Sign reading device, automatic mobile system, sign reading method, and program

Abstract

To provide a sign reading device, an automatic mobile system, a sign reading method, and a program that can easily grasp an influence due to a change in the layout of traveling routes of automatic mobile units.SOLUTION: The sign reading device comprises: an identification information acquisition unit that acquires identification information indicated on a marker that is arranged on traveling routes of automatic traveling vehicles; an operation information acquisition unit that acquires, from a server, operation information of the automatic traveling vehicles in the marker; a route change information acquisition unit that acquires route change information related to a change in the traveling routes input by a user; a route change calculation unit that calculates influence information related to the change in the traveling routes necessary along with the change in the traveling routes, on the basis of the identification information, the operation information, and the route change information; and a display control unit that displays the influence information calculated by the route change calculation unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a sign reading device, an automated mobile system, a sign reading method, and a program. [Background technology]

[0002] In automated vehicles such as tracked autonomous vehicles that travel along guide lines, a means of knowing specific locations to perform actions such as stopping positions or delivery of cargo is required separately from the guide lines. As a means of knowing specific locations, technology has been developed that uses signs such as markers with identification information and executes actions based on the information obtained from the markers and the operation plan linked to that information.

[0003] Patent Document 1 discloses a system in which displays are installed at designated locations on the route and operation details are read from the installed displays, with the aim of making it easy to create and change routes. This system makes it possible to easily create routes without the need to lay down magnetic tape or reflective tape, and also discloses a configuration in which routes can be easily changed by updating the information on the displays. Summary of the Invention [Problem to be solved by the invention]

[0004] However, in tracked autonomous vehicles using markers with assigned identification information, when markers are installed on a route shared by multiple courses, it is difficult to easily move or remove the markers. Specifically, in cases where markers are installed on a route where multiple courses with different destinations and driving routes intersect, and the operation is based on a traffic plan that changes actions depending on the course, changing the marker position or action due to a layout change can affect courses that you do not want to change. Each time this happens, it takes time to investigate the cause and revise the traffic plan.

[0005] The present invention has been made in consideration of the above, and aims to provide a sign reading device, an automated moving system, a sign reading method, and a program that can easily grasp the impact of changes in the layout of the travel route of an automated moving body. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, the present invention comprises an identification information acquisition unit that acquires identification information indicated on a sign placed on the driving route of an automatic moving body, an operation information acquisition unit that acquires operation information of the automatic moving body on the sign from a server, a route change information acquisition unit that obtains route change information regarding a change in the driving route input by a user, a route change calculation unit that calculates impact information regarding a change in the driving route that is necessary due to a change in the driving route based on the identification information, the operation information, and the route change information, and a display control unit that displays the impact information calculated by the route change calculation unit. [Effects of the Invention]

[0007] The present invention has the effect of making it possible to easily grasp the influence of a change in the layout of a travel route of an autonomous moving body. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating an example of a configuration of an automatic driving system according to a first embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of a system configuration of an autonomous vehicle according to the first embodiment. [Figure 3] FIG. 3 is a diagram illustrating an example of the configuration of the driving control server according to the first embodiment. [Figure 4] FIG. 4 is a diagram illustrating an example of the configuration of the marker reader according to the first embodiment. [Figure 5] FIG. 5 is a diagram for explaining an example of guide lines and markers in the automated driving system according to the first embodiment. [Figure 6]FIG. 6 is a diagram illustrating an example of a train schedule in the automated driving system according to the first embodiment. [Figure 7] FIG. 7 is a diagram for explaining an example of a display process of operation details in the marker reader according to the first embodiment. [Figure 8] FIG. 8 is a diagram for explaining an example of a simple simulation of changing the layout of a course for an autonomous vehicle in the marker reading device according to the first embodiment. [Figure 9] FIG. 9 is a diagram for explaining an example of a simple simulation of changing the layout of a course for an autonomous vehicle in the marker reading device according to the first embodiment. [Figure 10] FIG. 10 is a flowchart illustrating an example of the flow of the process of displaying operation details in the marker reader according to the first embodiment. [Figure 11] FIG. 11 is a diagram for explaining an example of an extraction process of an affected portion during a simple layout change simulation in the marker reading device according to the first embodiment. [Figure 12] FIG. 12 is a flowchart showing an example of the flow of processing for extracting affected portions during a simple layout change simulation in the marker reading device according to the first embodiment. [Figure 13] FIG. 13 is a diagram illustrating an example of the process of setting an excluded course in the automated driving system according to the first embodiment. [Figure 14] FIG. 14 is a diagram illustrating an example of a configuration of an automatic driving system according to the second embodiment. [Figure 15] FIG. 15 is a diagram illustrating an example of a configuration of a driving control server according to the second embodiment. [Figure 16] FIG. 16 is a diagram illustrating an example of use of the driving control server according to the second embodiment. [Figure 17] FIG. 17 is a diagram illustrating an example of a configuration of an automatic driving system according to the third embodiment. [Figure 18] FIG. 18 is a diagram illustrating an example of the configuration of an autonomous vehicle according to the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a sign reading device, an automated moving system, a sign reading method, and a program will be described in detail with reference to the accompanying drawings.

[0010] (First embodiment) Fig. 1 is a diagram showing an example of the configuration of an autonomous driving system according to a first embodiment. As shown in Fig. 1, the autonomous driving system (an example of an autonomous mobile system) according to this embodiment includes an autonomous driving vehicle 1 (an example of an autonomous mobile body), a driving control server 2 (an example of a server), and a marker reader 3 (an example of a sign reader). In this embodiment, the autonomous driving vehicle 1 is used as an example of an autonomous mobile body, but this is not limiting, and an autonomous vehicle or a drone may be used, for example.

[0011] The driving control server 2 manages a driving schedule and transmits the driving schedule to the multiple autonomous vehicles 1 and the marker reader 3. The driving control server 2 also issues movement instructions to the autonomous vehicles 1. In doing so, the driving control server 2 can cooperate with external systems and issue driving instructions triggered by the operation of other systems. The driving control server 2 can also manage and display the current location obtained from the autonomous vehicles 1 and issue traffic control instructions.

[0012] The autonomous vehicle 1 acquires a driving schedule from the driving control server 2, and when instructed to drive, drives automatically based on the driving schedule. The autonomous vehicle 1 also periodically transmits its current location to the driving control server 2.

[0013] The marker reader 3 acquires the train schedule from the cruise control server 2 and displays the action details of the autonomous vehicle 1 in association with the information acquired from the marker. The marker reader 3 also presents information on the impact on the train schedule due to changes in the layout of the course of the autonomous vehicle 1 (impact presentation), and corrects the train schedule stored in the cruise control server 2. Here, the impact presentation includes on-screen notification, audio notification, etc.

[0014] 2 is a diagram illustrating an example of the system configuration of an autonomous vehicle according to the first embodiment. As shown in FIG. 2, the autonomous vehicle 1 includes a communication unit 101, a driving management unit 102, an input reception unit 103, an image processing unit 104, a drive control unit 105, a camera 106, and a drive unit 107.

[0015] The communication unit 101 controls communication with the driving control server 2. The input reception unit 103 receives destination input and start instructions from the operator on a screen provided on the autonomous vehicle 1, and transmits them to the driving management unit 102. The driving management unit 102 stores the operation schedule obtained via the communication unit 101, receives destinations and driving instructions from the communication unit 101 and the input reception unit 103, and manages the start and end of driving to the destinations in the corresponding operation schedule.

[0016] The image processing unit 104 acquires images from the camera 106, processes the images, acquires information on the position and angle (x, y, th) of the guide line, transmits the information on the guide line to the drive control unit 105, and determines the address sign and transmits it to the driving management unit 102.

[0017] The camera 106 captures images of the guide line. The closer the camera 106 is to the ground, the smaller the size of the autonomous vehicle 1 body can be, and this can be achieved by changing the mounting angle, mounting height, focal length, etc. of the camera 106.

[0018] The drive control unit 105 acquires information about the guide line from the image processing unit 104, calculates an arbitrary driving method for the guide line instructed by the driving management unit 102, and controls the drive unit 107. The drive unit 107 operates in response to commands from the drive control unit 105 to move the autonomous vehicle 1.

[0019] 3 is a diagram illustrating an example of the configuration of the driving control server according to the first embodiment. In this embodiment, the driving control server 2 includes a communication unit 201, an operation schedule management unit 202, an input unit 203, and a driving instruction unit 204, as shown in FIG.

[0020] The communication unit 201 controls communication with the autonomous vehicle 1 and the marker reading device 3. The operation schedule management unit 202 holds a operation schedule and changes the operation schedule according to the content from the input unit 203. The operation schedule management unit 202 transmits the operation schedule to the autonomous vehicle 1 and the marker reading device 3 via the communication unit 201.

[0021] The input unit 203 accepts operations from a screen, keyboard, mouse, etc. provided on the driving control server 2, and transmits changes to the driving schedule to the driving schedule management unit 202 and driving instructions to the driving instruction unit 204.

[0022] The driving instruction unit 204 converts the driving instructions and other instructions received from the input unit 203 into driving instructions suited to the autonomous vehicle 1 based on the operation schedule obtained from the operation schedule management unit 202, and issues driving instructions to the autonomous vehicle 1 via the communication unit 201.

[0023] 4 is a diagram illustrating an example of the configuration of a marker reader according to the first embodiment. In this embodiment, the marker reader 3 includes a communication unit 301, an operation content management unit 302, an input unit 303, a camera 304, a marker analysis unit 305, and an output unit 306.

[0024] Camera 304 acquires images of markers (for example, two-dimensional codes and address marks; examples of signs) placed on the course (an example of a travel route) of autonomous vehicle 1. In other words, camera 304 is an example of a sign reading unit that reads markers. Marker analysis unit 305 acquires images from camera 304 and reads identification information indicated by the markers from the images. In other words, marker analysis unit 305 is an example of a sign analysis unit that extracts identification information from the markers read by camera 304. Therefore, in this embodiment, camera 304 and marker analysis unit 305 function as an example of an identification information acquisition unit. Here, "on the course" does not have to be directly on the travel route, as long as it is set within a range that can be recognized by the sign recognition unit.

[0025] The communication unit 301 controls communication with the driving control server 2. The operation content management unit 302 saves a train schedule from the driving control server 2 via the communication unit 301, and extracts operation content corresponding to the identification information based on the identification information obtained from the marker analysis unit 305. In other words, the operation content management unit 302 is an example of an operation information acquisition unit that acquires operation information (e.g., a train schedule) of the autonomous vehicle 1 at the address marker from the driving control server 2 (an example of a server) based on the identification information.

[0026] The operation content management unit 302 functions as an example of a display control unit that displays the acquired operation information on the display unit via the output unit 306. As a result, as a tool for the tracked autonomous vehicle 1 using markers with identification information, the unit extracts address actions set for each course in the operation plan from the information obtained from the markers and presents a list of address actions to be executed at the markers to the user in the form of a diagram, table, or the like, making it easy to understand the operation plan even when markers are installed on a route shared by multiple courses. Specifically, the operation content management unit 302 extracts operation content of the autonomous vehicle 1 at the markers (e.g., address marks) based on the operation schedule and the identification information, and displays a list of actions to be executed at the markers based on the extracted operation content. Furthermore, the operation content management unit 302 may display operation information for courses excluding predetermined courses (hereinafter, excluded courses) from the acquired operation information on the display unit. This prevents operation information for excluded courses from being displayed, thereby improving the visibility of the operation information when displaying the operation information for courses other than the excluded courses.

[0027] Furthermore, the operation content management unit 302 extracts affected operation content from the layout change content obtained from the input unit 303, and displays both extracted contents via the output unit 306. Here, the layout change content is a change content to the layout of the course of the autonomous vehicle 1. In other words, the layout change content is an example of route change information related to a change in course input by the user.

[0028] Specifically, the operation content management unit 302 is an example of a route change information acquisition unit that acquires layout change details. The operation content management unit 302 is also an example of a route change calculation unit that calculates impact information related to a course change required in conjunction with a course change based on the identification information, operation information, and layout change details. For example, the operation content management unit 302 extracts operation details at the marker based on the train schedule and identification information included in the operation information, and calculates, as impact information, a list of actions to be performed at the marker, guide lines set on the course, and the impact of moving or deleting the marker, based on the extracted operation details and layout change details.

[0029] Then, the operation content management unit 302 displays the calculated impact information on the display unit via the output unit 306. As a result, the address actions set for each course in the operation plan are extracted from the information obtained from the markers, and the user is assisted by displaying a list of address actions to be executed with the markers and presenting the impact of moving or deleting the markers, and when the user moves or deletes a marker due to a change in the layout of the course, the presented content can be understood to confirm side effects and the degree of impact on other courses, allowing the operation plan to be reviewed in advance.This reduces the amount of time spent investigating the cause of operation problems caused by layout changes, and makes it easy to move or delete the position of markers due to a change in the layout of the course of autonomous vehicle 1.

[0030] Furthermore, the operation content management unit 302 may reflect the effects of moving or deleting the guide lines and the markers in the train schedule. In this way, the simulation content of the change in the layout of the course of the autonomous vehicle 1 is directly reflected in the train schedule, eliminating the need for a separate procedure to change the train schedule.

[0031] The input unit 303 receives the layout change content, displays the layout change content via the output unit 306, and transmits the layout change content to the operation content management unit 302. The output unit 306 displays the layout change content from the input unit 303, the operation content from the operation content management unit 302, and the identification information obtained by the marker analysis unit 305. In addition to displaying the information, the output unit 306 may also provide audio notification.

[0032] 5 is a diagram illustrating an example of a guide line and a marker in the automated driving system according to the first embodiment. The guide line L is created using black tape, black paint, or the like. The automated driving vehicle 1 drives so as to follow the guide line L.

[0033] The address mark M is a sign (address sign) for a location defined in the operation schedule of the autonomous vehicle 1. By recognizing this address mark M, the autonomous vehicle 1 can manage actions (address actions) at the relevant location by checking the operation schedule. For example, address actions such as stop instructions, turning instructions, and delivery of luggage can be defined in the operation schedule, and the autonomous vehicle 1 can perform those address actions at the relevant location.

[0034] The two-dimensional code C has identification information. The identification information (ID) indicates the location of the next address mark M on the train schedule. If the autonomous vehicle 1 finds the address mark M without reading the two-dimensional code C, it performs the next address action for its current location, and if it reads the two-dimensional code C, it uses the address mark M to execute the address action corresponding to the location obtained from the two-dimensional code C. If the two-dimensional code C is dirty, it may be misread as another ID. For this reason, two or more two-dimensional codes C with the same ID may be installed in the direction intersecting the guide line L to prevent the autonomous vehicle 1 from misreading it.

[0035] FIG. 6 is a diagram illustrating an example of a train schedule in the automated driving system according to the first embodiment. The automated driving vehicle 1 acquires a train schedule as shown in FIG. 6(a) from the driving control server 2. The train schedule defines a destination that is a collection of identification information such as numbers called an address number, an address action, and parameters for the address action. When the automated driving vehicle 1 detects an address mark, it performs the corresponding address action and moves to the next address. FIG. 6(b) is an example of an address action that can be used in the train schedule. FIG. 6(c) is an example of an address action of the automated driving vehicle 1 when the destination is "1".

[0036] 7 is a diagram illustrating an example of the process of displaying operation details in the marker reader according to the first embodiment. The marker reader 3 uses the camera 304 to read a camera image G of a two-dimensional code C. The operation details management unit 302 compares the address (e.g., house number) embedded as identification information indicated by the two-dimensional code C with the train schedule and displays operation details such as actions at the address for each course (address action A). The operation details to be displayed include the course number, the queue number in the train schedule, the address action A such as UD / IR, and supplementary explanations for the address action.

[0037] Furthermore, since the operation content management unit 302 knows the distance to a right or left turn from the parameters of each address action A, it generates a diagram of actions near the address (action diagram F) from that information. The action diagram F generated here does not read the actual guide line L, but can be understood from the parameters of each address action A in the bus schedule, so it may differ from the actual guide line L.

[0038] FIG. 8 is a diagram illustrating an example of a simple simulation of changing the course layout of an autonomous vehicle using the marker reading device according to the first embodiment. FIG. 8 illustrates a case in which a guide line for a right turn in the layout shown in FIG. 8(a) is being considered for moving to the layout shown in FIG. 8(b). When displaying address actions A at addresses on each course, the operation content management unit 302 may display address actions A that are affected by the movement of the guide line L as impact information in a different display format from address actions A that are not affected, such as in red or bold. Furthermore, when displaying action diagram F, the operation content management unit 302 may display locations that are affected by the movement of the guide line L in red, thereby displaying them as impact information in a different display format from guide lines L that are not affected. Based on the parameters of each address action A, the operation content management unit 302 knows the distance from the address to the right or left turn, and determines whether there will be an impact based on this information.

[0039] FIG. 9 is a diagram illustrating an example of a simple simulation of changing the course layout of an autonomous vehicle using the marker reading device according to the first embodiment. FIG. 9 illustrates a case in which moving the address mark M and the two-dimensional code C from the layout shown in FIG. 9(a) to the layout shown in FIG. 9(b) is being considered. When displaying an action A at an address on each course, the operation content management unit 302 may display the action A affected by the movement of the address mark M and the two-dimensional code C as impact information in a display format different from that of the address action A that is not affected, such as in red or bold. Furthermore, when displaying an action diagram F, the operation content management unit 302 may display the affected location by the movement of the address mark M and the two-dimensional code C in red, thereby displaying it as impact information in a display format different from that of the guide line L that is not affected. Based on the parameters of each action A, the operation content management unit 302 knows the distance from the address to the right or left turn, the action to be performed by stopping there, and the like, and determines whether or not there will be an impact based on this information.

[0040] 10 is a flowchart showing an example of the flow of the process of displaying operation details in the marker reader according to the first embodiment. The marker reader 3 uses the camera 304 to photograph a two-dimensional code and read the image of the two-dimensional code (step S1001). Next, the marker reader 3 acquires identification information such as an address number from the read two-dimensional code using the marker analysis unit 305 (step S1002). The operation details management unit 302 acquires a train schedule from the driving control server 2 via the communication unit 301 (step S1003).

[0041] Next, the operation content management unit 302 extracts the operation content at the relevant location based on the identification information read from the two-dimensional code and the acquired operation schedule (step S1004).The operation content management unit 302 then displays a list of the extracted operation content, action diagrams, etc. via the output unit 306 (step S1005).

[0042] Next, the operation content management unit 302 determines whether layout change details have been input from the input unit 303 of the marker reading device 3 (step S1006). If layout change details have not been input (step S1006: No), the operation content management unit 302 ends the process of displaying operation details (step S1007). On the other hand, if layout change details have been input (step S1006: Yes), the operation content management unit 302 acquires the layout change details (such as moving the position of guide lines) input from the input unit 303 of the marker reading device 3 (step S1008).

[0043] Next, the operation content management unit 302 determines whether the layout change will affect the parameters of the operation content (step S1009). If the layout change will affect the parameters of the operation content, the operation content management unit 302 displays the impact information by displaying it in red text or by changing the display of the diagram (step S1010).

[0044] Next, the operation content management unit 302 determines whether or not to reflect the input layout change content in the train schedule (step S1011). If the layout change content is not to be reflected in the train schedule (step S1011: No), the operation content management unit 302 ends the display processing of the operation content (step S1007). On the other hand, if the layout change content is to be reflected in the train schedule (step S1011: Yes), the operation content management unit 302 changes the train schedule (such as changing the parameters of each command) based on the layout change content (step S1012).

[0045] Fig. 11 is a diagram for explaining an example of the process of extracting affected areas during a simple layout change simulation in the marker reading device according to the first embodiment. Specifically, Fig. 11 is a diagram for explaining an example of a simple layout change simulation in the marker reading device 3 when changing the position of the right-turn line (guide line) at address 21. The address number and the layout change content are input as information required for the simple layout change simulation.

[0046] Here, the address number is obtained from the two-dimensional code mentioned above. The layout changes are input by the user and include changing the position of guide lines, changing the position of addresses, etc. The means by which the user can input the layout changes include dragging and dropping the position of the guide lines or addresses on the screen displayed by the marker reading device 3, or inputting numerical values. The layout changes have a unique command (related command) that is determined depending on the change. For example, the layout changes correspond to the following related commands: Here, the command is a command that instructs the autonomous vehicle 1 to take action at the address. The change in the position of the right turn line (right turn guide line) corresponds to a right turn command (IR). The change in the position of the left turn line (left turn guide line) corresponds to the left turn command (IL). The change of address location corresponds to the right turn command (IR), left turn command (IL), and delivery command (UD).

[0047] The operation content management unit 302 uses the above address numbers and associated commands to extract affected address actions from the train schedule. At this time, since the train schedule lists all courses used in the operation of the autonomous vehicle 1, the operation content management unit 302 performs a full search to extract all of the address action locations and their courses that match both the address numbers and associated commands as impact information (for example, the locations of cells indicated by diagonal lines). The operation content management unit 302 then reflects the extracted address action locations, courses, and layout changes in the action diagram as simulation results.

[0048] Fig. 12 is a flowchart showing an example of the flow of the process of extracting affected areas during a simple layout change simulation in the marker reading device according to the first embodiment. The flowchart shown in Fig. 12 is a flowchart showing the detailed process flow of the impact analysis of operation details in step S1009 of the flowchart shown in Fig. 10.

[0049] The operation content management unit 302 determines the related commands (e.g., IRs) that will be affected based on the layout change (e.g., a change in the position of a right-turn line) (step S1201), and acquires commands from the bus schedule, starting with the first command (step S1202). Next, the operation content management unit 302 determines whether the address of the acquired command is the address of the layout change (the relevant address) (step S1203). If the address of the acquired command is not the relevant address (step S1203: No), the operation content management unit 302 acquires the next command from the bus schedule (step S1206). Next, the operation content management unit 302 determines whether the commands for all courses listed in the bus schedule have been checked (step S1207). If the commands for all courses listed in the bus schedule have not been checked (step S1207: No), the process returns to step S1203. If the commands for all courses listed in the bus schedule have been checked (step S1207: Yes), the operation content impact analysis ends.

[0050] If the address of the acquired command is the relevant address (step S1203: Yes), the operation content management unit 302 determines whether the acquired command is a related command (step S1204). If the acquired command is not a related command (step S1204: No), the operation proceeds to step S1206. On the other hand, if the acquired command is a related command (step S1204: Yes), the operation content management unit 302 sets the acquired command to an affected location that will be affected by the layout change (step S1205), and then proceeds to step S1206.

[0051] Fig. 13 is a diagram for explaining an example of the process of setting excluded courses in the automated driving system according to the first embodiment. In this embodiment, the operation content management unit 302 normally displays all the address actions of each course of the corresponding address in the display of the operation content shown in Fig. 7. For example, as shown in the upper diagram of Fig. 13, the operation content management unit 302 displays all the address actions of courses 1 to 4 in which the address: 21 exists.

[0052] Meanwhile, in actual operation, the route that autonomous vehicle 1 travels may be limited depending on the time of year. For example, there may be cases where the destinations of parts transported by autonomous vehicle 1 are limited due to changes in production ratios depending on the product inventory status at a production site. For such cases, in this embodiment, operation content management unit 302 sets excluded routes.

[0053] The operation content management unit 302 does not display the course numbers set as excluded courses in the action diagram, but displays only the courses used in actual operation, thereby improving the visibility of the operation content. For example, the operation content management unit 302 displays the actions of courses 1 and 4 excluding the excluded courses, as shown in the lower diagram of FIG. 13 (when an excluded course is set). The excluded courses may be set by the user in the application setting file or on the input screen, or may be notified to the marker reading device 3 from the driving control server 2.

[0054] In this way, according to the autonomous driving system of the first embodiment, the address actions set for each course in the operation plan are extracted from the information obtained from the markers, and the user is assisted by displaying a list of the address actions to be executed by the markers and presenting the impact of moving or deleting the markers. When the user moves or deletes a marker due to a change in the layout of the course, the presented content can be understood, allowing the user to check the side effects and impact on other courses and review the operation plan in advance. This reduces the amount of time spent investigating the causes of operation problems caused by layout changes, and makes it easy to move or delete the position of markers due to changes in the layout of the course of autonomous driving vehicle 1.

[0055] (Second embodiment) In this embodiment, a driving control server functions as a marker reader. In the following description, the same configuration as in the first embodiment will not be described.

[0056] Fig. 14 is a diagram showing an example of the configuration of an autonomous driving system according to the second embodiment. As shown in Fig. 14, the autonomous driving system according to this embodiment includes an autonomous vehicle 1 and a driving control server 10. The driving control server 10 also functions as the marker reader 3 in the first embodiment.

[0057] 15 is a diagram illustrating an example of the configuration of a driving control server according to the second embodiment. In this embodiment, as shown in FIG. 15, the driving control server 10 has an operation content management unit 302, a camera 304, a marker analysis unit 305, and an output unit 306, which are functions of the marker reader 3 in the first embodiment, in addition to a communication unit 201, a flight schedule management unit 202, an input unit 203, and a driving instruction unit 204. This eliminates the need for the marker reader 3 in the first embodiment to obtain a flight schedule via the communication unit 301, and the operation content management unit 302 receives the flight schedule from the flight schedule management unit 202.

[0058] 8 and 9, the operation content management unit 302 changes the train schedule in accordance with the layout change content by displaying the layout change content received by the input unit 203 on the output unit 306 and transmitting it to the train schedule management unit 202. For example, if the command for making a 90-degree right turn 200 mm from the address mark is IR200:90, and the right-turn guide line shown in FIG. 8 is moved 500 mm ahead, the command needs to be changed to IR500:90. According to this embodiment, such a command change can be performed simultaneously with the layout change simple simulation.

[0059] 16 is a diagram illustrating an example of use of the driving control server according to the second embodiment. When the autonomous vehicle 1 is in operation, the driving control server 10 is used as a driving control server to issue driving instructions to the autonomous vehicle 1. Furthermore, if the driving control server 10 is implemented as a portable tablet PC (Personal Computer), when the layout of the course of the autonomous vehicle 1 is changed, the driving control server 10 can be carried to the site and read a two-dimensional code, thereby using the functions of the marker reader 3 according to the first embodiment.

[0060] In this way, according to the automatic driving system of the second embodiment, there is no need to prepare a marker reading device realized by a PC, tablet, etc., separate from the driving control server 2, thereby reducing the cost of building the system.

[0061] (Third embodiment) In the present embodiment, an autonomous vehicle functions as a marker reader. In the following description, the same configuration as in the first embodiment will not be described.

[0062] Fig. 17 is a diagram showing an example of the configuration of an autonomous driving system according to the third embodiment. As shown in Fig. 17, the autonomous driving system according to this embodiment includes an autonomous vehicle 11 and a driving control server 2. The autonomous vehicle 11 also functions as the marker reader 3 in the first embodiment.

[0063] 18 is a diagram showing an example of the configuration of an autonomous vehicle according to the third embodiment. In this embodiment, autonomous vehicle 13 has, in addition to communication unit 101, driving management unit 102, input reception unit 103, image processing unit 104, drive control unit 105, camera 106, and drive unit 107, an operation content management unit 302, a marker analysis unit 305, and an output unit 306, which are functions of marker reader 3 in the first embodiment. In this embodiment, autonomous vehicle 13 reads markers using camera 106 used during actual driving, and displays the display content of marker reader 3 on output unit 306 installed in autonomous vehicle 1.

[0064] Thus, according to the third embodiment of the autonomous driving system, the camera 106 and display of the autonomous vehicle 1 are used to make the autonomous vehicle 1 function as a marker reading device 3, eliminating the need to prepare a marker reading device implemented by a PC, tablet, or the like, separate from the autonomous vehicle 1, thereby reducing the cost of system construction.

[0065] The program executed by the marker reading device 3 of this embodiment is provided in advance in a ROM (Read Only Memory) or the like. The program executed by the marker reading device 3 of this embodiment may also be provided by being recorded in an installable or executable file format on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD (Digital Versatile Disk).

[0066] Furthermore, the program executed by the marker reading device 3 of this embodiment may be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network. Also, the program executed by the marker reading device 3 of this embodiment may be provided or distributed via a network such as the Internet.

[0067] The program executed by the marker reading device 3 of this embodiment has a modular structure including the above-mentioned units (operation content management unit 302, marker analysis unit 305, etc.), and in terms of actual hardware, an example of a processor such as a CPU (Central Processing Unit) reads and executes the program from the above-mentioned ROM, thereby loading the above-mentioned units onto the main memory device, and generating the operation content management unit 302, marker analysis unit 305, etc. on the main memory device. [Explanation of symbols]

[0068] 1,13 Self-driving cars 2,10 Driving control server 3 Marker reading device 101, 201, 301 Communications Department 102 Driving Management Department 103 Input reception unit 104 Image processing section 105 Drive control unit 106,304 cameras 107 Drive Unit 202 Operation Schedule Management Department 203,303 Input section 204 Driving Instruction Unit 302 Operation Content Management Department 305 Marker Analysis Unit 306 Output section [Prior art documents] [Patent documents]

[0069] [Patent Document 1] Japanese Patent Publication No. 2022-125553

Claims

1. an identification information acquisition unit that acquires identification information indicated on signs placed on a travel route of the autonomous moving body; an operation information acquisition unit that acquires operation information of the autonomous moving object indicated by the sign from a server; a route change information acquisition unit that acquires route change information regarding a change in the travel route input by a user; a route change calculation unit that calculates influence information related to the change of the travel route that is necessary in accordance with the change of the travel route, based on the identification information, the operation information, and the route change information; a display control unit that displays the impact information calculated by the route change calculation unit; A sign reading device comprising:

2. the identification information acquisition unit includes a sign reading unit that reads the signs placed on the travel route, and a sign analysis unit that extracts the identification information from the signs; the operation information acquisition unit acquires the operation information including an operation schedule from the server, 2. The sign reading device according to claim 1, wherein the route change calculation unit extracts operation details at the sign based on the train schedule and the identification information, and calculates, as the impact information, a list of actions to be performed at the sign, guide lines provided on the travel route, and the impact of moving or deleting the sign, based on the operation details and the route change information.

3. The sign reading device according to claim 2 , wherein the route change calculation unit reflects an effect of the movement or deletion of the guide line and the sign in the train schedule.

4. Autonomous vehicles and A sign to be placed on a travel route of the automated moving body; an identification information acquisition unit that acquires identification information indicated on the sign; an operation information acquisition unit that acquires operation information of the autonomous moving object indicated by the sign from a server; a route change information acquisition unit that acquires route change information regarding a change in the travel route input by a user; a route change calculation unit that calculates influence information related to the change of the travel route that is necessary in accordance with the change of the travel route, based on the identification information, the operation information, and the route change information; a display control unit that displays the impact information calculated by the route change calculation unit; An automated transport system comprising:

5. 1. A method of sign reading carried out on a sign reading device, comprising: acquiring identification information indicated on signs placed on a travel route of the autonomous moving body; acquiring operation information of the autonomous moving object indicated by the sign from a server; obtaining route change information regarding a change in the driving route input by a user; calculating impact information related to the change of the travel route that is necessary in accordance with the change of the travel route based on the identification information, the operation information, and the route change information; displaying the calculated impact information; A sign reading method comprising:

6. Computer, an identification information acquisition unit that acquires identification information indicated on signs placed on a travel route of the autonomous moving body; an operation information acquisition unit that acquires operation information of the autonomous moving object indicated by the sign from a server; a route change information acquisition unit that acquires route change information regarding a change in the travel route input by a user; a route change calculation unit that calculates influence information related to the change of the travel route that is necessary in accordance with the change of the travel route, based on the identification information, the operation information, and the route change information; a display control unit that displays the impact information calculated by the route change calculation unit; A program to make it function as such.

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