Creation support system, creation support method, and program

Abstract

The purpose of this disclosure is to simplify the work to create a map corresponding to a prescribed area in which a mobile body moves. A map creation unit (32) includes a zone generation unit (323) and a signal generation unit (324). On the basis of an operation signal from an operation input unit (63), the zone creation unit (323) generates, on a map, a zone in a route candidate in which a mobile body can move. The signal generation unit (324) places on the map a signal element, corresponding to the zone, that permits or prohibits the passage of the mobile body (2) in at least one of an entrance direction and an exit direction. The entrance direction is the direction in which the mobile body (2) moves from the outside to the inside of the zone, and the exit direction is the direction in which the mobile body (2) moves from the inside to the outside of the zone. The signal generation unit (324) places the signal element corresponding to the zone on the basis of the zone location and the direction of progress of the mobile body (2) in the route candidate passing through the zone if the zone generation unit (323) has created the zone.

Description

[Technical field]

[0001] The present disclosure generally relates to a creation support system, a creation support method, and a program, and more particularly to a creation support system, a creation support method, and a program that support the creation of a map corresponding to a specified area in which a mobile object moves. [Background technology]

[0002] Patent Document 1 describes a mobile body (mobile robot) control system. This mobile body control system includes a plurality of mobile bodies (automatic carriers) and a server device that wirelessly communicates with the mobile bodies. In Patent Document 1, the server device includes a storage unit that stores map information (map) and route information and mobile body information for the mobile bodies, a route search unit that searches for a travel route for the mobile bodies based on the map information, and a movement control unit that issues movement instructions to the mobile bodies based on the route information.

[0003] The server device periodically receives information from each mobile object, including its position, direction, and the presence or absence of obstacles on the travel route, and corrects the travel route based on the received information. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-134794 A Summary of the Invention

[0005] An object of the present disclosure is to provide a creation support system, a creation support method, and a program that can simplify the task of creating a map corresponding to a specified area in which a mobile object moves.

[0006] A creation support system according to an embodiment of the present disclosure includes a display control unit that displays a map on a display unit, and a map creation unit that creates the map based on an operation signal output from an operation input unit that accepts a user's operation input. The map is a map corresponding to a predetermined area in which a moving object moves. The map creation unit includes a zone generation unit and a signal generation unit. The zone generation unit generates a zone on the map for a route candidate along which the moving object can move based on the operation signal. The signal generation unit arranges a signal element for switching whether to permit or not permit the moving object to pass in at least one of an incoming direction and an outgoing direction on the map in correspondence with the zone. The incoming direction is a direction in which the moving object moves from the outside to the inside of the zone, and the outgoing direction is a direction in which the moving object moves from the inside to the outside of the zone. When the zone generation unit generates the zone, the signal generation unit arranges the signal element in correspondence with the zone based on the position of the zone and the traveling direction of the moving object on the route candidate that passes through the zone. The zone generation unit generates the zone so as to correspond to the changed range, based on the operation signal output by the operation input unit in response to the operation input that changes the range of the zone. A creation support system according to an embodiment of the present disclosure includes a display control unit that displays a map on a display unit, and a map creation unit that creates the map based on an operation signal output from an operation input unit that accepts a user's operation input. The map is a map corresponding to a predetermined area in which a moving object moves. The map creation unit includes a zone generation unit and a signal generation unit. The zone generation unit generates a zone on the map for a route candidate along which the moving object can move based on the operation signal. The signal generation unit arranges a signal element for switching whether to permit or not permit the moving object to pass in at least one of an incoming direction and an outgoing direction on the map in correspondence with the zone. The incoming direction is a direction in which the moving object moves from the outside to the inside of the zone, and the outgoing direction is a direction in which the moving object moves from the inside to the outside of the zone. When the zone generation unit generates the zone, the signal generation unit arranges the signal element in correspondence with the zone based on the position of the zone and the traveling direction of the moving object on the route candidate that passes through the zone. Zone-related elements including at least the signal elements are arranged on the map corresponding to the zones, and when the operation input unit outputs the operation signal corresponding to the operation input that brings the zone-related element closer to the zone on the map to within a predetermined reference distance, the map creation unit associates the zone with the zone-related element. A creation support system according to an embodiment of the present disclosure includes a display control unit that displays a map on a display unit, and a map creation unit that creates the map based on an operation signal output from an operation input unit that accepts a user's operation input. The map is a map corresponding to a predetermined area in which a moving object moves. The map creation unit includes a zone generation unit and a signal generation unit. The zone generation unit generates a zone on the map for a route candidate along which the moving object can move based on the operation signal. The signal generation unit arranges a signal element for switching whether to permit or not permit the moving object to pass in at least one of an incoming direction and an outgoing direction on the map in correspondence with the zone. The incoming direction is a direction in which the moving object moves from the outside to the inside of the zone, and the outgoing direction is a direction in which the moving object moves from the inside to the outside of the zone. When the zone generation unit generates the zone, the signal generation unit arranges the signal element in correspondence with the zone based on the position of the zone and the traveling direction of the moving object on the route candidate that passes through the zone. When the operation input unit outputs the operation signal in response to the operation input to move a node on the route candidate along the route candidate, the display control unit moves the position of the node along the route candidate based on the operation signal. A creation support system according to an embodiment of the present disclosure includes a display control unit that displays a map on a display unit, and a map creation unit that creates the map based on an operation signal output from an operation input unit that accepts a user's operation input. The map is a map corresponding to a predetermined area in which a moving object moves. The map creation unit includes a zone generation unit and a signal generation unit. The zone generation unit generates a zone on the map for a route candidate along which the moving object can move based on the operation signal. The signal generation unit arranges a signal element for switching whether to permit or not permit the moving object to pass in at least one of an incoming direction and an outgoing direction on the map in correspondence with the zone. The incoming direction is a direction in which the moving object moves from the outside to the inside of the zone, and the outgoing direction is a direction in which the moving object moves from the inside to the outside of the zone. When the zone generation unit generates the zone, the signal generation unit arranges the signal element in correspondence with the zone based on the position of the zone and the traveling direction of the moving object on the route candidate that passes through the zone. When the operation input unit outputs the operation signal corresponding to the operation input for moving, on the map, either the zone or the signal element arranged corresponding to the zone, the display control unit moves, based on the operation signal, the zone and the signal element corresponding to the zone while maintaining a relative positional relationship. . A creation support system according to an embodiment of the present disclosure includes a display control unit that displays a map on a display unit, and a map creation unit that creates the map based on an operation signal output from an operation input unit that accepts a user's operation input. The map is a map corresponding to a predetermined area in which a moving object moves. The map creation unit includes a zone generation unit and a signal generation unit. The zone generation unit generates a zone on the map for a route candidate along which the moving object can move based on the operation signal. The signal generation unit arranges a signal element for switching whether to permit or not permit the moving object to pass in at least one of an incoming direction and an outgoing direction on the map in correspondence with the zone. The incoming direction is a direction in which the moving object moves from the outside to the inside of the zone, and the outgoing direction is a direction in which the moving object moves from the inside to the outside of the zone. When the zone generation unit generates the zone, the signal generation unit arranges the signal element in correspondence with the zone based on the position of the zone and the traveling direction of the moving object on the route candidate that passes through the zone. The creation support system further includes a candidate node detection unit that detects candidate nodes for which the zone is not set among the multiple nodes located on the route candidate, and the display control unit displays the candidate nodes detected by the candidate node detection unit on the map. A creation support system according to an embodiment of the present disclosure includes a display control unit that displays a map on a display unit, and a map creation unit that creates the map based on an operation signal output from an operation input unit that accepts a user's operation input. The map is a map corresponding to a predetermined area in which a moving object moves. The map creation unit includes a zone generation unit and a signal generation unit. The zone generation unit generates a zone on the map for a route candidate along which the moving object can move based on the operation signal. The signal generation unit arranges a signal element for switching whether to permit or not permit the moving object to pass in at least one of an incoming direction and an outgoing direction on the map in correspondence with the zone. The incoming direction is a direction in which the moving object moves from the outside to the inside of the zone, and the outgoing direction is a direction in which the moving object moves from the inside to the outside of the zone. When the zone generation unit generates the zone, the signal generation unit arranges the signal element in correspondence with the zone based on the position of the zone and the traveling direction of the moving object on the route candidate that passes through the zone. When the operation input unit outputs the operation signal in response to the operation input selecting a target route that is part of the route candidates on the map, the display control unit displays on the map, based on the operation signal, a first route among the route candidates that is connected to the target route and a second route among the route candidates that is not connected to the target route, in different display modes. A creation support system according to an embodiment of the present disclosure includes a display control unit that displays a map on a display unit, and a map creation unit that creates the map based on an operation signal output from an operation input unit that accepts a user's operation input. The map is a map corresponding to a predetermined area along which a moving object moves. The map creation unit includes a zone generation unit and a signal generation unit. The zone generation unit generates a zone on the map for a route candidate along which the moving object can move, based on the operation signal. The signal generation unit places a signal element on the map corresponding to the zone for switching whether to permit or not permit the moving object to pass in at least one of an incoming direction and an outgoing direction. The incoming direction is a direction along which the moving object moves from the outside to the inside of the zone, and the outgoing direction is a direction along which the moving object moves from the inside to the outside of the zone. When the zone generation unit generates the zone, the signal generation unit places the signal element corresponding to the zone based on the position of the zone and the traveling direction of the moving object on the route candidate that passes through the zone. The size of the zone is large enough to include at least a range within which the moving object can turn on the spot. . A creation support system according to an embodiment of the present disclosure includes a display control unit that displays a map on a display unit, and a map creation unit that creates the map based on an operation signal output from an operation input unit that accepts a user's operation input. The map is a map corresponding to a predetermined area along which a moving object moves. The map creation unit includes a zone generation unit and a signal generation unit. The zone generation unit generates a zone on the map for a route candidate along which the moving object can move based on the operation signal. The signal generation unit arranges a signal element for switching whether to permit or not permit the moving object to pass in at least one of an entrance direction and an exit direction on the map in correspondence with the zone. The entrance direction is a direction along which the moving object moves from the outside to the inside of the zone, and the exit direction is a direction along which the moving object moves from the inside to the outside of the zone. When the zone generation unit generates the zone, the signal generation unit arranges the signal element in correspondence with the zone based on the position of the zone and the traveling direction of the moving object on the route candidate that passes through the zone. The display control unit displays the map corresponding to the predetermined area along which a plurality of shelves are arranged on the display unit. When the operation input unit receives the operation input specifying a shelf to be displayed from the multiple shelves on the map, the display control unit displays on the display unit a layout diagram showing the shelf to be displayed and a placement area in which items are placed on the shelf to be displayed, based on the operation signal output from the operation input unit. A creation support system according to an embodiment of the present disclosure includes a display control unit that displays a map on a display unit, and a map creation unit that creates the map based on an operation signal output from an operation input unit that accepts a user's operation input. The map is a map corresponding to a predetermined area in which a moving object moves. The map creation unit includes a zone generation unit and a signal generation unit. The zone generation unit generates a zone on the map for a route candidate along which the moving object can move based on the operation signal. The signal generation unit arranges a signal element for switching whether to permit or not permit the moving object to pass in at least one of an incoming direction and an outgoing direction on the map in correspondence with the zone. The incoming direction is a direction in which the moving object moves from the outside to the inside of the zone, and the outgoing direction is a direction in which the moving object moves from the inside to the outside of the zone. When the zone generation unit generates the zone, the signal generation unit arranges the signal element in correspondence with the zone based on the position of the zone and the traveling direction of the moving object on the route candidate that passes through the zone. The creation support system further includes an audio recording unit that records audio, and the audio recording unit records the audio in association with the recording location based on the operation signal output from the operation input unit in response to the operation input that indicates the recording location on the map.

[0007] A creation support method according to an embodiment of the present disclosure includes a display control process for displaying a map on a display unit, and a map creation process for creating the map based on an operation signal output from an operation input unit that accepts a user's operation input. The map is a map corresponding to a predetermined area along which a moving object moves. The map creation process includes a zone generation process and a signal generation process. In the zone generation process, a zone is generated on the map on the setting screen in a route candidate along which the moving object can move, based on the operation signal. In the signal generation process, a signal element for switching whether to permit or not permit the moving object to pass in at least one of an incoming direction and an outgoing direction is arranged on the map in correspondence with the zone. The incoming direction is a direction along which the moving object moves from the outside to the inside of the zone, and the outgoing direction is a direction along which the moving object moves from the inside to the outside of the zone. In the signal generation process, when the zone is generated in the zone generation process, the signal element is arranged in correspondence with the zone based on the position of the zone and the traveling direction of the moving object on the route candidate that passes through the zone. In the zone generation process, the zone is generated to correspond to the changed range, based on the operation signal output by the operation input unit in response to the operation input that changes the range of the zone.

[0008] A program according to one aspect of the present disclosure is a program for causing one or more processors to execute the creation support method. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a block diagram showing a schematic configuration of a creation support system and a shelf display system according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a schematic explanatory diagram of a setting screen that the above-mentioned creation support system displays on the display unit of an information terminal. [Diagram 3] Fig. 3A is a schematic explanatory diagram of a setting screen when the above-mentioned creation support system sets a signal element in response to a node selection operation. Fig. 3B is a schematic explanatory diagram of a setting screen when a zone is dragged in the above-mentioned creation support system. Fig. 3C is a schematic explanatory diagram of a setting screen when a signal element is set in response to a zone dragging operation in the above-mentioned creation support system. [Figure 4] Fig. 4A is a schematic explanatory diagram of a setting screen when a zone is generated in a place where there is no node in the above-mentioned creation support system. Fig. 4B is a schematic explanatory diagram of a setting screen when a signal element is generated corresponding to a zone in the above-mentioned creation support system. [Diagram 5] Fig. 5A is an explanatory diagram illustrating a procedure for creating an edge by the above-mentioned creation support system, and Fig. 5B is an explanatory diagram illustrating a procedure for creating a route candidate by the above-mentioned creation support system. [Figure 6] Fig. 6A is an explanatory diagram showing an example of a setting screen of the above-mentioned creation support system. Fig. 6B is an explanatory diagram of a setting screen when a zone generating unit of the above-mentioned creation support system generates a zone. Fig. 6C is an explanatory diagram of a setting screen when a signal generating unit of the above-mentioned creation support system generates a signal element. [Figure 7] FIG. 7 is a flowchart for explaining the operation of the above-mentioned production support system. [Figure 8] Fig. 8A is an explanatory diagram illustrating a state before the creation support system associates zones with signal elements, and Fig. 8B is an explanatory diagram illustrating a state after the creation support system associates zones with signal elements. [Figure 9] FIG. 9 is an explanatory diagram for explaining the operation of recommending a candidate node by the above-mentioned creation support system. [Figure 10] FIG. 10 is an explanatory diagram for explaining a highlighting operation by the above-mentioned creation support system. [Figure 11] FIG. 11 is an explanatory diagram for explaining a node movement operation by the above-mentioned production support system. [Figure 12] FIG. 12 is an explanatory diagram for explaining the movement operation of a related element of a node by the above-mentioned creation support system. [Figure 13] FIG. 13 is an explanatory diagram for explaining the route planning operation of the above-mentioned route creation support system. [Figure 14]Fig. 14A is an explanatory diagram for confirming the connection state of a route candidate by the above-mentioned creation support system, and Fig. 14B is an explanatory diagram for confirming the connection state of another route candidate by the above-mentioned creation support system. [Figure 15] FIG. 15 is an explanatory diagram for explaining a display operation of the predicted travel time by the above-mentioned generation support system. [Figure 16] Fig. 16A is an explanatory diagram for explaining an element selection operation by the above-mentioned creation support system, and Fig. 16B is an explanatory diagram for explaining an operation by the above-mentioned creation support system for setting element types collectively. [Figure 17] FIG. 17 is an explanatory diagram showing an example of a setting screen created by the above-mentioned creation support system. [Figure 18] Fig. 18A is an explanatory diagram for explaining a map saving menu by the above-mentioned creation support system, and Fig. 18B is an explanatory diagram for explaining a display example of an error screen by the above-mentioned creation support system. [Figure 19] FIG. 19 is an explanatory diagram illustrating a playback screen of an explanatory video by the above-mentioned production support system. [Figure 20] FIG. 20 is an explanatory diagram for explaining a setting screen during shelf arrangement operation by the above production support system. [Figure 21] FIG. 21 is a flowchart for explaining the shelf arrangement operation by the production support system. [Figure 22] FIG. 22 is an explanatory diagram for explaining a setting screen during shelf arrangement operation by the above production support system. [Figure 23] FIG. 23 is an explanatory diagram for explaining a setting screen during shelf arrangement operation by the above production support system. [Figure 24] FIG. 24 is an explanatory diagram for explaining a setting screen during shelf arrangement operation by the above production support system. [Diagram 25] FIG. 25 is an explanatory diagram for explaining a recording operation by the above-mentioned production support system. [Figure 26] FIG. 26 is a flow chart for explaining the recording operation by the above-mentioned production support system. [Figure 27]FIG. 27 is an explanatory diagram for explaining a playback operation by the above-mentioned production support system. [Figure 28] FIG. 28 is a schematic explanatory diagram of a moving object moving within a predetermined area for which the above-mentioned generation support system generates a map. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] (Embodiment) Hereinafter, a creation support system 1 and a shelf display system according to the present embodiment will be described with reference to the drawings.

[0011] (1) Overview A creation support system 1 (see FIG. 1) according to this embodiment supports the creation of a map MP1 (see FIG. 2) corresponding to a predetermined area A1 in which a moving object 2 (see FIG. 28) moves. When the map MP1 is created by the creation support system 1, a moving object control system 10 controls the movement of one or more moving objects 2 moving within the predetermined area A1 using the map MP1 created by the creation support system 1.

[0012] The creation support system 1 includes a display control unit 33 and a map creation unit 32, as shown in FIG.

[0013] The display control unit 33 causes the display unit 62 to display a map MP1 (see FIGS. 2 and 3A) corresponding to the predetermined area A1 in which the moving object 2 moves.

[0014] The map creation unit 32 creates the map MP1 based on an operation signal output from an operation input unit 63 that accepts an operation input from a user.

[0015] The map creation unit 32 includes a zone generation unit 323 and a signal generation unit 324 .

[0016] Based on the operation signal, the zone generation unit 323 generates a zone Z1 (see FIG. 3A) on a route candidate R1 for the moving object 2 on a map MP1 in the setting screen P1. The route candidate R1 for the moving object 2 includes all routes that the moving object 2 can move on in the predetermined area A1. When the moving object 2 moves within the predetermined area A1, the moving object 2 moves according to a movement route determined from the route candidates R1.

[0017] The signal generator 324 places a signal element SG1 (see FIG. 3A) for switching between permitting or not permitting the passage of the moving object 2 in at least one of the incoming and outgoing directions on the map MP1 in correspondence with the zone Z1. The incoming direction is the direction in which the moving object 2 moves from the outside to the inside of the zone Z1, and the outgoing direction is the direction in which the moving object 2 moves from the inside to the outside of the zone Z1.

[0018] When the zone generation unit 323 generates the zone Z1, the signal generation unit 324 places a signal element SG1 corresponding to the zone Z1 based on the position of the zone Z1 and the traveling direction of the moving body 2 on the route candidate R1 that passes through the zone Z1.

[0019] In the following embodiment, "locating" elements such as zone Z1 and signal element SG1 means virtually setting elements such as zone Z1 and signal element SG1 at corresponding positions on map MP1. The "mobile body" in the present disclosure includes an automated guided vehicle (AGV), a mobile robot, a drone, and the like. The "mobile robot" in the present disclosure is, for example, a wheeled, crawler, or legged (including walking) robot. The mobile body 2 may not only move within a predetermined area A1, but also have a function of performing various tasks such as transportation, picking, welding, mounting, display, customer service, security, assembly, and inspection. The predetermined area A1 is a range in which multiple mobile bodies 2 move, and examples of the area include factories, warehouses, construction sites, stores, logistics centers, offices, parks, houses, schools, hospitals, stations, airports, and parking lots. Furthermore, when the mobile body 2 is deployed inside a vehicle, such as the inside of a ship, train, or airplane, the inside of the vehicle becomes the predetermined area A1. In the following description, the moving body 2 (see FIG. 28) is, for example, a transport robot that transports an article 90 in a predetermined area A1 such as a factory. The article 90 in the present disclosure is transported by the moving body 2.

[0020] The map MP1 created using the creation support system 1 is electronic map information corresponding to a predetermined area A1. All route candidates R1 that a mobile object 2 can travel within the predetermined area A1 are set in the map MP1.

[0021] FIG. 2 shows an example of a map MP1 corresponding to a predetermined area A1. The map MP1 is configured as a grid map in which the predetermined area A1 is divided into a plurality of squares arranged in a lattice shape by a plurality of grid lines LX1 parallel to the X axis and arranged at regular intervals, and a plurality of grid lines LY1 parallel to the Y axis and arranged at regular intervals. The squares of the grid map are formed in a square shape large enough to contain the entire moving object 2, and are set to a square shape with vertical and horizontal dimensions of about 60 cm. The size of the squares can be changed as appropriate, as long as it is large enough to contain at least a part of the moving object 2. In the map MP1, the position of each square is represented by grid coordinates PG(X,Y) with the top left point of the map MP1 as the reference point (0,0). Here, the map MP1 displays stationary objects such as a wall 200, a partition 210, and a shelf installed in the predetermined area A1, a first area A11 and a second area A12 which are places for placing a plurality of items 90 to be transported (see FIG. 28), a waiting area A20 for the moving object 2, and a no-travel area A30 where the moving object 2 cannot travel. A plurality of carrier places CP1 indicating the respective places for placing the plurality of items 90 are set in the first area A11 and the second area A12. The position of the carrier place CP1 may be expressed by two-dimensional coordinates or may be expressed by three-dimensional coordinates with a certain point in the predetermined area as a reference point. When the carrier place CP1 is set in an area on a shelf board provided on a shelf, the position of the carrier place CP1 is preferably expressed by three-dimensional coordinates.

[0022] Also, as shown in FIG. 3A, the map MP1 displays a node symbol (e.g., a black circle) indicating a node N1 and a route symbol (e.g., a line segment) indicating an edge DR1 connecting any two nodes N1 at corresponding points. Here, the route candidate R1 for the moving object 2 includes multiple edges DR1. Each of the multiple edges DR1 connects two adjacent nodes N1 among the multiple nodes N1 arranged on the route candidate R1. In each edge DR1, the traveling direction of the moving object 2 is set to one direction. The route symbol representing the edge DR1 is affixed with an arrow indicating the traveling direction of the moving object 2, and the edge DR1 is expressed as a directed graph in which the traveling direction of the moving object 2 is specified.

[0023] The node N1 is set at a position on the map MP1 corresponding to a desired point within the predetermined area A1, and is set at a position inside the square (for example, the center position) by, for example, specifying a square in the map MP1. The square may be specified, for example, by selecting the node N1 (specifically, a node symbol representing the node N1) using an input device such as a mouse on the map MP1, or by inputting the grid coordinates of the square in which the node N1 exists using a keyboard or the like. Note that it is not essential that the node N1 is set at a position corresponding to a square of the grid coordinates, and the node N1 may be set at any position specified by the user by the user specifying any position on the map MP1.

[0024] The zone Z1 is set within a predetermined area A1 in which the moving body 2 moves. The zone Z1 is arranged, for example, in a route candidate R1 of the moving body 2. The zone Z1 has, for example, a square-shaped area, and the size of the zone Z1 is set to, for example, the same size as the range required when the moving body 2 turns on the spot. In other words, the size of the zone Z1 may be large enough to at least include the range in which the moving body 2 can turn on the spot. The zone Z1 may have a size that can include at least a part of the moving body 2 stopped at the corresponding node N1, or may have a size that can include multiple moving bodies 2. In FIG. 3A and the like, the shape of the zone Z1 is illustrated as being slightly horizontally elongated, but it is actually a square. However, the shape of the zone Z1 is not limited to a square, and the size and shape of the zone Z1 can be changed as appropriate. In other words, the size and shape of the zone Z1 may be a size and shape defined by the user. As shown in FIG. 3A, it is not essential that the zone Z1 is set in all nodes N1, and the zone Z1 may be provided only in the necessary nodes N1.

[0025] The zone Z1 is arranged at a position corresponding to the selected node N1 by, for example, selecting the node N1 displayed on the map MP1. In the map MP1 corresponding to the predetermined area A1, the zone Z1 is virtually provided at a position corresponding to the node N1. Here, the node N1 may be selected by, for example, selecting a node symbol representing the node N1 on the map MP1 using a mouse or a keyboard. The node N1 may also be selected by inputting the coordinates of the node N1 or an identification number assigned to the node N1 using a keyboard or the like. The zone Z1 may also be set corresponding to a specified range by, for example, specifying a range in which a plurality of nodes are included on the map MP1. In this case, one zone Z1 is set in a range including a plurality of nodes N1. In addition, if the creation support system 1 is equipped with a touch panel as an input device, the user may select the node N1 by tapping the node symbol representing the node N1 with a finger or the like.

[0026] The zone generation unit 323 generates a zone Z1 on the map MP1 on the setting screen P1 based on an operation signal from the operation input unit 63. The zone generation unit 323 may generate the zone Z1 at a placement position based on the position of the node N1 selected by the user based on an operation input by the user to select a desired node N1. The zone generation unit 323 may also generate a new zone Z1 in a changed range by changing the range of a zone Z1 already on the map MP1. Note that "generating" the zone Z1 on the map MP1 includes both setting a new zone Z1 on the map MP1 and setting a new changed zone Z1 by changing the range or position, etc. of the zone Z1 already set on the map MP1.

[0027] For example, the zone generating unit 323 generates a zone Z1 based on the position of the node N1 selected by the user, based on an operation signal output by the operation input unit 63 in response to an operation input by the user to select a node N1 on the route candidate R1. The display control unit 33 displays a zone symbol representing the zone Z1 around the node N1 selected by the operation on the map MP1 on the setting screen P1. Here, when a part or a center point of the moving object 2 is located within a square area corresponding to a certain zone Z1 in the predetermined area A1, the moving object control system 10 determines that the moving object 2 is present within this zone Z1. Note that the zone generating unit 323 may generate the zone Z1 so as to correspond to the changed range, based on an operation input by the user to change the range of the zone Z1 set in association with the node N1.

[0028] Furthermore, the zone generating unit 323 may generate a new zone Z1 in response to an operation input other than the operation input for selecting the node N1 or the operation input for changing the range of the existing zone Z1.

[0029] Moreover, the signal element SG1 is provided in correspondence with the zone Z1 on the map MP1 corresponding to the predetermined area A1. The signal element SG1 is provided to switch between permitting and not permitting the passage of the moving object 2 in at least one of the incoming and outgoing directions. In the following description, a case where the signal element SG1 is provided to switch between permitting and not permitting the passage of the moving object 2 in the incoming direction will be described as an example. The signal element SG1 may be provided at the boundary of the zone Z1 on the map MP1, or may be provided outside the zone Z1 in a range through which the moving object 2 passing from the outside of the zone Z1 to the inside passes. In the creation support system 1 of this embodiment, the signal element SG1 is virtually provided at a position corresponding to the zone Z1 on the map MP1 corresponding to the predetermined area A1.

[0030] In the following description, when describing individual node N1, zone Z1, edge DR1, and signal element SG1, they may be written as node Nw, zone Zx, edge DRy, and signal element SGz (w, x, y, and z are positive integers).

[0031] Whether the signal element SG1 permits or prohibits passage is switched by, for example, the server device 7. The server device 7 monitors the current position of the moving object 2 moving within the predetermined area A1, and switches the state of the signal element SG1 located in the zone Z1 between permitting or prohibiting passage depending on the presence or absence of the moving object 2 in the zone Z1.

[0032] Here, when the mobile object 2 is present in zone Z1, the server device 7 sets the state of the signal element SG1 located in said zone Z1 to a non-permit state that does not permit passage. When the mobile object 2 moving along the route candidate R1 in the predetermined area A1 approaches the position of zone Z1 on the map MP1 and detects the presence of the signal element SG1 located in zone Z1, the mobile object 2 communicates with the server device 7 to check the state of the signal element SG1. Here, since the state of the signal element SG1 is set to the non-permit state, the mobile object 2 stops just before the signal element SG1.

[0033] Furthermore, if the mobile object 2 is not present in zone Z1, the server device 7 sets the state of the signal element SG1 located in said zone Z1 to a permission state that permits passage. When the mobile object 2 moving along the route candidate R1 in the predetermined area A1 approaches the position of zone Z1 on the map MP1 and detects the presence of the signal element SG1 located in zone Z1, the mobile object 2 communicates with the server device 7 to check the state of the signal element SG1. Here, since the state of the signal element SG1 is set to a permission state, the mobile object 2 enters the inside of zone Z1.

[0034] In this way, when a moving object 2 is present in zone Z1, another moving object 2 cannot enter this zone Z1, so collisions between moving objects 2 can be avoided and the moving objects 2 can pass safely. Note that the signal element SG1 is not limited to switching between permitting or not permitting the passage of the moving object 2 in the incoming direction, but may be provided for switching between permitting or not permitting the passage of the moving object 2 in the outgoing direction, or in both the incoming and outgoing directions.

[0035] As described above, the creation support system 1 according to this embodiment includes the operation input unit 63 and the map creation unit 32. The map creation unit 32 includes a zone generation unit 323 and a signal generation unit 324.

[0036] For example, as shown in FIG. 3A, when a node N11 is selected as a target node for generating a zone by a user operation, the zone generating unit 323 determines the arrangement position of the zone Z11 based on the position of the target node, node N11, and generates the zone Z11 at this arrangement position. When the zone Z11 is generated, the signal generating unit 324 sets a signal element SG1 for the zone Z11 based on the position of the zone Z11 and the traveling direction of the moving object 2 on the route candidates (specifically, edges DR11, DR12, DR13) that pass through the zone Z11. The traveling direction of the moving object 2 is set in advance for each of the edges DR11, DR12, DR13. Since the signal element SG1 switches between permitting or not permitting the movement of the moving object 2 in the incoming direction to the zone Z11, the signal generating unit 324 places the signal elements SG11 and SG12 for the edges DR11 and DR12 along which the moving object 2 moves in the direction to enter the zone Z11. When the zone Z11 and the signal elements SG11 and SG12 are generated, the display control unit 33 displays a zone symbol representing the zone Z11 and symbols representing the signal elements SG11 and SG12, respectively, on the map MP1 in the setting screen P1.

[0037] Also, when a zone Z11 including a node N11 is arranged on the map MP1 as shown in Fig. 3B, if the user performs an operation to expand the range of the zone Z11 to include the two nodes N11 and N12, the zone generation unit 323 generates a zone Z111 (see Fig. 3C) corresponding to the changed range. When the zone Z111 is generated, the signal generation unit 324 sets signal elements SG11 to SG14 for the zone Z11 based on the position of the zone Z111 and the traveling direction of the moving object 2 on the route candidate R1 that passes through the zone Z111 as shown in Fig. 3C.

[0038] The zone generating unit 323 is not limited to arranging the zone Z1 at a position based on the position of the node N1, and may generate the zone Z1 at a position where the node N1 does not exist in the route candidate R1. For example, as shown in FIG. 4A, when the user moves the mouse cursor CS1 to the upper left corner of the range where the zone Z1 is to be arranged, and moves the cursor CS1 to the lower right corner of the range where the zone Z1 is to be arranged while clicking the left button of the mouse, the range of the zone Z1 is selected. At this time, as shown in FIG. 4B, the zone generating unit 323 generates the zone Z1 in the range selected in response to the user's operation, and sets a signal element SG1 for the zone Z1 based on the position of the zone Z1 and the traveling direction of the moving object 2 on the route candidate R1 that passes through the zone Z1. By using the creation support system 1, the user can arrange the zone Z1 even in a place where the node N1 does not exist in the route candidate R1.

[0039] In this way, when the zone generation unit 323 sets the zone Z1 in response to the user's operation input, the signal generation unit 324 sets the signal element SG1 for this zone Z1, so that the user does not have to set the signal element SG1 by himself / herself. Also, the signal generation unit 324 arranges the signal element SG1 corresponding to the zone Z1 based on the position of the zone Z1 and the traveling direction of the mobile object 2 on the route candidate R1 (specifically, the edge DR1) that passes through the zone Z1, so that the signal element SG can be arranged in a necessary place. Therefore, there is an advantage that when performing the creation work of creating the map MP1 corresponding to the predetermined area A1 using the creation support system 1, it is less likely that the necessary signal element SG1 will be forgotten to be set for the zone Z1.

[0040] (2) Composition The configurations of the creation support system 1 and the mobile object control system 10 according to this embodiment will be described in detail below with reference to Figs. 1 to 4B. The numerical values, shapes, materials, positions of components, positional relationships and connection relationships between multiple components, etc. shown below are merely examples and are not intended to limit the present disclosure. In addition, all of the drawings referred to below are schematic diagrams, and the ratios of sizes and thicknesses of each component in the drawings do not necessarily reflect the actual dimensional ratios.

[0041] In the following, a case will be described in which the moving body 2 (see FIG. 28) that is the control target of the moving body control system 10 is an automated guided vehicle. The automated guided vehicle as the moving body 2 performs the task of transporting an article 90 while moving within a predetermined area A1. The configuration of the moving body 2 exemplified in this embodiment will be described in detail in the section "(2.2) Moving body".

[0042] (2.1) Overall Structure The creation support system 1 is used to support a creation task of creating a map MP1 corresponding to a predetermined area A1 in which a moving object 2 moves. The creation support system 1 according to this embodiment includes a map creation device 3 and an information terminal 6. The information terminal 6 is connected to the map creation device 3 via a network NT1 such as the Internet.

[0043] Here, the map creation device 3 and the information terminal 6 are configured to be able to communicate with each other. That is, the map creation device 3 and the information terminal 6 can send and receive information to each other. In this embodiment, the information terminal 6 is connected to the network NT1 via, for example, a router or the like. Therefore, the map creation device 3 and the information terminal 6 communicate indirectly at least via the network NT1. An appropriate communication method such as wireless communication or wired communication is applied to the communication between the map creation device 3 and the information terminal 6 and the network NT1.

[0044] FIG. 2 is a schematic plan view of the predetermined area A1. In this embodiment, the predetermined area A1 is, for example, a space surrounded by an outer wall in a factory. In the predetermined area A1 assumed in this embodiment, a first area A11 and a second area A12 are set as storage locations for the items 90. Note that the plan view of the predetermined area A1 shown in FIG. 2 is an example, and the outline of the predetermined area A1 to which the moving body 2 moves can be changed as appropriate. In the predetermined area A1, a plurality of shelves 70 (see FIG. 20) are arranged for placing the items 90 transported by the moving body 2. In the creation support system 1 of this embodiment, the arrangement of the shelves 70 is determined based on the operation input received by the information terminal 6 in the map MP1 corresponding to the predetermined area A1, and the creation support system 1 also functions as a shelf display system that displays the arrangement of the shelves 70 on the display unit 62. The shelf display system of this embodiment is used when planning the arrangement of shelves 70, but may also be used to monitor the storage status of items 90 on shelves 70 when the mobile object control system 10 transports items 90 using a mobile object 2.

[0045] The mobile object control system 10 includes a server device 7 and one or more communication terminals 5. In this embodiment, the mobile object control system 10 includes a plurality of communication terminals 5. The plurality of communication terminals 5 are arranged within a predetermined area A1. The server device 7 is installed, for example, outside the predetermined area A1, and is connected to the plurality of communication terminals 5 via a network NT1 such as the Internet.

[0046] The server device 7 and each of the multiple mobile objects 2 are configured to be able to communicate with each other. In the present disclosure, "able to communicate" means that information can be indirectly or directly exchanged via the network NT1 and the communication terminal 5, etc., by an appropriate communication method such as wired communication or wireless communication. That is, the server device 7 and each of the multiple mobile objects 2 can exchange information with each other. In this embodiment, each of the multiple mobile objects 2 communicates with one of the multiple communication terminals 5 by wireless communication using radio waves as a medium. Therefore, the server device 7 and the multiple mobile objects 2 communicate indirectly at least via the network NT1 and the communication terminal 5. In short, each communication terminal 5 is a device (access point) that relays communication between each mobile object 2 and the server device 7. The communication terminal 5 communicates with the server device 7 via the network NT1. In this embodiment, as an example, wireless communication conforming to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power wireless (specific low-power wireless) that does not require a license is adopted for communication between the communication terminal 5 and the mobile object 2. Furthermore, the network NT1 is not limited to the Internet, and may be, for example, a local communication network within the predetermined area A1 or within a company that operates the predetermined area A1.

[0047] The server device 7 of the mobile object control system 10 uses the map MP1 created using the creation support system 1 to control the movement of the mobile object 2 moving within the predetermined area A1. The server device 7 acquires information on the map MP1 corresponding to the predetermined area A1 from the map creation device 3 of the creation support system 1. The server device 7 may acquire information on the map MP1 from the map creation device 3 at an appropriate timing, and may acquire information on the map MP1 from the map creation device 3 when notification information notifying a change in the map MP1 is input from the map creation device 3. When the server device 7 acquires information on the map MP1 from the map creation device 3, the server device 7 transmits notification information notifying the mobile object 2 to be controlled that the information on the map MP1 has been updated. When the server device 7 receives the notification information from the server device 7, the mobile object 2 to be controlled transmits a request signal to the server device 7 requesting transmission of map information. When the server device 7 receives a request signal from the mobile object 2, the server device 7 transmits information on the map MP1 to the mobile object 2. As a result, each of the server device 7 and the mobile object 2 can hold the information on the updated map MP1. For example, when it is desired to move an item 90 at a first location to a second location, the server device 7 transmits location information of the first location and the second location to the mobile object 2. Upon receiving the location information of the first location and the second location, the mobile object 2 moves to the first location, loads the item 90 at the first location, moves to the second location according to a travel route determined based on the information of the map MP1, and unloads the item 90 at the second location.

[0048] In this embodiment, each of the map creation device 3, the information terminal 6, and the server device 7 mainly comprises a computer system including a memory and a processor. That is, the functions of each of the map creation device 3, the information terminal 6, and the server device 7 are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory, or may be provided via a telecommunication line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0049] The map creation device 3 and the information terminal 6 are capable of bidirectional communication with each other. Therefore, it is possible to transmit information from the map creation device 3 to the information terminal 6, and further, to transmit information from the information terminal 6 to the map creation device 3.

[0050] The mobile object 2 is an automated guided vehicle for transporting an article 90 within a predetermined area A1, and loads the article 90 in a first area A11, autonomously travels with the article 90 loaded to a second area A12, and then unloads the article 90 in the second area A12. The server device 7 communicates with the mobile object 2 via a network NT1 and a communication terminal 5, and controls the mobile object 2.

[0051] As shown in Fig. 1, the creation support system 1 of this embodiment includes a display control unit 33 that causes the display unit 62 to display a map MP1 corresponding to a predetermined area A1 (see Fig. 2) in which a plurality of shelves 70 (see Fig. 20) are arranged. When the operation input unit 63 receives an operation input specifying a shelf 70A to be displayed from the plurality of shelves 70 on the map MP1, the display control unit 33 causes the display unit 62 to display a layout diagram (hereinafter, for example, a front layout diagram FV1) based on an operation signal output by the operation input unit 63. The layout diagram (front layout diagram FV1) represents the shelf 70A to be displayed and the arrangement area 72 in which items 90 (see Fig. 28) are arranged on the shelf 70A to be displayed.

[0052] In this way, the display unit 62 displays the front layout view FV1 showing the shelf 70A to be displayed and the placement area 72 in which the item 90 is placed on the shelf 70A to be displayed, so that the placement area 72 for the item 90 can be easily confirmed.

[0053] The creation support system 1 of this embodiment also includes a display control unit 33 that causes the display unit 62 to display a screen (setting screen P1) including a map MP1 corresponding to the predetermined area A1 in which the mobile object 2 moves, and a voice recording unit 64 that records voice. The voice recording unit 64 records voice in association with the recording location based on an operation signal output by the operation input unit 63 in response to an operation input that indicates the recording location on the map MP1.

[0054] In the creation support system 1 of this embodiment, since the voice is recorded in association with the recording location on the map, it is advantageous in that it is easy to understand which location on the map MP1 the voice is talking about. The user can perform the planning work of planning the route candidate R1 on the map MP1 after listening to the voice recorded in association with the recording location on the map MP1, so that the planning work of the route candidate R1 along which the moving object 2 moves can be simplified.

[0055] (2.2) Mobile Next, the configuration of the moving object 2 exemplified in this embodiment will be described in more detail.

[0056] As shown in FIG. 28, the moving body 2 autonomously travels on a flat moving surface 91 consisting of, for example, the floor surface of a predetermined area A1. Here, as an example, the moving body 2 is equipped with a storage battery and operates using electric energy stored in the storage battery. In this embodiment, the moving body 2 travels on the moving surface 91 with an item 90 loaded thereon. This allows the moving body 2 to transport, for example, the item 90 placed at a certain location within the predetermined area A1 to another location within the predetermined area A1. In this embodiment, the item 90 transported by the moving body 2 is box-shaped, but the shape of the item 90 can be changed as appropriate.

[0057] The moving body 2 includes a main body 21. A fork-shaped platform portion on which an article 90 is placed is provided at the rear of the main body 21.

[0058] 1, the moving object 2 includes a control unit 24, a communication unit 25, a detection unit 26, a traveling device 27, and a storage unit 28. The control unit 24, the communication unit 25, the detection unit 26, the traveling device 27, and the storage unit 28 of the moving object 2 are mounted on the main body unit 21.

[0059] The main body 21 has a plurality of wheels (four in this embodiment). In this embodiment, all of the plurality of wheels are driving wheels, and the main body 21 can move in all directions along the moving surface 91. Here, the traveling device 27 receives a control command from the control unit 24 and drives the plurality of driving wheels provided on the main body 21, thereby making it possible to make the moving body 2 travel in a desired direction. The main body 21 travels linearly by driving the plurality of wheels to rotate in the same direction at the same speed, and can change the direction of travel and perform turning, etc. by providing a rotation difference between the plurality of wheels. The main body 21 may drive the plurality of wheels via a driving mechanism including, for example, a clutch. That is, the main body 21 can move in all directions, forward, backward, left, and right, on the moving surface 91 by the rotation of each of the plurality of wheels. Each of the plurality of wheels may be, for example, an omni-directional wheel such as an omni-wheel.

[0060] The communication unit 25 communicates with the server device 7 (the communication unit 74 of the server device 7) via the communication terminal 5 and the network NT1. Here, the communication unit 25 communicates with the communication terminal 5 by wireless communication.

[0061] The storage unit 28 is realized by a non-transitory recording medium such as a rewritable non-volatile semiconductor memory, etc. The storage unit 28 stores information such as map information on a map MP1 of the predetermined area A1, information on the positions of route candidates R1, nodes N1, zones Z1, and signal elements SG1 set within the predetermined area A1, etc.

[0062] The detection unit 26 detects current location information related to the current location of the mobile object 2 within the predetermined area A1. The detection unit 26 includes, for example, a receiver that receives beacon signals transmitted by radio waves from a plurality of transmitters. The plurality of transmitters are arranged at a plurality of locations within the predetermined area A1 in which the mobile object 2 moves. The detection unit 26 measures the current location of the mobile object 2 based on the locations of the plurality of transmitters and the received radio wave intensity of the beacon signal at the receiver. The location detection unit may be realized using a satellite positioning system such as a GPS (Global Positioning System). The mobile object 2 periodically transmits the detection result of the detection unit 26 from the communication unit 25 to the server device 7 at a predetermined transmission time interval (for example, one second interval). The mobile object 2 may irregularly transmit the detection result of the detection unit 26 from the communication unit 25 to the server device 7 in response to a transmission request from the server device 7.

[0063] The detection unit 26 also detects the behavior of the main body 21 and the surrounding conditions of the main body 21. The "behavior" of the main body 21 means the operation and state. That is, the behavior of the main body 21 includes the operating state of the main body 21, which indicates whether the main body 21 is moving or stopped, the speed (and speed change) of the main body 21, the acceleration acting on the main body 21, and the attitude of the main body 21. Specifically, the detection unit 26 includes sensors such as a speed sensor, an acceleration sensor, and a gyro sensor, and detects the behavior of the main body 21 using these sensors. The detection unit 26 also includes sensors such as an image sensor (camera), a sonar sensor, a radar, and a LiDAR (Light Detection and Ranging), and detects the surrounding conditions of the main body 21 using these sensors. The surrounding conditions of the main body 21 include, for example, the presence or absence of an object (obstacle, etc.) present ahead of the main body 21 in the traveling direction, and the position (distance and direction) of the object. The obstacles include other moving objects 2 and people.

[0064] The control unit 24 mainly comprises a computer system including, for example, a memory and a processor. That is, the functions of the control unit 24 (for example, functions of the route acquisition unit 241, the state information acquisition unit 242, the driving control unit 243, etc.) are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory, may be provided via a telecommunication line such as the Internet, or may be provided by recording it on a non-transitory recording medium such as a memory card.

[0065] The route acquisition unit 241 acquires work information related to the content of the work performed by the mobile object 2 from the server device 7 via the communication unit 25, and determines a movement route of the mobile object 2 based on this work information. For example, when the mobile object 2 acquires work information of carrying an item 90 from the first area A11 to the second area A12, the route acquisition unit 241 acquires route information based on this work information. That is, the route acquisition unit 241 acquires a movement route along which the mobile object 2 moves from a position in the first area A11 where the item 90 is loaded to a position in the second area A12 where the item 90 is unloaded, based on the work information.

[0066] When the mobile object 2 moves to the position of the signal element SG1 provided within the predetermined area A1, the state information acquisition unit 242 acquires state information representing the state (permitted state or not permitted state) of the signal element SG1 from the server device 7. Based on the state information of the signal element SG1 acquired by the state information acquisition unit 242, the control unit 24 decides whether to pass through or stop at the location where the signal element SG1 is set.

[0067] The traveling control unit 243 controls the traveling device 27 based on the current position of the moving object 2 detected by the detection unit 26 and the traveling route acquired by the route acquisition unit 241, and causes the moving object 2 to autonomously move along the traveling route. When the moving object 2 moves to the position where the signal element SG1 is arranged, the traveling control unit 243 determines whether to stop or pass through the location where the signal element SG1 is set based on the status information acquired by the status information acquisition unit 242, and controls the traveling device 27 accordingly.

[0068] At the loading position, the moving body 2 moves in the direction of the article 90 with the loading platform portion inserted into the gap between the moving surface 91 and the article 90, for example, to load the article 90 onto the loading platform portion. The moving body 2 can also unload the article 90 at the unloading position by moving in the opposite direction to the movement of the moving body 2 when loading the article 90. Note that the work of loading the article 90 onto the moving body 2 and the work of unloading the article 90 from the moving body 2 may be performed by equipment separate from the moving body 2 arranged at the loading position and the unloading position.

[0069] 28 does not have a function of loading and unloading the article 90 onto the shelf 70. Therefore, another robot that is arranged on the shelf 70 and performs loading and unloading operations may load the article 90 unloaded from the shelf 70 onto the moving body 2, or load the article 90 that is being transported by the moving body 2 onto the shelf 70. The moving body 2 may have a function of loading and unloading the article 90 onto the shelf 70.

[0070] (2.3) Map Creation Device Next, the configuration of the map creation device 3 will be described in more detail with reference to FIG.

[0071] As shown in FIG. 1, the map creation device 3 has a first communication unit 31, a map creation unit 32, a display control unit 33, a type setting unit 34, a time prediction unit 35, a first memory unit 36, a layout setting unit 37, a map update unit 38, and a text conversion unit 39.

[0072] The first communication unit 31 indirectly communicates with the information terminal 6 via the network NT1. The first communication unit 31 can also indirectly communicate with the server device 7 via the network NT1. As a communication method between the first communication unit 31 and the information terminal 6 or the server device 7, an appropriate communication method such as wireless communication or wired communication is adopted.

[0073] The map creation unit 32 creates map information including route candidates R1 along which the mobile object 2 can travel within a predetermined area A1. The map creation unit 32 includes a node generation unit 321, a path generation unit 322, a zone generation unit 323, a signal generation unit 324, and a candidate node detection unit 325.

[0074] The node generating unit 321 sets a node N1 at a location on the map MP1 designated by a user operation, based on an operation signal input from the information terminal 6 via the network NT1.

[0075] Based on an operation signal input from the information terminal 6 via the network NT1, the path generation unit 322 generates an edge DR1 along which the moving body 2 can move, for example by connecting two nodes N1 selected by a user operation with a trajectory (e.g., a line segment).

[0076] The zone generating unit 323 sets a zone Z1 on the map MP1 based on the position of the node N1, based on an operation signal input from the information terminal 6 via the network NT1.

[0077] When the zone generation unit 323 sets the zone Z1, the signal generation unit 324 sets a signal element SG1 that switches between permitting and disallowing the movement of the moving object 2 in the direction entering the zone Z1, in correspondence with the zone Z1. Here, the signal generation unit 324 generates the signal element SG1 based on the position of the zone Z1 set by the zone generation unit 323 and the movement direction of the moving object 2 at the edge DR1 (route candidate R1) that passes through the zone Z1.

[0078] The candidate node detection unit 325 detects, from among multiple nodes N1 arranged on the map MP1, a candidate node in which a zone Z1 is not arranged and in which a zone Z1 and a signal element SG1 need to be arranged. The candidate node detection unit 325 recommends, as a candidate node, a node N1 located at an intersection where multiple edges DR1 intersect, from among the nodes N1 in which a zone Z1 is not arranged.

[0079] The display control unit 33 displays a setting screen P1 including a map MP1 corresponding to the predetermined area A1. The display control unit 33 creates screen data for the setting screen P1, transmits the screen data from the first communication unit 31 to the information terminal 6, and displays the setting screen P1 on the display unit 62 of the information terminal 6.

[0080] The type setting unit 34 collectively sets the types of a plurality of undefined elements, the types of which are not yet defined and are displayed on the map MP1, based on an operation signal from the operation input unit 63.

[0081] The time prediction unit 35 predicts the time required for the moving body 2 to move between the first point and the second point based on an operation signal input from the operation input unit 63 in response to an operation input by the user selecting the first point and the second point on the route candidate R1.

[0082] The first storage unit 36 ​​is realized by a non-transitory recording medium such as a rewritable non-volatile semiconductor memory. The first storage unit 36 ​​is not limited to being incorporated in the map creation device 3, and may be present in a cloud (cloud computing) accessible to the map creation device 3. The first storage unit 36 ​​stores, for example, map information on a map MP1 of the predetermined area A1, route information on route candidates that the mobile object 2 can travel within the predetermined area A1, mobile object information on each mobile object 2, and the like.

[0083] The placement setting unit 37 sets the location of the placement area 72 in which the article 90 transported by the moving body 2 is placed on the basis of the operation input received by the operation input unit 63 in the front layout view FV1 in the setting screen P1 (see FIG. 20). The setting screen P1 shown in FIG. 20 is divided into a first screen P11 on the right side and a second screen P12 on the left side. The first screen P11 displays a planar layout view corresponding to the predetermined area A1. The second screen P12 displays a front layout view FV1 in which the shelf 70A placed in the predetermined area A1 is viewed from the front. The first screen P11 is a planar layout view corresponding to the predetermined area A1, and displays a part of the map MP1 corresponding to the predetermined area A1, and shows the placement of the shelf 70 and the like placed in the predetermined area A1.

[0084] For example, when the placement setting unit 37 changes the placement of the shelves 70 on the map MP1, the map update unit 38 updates the map MP1 in accordance with the settings made by the placement setting unit 37.

[0085] The text conversion unit 39 performs voice recognition processing on the voice data recorded by the voice recording unit 64 of the information terminal 6 to convert it into text data. The text conversion unit 39 records the voice data and text data in the first storage unit 36 ​​in association with the location in the map MP1 where the voice was recorded. Note that the text conversion unit 39 does not need to convert all of the voice data into text data, and may convert only the beginning portion of the voice data (for example, about 10 characters) into text data.

[0086] The operation of each part of the map creation device 3 will be explained in detail in the section "(3) Operation."

[0087] (2.4) Information terminals The information terminal 6 is a terminal having a function of accepting user operations and a function of presenting (displaying) information to the user. The term “user” as used herein includes a user of the creation support system 1 and a user of the mobile object control system 10.

[0088] As described above, the information terminal 6 mainly comprises a computer system including a memory and a processor. In the present embodiment, the information terminal 6 is described as being a tablet terminal, a smartphone, a personal computer, or the like, as an example. The information terminal 6 realizes the functions described below by installing dedicated application software and activating the application software.

[0089] The information terminal 6 has a second communication unit 61 , a display unit 62 , an operation input unit 63 , a voice recording unit 64 , and a voice playback unit 65 .

[0090] The second communication unit 61 indirectly communicates with the map creation device 3 via the network NT1. Here, the information terminal 6 is connected to the network NT1 via a router or the like by wireless communication using radio waves as a medium. The communication method of the information terminal 6 is wireless communication conforming to standards such as Wi-Fi, Bluetooth, ZigBee, or low-power radio (specific low-power radio) that does not require a license. Furthermore, the information terminal 6 may be connected to the network NT1 outdoors via, for example, a mobile phone network (carrier network) provided by a telecommunications carrier or a public wireless LAN (Local Area Network). The mobile phone network includes, for example, a 3G (third generation) line, an LTE (Long Term Evolution) line, and the like.

[0091] In the present embodiment, as an example, the display unit 62 displays a screen for presenting information to the user, such as a setting screen P1 (see FIGS. 2 and 3). In the present disclosure, a "screen" refers to an image (such as an image) displayed on the display unit 62. The display unit 62 is realized by an image display device, such as a liquid crystal display or an organic EL (Electro Luminescence) display.

[0092] The operation input unit 63 has a function of accepting operations by a person (user). In this embodiment, the operation input unit 63 is realized by, for example, a pointing device such as a mouse, a keyboard, a mechanical switch, or a combination of these. In addition, when the information terminal 6 is equipped with a touch panel display, the touch panel display may function as the display unit 62 and the operation input unit 63. In this case, the information terminal 6 determines that an object such as a button has been operated when the operation input unit 63 detects an operation (tap, swipe, drag, etc.) of an object such as a button on each screen displayed on the display unit 62.

[0093] When the operation input unit 63 accepts an operation input to specify a recording location on the map MP1 and start recording, the voice recording unit 64 converts the voice spoken by the user into the microphone of the information terminal 6 into voice data in a data format such as WAV format, and records this voice data in memory in association with the recording location. Note that the information terminal 6 transmits the voice data converted by the voice recording unit 64 from the second communication unit 61 to the map creation device 3, and causes it to be recorded in the first storage unit 36 ​​of the map creation device 3.

[0094] When the operation input unit 63 receives an operation input to specify a recording location on the map MP1 and play back audio, the audio playback unit 65 plays back the audio data recorded in association with the specified recording location and outputs the audio from the speaker.

[0095] (3) Operation Hereinafter, the operations of the creation support system 1 (shelf display system) and the mobile object control system 10 according to this embodiment will be described in detail with reference to Fig. 5A to Fig. 27. Fig. 5A to Fig. 6C, Fig. 8A to Fig. 20, Fig. 22 to Fig. 25, Fig. 27, etc. are explanatory diagrams that typically show the setting screen P1 displayed on the display unit 62 of the information terminal 6.

[0096] (3.1) Basic operation A user of the creation support system 1 starts up application software installed in the information terminal 6 to create a map MP1 corresponding to a predetermined area A1. Note that in the following explanation, the operations performed by the user to make the creation support system 1 perform a desired operation are merely examples and can be changed as appropriate.

[0097] When the information terminal 6 starts up application software for creating the map MP1, the information terminal 6 communicates with the map creation device 3 to receive screen data for the setting screen P1 including the map MP1 from the map creation device 3, and causes the display unit 62 to display the setting screen P1.

[0098] When a user operates the operation input unit 63 of the information terminal 6 to select a desired square on the map MP1 to set the node N1, an operation signal including the grid coordinates of the selected square and a command to generate the node N1 is transmitted to the map creation device 3. When the first communication unit 31 of the map creation device 3 receives the operation signal from the information terminal 6, the node generation unit 321 generates the node N1 at the center of the square selected by the user based on the operation signal. The display control unit 33 changes the setting screen P1 so that a node symbol representing the node N1 is displayed at the position on the map MP1 where the node generation unit 321 generated the node N1, and transmits screen data of the changed setting screen P1 to the information terminal 6. When the second communication unit 61 of the information terminal 6 receives the screen data from the map creation device 3, the information terminal 6 displays the changed setting screen P1 on the display unit 62. The node N1 may be disposed, for example, at the departure point, arrival point, point where the moving body 2 changes the moving direction, and point where multiple edges DR1 join on the map MP1.

[0099] When a user uses the information terminal 6 to perform an operation of selecting two nodes N1 on the map MP1 to generate an edge DR1, the information terminal 6 transmits an operation signal including the grid coordinates of the two selected nodes N1 and a command to generate the edge DR1 to the map creation device 3. When the first communication unit 31 receives this operation signal, the path generation unit 322 generates an edge DR1 that connects the two specified nodes N1 with, for example, a line segment based on this operation signal. The display control unit 33 changes the setting screen P1 so that a route symbol representing the edge DR1 is displayed at the position on the map MP1 where the path generation unit 322 generated the edge DR1, and transmits screen data of the changed setting screen P1 to the information terminal 6. When the second communication unit 61 of the information terminal 6 receives the screen data from the map creation device 3, the information terminal 6 displays the changed setting screen P1 on the display unit 62.

[0100] FIG. 5A shows an example of a setting screen P1, and the setting screen P1 of FIG. 5A displays a route connecting two nodes N51 and N52 with an edge DR51. When the setting screen P1 of FIG. 5A is displayed and the user clicks a position on the edge DR51 using, for example, a mouse, an operation signal corresponding to the click operation is transmitted from the information terminal 6 to the map creation device 3. When the first communication unit 31 of the map creation device 3 receives this operation signal, the node creation unit 321 generates new nodes N53 and N54 at the clicked position on the edge DR51. Furthermore, when the user performs an operation of dragging the newly placed nodes N53 and N54 to a desired position, the node creation unit 321 moves the positions of the nodes N53 and N54 based on the operation signal input from the information terminal 6. Furthermore, the path generating unit 322 transforms the edge DR51 connecting the nodes N51 and N53, the edge DR52 connecting the nodes N52 and N54, and the edge DR53 connecting the nodes N53 and N54, so as to follow the movement of the nodes N53 and N54. This allows the user to place multiple nodes N1 in desired positions and create edges DR51, DR52, and DR53 connecting two adjacent nodes N1 among the multiple nodes N1.

[0101] In this way, the user operates the operation input unit 63 of the information terminal 6 to place a node N1 on the map MP1 and generate an edge DR1 by specifying two desired nodes N1, thereby generating a route candidate R1 that connects multiple edges DR1.

[0102] The map creating unit 32 of the map creating device 3 stores information about the node N1 and the edge DR1 arranged on the map MP1 in the first storage unit 36 ​​at an appropriate timing.

[0103] Here, an operation for generating a zone Z1 and a signal element SG1 on a map MP1 using the creation support system 1 will be described with reference to Figs. 6A to 6C and 7. Figs. 6A to 6C show an example of a setting screen P1. As shown in Fig. 6A, in a state in which a plurality of edges DR1 passing through each of a plurality of nodes N21 to N24 are set on the setting screen P1, an operation for a user to set a zone Z1 and a signal element SG1 on the map MP1 will be described with reference to the flowchart in Fig. 7.

[0104] When the operation input unit 63 of the information terminal 6 receives an operation input specifying node N23 as the target node for setting zone Z1 (ST1: operation reception process), the second communication unit 61 transmits an operation signal including the grid coordinates of node N23 and a command to generate zone Z1 to the map creation device 3. When the first communication unit 31 of the map creation device 3 receives the operation signal from the information terminal 6, the zone creation unit 323 sets zone Z23 (see FIG. 6B) in an area including the specified node N23 based on this operation signal (ST2: zone creation process).

[0105] When the zone generation unit 323 sets the zone Z23, the signal generation unit 324 sets a signal element SG23 (see FIG. 6C) corresponding to the zone Z23 based on the position of the zone Z23 and the moving direction of the moving object 2 at the edge DR1 (route candidate R1) passing through the zone Z23 (ST3: signal generation process). Here, the signal element SG23 switches between permitting or not permitting the movement of the moving object 2 in the direction of entering the zone Z23, so the signal generation unit 324 sets the signal element SG23 for three edges DR1 along which the moving object 2 moves in the direction of entering the zone Z23, as shown in FIG. 6C. The signal generation unit 324 does not set the signal element SG1 for the edge DR1 along which the moving object 2 moves in the direction of leaving the zone Z23, and can set the signal element at a required location.

[0106] The display control unit 33 changes the setting screen P1 so that a zone symbol representing zone Z23 is displayed at the position where zone Z1 is set, and a signal symbol representing signal element SG23 is displayed at the position where signal element SG23 is set. The display control unit 33 transmits screen data of the changed setting screen P1 from the first communication unit 31 to the information terminal 6 (ST4: display control process). When the second communication unit 61 of the information terminal 6 receives the screen data from the map creation device 3, the display unit 62 displays the changed setting screen P1 (see FIG. 6C). Note that information (e.g., position information, etc.) of the node N1, zone Z1, and signal element SG1 set on the map MP1 is stored in the first storage unit 36.

[0107] In this way, when the zone generation unit 323 generates the zone Z1, the signal generation unit 324 generates the signal element SG1 in the route candidate (edge ​​DR1) along which the mobile object 2 moves in the direction of entering the zone Z1, so that the user does not have to set the signal element SG1 by himself / herself. In addition, the signal generation unit 324 places the signal element SG1 in correspondence with the zone Z1 based on the position of the zone Z1 placed by the zone generation unit 323 and the traveling direction of the mobile object 2 on the route candidate (edge ​​DR1) passing through the zone Z1, so that the signal element SG1 can be placed in a necessary place. Therefore, there is also an advantage that when planning the route candidate R1 along which the mobile object 2 can move within the specified area A1 using the creation support system 1, it is less likely that the necessary signal element SG1 will be forgotten to be set for the zone Z1.

[0108] In addition, when a user sets a zone Z1 for a route candidate R1 on a map MP1, the creation support system 1 automatically generates a signal element SG1, but the user may switch between enabling and disabling the operation of automatically generating the signal element SG1.

[0109] When the user manually sets the signal element SG1 for the zone Z1 using the information terminal 6, the user needs to perform an operation to associate the zone Z1 with the signal element SG1 set for the zone Z1. In other words, when zone-related elements including at least the signal element SG1 are arranged on the map MP1 in correspondence with the zone Z1, the map creation unit 32 associates the zone Z1 with the zone-related elements based on an operation signal output from the operation input unit 63.

[0110] For example, as shown in FIG. 8A, when a plurality of nodes N21 to N24 are arranged on a map MP1 in the setting screen P1 and a zone Z23 is arranged for node N23, an operation for setting a signal element SG1 in zone Z23 will be described.

[0111] When the operation input unit 63 receives a user operation input to place the signal elements SG231, SG232 near the zone Z23, it outputs an operation signal including position information (e.g., grid coordinates, etc.) of the placement position of the signal elements SG231, SG232. Note that the position information of the placement position is not limited to the grid coordinates of the location specified by the user's operation, and may be, for example, the grid coordinates of the node N1 or the square specified by the user's operation. The information terminal 6 places the signal elements SG231, SG232 at the specified position on the map MP1 in the setting screen P1 based on the operation signal output from the operation input unit 63.

[0112] Next, the user selects the signal element SG231 by, for example, pressing a button on the mouse or the like with a cursor CS1 of the mouse or the like placed on the signal element SG231. With the button on the mouse or the like pressed, the user approaches (drags) the cursor CS1 (i.e., the signal element SG231) to the zone Z23 to a predetermined reference distance or less, and then releases the button (drops), thereby associating the signal element SG231 with the zone Z23. When the information terminal 6 receives an operation input for approaching the signal element SG231 to the zone Z23 to a predetermined reference distance or less, the information terminal 6 causes the second communication unit 61 to transmit position information of the zone Z23 and the signal element SG231 to the map creation device 3. In the map creation device 3, when the first communication unit 31 receives the position information of the zone Z23 and the signal element SG231, the map creation unit 32 associates the zone Z23 with the signal element SG231, and places the signal element SG231 on the edge DR1. Similarly, when the user uses the information terminal 6 to operate to move the signal element SG232 closer to the zone Z23 to a predetermined reference distance or less, the map creation unit 32 of the map creation device 3 associates the zone Z23 with the signal element SG232 and places the signal element SG232 on the edge DR1. Then, when the signal generation unit 324 places the signal elements SG231 and SG232 on the edge DR1, the display control unit 33 updates the screen data of the setting screen P1 so that the signal elements SG231 and SG232 are placed on the edge DR1. This screen data is transmitted to the information terminal 6 by the first communication unit 31, and the updated setting screen P1 (see FIG. 8B) is displayed on the display unit 62 of the information terminal 6.

[0113] In this way, when the operation input unit 63 outputs an operation signal corresponding to an operation input for moving a zone-related element (e.g., a signal element SG1) closer to the zone Z1 on the map MP1 to a predetermined reference distance or less, the map creation unit 32 associates the zone Z1 with the zone-related element. That is, when the user performs an operation for associating the signal element SG1 with the zone Z1, the creation support system 1 changes the position of the signal element SG1 so that the signal element SG1 is placed on the edge DR1 passing through the zone Z1, thereby improving operability. Note that, although the creation support system 1 moves the signal element SG1 associated with the zone Z1 to the vicinity of the zone Z1, it is also possible to only associate the zone Z1 with the signal element SG1 without changing the position of the signal element SG1.

[0114] (3.2) Recommended signal settings In addition, while the creation support system 1 is creating the map MP1, it searches for candidate nodes for which the signal element SG1 has not been set among the multiple nodes N1 arranged on the map MP1 of the setting screen P1, and performs a signal setting recommendation operation to recommend the setting of the signal element SG1 to the user. The signal setting recommendation operation will be described below with reference to FIG. 9.

[0115] Fig. 9 is an example of a map MP1 in the setting screen P1, and multiple nodes N1 are arranged on the map MP1. In Fig. 9, it is preferable to set a zone Z1 and a signal element SG1 to control traffic at the node N1 where multiple edges DR1 join, but the zone Z1 and the signal element SG1 are not set at the nodes N25 to N28.

[0116] The candidate node detection unit 325 of the map creation device 3 selects, as candidate nodes, nodes N25 to N28 where multiple edges DR1 merge and where a zone Z1 and a signal element SG1 are not yet set, from among multiple nodes N1 arranged on the map MP1. In order to present the candidate nodes N25 to N28 to the user in order, the display control unit 33 first creates screen data for a setting screen P1 that displays the zone symbol of the zone Z1 in a dotted line around the candidate node N25, and transmits the screen data from the first communication unit 31 to the information terminal 6. When the second communication unit 61 of the information terminal 6 receives the screen data, the information terminal 6 displays the setting screen P1 on the display unit 62.

[0117] Here, when the user selects to set a zone Z1 and a signal element SG1 for the candidate node N25 using the operation input unit 63, an operation signal corresponding to the operation is transmitted to the map creation device 3, and the map creation unit 32 sets a zone Z1 and a signal element SG1 for the candidate node N25.

[0118] On the other hand, when the user uses the operation input unit 63 to select not to set the zone Z1 and the signal element SG1 to the candidate node N25, an operation signal according to the operation is transmitted to the map creation device 3, and the map creation unit 32 does not set the zone Z1 and the signal element SG1 to the candidate node N25. When it is determined whether to set the zone Z1 and the signal element SG1 for the candidate node N25, the display control unit 33 creates screen data of a setting screen P1 that displays the zone symbol of the zone Z1 in a dotted line around the next candidate node N26, and transmits it from the first communication unit 31 to the information terminal 6, so that the user can select whether to set the zone Z1 and the signal element SG1. Then, the map creation device 3 performs a process of recommending the setting of the zone Z1 and the signal element SG1 for all the candidate nodes N25 to N28, and ends the signal setting recommendation operation.

[0119] In this way, the creation support system 1 further includes a candidate node detection unit 325 that detects candidate nodes to which the zone Z1 is not set among the multiple nodes N1 arranged on the route candidate (edge ​​DR1). Then, the display control unit 33 displays the candidate nodes detected by the candidate node detection unit 325 on the map MP1. Here, the candidate node detection unit 325 detects candidate nodes to which neither the zone Z1 nor the signal element SG1 is set, but may also detect candidate nodes to which only the signal element SG1 is not set.

[0120] The creation support system 1 performs a signal setting recommendation operation to recommend the setting of zone Z1 and signal element SG1 to a candidate node where zone Z1 and signal element SG1 are not set, so that omission of the setting of signal element SG1 can be suppressed.

[0121] Although the creation support system 1 displays the candidate nodes one by one in order on the setting screen P1 displayed on the display unit 62 of the information terminal 6, a plurality of candidate nodes may be displayed on the setting screen P1 at once.

[0122] Furthermore, in this embodiment, the signal element SG1 is arranged on the map MP1 as a zone-related element, but the zone-related element is not limited to the signal element SG1, and elements other than the signal element SG1 may be arranged.

[0123] (3.3) Highlighting behavior As described above, on the map MP1, zone-related elements including at least the signal element SG1 are arranged in correspondence with the zone Z1. In the following, an operation of the display control unit 33 to change the display mode of all elements associated with the selected target element when one of the elements including the zone Z1 and the zone-related elements (e.g., the signal element SG1) is selected as a target element will be described.

[0124] The setting screen P1 shown in Fig. 10 displays the symbol of edge DR1, the symbols of nodes N21-N24, the symbols of zones Z21-Z24, and the symbols of signal elements SG21-SG24. In the example of Fig. 10, a zone Z1 (Z21-Z24) is generated corresponding to the node N1 (N21-N24), and further a signal element SG1 (SG21-SG24) is generated corresponding to the zone Z1 (Z21-Z24). That is, in the setting screen P1 of Fig. 10, the zone Z1 (Z21-Z24) and the signal element SG1 (SG21-SG24), which is a zone-related element, are arranged in each of the multiple nodes N1 (N21-N24) arranged on the map MP1.

[0125] Here, when the operation input unit 63 of the information terminal 6 accepts a user's operation input to select one of the elements including the zone Z1 and the signal element SG1 as a target element, the second communication unit 61 transmits an operation signal corresponding to the operation input to the map creation device 3. When the first communication unit 31 of the map creation device 3 receives this operation signal, the display control unit 33 changes the display mode of all elements associated with the target element, that is, the elements related to the same node N1 as the target element (zone Z1 and signal element SG1). Here, changing the display mode of all elements associated with the target element (zone Z1 and signal element SG1) means changing at least one of the color of the element, the shade of the color, and the shape and size of the symbol representing the element on the setting screen P1.

[0126] For example, when the operation input unit 63 receives an operation input to select zone Z23 arranged in node N23 as a target element, the second communication unit 61 of the information terminal 6 transmits an operation signal corresponding to the user's operation input to the map creation device 3. The display control unit 33 of the map creation device 3 changes the setting screen P1 based on the operation signal from the information terminal 6 so as to change the display manner of zone Z23 and signal element SG23, which are related elements of the same node N23 as the selected zone Z23. For example, the display control unit 33 displays zone Z23 and other zones Z21, Z22, and Z24 in different colors, and displays signal element SG23 and other signal elements SG21, SG22, and SG24 in different colors, and the difference in color is expressed by different lines in FIG. 10.

[0127] In this way, when the user selects a target element, the display control unit 33 changes the display mode of all elements associated with the target element, making it easy to find elements among zone Z1 and signal element SG1 that have been forgotten to be associated.

[0128] (3.4) Movement A node moving operation in which the creation support system 1 moves the position of the node N1 arranged on the map MP1 of the setting screen P1 will be described with reference to FIG.

[0129] In the setting screen P1 shown in FIG. 11, a plurality of nodes N1 are arranged on a route candidate R1.

[0130] When a user wants to move the position of a certain node N29, for example, the user places a cursor CS1 of a mouse or the like on the node N29 and presses a button of the mouse or the like to select the node N29. Then, the user slides the cursor CS1 along the route candidate (edge ​​DR1) (for example, along the trajectory indicated by the dotted arrow DG1) while holding down the button of the mouse or the like, and performs an operation (drop operation) of releasing the button of the mouse or the like at a desired position. When the operation input unit 63 accepts this operation input, the information terminal 6 slides the position of the node N29 along the route candidate (edge ​​DR1) in response to an operation signal output from the operation input unit 63, and determines the position of the node N29 after the change based on the position where the drop operation was performed. The information terminal 6 transmits an operation signal including the position information of the node N29 after the change from the second communication unit 61 to the map creation device 3. When the first communication unit 31 of the map creation device 3 receives this operation signal, the node generation unit 321 changes the arrangement position of the node N29 based on this operation signal, and the display control unit 33 updates the screen data of the setting screen P1. The updated screen data is transmitted from first communication unit 31 to information terminal 6 and displayed on display unit 62 of information terminal 6, so that the position of node N29 is updated to the position indicated by the dotted line in FIG.

[0131] In this way, when the operation input unit 63 outputs an operation signal corresponding to an operation input for moving the node N1 selected by the selection operation along the route candidate R1, the display control unit 33 moves the position of the node N1 selected by the selection operation along the route candidate R1 based on the operation signal. That is, the user can move the node N1 on the edge DR1 by placing the cursor CS1 on the node N1 displayed on the map MP1 and performing an operation of sliding the cursor CS1, and the position of the node N1 can be easily changed. Also, the information terminal 6 changes the position of the node N1 according to the sliding amount of the cursor CS1, and even if the position of the cursor CS1 is shifted from the edge DR1 as shown by the dotted line DG2 in FIG. 11, the node N1 does not shift from the edge DR1. Therefore, the user can easily change the position of the node N1 to a desired position.

[0132] In addition, if the user places cursor CS1 on node N1 and presses a button on the mouse or the like, and then moves cursor CS1 away from edge DR1 greater than a predetermined reference distance, information terminal 6 may move node N1 to any position outside edge DR1.

[0133] Further, a moving operation in which the production support system 1 moves the positions of the zone Z1 arranged on the map MP1 and the signal element SG1 arranged corresponding to the zone Z1 will be described with reference to FIG.

[0134] In the setting screen P1 shown in FIG. 12, a zone Z23 is placed at a node N23 on a route candidate R1, and signal elements SG231 and SG232 are placed corresponding to the zone Z23.

[0135] Here, when the operation input unit 63 receives an operation input for moving either the zone Z23 or the signal elements SG231, SG232 arranged corresponding to the zone Z23 on the map MP1, it outputs an operation signal corresponding to the operation input. When the operation signal is received by the map creation device 3, the display control unit 33 moves the zone Z23 and the signal elements SG231, SG232 corresponding to the zone Z23 based on the operation signal while maintaining the relative positional relationship.

[0136] For example, the operation when the user moves the zone Z23 and the signal elements SG231 and SG232 arranged at the node N23 to the node N21 will be described with reference to Fig. 12. For example, the user places a cursor CS1 such as a mouse on the signal element SG231 arranged at the node N23 on the map MP1, presses the mouse button, slides the cursor CS1 to the position of the node N21, and releases the button. When the operation input unit 63 accepts this operation and an operation signal corresponding to the operation is transmitted from the second communication unit 61 to the map creation device 3, the map creation unit 32 moves the signal element SG231, the signal element SG232 associated with the signal element SG231, and the zone Z32 to the node N21. At this time, the map creation unit 32 moves the signal elements SG231 and SG232 and the zone Z23 while maintaining the relative positional relationship. As a result, a zone Z1 and two signal elements SG1 are set for node N21, so that an associated element set for a certain node N23 can be easily changed to an associated element for another node N21, facilitating the creation of map MP1.

[0137] Even if multiple elements (zone Z1 and signal element SG1) are arranged corresponding to one node N23, the user only needs to move one element, and the other elements move together, simplifying the user's work. Also, multiple elements set corresponding to one node N1 can be attached to another node N1 while maintaining their relative positional relationships, eliminating the need to adjust the relative positional relationships of multiple elements (such as the spacing between related elements).

[0138] In addition, when the operation input unit 63 receives an operation input to move either zone Z1 or signal element SG1 on the map MP1, the display control unit 33 may copy zone Z1 and signal element SG1 to the desired position while maintaining the relative positional relationship based on this operation signal.

[0139] (3.5) Route planning for driving routes The planning operation of the map creating unit 32 of the creation support system 1 for planning a travel route along which the moving object 2 travels on the map MP1 in the setting screen P1 will be described with reference to FIG.

[0140] FIG. 13 is an example of a setting screen P1 including a map MP1, in which route candidates including a plurality of edges DR1 and a plurality of nodes N1 are displayed.

[0141] When the operation input unit 63 of the information terminal 6 receives a user's operation input to select node N31 as a first point (start point) from among the multiple nodes N1, it outputs an operation signal (including the position information of node N31) according to the operation input. Also, when the operation input unit 63 of the information terminal 6 receives a user's operation input to select node N32 as a second point (end point) from among the multiple nodes N1, it outputs an operation signal (including the position information of node N32) according to the operation input. When the user selects the first point and the second point, the second communication unit 61 of the information terminal 6 transmits a communication signal including the position information of node N31 of the first point and node N32 of the second point to the map creation device 3. When the first communication unit 31 receives this communication signal, the map creation unit 32 searches for a travel route RT2 (see FIG. 13) from node N31 of the first point to node N32 of the second point, for example, using the Dijkstra algorithm. This allows the map creation unit 32 to search for a route with the minimum travel cost as the travel route RT2. In this way, when the operation input unit 63 outputs an operation signal corresponding to an operation input specifying a start point and an end point on the map MP1, the map creation unit 32 creates a route that connects the start point and the end point on the map MP1 with the minimum travel cost based on the operation signal. When the map creation unit 32 determines the travel route RT2, the display control unit 33 changes the setting screen P1 so as to highlight the travel route RT2 on the map MP1, and transmits screen data of the changed setting screen P1 to the information terminal 6 to display it on the information terminal 6.

[0142] Here, the display control unit 33 only needs to display at least one of the color, line type, and thickness of the line representing the driving route RT2 so as to be different from the lines representing the edges DR1 other than the driving route RT2, thereby making it easier to visually identify the driving route RT2.

[0143] The user may specify one or more waypoints (third points) in addition to the first point serving as the starting point and the second point serving as the end point using the information terminal 6. The map creation unit 32 of the map creation device 3 can search for a driving route that minimizes the travel cost using the Dijkstra algorithm based on the position information of the starting point, the one or more waypoints, and the end point.

[0144] In addition, when the start point and the end point are specified by the user, the map creation unit 32 may perform an optimization operation of suggesting to the user the deletion of the node N1 and the edge DR1 that are unlikely to be selected as the travel route of the mobile object 2 due to excessive travel costs or the like. When the map creation unit 32 determines the node N1 and the edge DR1 to be deleted, the display control unit 33 creates screen data of the setting screen P1 so as to display the node N1 and the edge DR1 to be deleted in the map MP1 with the dot patterns DP1 and DP2 superimposed thereon. The first communication unit 31 transmits this screen data to the information terminal 6, and the information terminal 6 displays it on the display unit 62. Here, when the operation input unit 63 of the information terminal 6 accepts a user's operation to approve the deletion of the node N1 and the edge DR1 to be deleted, it outputs an operation signal to delete the node N1 and the edge DR1 to be deleted. When this operation signal is transmitted from the second communication unit 61 to the map creation device 3, the map creation unit 32 deletes the node N1 and the edge DR1 to be deleted, and stores the information of the changed map MP1 in the first storage unit 36. Furthermore, the display control unit 33 creates screen data for the setting screen P1 including the map MP1 showing route candidates after deleting the node N1 and edge DR1 to be deleted, and transmits this screen data from the first communication unit 31 to the information terminal 6, thereby causing the information terminal 6 to display the changed setting screen P1. Note that, if the operation input unit 63 of the information terminal 6 receives a user operation to not approve the deletion of the node N1 and edge DR1 to be deleted, the map creation unit 32 of the map creation device 3 does not delete the node N1 and edge DR1 to be deleted. This allows the user to decide for himself or herself whether to delete the node N1 and edge DR1 presented by the creation support system 1 as the node to be deleted.

[0145] The map creator 32 may automatically delete the node N1 and edge DR1 to be deleted, which eliminates the need for the user to instruct whether or not to delete the node N1 and edge DR1 to be deleted.

[0146] (3.6) Route candidate display operation A display operation in which the generation support system 1 displays the connection state of the route candidates displayed on the map MP1 in the setting screen P1 will be described with reference to FIGS. 14A and 14B.

[0147] In FIG. 14A, a route candidate R2, which is a collection of a plurality of edges DR1, is displayed on a map MP1.

[0148] In FIG. 14B, route candidates R3 and R4, each of which is a collection of a plurality of edges DR1, are displayed on a map MP1, and the route candidate R3 and the route candidate R4 are formed in a discontinuous state.

[0149] Here, in a state where the setting screen P1 as shown in FIG. 14A is displayed on the display unit 62 of the information terminal 6, when the user places a cursor CS1 such as a mouse on a target element and presses a button on the mouse, the operation input unit 63 outputs an operation signal (e.g., the position of the cursor CS1) according to the operation input. The target element is a part of the route candidate R2, such as a node N1 or an edge DR1. The second communication unit 61 of the information terminal 6 transmits an operation signal from the operation input unit 63 to the map creation device 3, and this operation signal is received by the first communication unit 31 of the map creation device 3. Based on the operation signal from the information terminal 6, the map creation device 3 creates screen data of the setting screen P1 so as to highlight all route candidates R2 (first routes) connected to the target element. This screen data is transmitted from the map creation device 3 to the information terminal 6 and displayed on the display unit 62 of the information terminal 6, so that the user can visually confirm the route candidates R2 connected to the target element.

[0150] In addition, when the setting screen P1 as shown in FIG. 14B is displayed on the display unit 62 of the information terminal 6, if the user places the cursor CS1 on the target element and presses a button of the mouse or the like, the operation input unit 63 outputs an operation signal (e.g., the position of the cursor CS1) according to the operation input. The second communication unit 61 of the information terminal 6 transmits the operation signal from the operation input unit 63 to the map creation device 3, and this operation signal is received by the first communication unit 31 of the map creation device 3. Based on the operation signal from the information terminal 6, the map creation device 3 creates screen data of the setting screen P1 so as to highlight all candidates (first routes) connected to the target element. For example, when the user selects the node N1 or edge DR1 included in the route candidate R4 as the target element, the map creation device 3 creates screen data of the setting screen P1 so as to highlight the route candidate R4. This screen data is transmitted from the map creation device 3 to the information terminal 6 and displayed on the display unit 62 of the information terminal 6. Therefore, the user can visually confirm the route candidate R4 (first route) connected to the target element, distinguishing it from the route candidate R3 (second route) not connected to the target element.

[0151] In this way, when the operation input unit 63 outputs an operation signal corresponding to an operation input for selecting a target element that is a part of a route candidate on the map MP1, the display control unit 33 displays the first route and the second route on the map MP1 in different display modes based on the operation signal. Here, the first route is a route that is connected to the target element among the route candidates, and the second route is a route that is not connected to the target route among the route candidates. Here, the display modes of the first route and the second route that are different from each other refer to, for example, at least one of the colors, shades of the colors, shapes and sizes of the symbols representing the elements (node ​​N1, edge DR1, zone Z1, etc.) included in the first route and the second route being different. This allows the user to easily check whether the route candidates are not unintentionally divided.

[0152] (3.7) Travel time display operation The creation support system 1 (map creation device 3) further includes a time prediction unit 35. When the operation input unit 63 outputs an operation signal corresponding to an operation input for selecting a first point and a second point on the route candidate R1, the time prediction unit 35 predicts the time required for the moving object 2 to move from the first point to the second point. A travel time display operation in which the creation support system 1 displays the time required for the moving object 2 to move from the first point to the second point on the route candidate R1 will be described with reference to FIG. 15.

[0153] When the user wants to check the time required for the moving object 2 to move along the route candidate R1 being created, for example, the user switches the operation mode of the information terminal 6 to a display mode that displays the travel time. When the operation mode of the information terminal 6 is switched to the travel time display mode, the information terminal 6 displays an input field BX1 for inputting the speed of the moving object 2 on the display unit 62. When the user sets the speed of the moving object 2 in the input field BX1 using, for example, a keyboard or the like, the information terminal 6 transmits the information of the speed of the moving object 2 to the map creation device 3. Here, instead of the user directly inputting the speed of the moving object 2 in the input field BX1, the names and speeds of multiple types of moving objects 2 registered in advance may be displayed in the input field BX1, and the user may select a desired type of moving object 2 from the multiple types of moving objects 2. When the user selects a desired type of moving object 2, the speed of the selected moving object 2 is used to calculate the travel time.

[0154] Next, when the user performs an operation input to select, for example, a desired node N41 on the map MP1 as a first point SP1, which is the starting point of the travel time, the information terminal 6 transmits an operation signal including the position information of the first point SP1 to the map creation device 3.

[0155] Then, when the user performs an operation input to select node N42 on the map MP1 as the second point EP1, the information terminal 6 transmits an operation signal including the position information of the second point EP2 to the map creation device 3. When the map creation device 3 receives the position information of the first point SP1 and the second point EP2 from the information terminal 6, the time prediction unit 35 calculates a travel time based on the distance from the first point SP1 to the second point EP1 in the route candidate R1 and the speed of the moving object 2. The display control unit 33 updates the setting screen P1 so as to display the required time predicted by the time prediction unit 35 on the map MP1. The map creation device 3 transmits image data of the setting screen P1 created by the display control unit 33 to the information terminal 6, and causes it to be displayed on the display unit 62 of the information terminal 6, and causes the calculation result of the travel time to be displayed in the display window W1 in the setting screen P1.

[0156] Furthermore, when the user performs an operation input to select a position other than a node on the route candidate R1 as the second point EP2, the information terminal 6 transmits an operation signal including the position information of the second point EP2 to the map creation device 3. When the map creation device 3 receives the position information of the first point SP1 and the second point EP2 from the information terminal 6, the time prediction unit 35 calculates the travel time from the first point SP1 to the second point EP2, and displays the calculated travel time in the display window W2 in the setting screen P1.

[0157] In this way, when the user selects the first point SP1 and the second points EP1, EP2, the required time from the first point SP1 to the second points EP1, EP2 is displayed on the display unit 62 of the information terminal 6. Therefore, the user can know the predicted time it will take for the moving object 2 to move along the route candidate R1 at the stage of creating the map MP1.

[0158] (3.8) Element type setting operation In the map MP1 created by the creation support system 1, a plurality of types of elements that represent the attributes of each of the locations are placed in the plurality of locations.

[0159] The creation support system 1 of this embodiment further includes a type setting unit 34. When a plurality of undefined elements, the types of which are undefined and related to the route candidate R1, are displayed on the map MP1, the type setting unit 34 collectively sets the types of the plurality of undefined elements. The setting operation by the type setting unit 34 will be described below with reference to Figures 16A and 16B.

[0160] Fig. 16A is an explanatory diagram illustrating a state in which a plurality of types of elements are arranged on a map MP1 in the setting screen P1. On the map MP1 shown in Fig. 16A, for example, elements such as a node N1, an installation position PS1 of a charger for charging a moving object 2, and a charging standby location SB1 for waiting for a charger to become available are arranged.

[0161] When a user uses the information terminal 6 to perform an operation to place an undefined element E1, the type of which is undefined, on the map MP1 of the setting screen P1, the information terminal 6 transmits an operation signal corresponding to the user's operation (e.g., position information indicating the position of the undefined element E1) to the map creation device 3. When the first communication unit 31 of the map creation device 3 receives the operation signal from the information terminal 6, the map creation device 3 places the undefined element E1 at the position specified by the user, based on the operation signal from the information terminal 6.

[0162] When the user places the undefined element E1 on the map MP1, the user sets the type of the undefined element E1. After specifying the range A50 in which the undefined element E1 to be set exists using, for example, a mouse, the user opens a sub-screen W3 for selecting a type and selects a desired type from among the multiple types displayed on the sub-screen W3. When the user performs an operation to select a carrier place as the type of the undefined element E1, an operation signal including information on the selected undefined element E1 and the selection result of the type of the undefined element E1 is transmitted to the map creation device 3. Note that the carrier place is a place where the moving body 2 loads and unloads the article 90. The type setting unit 34 of the map creation device 3 sets the types of the multiple undefined elements E1 selected by the user to the carrier place based on the operation signal from the information terminal 6, and the display control unit 33 changes the setting screen P1 (see FIG. 16B).

[0163] Here, the display control unit 33 of the creation support system 1 displays a plurality of types of elements including at least the node N1, the zone Z1, and the signal element SG1 in different display modes for each type. That is, when the display control unit 33 displays the map MP1 in the setting screen P1, the elements such as the node N1, the charger installation position PS1, the charging standby place SB1, and the carrier place CP1 are displayed with symbols of different colors and shapes for each type. In the display example of FIG. 17, the node N1a connected to the edge DR1 is displayed with a "●", the node N1b not connected to the edge DR1 is displayed with an "×", the charger installation position PS1 is displayed with a "◆", the charging standby place SB1 is displayed with a "▲", and the carrier place CP1 is displayed with a "■".

[0164] In this way, in the map MP1, the node N1, the charger installation position PS1, the charging standby location SB1, and the carrier place CP1 are displayed with symbols having different colors and shapes. Therefore, even a user with poor eyesight or a user who has difficulty distinguishing colors can easily distinguish the positions of the node N1 (N1a, N1b), the charger installation position PS1, the charging standby location SB1, and the carrier place CP1. The display control unit 33 may vary at least one of the color, color shading, shape, and blinking state of the symbols of each element displayed on the map MP1 for each type.

[0165] As described above, the user creates the map MP1 using the information terminal 6, and can save the data of the map MP1 being created in the map creation device 3 at an appropriate timing. When the user uses the information terminal 6 to perform an operation to open a file menu for saving the data of the map MP1, a sub-screen W4 of the file menu is displayed on the setting screen P1 as shown in FIG. 18A. If the user selects "check and save" here, an operation signal including a save command to check the accuracy of the map MP1 and then save it is transmitted from the information terminal 6 to the map creation device 3. When the map creation device 3 receives the save command from the information terminal 6, the map creation unit 32 checks the accuracy of the map MP1 being created and then saves the data of the map MP1 being created in the first storage unit 36. If the map creation unit 32 finds an error as a result of checking the accuracy of the map MP1, a sub-screen W5 showing the content of the error and the location of the error is displayed on the setting screen P1 as shown in FIG. 18B. Therefore, the user can check the error in the map MP1 being created and correct the error before applying the data of the map MP1 to the mobile control system 10. When the operation input unit 63 receives an operation input to select the button B1 in the sub-screen W5, the map creation device 3 closes the sub-screen W5 and ends the save process. The sub-screen W5, which displays the content of the error, also displays the location where the error was found, so that the user can efficiently perform debugging work by tracing the location of the error.

[0166] When saving the data of the map MP1 being created, the user may select "Save without checking" on the sub-screen W4 of the file menu, allowing the user to check whether the map MP1 being created is correct once it has been completed to a certain extent.

[0167] Here, when the map creation unit 32 stores the data of the map MP1 in the first storage unit 36, the map creation unit 32 may store a flag indicating the result of the correctness check in the first storage unit 36 ​​in association with the data of the map MP1. If there is no error as a result of the correctness check, the value of the flag is set to "correct", and if there is an error as a result of the correctness check, the value of the flag is set to "incorrect". When using the data of the map MP1 for controlling the moving object 2, the mobile object control system 10 may use only the data of the map MP1 for which the flag value is set to "correct". In this case, the data of the map MP1 stored without performing the correctness check or the data of the map MP1 for which the flag value is set to "incorrect" is not used by the mobile object control system 10 for controlling the moving object 2. This reduces the possibility that the data of the map MP1 containing some error is used for controlling the moving object 2.

[0168] (3.9) Help video playback In the creation support system 1 of this embodiment, when the user activates the help menu while creating the map MP1 using the information terminal 6, an explanatory video that provides an explanation related to the content being created can be played back.

[0169] When a user operates the information terminal 6 to activate the help menu and select to play the explanatory video, the explanatory video is played on a sub-screen W6 (see FIG. 19) displayed in the setting screen P1. The explanatory video is, for example, a video that uses animation or the like to explain the function of each element to be placed on the map MP1 and the position where each element should be placed. If the user has any questions while creating the map MP1, the user can activate the help menu and watch the explanatory video, and the creation support system 1 can support the creation work of a user who is not familiar with creating the map MP1. In addition, the user of the creation support system 1 can use the explanatory video when explaining the contents of the map MP1 to, for example, a client who has requested the creation of the map MP1, and can provide an easy-to-understand explanation to the client.

[0170] It should be noted that the creation support system 1 is not limited to one that plays explanatory videos that provide explanations related to the content being created, but may also display explanations related to the content being created using diagrams and the like.

[0171] (3.10) Shelf arrangement operation The creation support system 1 of this embodiment also has the function of a shelf display system that displays the arrangement of shelves 70, etc. on a map MP1 corresponding to a predetermined area A1. Below, a display operation of the creation support system 1 that displays the arrangement of shelves 70 and the arrangement areas of articles 90 on shelves 70, etc. when planning the arrangement of shelves 70, etc. on the map MP1 will be described with reference to Figs. 20 to 24.

[0172] The creation support system 1 as a shelf display system includes a display control unit 33. The display control unit 33 causes the display unit 62 to display a map MP1 corresponding to a predetermined area A1 in which a plurality of shelves 70 are arranged. When the operation input unit 63 receives an operation input (from a user of the creation support system 1) specifying a shelf 70A to be displayed from among the plurality of shelves 70 on the map MP1, the display control unit 33 causes the display unit 62 to display a layout diagram (for example, a front layout diagram FV1) showing the shelf 70A to be displayed and the arrangement area 72 based on an operation signal output from the operation input unit 63. The arrangement area 72 is an area in which items 90 are arranged on the shelf 70A to be displayed. The shelf 70A to be displayed refers to a shelf to be displayed in the layout diagram among the plurality of shelves 70. Note that in this embodiment, the layout diagram is a front layout diagram FV1 in which the shelf 70A is viewed from the front, but the layout diagram is not limited to a front layout diagram and may be, for example, a perspective view, and can be changed as appropriate.

[0173] Here, the placement area 72 is an area on the surface (top surface) of the shelves 71 of the multiple levels of shelves 70A where the item 90 can be placed, an area reserved as a placement location for the item 90, and an area available for a placement location for the item 90. The moving body 2 can place the item 90 in a location designated as the placement area 72 on the surface of the shelves 71. Identification information for identifying each placement area 72 is set in the placement areas 72 of the shelf 70. When the moving body control system 10 uses the moving body 2 to move the item 90 to the placement area 72 of the shelf 70, it designates the destination placement area 72 using the identification information assigned to the placement area 72, and moves the item 90 to the destination placement area 72. When the moving body control system 10 uses the moving body 2 to move the item 90 placed in the placement area 72 of the shelf 70 to another location, it designates the placement area 72 from which the item 90 is to be moved using the identification information, and moves the item 90 placed in the placement area 72 to another location.

[0174] In the creation support system 1 (shelf display system), when the operation input unit 63 does not receive an operation input to enlarge and display the shelf 70, the display control unit 33 displays a setting screen P1 including a map MP1 corresponding to the predetermined area A1 on the display unit 62, as shown in Fig. 2. Although the display of the shelf 70 is omitted on the setting screen P1 shown in Fig. 2, when the shelf 70 is placed in the predetermined area A1, a symbol representing the shelf 70 is displayed in a position on the map MP1 corresponding to the installation position of the shelf 70. When the operation input unit 63 receives an operation input (for example, an operation of clicking the shelf 70A with a mouse or the like) that specifies the shelf 70A to be displayed on the map MP1 in the setting screen P1, an operation signal corresponding to the operation input is transmitted from the information terminal 6 to the map creation device 3. When the first communication unit 31 of the map creation device 3 receives the operation signal from the information terminal 6, the display control unit 33 creates a setting screen P1 in which a first screen P11 that displays the map MP1 and a second screen P12 that displays a front layout diagram FV1 of the shelf 70A are arranged side by side. The map creation device 3 transmits screen data of the setting screen P1 created by the display control unit 33 to the information terminal 6, and causes the display unit 62 of the information terminal 6 to display the setting screen P1. Since the arrangement area 72 of the shelf 70A to be displayed is displayed in the front layout diagram FV1, a user of the creation support system 1 (shelf display system) can check the setting state of the arrangement area 72 by checking the front layout diagram FV1.

[0175] Here, the display control unit 33 causes the display unit 62 to display the map MP1 and the layout diagram (the front layout diagram FV1 in this embodiment) side by side. Since the display unit 62 displays the front layout diagram FV1 of the shelf 70A to be displayed and the map MP1 showing the partial area in which the shelves 70, 70A are arranged in the predetermined area A1 side by side, the position of the shelf 70A to be displayed in the predetermined area A1 can be easily confirmed. In addition, in the setting screen P1 shown in FIG. 20, the map MP1 and the front layout diagram FV1 are displayed side by side, but the map MP1 and the front layout diagram FV1 may be displayed side by side up and down. In addition, the display control unit 33 may cause the display unit 62 to display the first screen P11 and the second screen P12 so that the second screen P12 displaying the front layout diagram FV1 is superimposed on a part of the first screen P11 displaying the map MP1.

[0176] Furthermore, when the display control unit 33 displays the front layout view FV1 of the shelf 70A to be displayed on the second screen P12 in response to an operation signal from the operation input unit 63, the display control unit 33 changes the display mode of the shelf 70A to be displayed on the map MP1 of the first screen P11. That is, the display control unit 33 displays the shelf 70A to be displayed on the display unit 62 in a display mode different from the shelves 70 other than the shelf 70A to be displayed among the multiple shelves on the map MP1 of the first screen P11. Here, the display mode of the shelves 70, 70A on the map MP1 is different means that at least one of the color, color shading, shape of the symbol, pattern of the symbol, and blinking state of the symbol representing the shelves 70, 70A on the map MP1 is different. In FIG. 20, the shelf 70A to be displayed, which is displayed in a display mode different from the other shelves 70, is represented by hatching the symbol of the shelf 70A. In this way, since the display mode of the shelf 70A to be displayed and the other shelves 70 are different in the map MP1, the user can easily confirm the position of the shelf 70A to be displayed from the display of the map MP1.

[0177] Furthermore, when the operation input unit 63 receives an operation input for setting the location of the arrangement area 72 in the front layout view FV1 while the front layout view FV1 of the shelf 70A is displayed on the display unit 62, the information terminal 6 transmits an operation signal corresponding to the operation input to the map creation device 3. When the first communication unit 31 of the map creation device 3 receives the operation signal from the information terminal 6, the arrangement setting unit 37 changes the location of the arrangement area 72 on the shelf board 71 of the shelf 70A based on the operation signal from the information terminal 6. The arrangement setting unit 37 may change the shape, size, number, etc. of the arrangement area 72 based on the operation signal from the information terminal 6. When the arrangement setting unit 37 changes the arrangement area 72 of the shelf 70A to be displayed, the display control unit 33 creates a front layout view FV1 with the arrangement area 72 changed, and causes the display unit 62 to display the second screen P12 including the changed front layout view FV1.

[0178] In this way, the placement setting unit 37 sets the location of the placement area 72 in the layout drawing (for example, the front layout drawing FV1) based on the operation input received by the operation input unit 63. Therefore, the user can set the location of the placement area 72 while looking at the front layout drawing FV1, and can easily perform the setting work of the placement area 72.

[0179] The arrangement setting unit 37 may further set at least one of the shape and size of the shelf 70A to be displayed and the number of shelves 71 of the shelf 70A to be displayed in the layout drawing (for example, the front layout drawing FV1) (see FIG. 20) based on the operation input received by the operation input unit 63. For example, the arrangement setting unit 37 can easily accommodate differences in the shape and size of the items 90 placed on the shelf 71 by changing the shape and size of the shelf 70A to be displayed in response to the operation input received by the operation input unit 63. Furthermore, the arrangement setting unit 37 can increase or decrease the number of shelves 71 of the shelf 70A or the number of placement areas 72 provided on each shelf 71 in response to the operation input received by the operation input unit 63, thereby increasing or decreasing the number of items 90 that can be stored on one shelf 70A. In the front layout view FV1 shown in Figure 20, one placement area 72A has been added to the right side of the lowest shelf 71, and by increasing the total number of placement areas 72, 72A, the number of items 90 that can be stored on the shelf 70A can be increased.

[0180] Here, the operation of the production support system 1 for setting the arrangement of the shelves 70 and the like on the setting screen P1 will be described with reference to the flowchart of FIG.

[0181] When the operation input unit 63 receives an operation input specifying the shelf 70A to be displayed on the map MP1 in the setting screen P1 (ST11), the display control unit 33 displays the front layout view FV1 of the shelf 70A on the second screen P12 (ST12).

[0182] When the operation input unit 63 receives an operation input for changing the placement area 72, etc. of the shelf 70A while the front layout view FV1 of the shelf 70A is displayed on the display unit 62 (ST13: Yes), the information terminal 6 transmits an operation signal corresponding to the operation input to the map creation device 3. When the first communication unit 31 of the map creation device 3 receives the operation signal from the information terminal 6, the placement setting unit 37 performs a setting process for setting the placement area 72, etc. of the shelf 70A based on the operation signal from the information terminal 6 (ST14). When the placement setting unit 37 sets the placement area 72, etc. of the shelf 70A based on the operation signal, the display control unit 33 changes the front layout view FV1 based on the setting contents of the placement setting unit 37, and performs a display process for displaying the changed front layout view FV1 on the display unit 62 (ST15).

[0183] When the user finishes the setting process for the shelf 70A to be displayed, the user selects the front layout drawing FV1 by, for example, pressing the mouse button with the mouse cursor placed on the front layout drawing FV1 of the second screen P12. The user moves (drags) the mouse cursor onto the shelf 70A to be displayed on the map MP1 while pressing the mouse button (operation DG3 in FIG. 20), and releases (drops) the mouse button (ST16: Yes), and the information terminal 6 transmits an operation signal corresponding to the operation input to the map creation device 3. When the map creation device 3 receives this operation signal, the arrangement setting unit 37 stores the setting contents set in the front layout drawing FV1 in the first storage unit 36 ​​(ST17), and reflects the setting contents for the shelf 70A in the front layout drawing FV1 on the map MP1.

[0184] The user may drag the front layout view FV1 of the shelf 70A to be displayed and drop it on any new installation position on the map MP1 of the first screen P11 where no shelf 70 has been placed (operation DG4 in FIG. 20). When the information terminal 6 transmits an operation signal corresponding to the user's operation input to the map creation device 3, the placement setting unit 37 of the map creation device 3 places a shelf 70B of the same type as the shelf 70A to be displayed at the new installation position. This allows the user to newly place, on the map MP1, a shelf 70B of the same type as the shelf 70A displayed in the front layout view FV1.

[0185] In addition, when a user uses the information terminal 6 to select one or more shelves 70C (see FIG. 22) to be set from the multiple shelves 70 arranged on the map MP1, the creation support system 1 may set the setting contents set for the shelf 70A to be displayed to the shelf 70C to be set all at once.

[0186] 22, for example, the user uses the information terminal 6 to select a shelf 70C to be set from among the multiple shelves 70 on the map MP1 by specifying an area including the shelf 70C to be set with a mouse or the like. When the operation input unit 63 receives an operation input to select one or more shelves 70C to be set from the multiple shelves 70, the operation input unit 63 outputs an operation signal according to the user's operation input. The information terminal 6 transmits this operation signal to the map creation device 3, and when the map creation device 3 receives this operation signal, the placement setting unit 37 acquires information on the shelf 70C to be set based on the operation signal from the information terminal 6.

[0187] Next, the user selects the front layout drawing FV1 by pressing the mouse button with the mouse cursor placed on the front layout drawing FV1 of the second screen P12. With the mouse button pressed, the user moves (drags) the mouse cursor onto the shelf 70C to be set, and releases (drops) the mouse button (operation DG5 in FIG. 22), and the information terminal 6 outputs an operation signal according to the user's operation input to the map creation device 3. When the map creation device 3 receives this operation signal, the arrangement setting unit 37 sets the setting contents set for the shelf 70A to be displayed in the front layout drawing FV1 to the shelf 70C to be set, and the setting work for the shelf 70C to be set can be performed collectively.

[0188] Furthermore, in the creation support system 1, the arrangement of the shelves 70 can also be changed on the map MP1 of the first screen P11. When the operation input unit 63 receives an operation input specifying a reflection position on the map MP1, the map update unit 38 updates the map MP1 so as to arrange the shelves 70A to be displayed, which are displayed on the front layout diagram FV1, at the reflection position.

[0189] For example, when the operation input unit 63 receives an operation input (operation DG6 in FIG. 23) for moving (dragging) the shelf 70A to a desired reflection position on the map MP1 in the setting screen P1 shown in FIG. 23, the information terminal 6 transmits an output signal from the operation input unit 63 to the map creation device 3. When the map creation device 3 receives this operation signal, the map update unit 38 moves the shelf 70A to the position shown by the dotted line in FIG. 23 based on the operation signal from the information terminal 6, and stores the position of the shelf 70A after the movement in the first storage unit 36. In this way, when the operation input unit 63 receives an operation input for changing the arrangement of the shelf 70A to be changed among the multiple shelves 70 on the map MP1, the map update unit 38 updates the map MP1 by changing the arrangement of the shelf 70A to be changed based on the operation input. This allows the user to place the shelf 70A to be changed at a desired position on the map MP1, and easily perform the operation for changing the arrangement of the shelf 70A. In addition, when the operation input unit 63 receives an operation input to add and place the shelf 70A to be changed at a desired position, the map update unit 38 may add and place the shelf 70A to be changed at the desired position, making it possible to easily change the position of the shelf 70A to be changed on the map MP1.

[0190] Furthermore, when the operation input unit 63 receives an operation input of dragging a layout drawing (for example, the front layout drawing FV1) and dropping it at a reflection position on the map MP1, the map update unit 38 updates the map MP1 so as to place the shelf 70A to be displayed at the reflection position. In this way, by performing an operation of dragging the front layout drawing FV1 and dropping it at the reflection position on the map MP1, the shelf 70A to be displayed can be placed at the reflection position, so that the operation of placing the shelf 70A to be displayed at a desired reflection position can be easily performed. Note that the operation of specifying the reflection position is not limited to the operation of dragging the front layout drawing FV1 and dropping it at the reflection position on the map MP1, and may be, for example, an operation of inputting the grid coordinates of the reflection position.

[0191] In addition, as shown in FIG. 24, the display control unit 33 may display a first shelf 70D of the same type as the shelf 70A to be displayed on the map MP1 in a different display manner from a second shelf 70E of a different type from the shelf 70A to be displayed.

[0192] There are multiple types of shelves 70 arranged in the predetermined area A1, depending on the shape, size, number of shelves 71, etc. of the shelves 70. Here, when the operation input unit 63 receives an operation input to select the shelf 70A to be displayed, the display control unit 33 displays the first shelf 70D, which is the same type as the shelf 70A to be displayed, and the second shelf 70E, which is a different type from the shelf 70A, on the map MP1 in different display modes. Displaying the first shelf 70D and the second shelf 70E in different display modes means, for example, that at least one of the color, color shading, shape of the symbol, pattern attached to the symbol, and blinking state of the symbol representing the shelf 70 is different. In this way, since the first shelf 70D and the second shelf 70E are displayed in different display modes, the user can easily determine where the first shelf 70D, which is the same type as the shelf 70A to be displayed, is located based on the display of the map MP1. Here, the display mode of the shelf 70A to be displayed may be the same as the display mode of the first shelf 70D, but the display mode of the shelf 70A to be displayed may be different from the display mode of the first shelf 70D and the display mode of the second shelf 70E, respectively.

[0193] The shelf display system realized by the creation support system 1 is not limited to one that displays the arrangement of the shelves 70 when planning the arrangement of the shelves 70. The shelf display system may display the arrangement state of the items 90 on each shelf 70 when the mobile object control system 10 controls the mobile object 2 to transport the items 90. For example, the map creation device 3 acquires image data from a camera that captures the shelves 70 arranged in the predetermined area A1 at an appropriate timing, and detects whether the items 90 are placed in each arrangement area 72 of the shelves 70 by image processing the image data. When the operation input unit 63 of the information terminal 6 accepts an operation input from a user that specifies a shelf 70 to be checked in order to check the storage state of the items 90 on a desired shelf 70, the information terminal 6 transmits an operation signal corresponding to the operation input to the map creation device 3. When the map creation device 3 receives an operation signal from the information terminal 6 that displays the storage state of the items 90 on the shelf 70 to be checked, the map creation device 3 detects the storage state of the items 90 in each arrangement area 72 of the shelf 70 by image processing the image data of the shelf 70 to be checked. Then, the display control unit 33 creates a front layout diagram FV1 that indicates with symbols or the like whether or not an item 90 is placed in each arrangement area 72 of the shelf 70 to be checked, and transmits image data of a setting screen P1 including this front layout diagram FV1 to the information terminal 6. Upon receiving the image data from the map creation device 3, the information terminal 6 displays the setting screen P1 including the front layout diagram FV1 on the display unit 62, and the user can check whether or not an item 90 is placed in each arrangement area 72 of the shelf 70 to be checked.

[0194] (3.11) Recording and playback operations The operation of recording audio related to the creation of map MP1 and playing previously recorded audio when the creation support system 1 is performing the creation work of map MP1 corresponding to a specified area A1 will be described with reference to Figures 25 to 27.

[0195] Incidentally, there are two modes in which the creation support system 1 supports the creation work of the map MP1: a simple mode and a detailed mode, and a user who performs creation work using the creation support system 1 can select either the simple mode or the detailed mode.

[0196] The simple mode is a mode in which, for example, a user (e.g., a salesperson) who performs the creation work using the creation support system 1 creates a simple map MP1 while listening to the requests of a business who will have the mobile body 2 transport the goods 90 using the mobile body control system 10. In the simple mode, the simple map MP1 is created by roughly dividing the map MP1 corresponding to the predetermined area A1 into sections and roughly setting the routes (route candidates) to be used by the mobile body 2.

[0197] The detailed mode is a mode in which, for example, a user (e.g., a designer) performing creation work using the creation support system 1 creates a detailed map MP1 that can be used for controlling a moving object 2 based on a simple map MP1. In the detailed mode, the map MP1 is created by arranging nodes N1, zones Z1, signal elements SG1, etc. on the map MP1.

[0198] Here, the edit menus that the user of the creation support system 1 can use to create the map MP1 differ between the simple mode and the detailed mode, with more edit menus available in the detailed mode than in the simple mode.

[0199] The following describes the operation when the user uses the creation support system 1 in the detailed mode.

[0200] This creation support system 1 includes a voice recording unit 64 that records voice. The voice recording unit 64 records voice in association with a recording location based on a user's instruction input (operation input) that indicates the recording location on the map MP1. Here, the operation input unit 63 that accepts the user's instruction input accepts, for example, an operation input in which the user operates a mouse or a touch panel using a part of the body (for example, a finger, etc.), but may also include a voice recognition unit that accepts the user's instruction input by voice.

[0201] In the creation support system 1 of this embodiment, audio is recorded in correspondence with the recording location on the map MP1, which has the advantage that it is easy to understand which location on the map MP1 the audio is talking about.

[0202] The production support system 1 further includes an audio playback unit 65 that plays back audio. The audio playback unit 65 plays back audio recorded in association with a recording location based on a user's instruction input indicating the recording location of the audio to be played back on the map MP1. This allows the user of the production support system 1 to easily find and listen to audio spoken at a desired recording location.

[0203] The operation of the production support system 1 for recording audio in association with a recording location on the map MP1 will be described with reference to FIGS.

[0204] FIG. 25 is an example of the setting screen P1, and the setting screen P1 displays a map MP1 including a route candidate R1 being created. The map MP1 displays a recording button B2 for starting recording. For example, when a user of the creation support system 1 creates a map MP1 while listening to requests from a person in charge of a business that transports an article 90 using the mobile control system 10, the user may record the voice of the person in charge during the creation or record the user's own voice memo. Here, when the user places a cursor CS1 such as a mouse on the recording button B2 on the setting screen P1 to record voice and clicks it (ST21: Yes), the operation input unit 63 outputs an operation signal instructing a standby state for recording, and the voice recording unit 64 enters a standby state for recording. Next, when the user places a cursor CS1 such as a mouse on the setting screen P1 at a place where the user wants to record voice (for example, node N61) and clicks on this place, the operation input unit 63 accepts the operation input for starting recording and outputs an operation signal instructing the start of recording (ST22). When the operation input unit 63 outputs an operation signal to start recording, the voice recording unit 64 starts a voice conversion process to convert the voice input to the microphone of the information terminal 6 into voice data in a predetermined recording format (ST23). Then, the information terminal 6 records the voice data converted by the voice recording unit 64 in memory in association with the position information (e.g., grid coordinates) of the recording location. After that, when the user places the cursor CS1 of a mouse or the like on the recording button B2 on the setting screen P1 and clicks it, the operation input unit 63 outputs an operation signal according to the user's operation input, and the voice recording unit 64 enters a state in which it stops recording. When the voice recording unit 64 stops recording, the information terminal 6 causes the second communication unit 61 to transmit the voice data recorded in the memory and the position information of the recording location to the map creation device 3.

[0205] When the map creation device 3 receives the voice data and the location information of the recording location from the information terminal 6, the map creation device 3 stores the voice data and the location information of the recording location in the first storage unit 36 ​​in association with each other. In addition, in the map creation device 3, the text conversion unit 39 performs voice recognition processing on the beginning part of the voice data (for example, about 10 characters) to convert it into text data (ST24), and stores this text data in the first storage unit 36 ​​in association with the voice data and the location information of the recording location. As shown in FIG. 27, the display control unit 33 creates a setting screen P1 in which play buttons B3 to B5 for playing the voice data are arranged at the recording location on the map MP1, and transmits image data of the setting screen P1 to the information terminal 6 to display it on the display unit 62 of the information terminal 6 (ST25). Here, the display control unit 33 displays text boxes TB1 to TB3 in the vicinity of the play buttons B3 to B5 on the setting screen P1, each of which displays the beginning part of the corresponding voice (for example, about 10 characters) as text. Therefore, a user of the creation support system 1 can infer the information of the audio recorded at each recording location based on the contents of the text boxes TB1 to TB3, and can easily find the recording location where the audio he or she wants to hear is recorded.

[0206] Next, the operation of the creation support system 1 to play back the audio data recorded in association with the recording location on the map MP1 will be described with reference to FIG. 27. When the user of the creation support system 1 wants to listen to the audio recorded in association with the recording location on the map MP1, he places the cursor CS1 of a mouse or the like on the desired playback button B3 on the setting screen P1 and clicks it, and the operation input unit 63 outputs an operation signal according to the operation input. When the information terminal 6 receives an operation input instructing audio playback, the audio playback unit 65 plays back the audio data recorded in association with the specified recording location and outputs the audio from the speaker, so that the user can listen to the audio recorded in association with the desired recording location. Note that the display control unit 33 displays the playback buttons B3 to B5 as icons indicating the audio recording locations on the map MP1, but the display control unit 33 may change the display mode of the icons (playback buttons B3 to B5) depending on whether the audio has not been played back or has been played back. For example, the display control unit 33 can distinguish between unplayed and played audio by changing the color of the play buttons B3 to B5, such as blue for the play buttons B3 to B5 for which audio has not been played and red for the play buttons B3 to B5 for which audio has already been played. Note that the display control unit 33 may change at least one of the color, color shade, shape, pattern, and blinking state of the play buttons B3 to B5 for which audio has not been played and the play buttons B3 to B5 for which audio has already been played.

[0207] As described above, the creation support system 1 of this embodiment further includes a text conversion unit 39 that converts the voice recorded by the voice recording unit 64 into text data. The voice recording unit 64 records the voice together with the text data converted by the text conversion unit 39 in association with the recording location. This allows a user of the creation support system 1 to search for a desired voice by using the text data recorded together with the voice. Note that the text conversion unit 39 does not need to convert the entire voice recorded by the voice recording unit 64 into text data, and only the portion to be displayed on the map MP1 (for example, the beginning of the voice) needs to be converted into text data.

[0208] The display control unit 33 then displays at least a part of the text data into which the voice has been converted by the text conversion unit 39 at the location where the voice was recorded on the map MP1. The display control unit 33 displays the beginning of the voice data on the map MP1, but may display the entire text data of the voice data, or may display characteristic keywords or summaries extracted from the text data on the map MP1. Furthermore, the display control unit 33 may display at least a part of the text data into which the voice has been converted by the text conversion unit 39 when a cursor CS1 such as a mouse is placed on the play buttons B3 to B5 displayed on the map MP1.

[0209] The creation support system 1 of the present embodiment further includes a map update unit 38 for updating the map MP1, and the map update unit 38 may update the map MP1 based on the contents of the voice recorded in association with the recording location. For example, the map update unit 38 may update the map MP1 based on the contents of the text data converted from the voice by the text conversion unit 39. If the voice recorded at a certain recording location is "I'm going to install a charger here," the map update unit 38 updates the map MP1 so that the recording location is set to the installation position PS1 of the charger of the moving object 2. If the voice recorded at a certain recording location is "I'm going to make this area a carrier place," the map update unit 38 updates the map MP1 so that an area of ​​a predetermined size including the recording location is set to the carrier place CP1, which is a place to place the item 90. In this way, the map update unit 38 updates the map MP1 based on the contents of the voice, thereby reducing the effort required for the user of the creation support system 1 to create the map MP1.

[0210] Furthermore, the map update unit 38 may set a prohibited area that prohibits the passage of the moving object 2 based on the content of the voice recorded in association with the recording location. For example, if the voice at a certain recording location says, "This area is where workers work," it is not desirable for the moving object 2 to pass through the worker's work area, so the map update unit 38 updates the map MP1 so that the vicinity of the recording location is set as a prohibited area. In this way, the map update unit 38 sets a prohibited area based on the content of the recorded voice, which has the advantage of preventing forgetting to set a prohibited area.

[0211] Furthermore, when the creation support system 1 performs a creation operation to create a map MP1 for a plurality of predetermined areas A1, the creation support system 1 may store in the first storage unit 36 ​​the contents of the voices recorded for the plurality of maps MP1 corresponding to the plurality of predetermined areas A1 in association with the recording locations. Then, the map update unit 38 may update the map MP1 based on the history data stored in the first storage unit 36 ​​in association with the contents of the voices and the recording locations. When creating a map MP1 corresponding to a predetermined area A1, there are general points of consideration common to the plurality of predetermined areas A1. By the map update unit 38 updating the map MP1 based on the history data, the map MP1 can be created taking into consideration the general points of consideration, and the effort required for creating the map MP1 can be reduced.

[0212] The display control unit 33 may also change the display mode of the map MP1 based on the content of the voice recorded in association with the recording location. For example, if the text data converted by the text conversion unit 39 contains a phrase related to the safety of workers working in the predetermined area A1, the display control unit 33 may change the display mode of the map MP1 to a display mode that attracts the user's attention based on the content of the voice. In this way, the display control unit 33 changes the display mode of the map MP1 based on the content of the voice, thereby attracting the attention of the user of the creation support system 1.

[0213] In the detailed mode, the creation support system 1 records the voice in association with a recording location on the map MP1, which is an electronic map, but in the simple mode, the map MP1 may be, for example, a camera image obtained by photographing the predetermined area A1 with a digital camera, etc. In other words, in the simple mode, the creation support system 1 may record the voice in association with a recording location designated by the user on the map MP1 consisting of a camera image.

[0214] When the map MP1 corresponding to the predetermined area A1 is completed, stationary objects such as walls 200, partitions 210, and shelves 70 are arranged in the predetermined area A1 in accordance with the settings of the map MP1, and a first area A11 and a second area A12 where items 90 are placed, a waiting area A20 for the moving object 2, a no-travel area A30 where the moving object 2 cannot travel, etc. are set. Then, the moving object control system 10 controls the movement of the moving object 2 using the information of the completed map MP1.

[0215] (4) Variations The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be modified in various ways depending on the design and the like as long as the object of the present disclosure can be achieved. In addition, the same function as the creation support system 1 may be embodied in a creation support method, a computer program, or a non-transitory recording medium on which a program is recorded. The creation support method according to the first aspect includes a display control process for displaying a map MP1 on a display unit 62, and a map creation process for creating a map MP1 based on an operation signal output from an operation input unit 63 that accepts a user's operation input. The map MP1 is a map corresponding to a predetermined area A1 in which a moving object 2 moves. The map creation process includes a zone generation process and a signal generation process. In the zone generation process, a zone is generated on the map for a route candidate on which the moving object can move based on the operation signal. In the signal generation process, a signal element SG1 for switching between permitting or not permitting passage of the moving object 2 in at least one of the incoming and outgoing directions is arranged on the map MP1 in correspondence with the zone Z1. The incoming direction is the direction in which the mobile unit 2 moves from the outside to the inside of the zone Z1, and the outgoing direction is the direction in which the mobile unit 2 moves from the inside to the outside of the zone Z1. In the signal generation process, when setting the zone Z1 in the zone generation process, signal elements are arranged corresponding to the zone Z1 based on the position of the zone Z1 and the traveling direction of the mobile unit 2 on the route candidate R1 that passes through the zone Z1.

[0216] Furthermore, the creation support method according to the second aspect includes a display control process for displaying on the display unit 62 a map MP1 corresponding to a predetermined area A1 in which a plurality of shelves 70 are arranged. When the operation input unit 63 receives an operation input specifying a shelf 70A to be displayed from the plurality of shelves 70 on the map MP1, the display control process causes the display unit 62 to display a layout diagram (for example, a front layout diagram FV1) based on an operation signal output from the operation input unit 63. The layout diagram (front layout diagram FV1) represents the shelf 70A to be displayed and the arrangement area 72 in which items 90 are arranged on the shelf 70A to be displayed.

[0217] The creation support method according to the third aspect includes a display control process for displaying on the display unit 62 a screen (e.g., a setting screen P1) including a map MP1 corresponding to a predetermined area A1 in which the moving object 2 moves, and an audio recording process for recording audio. In the audio recording process, the audio is recorded in association with the recording location based on an operation signal output from the operation input unit 63 in response to an operation input (user's instruction input) indicating a recording location on the map MP1.

[0218] A (computer) program according to one aspect is a program for causing one or more processors to execute each of the creation support methods of the first to third aspects.

[0219] Modifications of the above embodiment are listed below. The modifications described below can be applied in appropriate combinations.

[0220] The creation support system 1 and shelf display system in the present disclosure include a computer system. The computer system is mainly composed of a processor and a memory as hardware. The functions of the creation support system 1 and shelf display system in the present disclosure are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, may be provided through an electric communication line, or may be provided by being recorded in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits such as IC or LSI referred to here are called by different names depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Furthermore, a field-programmable gate array (FPGA) that is programmed after the manufacture of the LSI, or a logic device that can reconfigure the connection relationship inside the LSI or the circuit partition inside the LSI, can also be adopted as a processor. The electronic circuits may be integrated in one chip or distributed among multiple chips. The chips may be integrated in one device or distributed among multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Thus, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0221] Also, in the above embodiment, it is not a necessary configuration for the creation support system 1 and the shelf display system that multiple functions in the creation support system 1 and the shelf display system (for example, multiple functions provided in the map creation device 3) are concentrated in one housing. The components of the creation support system 1 and the shelf display system may be distributed across multiple housings. Furthermore, at least some of the functions of the creation support system 1 and the shelf display system, for example, some of the functions of the map creation device 3, may be realized by the cloud (cloud computing) or the like.

[0222] Conversely, in the above embodiment, at least some of the functions of the creation support system 1 and the shelf display system that are distributed among multiple devices may be integrated into one housing. For example, the functions of the creation support system 1 and the shelf display system that are distributed among the map creation device 3 and the information terminal 6 may be integrated into one housing, or the functions of the creation support system 1 and the shelf display system may be integrated into the information terminal 6.

[0223] (summary) As described above, the creation support system (1) of the first aspect includes a display control unit (33) and a map creation unit (32). The display control unit (33) causes the display unit (62) to display a map (MP1) corresponding to a predetermined area (A1) in which the moving object (2) moves. The map creation unit (32) creates the map (MP1) based on an operation signal output from an operation input unit (63) that accepts a user's operation input. The map creation unit (32) includes a zone generation unit (323) and a signal generation unit (324). The zone generation unit (323) generates a zone (Z1) on the map (MP1) for a route candidate (R1) along which the moving object (2) can move based on the operation signal. The signal generation unit (324) places a signal element (SG1) for switching between permitting or not permitting passage of the moving object (2) in at least one of the incoming and outgoing directions on the map (MP1) in correspondence with the zone (Z1). The incoming direction is the direction in which the mobile object (2) moves from the outside to the inside of the zone (Z1), and the outgoing direction is the direction in which the mobile object (2) moves from the inside to the outside of the zone (Z1). When the zone generating unit (323) generates the zone (Z1), the signal generating unit (324) arranges a signal element (SG1) corresponding to the zone (Z1) based on the position of the zone (Z1) and the traveling direction of the mobile object (2) on the route candidate (R1) passing through the zone (Z1).

[0224] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0225] In the creation support system (1) of the second aspect, in the first aspect, the zone generation unit (323) generates a zone (Z1) based on the position of the node (N1) selected by the operation input, based on an operation signal output by the operation input unit (63) in response to an operation input selecting a node (N1) on a route candidate (R1).

[0226] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0227] In the creation support system (1) of the third aspect, in the first or second aspect, the zone generation unit (323) generates the zone (Z1) so as to correspond to the changed range, based on an operation signal output by the operation input unit (63) in response to an operation input that changes the range of the zone (Z1) set in correspondence with the node (N1).

[0228] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0229] In the creation support system (1) of the fourth aspect, in any one of the first to third aspects, a zone-related element including at least a signal element (SG1) is arranged on a map (MP1) in correspondence with a zone (Z1). When the operation input unit (63) outputs an operation signal corresponding to an operation input for bringing the zone-related element closer to the zone (Z1) on the map (MP1) to within a predetermined reference distance, the map creation unit (32) associates the zone (Z1) with the zone-related element.

[0230] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0231] In the creation support system (1) of the fifth aspect, in the fourth aspect, when the operation input unit (63) outputs an operation signal corresponding to an operation input for selecting one of the elements including the zone (Z1) and the zone-related elements as a target element, the display control unit (33) changes the display mode of all elements associated with the target element based on the operation signal.

[0232] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0233] In the creation support system (1) of the sixth aspect, in any of the first to fifth aspects, when the operation input unit (63) outputs an operation signal corresponding to an operation input for moving a node (N1) on a route candidate (R1) along the route candidate (R1), the display control unit (33) moves the position of the node (N1) along the route candidate (R1) based on the operation signal.

[0234] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0235] In the seventh aspect of the creation support system (1), in any of the first to sixth aspects, when the operation input unit (63) outputs an operation signal in response to an operation input that specifies a start point and an end point on the map (MP1), the map creation unit (32) creates a route that connects the start point and the end point on the map (MP1) with the minimum travel cost based on the operation signal.

[0236] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0237] In the eighth aspect of the creation support system (1), in any of the first to seventh aspects, when the operation input unit (63) outputs an operation signal corresponding to an operation input for moving either the zone (Z1) or the signal element (SG1) arranged corresponding to the zone (Z1) on the map (MP1), the display control unit (33) moves the zone (Z1) and the signal element (SG1) corresponding to the zone (Z1) while maintaining their relative positional relationship based on the operation signal.

[0238] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0239] The creation support system (1) of the ninth aspect, in any of the first to eighth aspects, further includes a candidate node detection unit (325) that detects candidate nodes for which no zone (Z1) is set among a plurality of nodes (N1) arranged on the route candidate (R1). The display control unit (33) displays the candidate nodes detected by the candidate node detection unit (325) on the map (MP1).

[0240] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0241] In the creation support system (1) of the tenth aspect, in any one of the first to ninth aspects, when the operation input unit (63) outputs an operation signal corresponding to an operation input for selecting a target route that is a part of the route candidates (R1) on the map (MP1), the display control unit (33) displays the first route and the second route on the map (MP1) in different display modes based on the operation signal. The first route is a route that is connected to the target route among the route candidates (R1), and the second route is a route that is not connected to the target route among the route candidates (R1).

[0242] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0243] In the creation support system (1) of the eleventh aspect, in any of the first to tenth aspects, the display control unit (33) displays multiple types of elements including at least a node (N1), a zone (Z1), and a signal element (SG1) located on the route candidate (R1) in a display manner that differs for each type.

[0244] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0245] The creation support system (1) of the twelfth aspect, in any one of the first to eleventh aspects, further includes a time prediction unit (35). When the operation input unit (63) outputs an operation signal corresponding to an operation input for selecting a first point and a second point on the route candidate (R1), the time prediction unit (35) predicts a required time for the moving object (2) to move from the first point to the second point. The display control unit (33) displays the required time predicted by the time prediction unit (35) on the map (MP1).

[0246] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0247] The creation support system (1) of the thirteenth aspect is in any one of the first to twelfth aspects, and further includes a type setting unit (34). When a plurality of undefined elements (E1) related to the route candidate (R1) and whose types are undefined are displayed on the map (MP1), the type setting unit (34) collectively sets the types of the plurality of undefined elements (E1).

[0248] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0249] In the creation support system (1) of the fourteenth aspect, in any one of the first to thirteenth aspects, the size of the zone (Z1) is at least large enough to include an area in which the moving object (2) can turn on the spot.

[0250] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0251] In the creation support system (1) of the fifteenth aspect, in any one of the first to fourteenth aspects, the display control unit (33) causes the display unit (62) to display a map (MP1) corresponding to a predetermined area (A1) in which a plurality of shelves (70) are arranged. When the operation input unit (63) receives an operation input designating a shelf (70A) to be displayed from among the plurality of shelves (70) on the map (MP1), the display control unit (33) causes the display unit (62) to display a layout diagram (FV1) representing the shelf (70A) to be displayed and an arrangement area (72) in which an item (90) is arranged on the shelf (70A) to be displayed, based on an operation signal output from the operation input unit (63).

[0252] According to this embodiment, it is possible to realize a production support system (1) that makes it easy to confirm the placement area (72) on the shelf (70) where the item (90) is placed.

[0253] The creation support system (1) of the 16th aspect is the 15th aspect, and further includes a placement setting unit (37). The placement setting unit (37) sets a location of a placement area (72) in the layout drawing (FV1) based on an operation input received by the operation input unit (63).

[0254] According to this embodiment, it is possible to realize a production support system (1) that makes it easy to confirm the placement area (72) on the shelf (70) where the item (90) is placed.

[0255] The creation support system (1) of the 17th aspect is in any one of the 1st to 16th aspects, and further includes a voice recording unit (64) that records voice. The voice recording unit (64) records the voice in association with the recording location based on an operation signal output from the operation input unit (63) in response to an operation input that indicates the recording location on the map (MP1).

[0256] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0257] The creation support system (1) of the 18th aspect is the 17th aspect, further comprising an audio playback unit (65) that plays audio. The audio playback unit (65) plays the audio recorded in association with the recording location, based on an operation signal output from the operation input unit (63) in response to an operation input that indicates the recording location of the audio to be played on the map (MP1).

[0258] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0259] The creation support method of the 19th aspect includes a display control process for displaying a map (MP1) on a display unit (62), and a map creation process for creating a map (MP1) based on an operation signal output from an operation input unit (63) that accepts a user's operation input. The map (MP1) is a map corresponding to a predetermined area (A1) in which a moving body (2) moves. The map creation process includes a zone generation process and a signal generation process. In the zone generation process, a zone (Z1) is generated on the map (MP1) for a route candidate (R1) along which the moving body (2) can move based on the operation signal. In the signal generation process, a signal element (SG1) for switching whether to permit or not permit the moving body (2) to pass in at least one of an incoming direction and an outgoing direction is arranged on the map (MP1) in correspondence with the zone (Z1). The incoming direction is a direction in which the moving body (2) moves from the outside to the inside of the zone (Z1), and the outgoing direction is a direction in which the moving body (2) moves from the inside to the outside of the zone (Z1). In the signal generation process, when a zone (Z1) is generated in the zone generation process, a signal element (SG1) is placed corresponding to the zone (Z1) based on the position of the zone (Z1) and the direction of travel of a moving body (2) on a candidate route (R1) that passes through the zone (Z1).

[0260] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0261] A program according to a twentieth aspect is a program for causing one or more processors to execute the creation support method according to the nineteenth aspect.

[0262] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0263] In the creation support system (1) of the 21st aspect, in the 16th aspect, the layout setting unit (37) further sets at least one of the shape, size, and number of shelf boards (71) of the shelf (70A) to be displayed in the layout drawing (FV1) based on the operation input received by the operation input unit (63).

[0264] According to this embodiment, it is possible to realize a production support system (1) that makes it easy to confirm the placement area (72) on the shelf (70) where the item (90) is placed.

[0265] In the creation support system (1) of the 22nd aspect, in any of the 15th, 16th, and 21st aspects, when the operation input unit (63) receives an operation input for selecting one or more shelves to be set from the multiple shelves (70), the placement setting unit (37) sets the setting contents set for the shelf (70A) to be displayed on the shelf to be set.

[0266] According to this embodiment, it is possible to realize a production support system (1) that makes it easy to confirm the placement area (72) on the shelf (70) where the item (90) is placed.

[0267] The creation support system (1) of the 23rd aspect is in any one of the 15th, 16th, 21st, and 22nd aspects, and further includes a map update unit (38). When the operation input unit (63) receives an operation input for changing the arrangement of a shelf to be changed among the multiple shelves (70) on the map (MP1), the map update unit (38) updates the map (MP1) by changing the arrangement of the shelf to be changed based on the operation input.

[0268] According to this embodiment, it is possible to realize a production support system (1) that makes it easy to confirm the placement area (72) on the shelf (70) where the item (90) is placed.

[0269] The creation support system (1) of the 24th aspect is in any one of the 15th, 16th, 21st, and 22nd aspects, and further includes a map update unit (38) that updates the map (MP1). When the operation input unit (63) receives an operation input that designates a reflection position on the map (MP1), the map update unit (38) updates the map (MP1) so as to position the shelf (70A) to be displayed at the reflection position.

[0270] According to this embodiment, it is possible to realize a production support system (1) that makes it easy to confirm the placement area (72) on the shelf (70) where the item (90) is placed.

[0271] In the creation support system (1) of the 25th aspect, in the 24th aspect, when the operation input unit (63) receives an operation input of dragging the layout drawing (FV1) and dropping it at a reflection position on the map (MP1), the map update unit (38) updates the map (MP1) so as to position the shelf (70A) to be displayed at the reflection position.

[0272] According to this embodiment, it is possible to realize a production support system (1) that makes it easy to confirm the placement area (72) on the shelf (70) where the item (90) is placed.

[0273] In the creation support system (1) of the twenty-sixth aspect, in any one of the fifteenth, sixteenth, and twenty-first to twenty-fifth aspects, the placement area (72) is an area in which an item (90) can be placed.

[0274] According to this embodiment, it is possible to realize a production support system (1) that makes it easy to confirm the placement area (72) on the shelf (70) where the item (90) is placed.

[0275] In the creation support system (1) of the 27th aspect, in any one of the 15th, 16th, and 21st to 26th aspects, the display control unit (33) causes the display unit (62) to display the map (MP1) and the layout drawing (FV1) side by side.

[0276] According to this embodiment, it is possible to realize a production support system (1) that makes it easy to confirm the placement area (72) on the shelf (70) where the item (90) is placed.

[0277] In the 28th aspect of the creation support system (1), in the 27th aspect, the display control unit (33) displays the shelf (70A) to be displayed on the map (MP1) in a display mode different from that of the shelves (70) other than the shelf (70A) to be displayed among the multiple shelves (70).

[0278] According to this embodiment, it is possible to realize a production support system (1) that makes it easy to confirm the placement area (72) on the shelf (70) where the item (90) is placed.

[0279] In the creation support system (1) of the 29th aspect, in the 27th or 28th aspect, the display control unit (33) displays on the map (MP1) a first shelf (70D) of the same type as the shelf (70A) to be displayed in a display mode different from a second shelf (70E) of a different type from the shelf (70A) to be displayed.

[0280] According to this embodiment, it is possible to realize a production support system (1) that makes it easy to confirm the placement area (72) on the shelf (70) where the item (90) is placed.

[0281] The creation support method of the 30th aspect includes a display control process for displaying on the display unit (62) a map (MP1) corresponding to a predetermined area (A1) in which a plurality of shelves (70) are arranged. When the operation input unit (63) receives an operation input designating a shelf (70A) to be displayed from among the plurality of shelves (70) on the map (MP1), the display control process causes the display unit (62) to display a layout diagram (FV1) based on an operation signal output from the operation input unit (63). The layout diagram (FV1) represents the shelf (70A) to be displayed and an arrangement area (72) in which items (90) are arranged on the shelf (70A) to be displayed.

[0282] According to this embodiment, it is possible to realize a production support method that makes it easy to confirm the placement area (72) on the shelf (70) where the item (90) is placed.

[0283] A program according to a thirty-first aspect is a program for causing one or more processors to execute the creation support method according to the thirtieth aspect.

[0284] According to this embodiment, it is possible to cause one or more processors to execute a production support method that makes it easy to confirm the arrangement area (72) on the shelf (70) where the item (90) is arranged.

[0285] The creation support system (1) of the 32nd aspect is the 17th or 18th aspect, further comprising a text conversion unit (39) that converts the voice recorded by the voice recording unit (64) into text data. The voice recording unit (64) records the voice together with the text data converted by the text conversion unit (39) in association with the recording location.

[0286] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0287] In the creation support system (1) of the 33rd aspect, in the 32nd aspect, the display control unit (33) displays at least a portion of the text data into which the voice was converted by the text conversion unit (39) at the location on the map (MP1) where the voice was recorded.

[0288] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0289] The creation support system (1) of the 34th aspect is in any one of the 17th, 18th, 32nd, and 33rd aspects, and further includes a map update unit (38) that updates the map (MP1). The map update unit (38) updates the map (MP1) based on the content of the audio recorded in association with the recording location.

[0290] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0291] In the creation support system (1) of the 35th aspect, in the 34th aspect, the map update unit (38) sets a prohibited area in which the passage of the moving body (2) is prohibited based on the content of the audio recorded in association with the recording location.

[0292] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0293] In the creation support system (1) of the 36th aspect, in the 34th or 35th aspect, the map update unit (38) updates the map (MP1) based on history data that correlates and accumulates the content of the audio with the recording location.

[0294] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0295] In the creation support system (1) of the 37th aspect, in any of the 17th, 18th, and 32nd to 36th aspects, the display control unit (33) changes the display mode of the map (MP1) based on the content of the audio recorded in association with the recording location.

[0296] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0297] In the creation support system (1) of the 38th aspect, in any of the 17th, 18th, and 32-37 aspects, the display control unit (33) displays icons (B3-B5) indicating audio recording locations on the map (MP1). The display control unit (33) displays the icon when the audio has not been played and the icon when the audio has been played in different display modes.

[0298] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0299] The creation support method of the 39th aspect includes a display control process for displaying on the display unit (62) a map (MP1) corresponding to a predetermined area (A1) in which the moving object (2) moves, and an audio recording process for recording audio. In the audio recording process, the audio is recorded in association with the recording location based on an operation signal output from the operation input unit (63) in response to an operation input indicating the recording location on the map (MP1).

[0300] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0301] A program according to a fortieth aspect is a program for causing one or more processors to execute the creation support method according to the thirty-ninth aspect.

[0302] According to this embodiment, it is possible to simplify the task of creating the map (MP1) corresponding to the predetermined area (A1) in which the moving object (2) moves.

[0303] Not limited to the above aspects, various configurations (including modified examples) of the creation support system (1) according to the above embodiment can be embodied as a creation support method, a (computer) program, or a non-transitory recording medium having a program recorded thereon, etc.

[0304] The configurations according to the second to eighteenth, twenty-first to twenty-eighth, and thirty-second to thirty-eighth aspects are not essential to the creation support system (1) and may be omitted as appropriate. [Explanation of symbols]

[0305] 1 Creation support system 2. Mobile 32 Map Creation Department 33 Display control section 34 Type setting section 35 Time Prediction Section 37 Placement setting section 62 Display section 63 Operation input section 64 Voice Recording Section 65 Audio playback section 70 Shelves 70A Display shelf 72 Placement Area 90 Goods 323 Zone Generation Unit 324 Signal Generator 325 Candidate Node Detection Unit A1 designated area E1 undefined element FV1 Layout diagram MP1 Map N1 Node R1 Route Candidate SG1 signal element Z1 Zone

Claims

1. a display control unit that causes a map corresponding to a predetermined area in which the moving object moves to be displayed on a display unit; a map creation unit that creates the map based on an operation signal output from an operation input unit that accepts an operation input from a user, The map creation unit is a zone generating unit that generates a zone on the map for a route candidate along which the moving object can move, based on the operation signal; a signal generating unit that arranges on the map, in correspondence with the zones, signal elements for switching between permitting or not permitting passage of the mobile object in at least one of an incoming direction in which the mobile object moves from the outside to the inside of the zone and an outgoing direction in which the mobile object moves from the inside to the outside of the zone, When the zone generation unit generates the zone, the signal generation unit arranges the signal elements corresponding to the zone based on a position of the zone and a traveling direction of the moving object on the route candidate that passes through the zone, and the zone generation unit generates the zone so as to correspond to the changed range, based on the operation signal output by the operation input unit in response to the operation input that changes the range of the zone. Creation support system.

2. A display control unit that displays on a display unit a map corresponding to a predetermined area in which a moving object moves; a map creation unit that creates the map based on an operation signal output from an operation input unit that accepts an operation input from a user, The map creation unit is a zone generating unit that generates a zone on the map for a route candidate along which the moving object can move, based on the operation signal; a signal generating unit that arranges on the map, in correspondence with the zones, signal elements for switching between permitting or not permitting passage of the mobile object in at least one of an incoming direction in which the mobile object moves from the outside to the inside of the zone and an outgoing direction in which the mobile object moves from the inside to the outside of the zone, When the zone generation unit generates the zone, the signal generation unit arranges the signal elements corresponding to the zone based on a position of the zone and a traveling direction of the moving object on the route candidate that passes through the zone, and Zone-related elements including at least the signal elements are arranged on the map in correspondence with the zones; When the operation input unit outputs the operation signal corresponding to the operation input for bringing the zone-related element closer to the zone on the map to within a predetermined reference distance, the map creation unit associates the zone with the zone-related element. Creation support system.

3. When the operation input unit outputs the operation signal corresponding to the operation input for selecting one of the elements including the zone and the zone-related element as a target element, the display control unit changes the display mode of all the elements associated with the target element based on the operation signal. The creation support system according to claim 2.

4. A display control unit that displays on a display unit a map corresponding to a predetermined area in which a moving object moves; a map creation unit that creates the map based on an operation signal output from an operation input unit that accepts an operation input from a user, The map creation unit is a zone generating unit that generates a zone on the map for a route candidate along which the moving object can move, based on the operation signal; a signal generating unit that arranges on the map, in correspondence with the zones, signal elements for switching between permitting or not permitting passage of the mobile object in at least one of an incoming direction in which the mobile object moves from the outside to the inside of the zone and an outgoing direction in which the mobile object moves from the inside to the outside of the zone, When the zone generation unit generates the zone, the signal generation unit arranges the signal elements corresponding to the zone based on a position of the zone and a traveling direction of the moving object on the route candidate that passes through the zone, and When the operation input unit outputs the operation signal corresponding to the operation input for moving a node on the route candidate along the route candidate, the display control unit moves a position of the node along the route candidate based on the operation signal. Creation support system.

5. A display control unit that displays on a display unit a map corresponding to a predetermined area in which a moving object moves; a map creation unit that creates the map based on an operation signal output from an operation input unit that accepts an operation input from a user, The map creation unit is a zone generating unit that generates a zone on the map for a route candidate along which the moving object can move, based on the operation signal; a signal generating unit that arranges on the map, in correspondence with the zones, signal elements for switching between permitting or not permitting passage of the mobile object in at least one of an incoming direction in which the mobile object moves from the outside to the inside of the zone and an outgoing direction in which the mobile object moves from the inside to the outside of the zone, When the zone generation unit generates the zone, the signal generation unit arranges the signal elements corresponding to the zone based on a position of the zone and a traveling direction of the moving object on the route candidate that passes through the zone, and When the operation input unit outputs the operation signal corresponding to the operation input for moving, on the map, either the zone or the signal element arranged corresponding to the zone, the display control unit moves, based on the operation signal, the zone and the signal element corresponding to the zone while maintaining a relative positional relationship. Creation support system.

6. A display control unit that displays on a display unit a map corresponding to a predetermined area in which a moving object moves; a map creation unit that creates the map based on an operation signal output from an operation input unit that accepts an operation input from a user, The map creation unit is a zone generating unit that generates a zone on the map for a route candidate along which the moving object can move, based on the operation signal; a signal generating unit that arranges on the map, in correspondence with the zones, signal elements for switching between permitting or not permitting passage of the mobile object in at least one of an incoming direction in which the mobile object moves from the outside to the inside of the zone and an outgoing direction in which the mobile object moves from the inside to the outside of the zone, When the zone generation unit generates the zone, the signal generation unit arranges the signal elements corresponding to the zone based on a position of the zone and a traveling direction of the moving object on the route candidate that passes through the zone, and a candidate node detection unit that detects a candidate node to which the zone is not set among a plurality of nodes arranged on the route candidate, the display control unit displays, on the map, the candidate nodes detected by the candidate node detection unit. Creation support system.

7. A display control unit that displays on a display unit a map corresponding to a predetermined area in which a moving object moves; a map creation unit that creates the map based on an operation signal output from an operation input unit that accepts an operation input from a user, The map creation unit is a zone generating unit that generates a zone on the map for a route candidate along which the moving object can move, based on the operation signal; a signal generating unit that arranges on the map, in correspondence with the zones, signal elements for switching between permitting or not permitting passage of the mobile object in at least one of an incoming direction in which the mobile object moves from the outside to the inside of the zone and an outgoing direction in which the mobile object moves from the inside to the outside of the zone, When the zone generation unit generates the zone, the signal generation unit arranges the signal elements corresponding to the zone based on a position of the zone and a traveling direction of the moving object on the route candidate that passes through the zone, and When the operation input unit outputs the operation signal corresponding to the operation input for selecting a target route that is a part of the route candidates on the map, the display control unit displays, on the map, a first route that is connected to the target route among the route candidates and a second route that is not connected to the target route among the route candidates, in display modes different from each other, based on the operation signal. Creation support system.

8. A display control unit that displays on a display unit a map corresponding to a predetermined area in which a moving object moves; a map creation unit that creates the map based on an operation signal output from an operation input unit that accepts an operation input from a user, The map creation unit is a zone generating unit that generates a zone on the map for a route candidate along which the moving object can move, based on the operation signal; a signal generating unit that arranges on the map, in correspondence with the zones, signal elements for switching between permitting or not permitting passage of the mobile object in at least one of an incoming direction in which the mobile object moves from the outside to the inside of the zone and an outgoing direction in which the mobile object moves from the inside to the outside of the zone, When the zone generation unit generates the zone, the signal generation unit arranges the signal elements corresponding to the zone based on a position of the zone and a traveling direction of the moving object on the route candidate that passes through the zone, and The size of the zone is at least large enough to accommodate the range in which the moving object can turn on the spot. Creation support system.

9. A display control unit that displays on a display unit a map corresponding to a predetermined area in which a moving object moves; a map creation unit that creates the map based on an operation signal output from an operation input unit that accepts an operation input from a user, The map creation unit is a zone generating unit that generates a zone on the map for a route candidate along which the moving object can move, based on the operation signal; a signal generating unit that arranges on the map, in correspondence with the zones, signal elements for switching between permitting or not permitting passage of the mobile object in at least one of an incoming direction in which the mobile object moves from the outside to the inside of the zone and an outgoing direction in which the mobile object moves from the inside to the outside of the zone, When the zone generation unit generates the zone, the signal generation unit arranges the signal elements corresponding to the zone based on a position of the zone and a traveling direction of the moving object on the route candidate that passes through the zone, and The display control unit causes the display unit to display the map corresponding to the predetermined area in which a plurality of shelves are arranged, When the operation input unit receives the operation input specifying a shelf to be displayed from the plurality of shelves on the map, the display control unit causes the display unit to display a layout diagram showing the shelf to be displayed and an arrangement area in which items are arranged on the shelf to be displayed, based on the operation signal output from the operation input unit. Creation support system.

10. The present invention further includes a placement setting unit that sets a location of the placement area in the layout drawing based on the operation input received by the operation input unit. The creation support system according to claim 9.

11. A display control unit that displays on a display unit a map corresponding to a predetermined area in which a moving object moves; a map creation unit that creates the map based on an operation signal output from an operation input unit that accepts an operation input from a user, The map creation unit is a zone generating unit that generates a zone on the map for a route candidate along which the moving object can move, based on the operation signal; a signal generating unit that arranges on the map, in correspondence with the zones, signal elements for switching between permitting or not permitting passage of the mobile object in at least one of an incoming direction in which the mobile object moves from the outside to the inside of the zone and an outgoing direction in which the mobile object moves from the inside to the outside of the zone, When the zone generation unit generates the zone, the signal generation unit arranges the signal elements corresponding to the zone based on a position of the zone and a traveling direction of the moving object on the route candidate that passes through the zone, and Further comprising a voice recording unit for recording voice, the voice recording unit records the voice in association with the recording location based on the operation signal output from the operation input unit in response to the operation input indicating the recording location on the map; Creation support system.

12. Further comprising an audio playback unit for playing back audio, the audio playback unit plays back the audio recorded in association with the recording location based on the operation signal output from the operation input unit in response to the operation input indicating the recording location on the map; The creation support system according to claim 11.

13. The zone generation unit generates the zone based on the operation signal output by the operation input unit in response to the operation input selecting a node on the route candidate, with the position of the node selected by the operation input being taken as a reference. The creation support system according to any one of claims 1 to 12.

14. When the operation input unit outputs the operation signal corresponding to the operation input that specifies a start point and an end point on the map, the map creation unit creates a route that connects the start point and the end point on the map with a minimum travel cost based on the operation signal. The creation support system according to any one of claims 1 to 13.

15. The display control unit displays a plurality of types of elements including at least the nodes, the zones, and the signal elements arranged on the route candidate in different display modes for each type. The creation support system according to any one of claims 1 to 14.

16. The present invention further comprises a time prediction unit which predicts a required time for the moving body to move from the first point to the second point when the operation input unit outputs the operation signal corresponding to the operation input for selecting a first point and a second point on the route candidate, The display control unit displays the required time predicted by the time prediction unit on the map. The creation support system according to any one of claims 1 to 15.

17. The method further comprises a type setting unit which, when a plurality of undefined elements, the types of which are undefined and related to the route candidate, are displayed on the map, collectively sets the types of the plurality of undefined elements. The creation support system according to any one of claims 1 to 16.

18. A display control process for displaying on a display unit a map corresponding to a predetermined area in which the moving object moves; a map creation process for creating the map based on an operation signal output from an operation input unit that accepts an operation input from a user, The map creation process includes: a zone generation process for generating a zone on the map for a route candidate along which the moving object can move, based on the operation signal; a signal generation process for arranging on the map, in correspondence with the zones, signal elements for switching between permitting or not permitting passage of the mobile object in at least one of an incoming direction in which the mobile object moves from the outside to the inside of the zone and an outgoing direction in which the mobile object moves from the inside to the outside of the zone, In the signal generation process, when the zone is generated in the zone generation process, the signal elements are arranged corresponding to the zone based on a position of the zone and a traveling direction of the moving object on the route candidate that passes through the zone; In the zone generation process, the zone is generated so as to correspond to the changed range based on the operation signal output by the operation input unit in response to the operation input that changes the range of the zone. How to help create it.

19. A method for causing one or more processors to execute the creation assistance method according to claim 18, program.

Images