in the mobile object event information to be processed, using a position of a specific area defined by the other event information and a time of arrival at the specific area as a division point.

3. The information processing system according to claim 1.

4. The specific area is an area where safety confirmation is required, The event processing unit associates, with the mobile object event information to be processed, information instructing the autonomous mobile object to stop when it has reached the specific area according to a first divided operation plan before the division point, and to resume movement according to a second divided operation plan after the division point when safety of the specific area is confirmed at the stopping position. The information processing system according to claim 3 .

5. An information processing method in an information processing system, comprising: an event processing unit processes, as a processing target, mobile object event information including an operation plan that defines a travel time and a travel route of the autonomous mobile object, as event information that defines time and space for an event in the target space; an event processing step of modifying the operation plan of the mobile object event information to be processed so as to divide the operation plan into a plurality of divided operation plans according to an overlap state between the operation plan included in the mobile object event information to be processed and other event information; An information processing method including:

6. The computer in the information processing system Processing, as a processing target, mobile object event information including an operation plan that defines a travel time and a travel route of the autonomous mobile object, as event information that defines time and space for an event in a target space; An event processing unit that changes the operation plan of the mobile object event information to be processed so as to divide the operation plan into a plurality of divided operation plans according to an overlap state between the operation plan included in the mobile object event information to be processed and a predetermined event defined by other event information. A program to function as a

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