Control system, terminal, management device, learning device, and computer program

Abstract

To improve a technique for moving a moving object.SOLUTION: The control system 1 includes a movable object 20, a terminal 70 used by a movable object 40, and a map server 50 that manages movement of the movable object 20 and the movable object 40. The map server 50 includes a map generation unit that generates information representing positions of the movable object 20 and the moving object 40 at a future time point, a map transmission unit that transmits the generated information to the movable object 20, and a moving object expected route acquisition unit that acquires an expected route of the movable object 20. The mobile object 20 includes a map acquisition unit that acquires information from the map server 50, a mobile object planned route generation unit that generates a planned route of the mobile object 20, a mobile object planned route transmission unit that transmits the planned route of the mobile object 20 to the map server 50, and a movement control unit that moves the mobile object 20 according to the planned route. The terminal 70 includes a user scheduled route acquiring part for acquiring a scheduled route of the user, and a scheduled route display part for displaying the scheduled route of the user.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a control technique for a moving object. [Background technology]

[0002] Mobile objects such as autonomously movable robots and automated guided vehicles are used to transport cargo in factories, warehouses, etc. (See, for example, Patent Document 1.) When multiple mobile objects are to be moved, the movement of each mobile object is controlled by a centralized control method in which the movement of all the mobile objects is centrally controlled, or a distributed control method in which the movement of each mobile object is decentralized and controlled. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 59-218515 Summary of the Invention [Problem to be solved by the invention]

[0004] In the case of a centralized control system, the number of required computing and storage devices increases exponentially with the number of moving objects. Also, when the number of moving objects subject to centralized control increases or decreases or breaks down, it becomes necessary to register the increase or decrease in the number of moving objects.

[0005] In the case of a distributed control system, each moving body independently selects its own route, making it difficult to optimize the overall movement.

[0006] An object of the present disclosure is to improve the technology for transporting moving objects and people. [Means for solving the problem]

[0007] To solve the above problems, a control system according to one embodiment of the present disclosure includes one or more mobile objects, one or more terminal devices used by one or more mobile persons, and a management device that manages the movements of the mobile objects and the mobile persons. The management device includes a map generation unit that generates information representing future positions of the mobile objects and the mobile persons from their respective planned routes, a map transmission unit that transmits the information generated by the map generation unit to the mobile objects, and a mobile object planned route acquisition unit that acquires the planned route of the mobile object generated by the mobile object. The mobile object includes a map acquisition unit that acquires information from the management device, a mobile object planned route generation unit that generates a planned route for the mobile object based on its current position and future positions of other mobile objects and the mobile persons, a mobile object planned route transmission unit that transmits the planned route of the mobile object generated by the mobile object planned route generation unit to the management device, and a movement control unit that moves the mobile object according to at least a portion of the planned route of the mobile object generated by the mobile object planned route generation unit. The terminal device includes a user planned route acquisition unit that acquires the user's planned route generated based on the current location of the user of the terminal device and the future locations of the moving body and the moving person, and a planned route display unit that displays the user's planned route acquired by the user planned route acquisition unit on a display device.

[0008] Another aspect of the present disclosure is a terminal device including: a map acquisition unit that acquires information representing future positions of one or more moving objects and one or more moving persons, the information being generated from respective planned routes of the moving objects and the moving persons; a user planned route generation unit that generates a user planned route based on the user's current location and future positions of the moving objects and the moving persons; and a planned route display unit that displays the user's planned route generated by the user planned route generation unit on a display device.

[0009] Yet another aspect of the present disclosure is a management device that includes a map generation unit that generates information representing future positions of one or more moving objects and moving persons from planned routes of one or more moving objects and one or more moving persons, a map transmission unit that transmits the information generated by the map generation unit to the moving object, a moving object planned route generation unit that generates a planned route for the moving object based on the current position of the moving object and future positions of the moving object and other moving persons, a moving object planned route transmission unit that transmits the planned route generated by the moving object planned route generation unit to a terminal device used by the moving object, and a moving object planned route acquisition unit that acquires the planned route for the moving object generated by the moving object.

[0010] Yet another aspect of the present disclosure is a learning device including: a movement trajectory acquisition unit that acquires movement trajectories of moving persons in a situation where one or more moving objects and one or more moving persons are present, the moving objects moving based on a planned route generated using a planned route generator for generating planned routes for the moving objects and the moving persons; an evaluation unit that evaluates the quality of the movement trajectories of the moving persons acquired by the movement trajectory acquisition unit; and a learning unit that learns the planned route generator based on the evaluation result by the evaluation unit.

[0011] In addition, any combination of the above components, or mutual substitution of the components or expressions of the present disclosure between methods, devices, programs, temporary or non-temporary storage media on which programs are recorded, systems, etc., are also valid aspects of the present disclosure. [Effects of the Invention]

[0012] According to the present disclosure, it is possible to improve the technology for moving moving objects and moving persons. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a diagram illustrating a configuration of a control system according to a first embodiment. [Figure 2] FIG. 3 is a sequence diagram showing the procedure of a control method according to the first embodiment. [Figure 3]FIG. 10 is a diagram showing an example of a map generated by a map server. [Figure 4] FIG. 1 is a diagram illustrating a configuration of a moving body according to a first embodiment. [Figure 5] FIG. 2 is a diagram illustrating a configuration of a terminal device according to the first embodiment. [Figure 6] FIG. 2 is a diagram illustrating a configuration of a map server according to an embodiment. [Figure 7] FIG. 10 is a sequence diagram showing the procedure of a control method according to a second embodiment. [Figure 8] FIG. 10 is a diagram illustrating a configuration of a terminal device according to a second embodiment. [Figure 9] FIG. 10 is a diagram illustrating a configuration of a map server according to a second embodiment. [Figure 10] FIG. 10 is a diagram illustrating a configuration of a learning device according to a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] As an embodiment of the present disclosure, a control system for controlling the movement of one or more moving bodies and one or more moving persons in a situation where the moving bodies and the moving persons coexist will be described.

[0015] The control system of this embodiment includes one or more moving objects, one or more terminal devices used by one or more moving objects, and a map server. The map server acquires planned routes for each of the moving objects and moving objects, generates a map showing the future locations of all moving objects and moving objects, and transmits the map to all moving objects and terminal devices. Each moving object generates its own planned route optimized according to predetermined conditions by referring to its own current location and the future locations of other moving objects and moving objects, registers the generated planned route in the map server, and actually travels along the first unit time of the planned route. Each terminal device presents the user's planned route optimized according to predetermined conditions by referring to the current location of the user of the terminal device and the future locations of other moving objects and moving objects, and moves the user along the first unit time of the planned route. Upon completing the unit time of travel, each moving object and terminal device acquires the latest map from the map server, updates the planned route based on the current location of the moving object or the user of the terminal and the latest map, registers the updated planned route in the map server, and actually travels the moving object or moving object along the first unit time of the planned route. In this way, by repeating the sharing of planned routes, updating of planned routes, and movement for each unit period, multiple moving bodies and moving persons move little by little along their respective optimal routes. This allows each moving body and moving person to move along an optimal movement route selected while taking into consideration the planned routes of other moving bodies and moving persons, thereby achieving near-optimal movement performance overall while reducing processing load.

[0016] A moving person may travel a route different from the planned route presented by the terminal device. Although a moving object generally travels along the generated planned route, there may be cases where the moving object travels a route different from the planned route due to the occurrence of an unexpected event or a malfunction of the means of transportation. Even in such cases, the control system of this embodiment can select the optimal travel route in accordance with the ever-changing situation.

[0017] A moving person may travel a route different from the planned route presented by the terminal device, which may result in higher mobility performance than the planned route presented by the terminal device. The control system of this embodiment evaluates the quality of the movement trajectory traveled by the moving person, and if the route traveled by the moving person is evaluated as better than the planned route presented by the terminal device, learns an algorithm for generating a planned route so that such a route is more likely to be selected. This can further improve the mobility performance of the moving object and the moving person.

[0018] First, as a first embodiment, a case where a terminal device generates a planned route for a moving person will be described. Next, as a second embodiment, a case where a map server generates a planned route for a moving person will be described. Furthermore, as a third embodiment, a technology for learning an algorithm for generating a planned route based on the movement trajectory of a moving person will be described.

[0019] (First embodiment) 1 shows the configuration of a control system according to a first embodiment. The control system 1 includes mobile objects 20a and 20b (collectively referred to as "mobile objects 20") that move within a movement range 10, terminal devices 70a and 70b (collectively referred to as "terminal devices 70") used by mobile persons 40a and 40b (collectively referred to as "mobile persons 40") that move within the movement range 10, a map server 50 that functions as a management device that manages the movements of the mobile objects 20 and the mobile persons 40, and a communication network 12 that connects them. The control system 1 of this embodiment controls the movements of the mobile objects 20 and the mobile persons 40 to transport multiple packages from point A to point B.

[0020] The mobile object 20 moves autonomously according to predetermined conditions related to movement. The conditions may be, for example, minimizing the travel distance, travel time, or energy required for travel to the destination. Each mobile object 20 determines its travel mode, including the travel direction and travel speed, by solving an optimal route problem from its current position to the destination using an algorithm such as Dijkstra's algorithm based on an evaluation function representing the travel conditions, and moves according to the determined travel mode. The mobile object 20 may be, for example, a robot or an automated guided vehicle. The multiple mobile objects 20 may all be of the same type, or may include different types. The performance of the multiple mobile objects 20, such as the travel speed, maximum speed, travel method, and travel error, may be the same or different.

[0021] The terminal device 70 generates a planned route for the moving person 40 in accordance with predetermined conditions related to movement, and presents the generated planned route to the moving person 40. The planned route for the moving person 40 may be generated in the same manner as for the mobile object 20. The terminal device 70 may be a mobile terminal device such as a mobile phone, smartphone, smartwatch, or tablet. The multiple terminal devices 70 may all be of the same type, or may include terminal devices of different types.

[0022] The map server 50 acquires the planned routes of each of the moving bodies 20 and moving persons 40 from the multiple moving bodies 20 and terminal devices 70, and generates a map showing the areas where all of the moving bodies 20 and moving persons 40 will exist at a future time point, referring to the acquired planned routes. The map server 50 transmits the generated map to all of the moving bodies 20 and terminal devices 70.

[0023] FIG. 2 is a sequence diagram showing the procedure of the control method according to the first embodiment. The moving object 20 and the terminal device 70 detect their current positions (S8) and generate a planned route based on the current positions, the destination, and an evaluation function (S10). If the moving object 20 and the moving person 40 are not carrying any luggage, point A is set as the destination for picking up the luggage. The luggage to be carried by the moving object 20 and the moving person 40 may be selected by the moving object 20 and the moving person 40, or may be selected by the map server 50 and notified to the moving object 20 and the terminal device 70. If the moving object 20 and the moving person 40 are carrying luggage, point B is set as the destination for dropping off the luggage. The moving object 20 and the terminal device 70 generate a planned route by solving an optimal route problem from the current position to the destination using the evaluation function. Each moving object 20 and terminal device 70 transmits the generated planned route to the map server 50 (S12).

[0024] The map server 50 generates a map showing the areas where all moving bodies 20 and moving persons 40 will exist at a future time point, by referring to the planned routes acquired from each moving body 20 (S14). The map server 50 generates a map for the first period for each second period. That is, it generates maps for times T=t1, t2, ..., tn (t1: after the second period has elapsed, t2: after 2 × the second period has elapsed, tn: after n × the second period (= first period) has elapsed).

[0025] The longer the first period, the more accurately each of the moving object 20 and the terminal device 70 can select the optimal route, but the longer the first period, the greater the processing load. Therefore, the map server 50 may set the first period depending on the processing capabilities of the moving object 20 and the terminal device 70.

[0026] The shorter the second period, the more accurate the overall optimization. However, if the second period is too short, the processing of each moving body 20 and terminal device 70 cannot keep up. Furthermore, if the second period is too long, there is a possibility that the moving body 20 and the moving person 40 may come into contact with each other. Therefore, the map server 50 may set the second period depending on at least one of the processing capabilities of the moving body 20 and terminal device 70, the maximum speed of the moving body 20 and the moving person 40, the control error of the moving body 20 and the terminal device 70, the size of the movement range 10, the number of moving bodies 20 and the moving person 40, etc. The second period may be set variably. For example, if the distance between the moving bodies 20 is long, the second period may be long, and if the distance between the moving bodies 20 is short, the second period may be short.

[0027] Each of the mobile objects 20 and the terminal device 70 requests the latest map from the map server 50 (S16). The map server 50 transmits the latest map to each of the mobile objects 20 and the terminal device 70 (S18).

[0028] Each moving body 20 and terminal device 70 detects its current location (S20). The moving body 20 and terminal device 70 may detect their location using technology such as GPS. The moving body 20 and terminal device 70 may be equipped with an imaging device for capturing images of the surroundings and may detect their location by analyzing the captured images. An imaging device for capturing images of multiple moving bodies 20 and moving persons 40 may be provided, and the locations of each moving body 20 and moving person 40 may be detected by analyzing the captured images of the multiple moving bodies 20 and moving persons 40. The moving body 20 may detect its location through communication with other moving bodies 20 and terminal devices 70, or with a communication device provided within the movement range 10.

[0029] Each moving body 20 and terminal device 70 generates a planned route based on the current position, destination, evaluation function, and latest map (S22). The moving body 20 and terminal device 70 calculate a route from the current position to the destination that optimizes the evaluation function, with the constraint that they do not come into contact with other moving bodies 20 and moving persons 40. That is, the moving body 20 and terminal device 70 solve the optimal route problem from the current position to the destination at time T=t1, t2, ..., tn, with the constraint that their own existence area does not interfere with the existence areas of other moving bodies 20 and moving persons 40.

[0030] Rules for avoiding contact when moving bodies 20 and moving persons 40 approach each other may be established. For example, priorities may be assigned in advance to multiple moving bodies 20 and moving persons 40, and moving bodies 20 and moving persons 40 with lower priorities may take a detour or wait until the other moving body 20 and moving person 40 pass so as not to interfere with the movement of the moving body 20 and moving person 40 with higher priorities. Priorities may also be established based on the relative positions of the moving bodies 20 and moving persons 40. For example, moving bodies 20 and moving persons 40 located further to the right or further back in the coordinate system of the movement range 10 may be given priority. A movement direction for avoiding contact may be determined in advance. For example, moving bodies 20 and moving persons 40 may move so as to pass each other on their right side.

[0031] Each of the moving bodies 20 and the terminal device 70 transmits the generated planned route to the map server 50 (S24).

[0032] Each moving body 20 actually moves along the first unit period of the generated planned route (S26). The moving body 20 may start moving at the same time as transmitting the planned route to the map server 50, may start moving and then transmit the planned route to the map server 50, or may start moving after transmitting the planned route to the map server 50.

[0033] Each terminal device 70 presents the generated planned route to the user (S28). Each moving person 40 actually moves along the presented planned route. If the movement trajectory of the moving person 40 deviates from the planned route, the terminal device 70 may notify the moving person 40 that it has deviated from the planned route. The terminal device 70 may detect the current position of the moving person 40 at a predetermined timing, and if the movement trajectory of the moving person 40 deviates from the planned route by more than a predetermined distance, may notify the moving person 40 that it has deviated from the planned route. If the movement trajectory of the moving person 40 deviates from the planned route by more than a predetermined distance when the terminal device 70 detects the current position of the moving person 40 in step S20, it may notify the moving person 40 that it has deviated from the planned route.

[0034] Return to S14 and repeat the above steps. This allows each moving body 20 and moving person 40 to move while optimizing their route in accordance with changes in the situation, thereby achieving optimal movement overall. Even if the accuracy of the movement of the moving body 20 is relatively low and an error from the planned route occurs, or if the moving person 40 moves along a route different from the planned route, the planned route can be corrected for each unit period, thereby achieving optimal movement while avoiding contact between the moving bodies 20 and moving people 40.

[0035] FIG. 3 shows an example of a map generated by the map server. FIG. 3(a) shows an example of a map at time T=t1. The presence areas 11a, 11b, 12a, and 12b of moving bodies 20a and 20b and moving persons 40a and 40b at time T=t1 are shown on the map. The sizes of the presence areas 11a, 11b, 12a, and 12b reflect the control errors of each moving body 20a and 20b and the movement errors of each moving person 40a and 40b. FIG. 3(b) shows an example of a map at time T=t2. The sizes of the presence areas 11a, 11b, 12a, and 12b are larger than those at time T=t1, reflecting the accumulated movement errors of each moving body 20a, 20b and moving persons 40a and 40b. The map at each time represents the area in which each moving body 20 and moving person 40 can be present at that time.

[0036] 4 shows the configuration of a mobile object 20 according to the first embodiment. The mobile object 20 includes a communication device 21, a means of transportation 22, a storage device 24, and a processing device 30. The control device including the communication device 21, the storage device 24, and the processing device 30 may be realized by a device such as a personal computer, or a mobile terminal such as a mobile phone terminal, a smartphone, or a tablet terminal.

[0037] The communication device 21 controls communication with other devices. The communication device 21 may perform communication using any wired or wireless communication method. The transportation means 22 moves the mobile object 20. The transportation means 22 may be wheels, a belt, or the like. The storage device 24 stores programs, data, and the like used by the processing device 30. The storage device 24 may be a semiconductor memory, a hard disk, or the like.

[0038] The processing device 30 includes a map acquisition unit 31, a mobile object planned route generation unit 32, a mobile object planned route transmission unit 33, a movement control unit 34, and a position detection unit 35. These components are realized in hardware by the CPU, memory, other LSIs, etc. of any computer, and in software by programs loaded into memory, etc., but here, functional blocks realized by the cooperation of these components are depicted. Therefore, it will be understood by those skilled in the art that these functional blocks can be realized in various ways, such as by hardware alone or a combination of hardware and software.

[0039] The map acquisition unit 31 acquires a map from the map server 50. The mobile object planned route generation unit 32 generates a planned route for the mobile object 20 based on the current position, the destination, the evaluation function, and the map. The mobile object planned route transmission unit 33 transmits the planned route for the mobile object 20 generated by the mobile object planned route generation unit 32 to the map server 50. The movement control unit 34 controls the movement means 22 to move the mobile object 20 along the first unit time of the planned route generated by the mobile object planned route generation unit 32. The position detection unit 35 detects the current position of the mobile object 20.

[0040] 5 shows the configuration of a terminal device 70 according to the first embodiment. The terminal device 70 includes a communication device 71, a display device 72, a storage device 74, and a processing device 80.

[0041] The communication device 71 controls communication with other devices. The communication device 71 may perform communication using any wired or wireless communication method. The display device 72 displays a display screen generated by the processing device 80. The storage device 74 stores programs, data, etc. used by the processing device 80. The storage device 74 may be a semiconductor memory, a hard disk, etc.

[0042] The processing device 80 includes a map acquisition unit 81, a user planned route generation unit 82, a user planned route transmission unit 83, a planned route display unit 84, and a position detection unit 85. These components are realized in hardware by the CPU, memory, other LSIs, etc. of any computer, and in software by programs loaded into memory, etc., but here, functional blocks realized by the cooperation of these components are depicted. Therefore, it will be understood by those skilled in the art that these functional blocks can be realized in various ways, such as by hardware alone or a combination of hardware and software.

[0043] The map acquisition unit 81 acquires a map from the map server 50. The user planned route generation unit 82 generates a planned route for the user based on the user's current location, destination, evaluation function, and map. The user planned route transmission unit 83 transmits the user's planned route generated by the user planned route generation unit 82 to the map server 50. The planned route display unit 84 displays the first unit time of the user's planned route generated by the user planned route generation unit 82 on the display device 72. The planned route display unit 84 may display all or part of the planned route on the display device 72. The position detection unit 85 detects the user's current location. If the terminal device 70 is carried by the user, the position detection unit 85 may detect the current location of the terminal device 70. The planned route display unit 84 may notify the moving person 40 that the moving person 40 has deviated from the planned route when the moving trajectory of the moving person 40 deviates from the planned route by more than a predetermined distance.

[0044] 6 shows the configuration of a map server 50 according to an embodiment. The map server 50 includes a communication device 51, a storage device 54, and a processing device 60. The map server 50 may be a server device, a device such as a personal computer, or a portable terminal such as a mobile phone terminal, a smartphone, or a tablet terminal.

[0045] The communication device 51 controls communication with other devices. The communication device 51 may perform communication using any wired or wireless communication method. The storage device 54 stores programs, data, etc. used by the processing device 60. The storage device 54 stores maps at each time. The storage device 54 may be a semiconductor memory, a hard disk, etc.

[0046] The processing device 60 includes a planned route acquisition unit 61, a map generation unit 62, and a map transmission unit 63. These components can be realized in various forms, such as hardware only or a combination of hardware and software.

[0047] The planned route acquisition unit 61 acquires planned routes of the moving bodies 20 and the moving person 40 from the multiple moving bodies 20 and the terminal device 70. The map generation unit 62 generates a map from the planned routes of the multiple moving bodies 20 and the moving person 40 acquired by the planned route acquisition unit 61 and stores the map in the storage device 54. The map transmission unit 63 transmits the map stored in the storage device 54 to the moving bodies 20 and the terminal device 70 in response to requests from the moving bodies 20 and the terminal device 70.

[0048] (Second embodiment) 7 is a sequence diagram showing the procedure of the control method according to the second embodiment. The moving body 20 and the terminal device 70 detect their current locations (S8). The terminal device 70 transmits the detected current location of the user to the map server 50 (S9). Each moving body 20 generates a planned route for the moving body 20 based on the current location, the destination, and the evaluation function (S10). The map server 50 generates a planned route for each moving person 40 based on the current location, the destination, and the evaluation function of each moving person 40 (S11). Each moving body 20 transmits the generated planned route for the moving body 20 to the map server 50 (S12).

[0049] The map server 50 generates a map showing the areas where all moving bodies 20 and moving persons 40 will exist at a future time by referring to the planned routes of each moving body 40 that have been generated and the planned routes of each moving body 20 that have been acquired from each moving body 20 (S14).

[0050] Each mobile object 20 requests the latest map from the map server 50 (S16). The map server 50 transmits the latest map to each mobile object 20 (S18).

[0051] Each of the mobile objects 20 and the terminal device 70 detects its own current location (S20). The terminal device 70 transmits the detected current location of the user to the map server 50 (S21).

[0052] Each moving body 20 generates a planned route for the moving body 20 based on the current position, destination, evaluation function, and latest map (S22). The map server 50 generates a planned route for each moving person 40 based on the current position, destination, evaluation function, and latest map of each moving person 40 (S11). Each moving body 20 transmits the generated planned route for the moving body 20 to the map server 50 (S12). The map server 50 transmits the generated planned route for the moving person 40 to each terminal device 70 (S25).

[0053] Each moving object 20 actually moves along the first unit period of the generated planned route (S26). Each terminal device 70 presents the generated planned route to the user (S28).

[0054] Return to S14 and repeat the above steps. This allows each moving body 20 and moving person 40 to move while optimizing their route in accordance with changes in the situation, thereby achieving optimal movement overall. Even if the accuracy of the movement of the moving body 20 is relatively low and an error from the planned route occurs, or if the moving person 40 moves along a route different from the planned route, the planned route can be corrected for each unit period, thereby achieving optimal movement while avoiding contact between the moving bodies 20 and moving people 40.

[0055] Fig. 8 shows the configuration of a terminal device 70 according to the second embodiment. Compared to the terminal device 70 according to the first embodiment shown in Fig. 5, the terminal device 70 according to the second embodiment includes a user planned route acquisition unit 86 and a location information transmission unit 87 instead of the map acquisition unit 81, the user planned route generation unit 82, and the user planned route transmission unit 83. The other configurations and operations are the same as those of the first embodiment. The following mainly describes the differences from the first embodiment.

[0056] The user planned route acquisition unit 86 acquires the user's planned route generated by the map server 50 from the map server 50. The planned route display unit 84 displays the user's planned route acquired by the user planned route acquisition unit 86 on the display device 72. The position information transmission unit 87 transmits the user's current position detected by the position detection unit 85 to the map server 50.

[0057] FIG. 9 shows the configuration of a map server 50 according to the second embodiment. In addition to the configuration of the map server 50 according to the first embodiment shown in FIG. 6, the map server 50 according to the second embodiment includes a location information acquisition unit 64, a traveler's planned route generation unit 65, and a traveler's planned route transmission unit 66. The other configurations and operations are the same as those of the first embodiment. The following mainly describes the differences from the first embodiment.

[0058] The position information acquisition unit 64 acquires the current position of each moving person 40 from the terminal device 70. The moving person planned route generation unit 65 generates a planned route for each moving person 40 based on the current position, destination, evaluation function, and map of each moving person 40 acquired by the position information acquisition unit 64. The moving person planned route transmission unit 66 transmits the planned route for each moving person 40 generated by the moving person planned route generation unit 65 to the terminal device 70.

[0059] (Third embodiment) 10 shows the configuration of a learning device 90 according to the third embodiment. The learning device 90 learns the planned route generators used to generate the planned route of the moving object 20 or the moving person 40 in the moving object planned route generating unit 32 and the user planned route generating unit 82 in the first embodiment, and in the moving object planned route generating unit 32 and the moving person planned route generating unit 65 in the second embodiment.

[0060] The learning device 90 includes a communication device 91 , a storage device 92 , and a processing device 93 .

[0061] The communication device 91 controls communication with other devices. The communication device 91 may perform communication using any wired or wireless communication method. The storage device 92 stores programs, data, etc. used by the processing device 93. The storage device 92 may be a semiconductor memory, a hard disk, etc.

[0062] The processing device 93 includes a movement trajectory acquisition unit 94, an evaluation unit 95, a learning unit 96, and a planned path generator provision unit 97. These components are realized in hardware by the CPU, memory, other LSIs, etc. of any computer, and in software by programs loaded into memory, etc., but here, functional blocks realized by the cooperation of these components are depicted. Therefore, it will be understood by those skilled in the art that these functional blocks can be realized in various ways, such as by hardware alone or a combination of hardware and software.

[0063] The movement trajectory acquisition unit 94 acquires the movement trajectory of the moving person 40. The movement trajectory acquisition unit 94 may acquire the movement trajectory of the moving person 40 from the terminal device 70 or the map server 50. The movement trajectory acquisition unit 94 may further acquire the movement trajectory of the moving object 20. The movement trajectory acquisition unit 94 may acquire the movement trajectory of the moving object 20 from the moving object 20 or the map server 50.

[0064] The evaluation unit 95 evaluates the quality of the movement trajectory of the moving person 40 acquired by the movement trajectory acquisition unit 94. The evaluation unit 95 may evaluate the quality of the movement trajectory of the moving person 40 based on the movement time, movement distance, etc. of the movement trajectory of the moving person 40. For example, the shorter the movement time or movement distance, the better the evaluation may be. The evaluation unit 95 may evaluate the movement trajectory of the moving person 40 based on the total movement time, total movement distance, etc. of all moving bodies 20 and moving persons 40 moving within the movement range 10. For example, the shorter the total movement time or total movement distance, the better the evaluation may be.

[0065] The learning unit 96 learns the planned route generator based on the evaluation result by the evaluation unit 95. The learning unit 96 may change the algorithm of the planned route generator so that a movement trajectory that has a favorable evaluation result by the evaluation unit 95 is more likely to be generated as a planned route. The learning unit 96 may learn the planned route generator based on the evaluation result of the movement trajectory of the moving person 40 when the moving person 40 moves along a route different from the planned route generated by the planned route generator.

[0066] The planned route generator providing unit 97 provides the planned route generator learned by the learning unit 96 to the mobile object 20, the terminal device 70, and the map server 50.

[0067] The learning device 90 may be configured as a device separate from the mobile object 20, the terminal device 70, and the map server 50, or may be provided inside the mobile object 20, the terminal device 70, and the map server 50. In the latter case, the planned route generator can be learned and updated in real time while the mobile object 20, the terminal device 70, and the map server 50 are in operation.

[0068] According to the technology of this embodiment, the movement efficiency of the moving body 20 and the moving person 40 can be further improved.

[0069] The present disclosure has been described above based on examples. These examples are merely illustrative, and it will be understood by those skilled in the art that various modifications are possible in the combination of the components and processing steps, and that such modifications are also within the scope of the present disclosure.

[0070] In the embodiment, an example in which the map server 50 is provided has been described, but in another example, one or more of the mobile object 20 and the terminal device 70 may have the functions of the map server 50. In this case, the map server 50 does not need to be provided.

[0071] In the embodiment, an example has been described in which all moving bodies 20 and terminal devices 70 share a map showing the presence areas of all moving bodies 20 and moving persons 40. However, in another example, a map showing the presence areas of moving bodies 20 and moving persons 40 within a predetermined range may be provided to the moving bodies 20 and terminal devices 70. For example, the map server 50 may acquire planned routes from all moving bodies 20 and terminal devices 70, and generate and provide a map showing the presence areas of other moving bodies 20 and moving persons 40 that are within a predetermined range from the moving bodies 20 and moving persons 40, to each moving body 20 and terminal device 70. Alternatively, each moving body 20 and terminal device 70 may directly acquire planned routes from moving bodies 20 and terminal devices 70 that are within a predetermined range from itself, and update its own planned route. In this case, the map server 50 may not be provided.

[0072] In the embodiment, an example has been described in which the map server 50 generates a map from the planned routes of a plurality of moving bodies 20 and moving persons 40 and provides the map to the moving bodies 20 and the terminal device 70. However, in another example, the map server 50 may provide the planned routes of a plurality of moving bodies 20 and moving persons 40 as they are to the moving bodies 20 and the terminal device 70. In this case, each moving body 20 and terminal device 70 may refer to the planned routes of the other moving bodies 20 and moving persons 40 and generate an optimal route that avoids contact with the other moving bodies 20 and moving persons 40, or may generate a map from the planned routes of the other moving bodies 20 and moving persons 40 and solve the optimal route problem using the generated map as a constraint. [Explanation of symbols]

[0073] 1 control system, 10 movement range, 12 communication network, 20 mobile body, 21 communication device, 22 transportation means, 24 storage device, 30 processing device, 31 map acquisition unit, 32 mobile body planned route generation unit, 33 mobile body planned route transmission unit, 34 movement control unit, 35 position detection unit, 40 moving person, 50 map server, 51 communication device, 54 storage device, 60 processing device, 61 planned route acquisition unit, 62 map generation unit, 63 map transmission unit, 64 position information acquisition unit, 65 moving person planned route generation unit, 66 moving person planned route transmission unit, 70 terminal device, 71 communication device, 72 display device, 74 storage device, 80 processing device, 81 map acquisition unit, 82 user planned route generation unit, 83 user planned route transmission unit, 84 planned route display unit, 85 position detection unit, 86 user planned route acquisition unit, 87 Location information transmission unit, 90 learning device, 91 communication device, 92 storage device, 93 processing device, 94 movement trajectory acquisition unit, 95 evaluation unit, 96 learning unit, 97 planned route generator provision unit.

Claims

1. one or more mobile objects; one or more terminal devices used by one or more mobile users; a management device that manages the movement of the moving object and the moving person; Equipped with The management device a map generation unit that generates information representing future positions of the moving object and the moving person from the respective planned routes of the moving object and the moving person; a map transmission unit that transmits the information generated by the map generation unit to the mobile unit; a mobile object planned route acquisition unit that acquires a planned route of the mobile object generated by the mobile object; Equipped with The moving body is a map acquisition unit that acquires the information from the management device; a mobile object planned route generating unit that generates a planned route for the mobile object based on its current position and the positions of the other mobile objects and the moving person at a future time point; a mobile object planned route transmitting unit that transmits the planned route of the mobile object generated by the mobile object planned route generating unit to the management device; a movement control unit that moves the moving object according to at least a part of the planned route of the moving object generated by the moving object planned route generation unit; Equipped with The terminal device a user planned route acquisition unit that acquires a planned route of the user generated based on a current location of the user of the terminal device and future locations of the moving object and the moving person; a planned route display unit that displays the planned route of the user acquired by the user planned route acquisition unit on a display device; Equipped with Control system.

2. a map acquisition unit that acquires information representing future positions of one or more moving objects and one or more moving persons, the information being generated from respective planned routes of the one or more moving objects and one or more moving persons; a user planned route generating unit that generates a planned route for the user based on the current location of the user and future locations of the moving object and the moving person; a planned route display unit that displays the planned route of the user generated by the user planned route generation unit on a display device; Equipped with Terminal device.

3. the map acquisition unit acquires the information from a management device that acquires planned routes of the moving object and the moving person and generates the information; The system further includes a user planned route transmission unit that transmits the user's planned route generated by the user planned route generation unit to the management device. The terminal device according to claim 2 .

4. Computer, a map acquisition unit that acquires information representing future positions of one or more moving objects and one or more moving persons, the information being generated from respective planned routes of the one or more moving objects and one or more moving persons; a user planned route generating unit that generates a planned route for the user based on the current location of the user and future locations of the moving object and the moving person; a planned route display unit that displays the planned route generated by the user planned route generation unit on a display device; A computer program that functions as a

5. a map generation unit that generates information representing future positions of one or more moving objects and one or more moving persons from planned routes of the moving objects and one or more moving persons; a map transmission unit that transmits the information generated by the map generation unit to the mobile unit; a mover planned route generation unit that generates a planned route for the mover based on the current position of the mover and future positions of the moving body and other movers; a traveler planned route transmitting unit that transmits the planned route generated by the traveler planned route generating unit to a terminal device used by the traveler; a mobile object planned route acquisition unit that acquires a planned route of the mobile object generated by the mobile object; Equipped with Management device.

6. Computer, a map generation unit that generates information representing future positions of one or more moving objects and one or more moving persons from planned routes of the moving objects and one or more moving persons; a map transmission unit that transmits the information generated by the map generation unit to the mobile unit; a mover planned route generation unit that generates a planned route for the mover based on the current position of the mover and future positions of the moving body and other movers; a traveler planned route transmitting unit that transmits the planned route generated by the traveler planned route generating unit to a terminal device used by the traveler; a mobile object planned route acquisition unit that acquires a planned route of the mobile object generated by the mobile object; A computer program that functions as a

7. a movement trajectory acquisition unit that acquires movement trajectories of one or more moving bodies and one or more moving persons in a situation where one or more moving bodies and one or more moving persons are present and moving based on a planned route generated using a planned route generator that generates planned routes for the moving bodies and the moving persons; an evaluation unit that evaluates the quality of the movement trajectory of the moving person acquired by the movement trajectory acquisition unit; a learning unit that learns the planned route generator based on the evaluation result by the evaluation unit; Equipped with Learning device.

8. The learning unit learns the planned route generator based on an evaluation result of a movement trajectory of the traveler when the traveler travels a route different from the planned route generated by the planned route generator. The learning device according to claim 7 .

9. The evaluation unit evaluates the quality of the movement trajectory of the moving person based on the movement time or movement distance of the moving person. The learning device according to claim 7 or 8.

10. The evaluation unit evaluates the quality of the movement trajectory of the moving person based on the total movement time or total movement distance of one or more moving objects and one or more moving persons. The learning device according to claim 7 or 8.

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