Processing apparatus, method, and program

Abstract

The present invention provides a processing device, method, and program capable of generating motion control information that matches the type of autonomous mobile object. [Solution] The processing device comprises: a receiving unit that receives information regarding the type of the target autonomous mobile object; an acquisition unit that acquires a dynamic map and a static map corresponding to the type of the target autonomous mobile object; and a forming unit that forms movement control information used for movement control of the target autonomous mobile object based on the dynamic map and static map corresponding to the type of the target autonomous mobile object.

Description

Technical Field

[0001] The present disclosure relates to a processing apparatus, method, and program.

Background Art

[0002] Patent Document 1 discloses a technique for creating virtual map information used for calculating the path of an autonomous mobile body. In Patent Document 1, an environment information acquisition unit detects obstacles existing around the autonomous mobile body, and a map creation unit creates virtual map information including the information of the obstacles. Then, a path calculation unit calculates a virtual path of the autonomous mobile body based on the virtual map information. And a movement control unit starts the movement of the autonomous mobile body along the virtual path.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The present inventor has found that objects that can become obstacles differ depending on the type of the autonomous mobile body. On the other hand, in Patent Document 1, the type of the autonomous mobile body is not considered. For this reason, in Patent Document 1, there is a possibility that movement control information matching the type of the autonomous mobile body cannot be formed.

[0005] An object of the present disclosure is to provide a processing apparatus, method, and program capable of forming movement control information matching the type of an autonomous mobile body. It should be noted that this object is only one of the multiple objects that multiple embodiments disclosed in this specification are intended to achieve. Other objects or problems and novel features will be clarified from the description of this specification or the attached drawings.

Means for Solving the Problems

[0006] The processing apparatus according to this disclosure comprises: a receiving unit that receives information regarding the type of target autonomous mobile object; an acquisition unit that acquires a dynamic map and a static map corresponding to the type of target autonomous mobile object; and a forming unit that forms movement control information used for movement control of the target autonomous mobile object based on the dynamic map and the static map corresponding to the type of target autonomous mobile object.

[0007] The method relating to this disclosure is a method performed by a processing device, comprising: receiving information about the type of target autonomous mobile object; obtaining a dynamic map and a static map corresponding to the type of target autonomous mobile object; and forming motion control information used for motion control of the target autonomous mobile object based on the dynamic map and the static map corresponding to the type of target autonomous mobile object.

[0008] The program relating to this disclosure causes a processing unit to perform the following processes: receiving information about the type of autonomous mobile object to be targeted; obtaining a dynamic map and a static map corresponding to the type of autonomous mobile object to be targeted; and forming movement control information used for movement control of the autonomous mobile object to be targeted based on the dynamic map and the static map corresponding to the type of autonomous mobile object to be targeted. [Effects of the Invention]

[0009] This disclosure provides a processing device, method, and program that can form motion control information that matches the type of autonomous mobile body. [Brief explanation of the drawing]

[0010] [Figure 1] A list of examples of processing devices in this disclosure. [Figure 2] This flowchart shows an example of the processing operation of the apparatus in this disclosure. [Figure 3] A list of other examples of the processing device of this disclosure. [Figure 4] This flowchart shows another example of the processing operation of the apparatus in this disclosure. [Figure 5] It is a diagram showing an example of a static map management database. [Figure 6] It is a diagram showing an example of a dynamic map management database. [Figure 7] It is a diagram used to explain the formation of a map for route determination. [Figure 8] It is a diagram used to explain route determination. [Figure 9] It is a block diagram showing another example of the processing device of the present disclosure. [Figure 10] It is a diagram used to explain an overview of registration and update of a dynamic map database by the processing device of the present disclosure. [Figure 11] It is a sequence diagram showing another example of the processing operation of the processing device of the present disclosure. [Figure 12] It is a sequence diagram showing an example of the update process of a dynamic drawing by the processing device of the present disclosure. [Figure 13] It is a sequence diagram showing another example of the update process of a dynamic drawing by the processing device of the present disclosure. [Figure 14] It is a sequence diagram showing an example of the registration of a static map. [Figure 15] It is a diagram showing a configuration example of a processing device.

Embodiments for Carrying Out the Invention

[0011] Hereinafter, embodiments will be described with reference to the drawings. In the present disclosure, the drawings may be associated with one or more embodiments. Also, each element of the drawings may apply to one or more embodiments. Further, in the embodiments, the same or equivalent elements are denoted by the same reference numerals, and redundant explanations are omitted.

[0012] <First Embodiment> <Configuration Example of Processing Device>[[ID=Z46]] FIG. 1 is a block diagram showing an example of the processing device of the present disclosure. In FIG. 1, the processing device 10 includes a reception unit 11, an acquisition unit 12, and a formation unit 13.

[0013] [[ID=Z50]] The reception unit 11 receives information regarding the type of the target autonomous mobile body. The autonomous mobile body is not particularly limited, and for example, it may be a mobile robot, an automated guided vehicle, or an unmanned aerial vehicle. The type of the target autonomous mobile body includes at least one of the "mobility characteristic type", "size type", or "mobility ability type" of the target autonomous mobile body.

[0014] The mobility characteristic type corresponds to the type of the area where the target autonomous mobile body mainly moves. The mobility characteristic type includes, for example, "land mobility type", "air mobility type", or "marine mobility type".

[0015] The size type corresponds to a class according to the size of the target autonomous mobile body. For example, the size type includes, for example, a large size type, a medium size type, or a small size type. Or, the size type may be the occupied space size of the target autonomous mobile body. The occupied space size may be the size (width, length, height, area, volume, etc.) of the space occupied by the target autonomous mobile body during ground movement or flight.

[0016] The mobility ability type is a type related to the movement method of the target autonomous mobile body. The mobility ability type includes, for example, "quadruped movement type", "crawler movement type", "tire movement type", or "flight movement type". Also, the mobility ability type may include, for example, a "mobile altitude type" according to the level of the altitude that can be ascended.

[0017] For example, the type of the target autonomous mobile body may be a combination of the land mobility type and the quadruped movement type, the crawler movement type, or the tire movement type. Also, for example, the type of the target autonomous mobile body may be a combination of the air mobility type and the mobile altitude type. That is, the type of the target autonomous mobile body may be any combination consisting of one or more sub-types that are a part of a plurality of sub-types.

[0018] The acquisition unit 12 acquires a "dynamic map" and a "static map" according to the type of autonomous mobile object being targeted. The dynamic map according to the type of autonomous mobile object being targeted includes information on passable points and points to avoid, according to the type of autonomous mobile object being targeted. The dynamic map according to the type of autonomous mobile object being targeted may also include multiple "map layers". The multiple map layers include at least one of the following: a map layer showing no-entry areas, a map layer showing the location of obstacles, a map layer showing the weather at each location, or a map layer showing the movement plan of other mobile objects.

[0019] The forming unit 13 forms movement control information used for controlling the movement of the target autonomous mobile object based on the dynamic map and static map acquired by the acquisition unit 12, which correspond to the type of target autonomous mobile object. Upon receiving this movement control information, the target autonomous mobile object can move autonomously based on the movement control information.

[0020] <Example of processing unit operation> Figure 2 is a flowchart showing an example of the processing operation of the apparatus of the present disclosure.

[0021] In the processing unit 10, the receiving unit 11 receives information regarding the type of the target autonomous mobile object (step S11).

[0022] The acquisition unit 12 acquires a dynamic map and a static map corresponding to the type of autonomous mobile object being targeted (step S12).

[0023] The forming unit 13 forms motion control information used for motion control of the target autonomous mobile object based on the dynamic map and static map acquired by the acquisition unit 12, which correspond to the type of target autonomous mobile object (step S13).

[0024] As described above, according to the first embodiment, the acquisition unit 12 in the processing device 10 acquires a dynamic map and a static map corresponding to the type of autonomous mobile object. The forming unit 13 forms movement control information used for movement control of the autonomous mobile object based on the dynamic map and static map acquired by the acquisition unit 12, corresponding to the type of autonomous mobile object.

[0025] With the configuration of this processing unit 10, motion control information used for controlling the movement of the target autonomous mobile object can be formed based on a dynamic map corresponding to the type of autonomous mobile object and a static map, thereby forming motion control information that matches the type of autonomous mobile object.

[0026] <Second Embodiment> <Example of processing unit configuration> Figure 3 is a block diagram showing another example of the processing apparatus of the present disclosure. In Figure 3, the processing apparatus 20 includes a receiving unit 11, an acquisition unit 12, a forming unit 21, a transmitting unit 22, and a storage unit 23.

[0027] The memory unit 23 holds both a dynamic map and a static map. The acquisition unit 12 of the second embodiment acquires a "dynamic map" and a "static map" from the memory unit 23, according to the type of autonomous mobile object being targeted. Here, it is explained that the dynamic map and static map are held in the memory unit 23, but they may also be held in an external memory unit (not shown) of the processing unit 20. In this case, the acquisition unit 12 of the second embodiment acquires the "dynamic map" and the "static map" from the external memory unit of the processing unit 20, according to the type of autonomous mobile object being targeted.

[0028] Similar to the forming unit 13, the forming unit 21 forms movement control information used for controlling the movement of the target autonomous mobile object based on the dynamic map and static map acquired by the acquisition unit 12, which correspond to the type of target autonomous mobile object.

[0029] The forming unit 21 includes a forming processing unit 21A and a path determination unit 21B.

[0030] The formation processing unit 21A superimposes a dynamic map corresponding to the type of autonomous mobile object and a static map to form a "route determination map." A specific example of the formation of the route determination map will be explained later.

[0031] The route determination unit 21B determines the route of the target autonomous mobile device based on "information for route determination". The information for route determination includes the start point and end point of the target autonomous mobile device and a route determination map. The start point and end point of the target autonomous mobile device may be specified by the user using a terminal device (not shown), for example. The user's specification of the start point and end point of the target autonomous mobile device may be received by the reception unit 11.

[0032] The transmitting unit 22 transmits movement control information to the target autonomous mobile object. The movement control information may include information about the route determined by the route determination unit 21B and a SLAM (Simultaneous Localization and Mapping) base map based on a static map. For example, the transmitting unit 22 may receive a SLAM base map that has been previously stored in the storage unit 23 via the acquisition unit 12. Alternatively, the transmitting unit 22 may receive a SLAM base map that has been formed by the formation unit 21 based on a static map acquired by the acquisition unit 12.

[0033] <Example of processing unit operation> Figure 4 is a flowchart illustrating another example of the processing operation of the apparatus of the present disclosure.

[0034] In the processing unit 20, the receiving unit 11 receives information regarding the type of the target autonomous mobile object (step S21).

[0035] The acquisition unit 12 acquires a dynamic map and a static map corresponding to the type of autonomous mobile object (step S22). As described above, the acquisition unit 12 may acquire the "dynamic map" and the "static map" corresponding to the type of autonomous mobile object from the storage unit 23.

[0036] For example, the memory unit 23 has a static map management database and a dynamic map management database. Figure 5 shows an example of a static map management database. Figure 6 shows an example of a dynamic map management database. Here, we will explain as an example the case in which the area in which the target autonomous mobile object moves is one floor of an office building (hereinafter sometimes referred to as the target floor). In other words, the area in which the target autonomous mobile object moves is not particularly limited and may be indoors or outdoors.

[0037] As shown in Figure 5, the static map management database holds the static map layer L1 for the target floor. Static map layer L1 is, for example, the floor map of the target floor.

[0038] As shown in Figure 6, the dynamic map management database holds dynamic map layers corresponding to the type of autonomous mobile object for each layer type. The dynamic map management database shown in Figure 6 holds dynamic map layer L11A corresponding to type (land mobile, small) and dynamic map layer L11B corresponding to type (land mobile, large) as no-entry layers. For example, type (land mobile, small) means a type that corresponds to a combination of two subtypes: land mobile type and small size type. The dynamic map management database shown in Figure 6 also holds dynamic map layer L12A corresponding to type (land mobile, crawler type) and dynamic map layer L12B corresponding to type (land mobile, quadruped type) as obstacle layers.

[0039] For example, if the type of the target autonomous mobile object is a specific type (land-based, small, or crawler-based), the acquisition unit 12 will acquire the static map layer L1, the dynamic map layer L11B, and the dynamic map layer L12A.

[0040] The formation processing unit 21A superimposes the dynamic map and static map acquired by the acquisition unit 12 to form a route determination map (step S23). For example, if the acquisition unit 12 acquires the static map layer L1, the dynamic map layer L11B, and the dynamic map layer L12A as described above, the formation processing unit 21A superimposes the static map layer L1, the dynamic map layer L11B, and the dynamic map layer L12A to form a route determination map, as shown in Figure 7. Figure 7 is a diagram illustrating the formation of the route determination map. The formation processing unit 21A may also perform a process to form a SLAM base map from the static map acquired by the acquisition unit 12.

[0041] The route determination unit 21B determines the route of the target autonomous mobile object based on the route determination information (step S24). As shown in Figure 8, the route determination information includes the start point and end point of the target autonomous mobile object and a route determination map. The route determination map shows locations where obstacles exist and locations where entry is prohibited, according to the type of target autonomous mobile object, so the route determination unit 21B can determine a route that avoids these points of passage. The route determination unit 21B forms route information (waypoint) that indicates the determined route. Figure 8 is a diagram for explaining route determination.

[0042] The transmission unit 22 transmits movement control information to the target autonomous mobile object (step S25). For example, as shown in Figure 8, the movement control information includes information about the route determined by the route determination unit 21B (for example, the above-mentioned route information (waypoint)) and a SLAM base map based on a static map acquired by the acquisition unit 12.

[0043] As described above, according to the second embodiment, in the processing unit 20, the forming processing unit 21A superimposes a dynamic map and a static map acquired by the acquisition unit 12, which correspond to the type of autonomous mobile object, to form a route determination map.

[0044] The configuration of this processing unit 20 makes it possible to form a route determination map that matches the type of autonomous mobile object.

[0045] Furthermore, the route determination unit 21B in the processing unit 20 determines the route of the target autonomous mobile vehicle based on the start and end points of the target autonomous mobile vehicle and the route determination map.

[0046] With the configuration of this processing unit 20, a route can be determined based on a route determination map that matches the type of autonomous mobile object, thus enabling the determination of a route that matches the type of autonomous mobile object.

[0047] <Third Embodiment> <Example of processing unit configuration> Figure 9 is a block diagram showing another example of the processing apparatus of the present disclosure. In Figure 9, the processing apparatus 30 includes a control unit 31 and a storage unit 32. The control unit 31 includes a registration control unit 31A and a movement control unit 31B.

[0048] The registration control unit 31A controls the processes related to registration and updating of the static map management database and the dynamic map management database.

[0049] The movement control unit 31B controls the processing related to the movement control of the target autonomous mobile object. The movement control unit 31B has the functions of a reception unit 11, an acquisition unit 12, a formation unit 13, 21, and a transmission unit 22.

[0050] <Example of processing unit operation> Figure 10 is a diagram illustrating the overview of registration and updating of a dynamic map database by the processing device of this disclosure.

[0051] The control unit 31 (registration control unit 31A) of the processing unit 30 receives information that forms the basis of the dynamic map periodically or when an event occurs. The information that forms the basis of the dynamic map may be network information. Alternatively, the information that forms the basis of the dynamic map may be information manually entered by a user using a terminal. Alternatively, the information that forms the basis of the dynamic map may be information acquired by various sensors installed at fixed observation points. Alternatively, the information that forms the basis of the dynamic map may be information acquired by various sensors installed on a mobile body such as a robot. Alternatively, the information that forms the basis of the dynamic map may be the movement plan (operation plan) of another mobile body.

[0052] The control unit 31 (registration control unit 31A) performs content analysis processing, validity verification processing, registration layer identification processing, update preparation processing, and dynamic map information update processing on the information that forms the basis of the acquired dynamic map.

[0053] (Movement control) Figure 11 is a sequence diagram showing another example of the processing operation of the apparatus of the present disclosure.

[0054] The control unit 31 (mobility control unit 31B) of the processing unit 30 receives a map display instruction from the user interface (UI) terminal, which includes the identifier (ID) and type of the autonomous mobile unit (step S31).

[0055] The movement control unit 31B acquires a dynamic map and a static map from the storage unit 32, corresponding to the type included in the map display instruction (steps S32, S33). Then, the movement control unit 31B superimposes the acquired dynamic map and static map to form a route determination map.

[0056] The movement control unit 31B transmits the formed route determination map to the UI terminal as a display map (step S34).

[0057] The mobile control unit 31B receives the ID of the autonomous mobile unit and information regarding the start and end points from the UI terminal (step S35).

[0058] The mobile control unit 31B receives a route search start instruction, which includes the ID of the autonomous mobile unit, from the UI terminal (step S36). The mobile control unit 31B then determines the route of the autonomous mobile unit based on the route determination map corresponding to the ID of the autonomous mobile unit included in the route search start instruction, as well as the start point and the end point.

[0059] The movement control unit 31B transmits a route display signal to the UI terminal, which includes the ID of the autonomous mobile unit and information regarding the determined route (step S37). Upon receiving this route display signal, the UI terminal displays the route on its display unit, allowing the user to confirm the determined route.

[0060] The mobile control unit 31B receives a route upload instruction, including the ID of the autonomous mobile unit, from the UI terminal (step S38).

[0061] The movement control unit 31B transmits information about the determined route (waypoints) and a SLAM base map based on a static map to the UI terminal and the autonomous mobile unit, respectively (steps S39, S40). The autonomous mobile unit receives the information about the route (waypoints) and the SLAM base map and can use them to move autonomously.

[0062] The movement control unit 31B sends a message to the UI terminal reporting that the setting of movement control information for the autonomous mobile unit has been completed (step S41).

[0063] (Registration, Renewal) Figure 12 is a sequence diagram showing an example of a dynamic drawing update process by the processing apparatus of the present disclosure.

[0064] The control unit 31 (registration control unit 31A) of the processing unit 30 receives a map display instruction from the UI terminal, which includes the identifier (ID) and type of the autonomous mobile unit (step S51).

[0065] The registration control unit 31A acquires a dynamic map and a static map from the storage unit 32 according to the type included in the map display instruction (steps S52, S53). Then, the movement control unit 31B superimposes the acquired dynamic map and static map to form a route determination map.

[0066] The registration control unit 31A transmits the formed route determination map to the UI terminal as a display map (step S54).

[0067] The registration control unit 31A receives an update instruction from the UI terminal, which includes the ID and type of the autonomous mobile unit and update information to be reflected in the dynamic map layer corresponding to this type (step S55). The update information may include information indicating no-entry zones or information indicating the location of obstacles.

[0068] The registration control unit 31A reflects the update information included in the update instruction to the corresponding dynamic map layer (step S56).

[0069] The registration control unit 31A receives an update completion report from the dynamic map DB (step S57).

[0070] The registration control unit 31A sends an update completion report to the UI terminal (step S58).

[0071] Figure 13 is a sequence diagram showing another example of the dynamic drawing update process performed by the processing apparatus of the present disclosure.

[0072] The registration control unit 31A receives the ID and type of the mobile object and information about features detected by various sensors installed on the mobile object (step S61). Then, the registration control unit 31A analyzes the attributes of the features based on the information about features received from the mobile object. The registration control unit 31A may include a trained model. When information about a feature is input to this trained model, it outputs the attributes of the feature (e.g., obstacles).

[0073] The registration control unit 31A reflects the attributes of the features (e.g., obstacles) in the corresponding dynamic map layer (step S62).

[0074] The registration control unit 31A receives an update completion report from the dynamic map DB (step S63).

[0075] The registration control unit 31A sends an update completion report to the mobile unit (step S64).

[0076] The control unit 31 (registration control unit 31A) may also register a static map based on an aerial photograph. Figure 14 is a sequence diagram showing an example of static map registration.

[0077] The registration control unit 31A receives the aerial photograph (step S71).

[0078] The registration control unit 31A extracts the road portion shown in the aerial photograph and forms raster data for a road map (step S72). The registration control unit 31A may have a trained image analysis model. This trained image analysis model receives the aerial photograph and outputs raster data for a road map.

[0079] The registration control unit 31A adds vector data to the raster data for the road map (step S73).

[0080] The registration control unit 31A registers the raster data and vector data for the road map as a static map in the static map database (step S74).

[0081] The registration control unit 31A receives a registration completion report from the static map DB (step S75).

[0082] For example, roads can be damaged during a disaster. By using aerial photographs taken in real time during a disaster, it is possible to create a static map that shows which roads are usable at that time. By using this static map to create movement control information for autonomous vehicles, the autonomous vehicles can be driven in the disaster area.

[0083] <Other Embodiments> Figure 15 shows an example of the configuration of a processing unit. In Figure 15, the processing unit 100 includes a processor 101 and a memory 102. The processor 101 may be, for example, a microprocessor, an MPU (Micro Processing Unit), or a CPU (Central Processing Unit). The processor 101 may include multiple processors. The memory 102 is composed of a combination of volatile memory and non-volatile memory. The memory 102 may include storage located away from the processor 101. In this case, the processor 101 may access the memory 102 via an I(Input) / O(Output) interface, which is not shown.

[0084] The processing units 10, 20, and 30 of the first to third embodiments may each have the configuration shown in Figure 15. The receiving unit 11, acquisition unit 12, forming units 13 and 21, transmission unit 22, and control unit 31 of the processing units 10, 20, and 30 of the first to third embodiments may be realized by the processor 101 reading and executing a program stored in the memory 102. In other words, the processing units 10, 20, and 30 of the first to third embodiments can be realized by software. The program can be stored using various types of non-transitory computer-readable media and supplied to the processing units 10, 20, and 30. Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives) and magneto-optical recording media (e.g., magneto-optical disks). Furthermore, examples of non-transitory computer-readable media include CD-ROMs (Read Only Memory), CD-Rs, and CD-R / Ws. Furthermore, examples of non-transitory computer-readable media include semiconductor memory. Semiconductor memory includes, for example, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, and RAM (Random Access Memory). The program may also be supplied to the processing units 10, 20, and 30 by various types of transient computer-readable medium. Examples of transient computer-readable medium include electrical signals, optical signals, and electromagnetic waves. The transient computer-readable medium can supply the program to the processing units 10, 20, and 30 via wired communication channels such as electric wires and optical fibers, or via wireless communication channels.

[0085] Alternatively, the receiving unit 11, acquisition unit 12, forming units 13, 21, transmission unit 22, and control unit 31 of the processing units 10, 20, 30 of the first to third embodiments may each be implemented with dedicated hardware. Furthermore, some or all of the components of each device may be implemented by general-purpose or dedicated circuits, processors, etc., or combinations thereof. These may be configured by a single chip or by multiple chips connected via a bus. Some or all of the components of each device may be implemented by a combination of the above-mentioned circuits, etc., and programs. In addition, a CPU (Central Processing Unit), GPU (Graphics Processing Unit), FPGA (field-programmable gate array), quantum processor (quantum computer control chip), etc., can be used as the processor.

[0086] Furthermore, if some or all of the components of the processing devices 10, 20, and 30 of the first to third embodiments are implemented by multiple information processing devices or circuits, these multiple information processing devices or circuits may be centrally located or distributed. For example, the information processing devices or circuits may be implemented in a form in which each is connected via a communication network, such as a client-server system or a cloud computing system. In addition, the functions of the processing devices 10, 20, and 30 of the first to third embodiments may be provided in SaaS (Software as a Service) format.

[0087] Although the present invention has been described above with reference to embodiments, the present invention is not limited thereto. Various modifications to the structure and details of the present invention can be made within the scope of the invention as can be understood by those skilled in the art. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0088] Each drawing is merely illustrative to illustrate one or more embodiments. Each drawing may be associated with one or more other embodiments rather than with only one specific embodiment. As those skilled in the art will understand, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings, for example, to create embodiments not explicitly shown or described. Not all features or steps shown in any one drawing to illustrate an exemplary embodiment are necessarily required, and some features or steps may be omitted. The order of steps shown in any of the drawings may be changed as appropriate.

[0089] Some or all of the above embodiments may also be described as follows, but are not limited to the following: (Note 1) A reception unit that receives information regarding the type of autonomous mobile object being targeted, An acquisition unit that acquires a dynamic map and a static map corresponding to the type of autonomous mobile object of the aforementioned target, A forming unit that forms motion control information used for motion control of the target autonomous mobile object based on a dynamic map corresponding to the type of the target autonomous mobile object and the static map, A processing apparatus comprising the following: (Note 2) The dynamic map corresponding to the type of autonomous mobile object in question includes information on passable points and passable points corresponding to the type of autonomous mobile object in question. The forming unit comprises a forming processing unit that superimposes a dynamic map and a static map corresponding to the type of autonomous mobile object to form a route determination map. The processing apparatus described in Appendix 1. (Note 3) The dynamic map corresponding to the type of autonomous mobile object in question includes multiple map layers, The plurality of map layers include at least one of the following: a map layer showing no-entry areas, a map layer showing the location of obstacles, a map layer showing the weather at each location, or a map layer showing the movement plan of other moving objects. The processing apparatus described in Appendix 2. (Note 4) The forming unit comprises a path determination unit that determines the path of the target autonomous mobile object based on information for path determination, The information for determining the route includes the starting point and destination point of the autonomous mobile object and the route determination map. The apparatus described in Appendix 2 or 3. (Note 5) The system includes a transmission unit that transmits the information regarding the determined route and the SLAM (Simultaneous Localization and Mapping) base map based on the static map to the target autonomous mobile object as movement control information. The processing apparatus described in Appendix 4. (Note 6) The aforementioned classification includes at least one of the autonomous mobile body's movement characteristics classification, size classification, and mobility classification. The processing apparatus described in any one of the items 1 to 3 of the appendix. (Note 7) The aforementioned types of movement characteristics include land movement types, air movement types, or sea movement types. The processing apparatus described in Appendix 6. (Note 8) The aforementioned mobility type includes quadrupedal mobility, crawler mobility, or tire mobility. The processing apparatus described in Appendix 6. (Note 9) E-size categories include large size categories, medium size categories, or small size categories. The processing apparatus described in Appendix 6. (Note 10) The aforementioned size type is the size of the space occupied by the autonomous mobile body in question. The processing apparatus described in Appendix 6. (Note 11) A method performed by a processing unit, We accept information regarding the type of autonomous mobile object being targeted, To acquire a dynamic map and a static map corresponding to the type of autonomous mobile object mentioned above, Based on the dynamic map and the static map corresponding to the type of autonomous mobile object, motion control information used for controlling the movement of the autonomous mobile object is formed. A method that includes this. (Note 12) The dynamic map corresponding to the type of autonomous mobile object in question includes information on passable points and passable points corresponding to the type of autonomous mobile object in question. Forming the aforementioned movement control information includes forming a route determination map by superimposing a dynamic map corresponding to the type of autonomous mobile object of the target with the static map. The method described in Appendix 11. (Note 13) The dynamic map corresponding to the type of autonomous mobile object in question includes multiple map layers, The plurality of map layers include at least one of the following: a map layer showing no-entry areas, a map layer showing the location of obstacles, a map layer showing the weather at each location, or a map layer showing the movement plan of other moving objects. The method described in Appendix 12. (Note 14) Forming the aforementioned movement control information includes determining the path of the autonomous mobile object based on the information for path determination. The information for determining the route includes the starting point and destination point of the autonomous mobile object and the route determination map. The method described in Appendix 12 or 13. (Note 15) This includes transmitting the information regarding the determined route and the SLAM (Simultaneous Localization and Mapping) base map based on the static map to the target autonomous mobile object as movement control information. The method described in Appendix 14. (Note 16) The aforementioned classification includes at least one of the autonomous mobile body's movement characteristics classification, size classification, and mobility classification. The method described in any one of the appendices 11 to 13. (Note 17) The aforementioned types of movement characteristics include land movement types, air movement types, or sea movement types. The method described in Appendix 16. (Note 18) The aforementioned mobility type includes quadrupedal mobility, crawler mobility, or tire mobility. The method described in Appendix 16. (Note 19) E-size categories include large size categories, medium size categories, or small size categories. The method described in Appendix 16. (Note 20) The aforementioned size type is the size of the space occupied by the autonomous mobile body in question. The method described in Appendix 16. (Note 21) We accept information regarding the type of autonomous mobile object being targeted, To acquire a dynamic map and a static map corresponding to the type of autonomous mobile object mentioned above, Based on the dynamic map and the static map corresponding to the type of autonomous mobile object, motion control information used for controlling the movement of the autonomous mobile object is formed. A program that causes a processing unit to execute a process that includes [a specific type of processing]. (Note 22) The dynamic map corresponding to the type of autonomous mobile object in question includes information on passable points and passable points corresponding to the type of autonomous mobile object in question. Forming the aforementioned movement control information includes forming a route determination map by superimposing a dynamic map corresponding to the type of autonomous mobile object of the target with the static map. The program described in Appendix 21. (Note 23) The dynamic map corresponding to the type of autonomous mobile object in question includes multiple map layers, The plurality of map layers include at least one of the following: a map layer showing no-entry areas, a map layer showing the location of obstacles, a map layer showing the weather at each location, or a map layer showing the movement plan of other moving objects. The program described in Appendix 22. (Note 24) Forming the aforementioned movement control information includes determining the path of the autonomous mobile object based on the information for path determination. The information for determining the route includes the starting point and destination point of the autonomous mobile object and the route determination map. The program described in Appendix 22 or 23. (Note 25) The process includes transmitting the determined route information and the SLAM (Simultaneous Localization and Mapping) base map based on the static map as movement control information to the target autonomous mobile object. The program described in Appendix 24. (Note 26) The aforementioned classification includes at least one of the autonomous mobile body's movement characteristics classification, size classification, and mobility classification. The program described in any one of the items 21 to 23 of the appendix. (Note 27) The aforementioned types of movement characteristics include land movement types, air movement types, or sea movement types. The program described in Appendix 26. (Note 28) The aforementioned mobility type includes quadrupedal mobility, crawler mobility, or tire mobility. The program described in Appendix 26. (Note 29) E-size categories include large size categories, medium size categories, or small size categories. The method described in Appendix 26. (Note 30) The aforementioned size type is the size of the space occupied by the autonomous mobile body in question. The method described in Appendix 26. [Explanation of symbols]

[0090] 10 Processing Unit 11 Reception Department 12 Acquisition Department 13 Formation part 20 Processing Units 21 Formation part 21A Forming Processing Unit 21B Route determination unit 22 Transmitter 23 Memory section 30 Processing Unit 31 Control Unit 31A Registration Control Unit 31B Movement Control Unit 32 Storage section

Claims

1. A reception unit that receives information regarding the type of autonomous mobile object being targeted, An acquisition unit that acquires a dynamic map and a static map corresponding to the type of autonomous mobile object of the aforementioned target, A forming unit that forms motion control information used for motion control of the target autonomous mobile object based on a dynamic map corresponding to the type of the target autonomous mobile object and the static map, A processing apparatus comprising the following:

2. The dynamic map corresponding to the type of autonomous mobile object in question includes information on passable points and passable points corresponding to the type of autonomous mobile object in question. The forming unit comprises a forming processing unit that superimposes a dynamic map and a static map corresponding to the type of autonomous mobile object to form a route determination map. The apparatus according to claim 1.

3. The dynamic map corresponding to the type of autonomous mobile object in question includes multiple map layers, The plurality of map layers include at least one of the following: a map layer showing no-entry areas, a map layer showing the location of obstacles, a map layer showing the weather at each location, or a map layer showing the movement plan of other moving objects. The apparatus according to claim 2.

4. The forming unit comprises a path determination unit that determines the path of the target autonomous mobile object based on information for path determination, The information for determining the route includes the starting point and destination point of the autonomous mobile object and the route determination map. The apparatus according to claim 2 or 3.

5. The system includes a transmission unit that transmits the information regarding the determined route and the SLAM (Simultaneous Localization and Mapping) base map based on the static map to the target autonomous mobile object as movement control information. The apparatus according to claim 4.

6. The aforementioned classification includes at least one of the autonomous mobile body's movement characteristics classification, size classification, and mobility classification. The apparatus according to any one of claims 1 to 3.

7. The aforementioned types of movement characteristics include land movement types, air movement types, or sea movement types. The apparatus according to claim 6.

8. The aforementioned mobility type includes quadrupedal mobility, crawler mobility, or tire mobility. The apparatus according to claim 6.

9. A method performed by a processing unit, We accept information regarding the type of autonomous mobile object being targeted, To acquire a dynamic map and a static map corresponding to the type of autonomous mobile object mentioned above, Based on the dynamic map and the static map corresponding to the type of autonomous mobile object, motion control information used for controlling the movement of the autonomous mobile object is formed. A method that includes this.

10. We accept information regarding the type of autonomous mobile object being targeted, To acquire a dynamic map and a static map corresponding to the type of autonomous mobile object mentioned above, Based on the dynamic map and the static map corresponding to the type of autonomous mobile object, motion control information used for controlling the movement of the autonomous mobile object is formed. A program that causes a processing unit to execute a process that includes [a specific type of processing].

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