Route generation device, route generation method, and program

Abstract

To provide a technique for specifying an appropriate route for a moving body on which a cargo is loaded.SOLUTION: A route generation device 10 includes an acquisition unit 12, a size generation unit 14, and a route generation unit 16. The acquisition unit 12 acquires a first image including a moving body, and one or more second images including the cargo. The size generation unit 14 uses the first image and one or more second images to generate the size information indicating the total size of the moving body on which one or more cargoes are loaded. The route generation unit 16 uses the size information to generate at least one information on a route through which the moving body should pass.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a route generation device, a route generation method, and a program. [Background technology]

[0002] When transporting cargo by vehicle, etc., it is necessary to select a route taking into consideration road width, height restrictions, etc. However, since the amount and size of cargo to be loaded varies with each transport, it is necessary to consider each time what route will be passable with the cargo being transported.

[0003] Patent Document 1 describes calculating a route from a current location to a destination for each vehicle type, while Patent Document 2 describes calculating a route from a departure point to a destination based on vehicle loading information that indicates the loading status of cargo. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-248434 [Patent Document 2] Patent Publication No. 2021-2161 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the technologies of Patent Documents 1 and 2 cannot identify an appropriate route for a mobile object loaded with cargo. For example, the technology of Patent Document 1 evaluates the suitability of a route for each vehicle type using the fuel efficiency, vehicle width, vehicle height, information indicating whether the vehicle can carry a load, climbing performance, turning performance, etc. of each vehicle type. The technology of Patent Document 2 calculates an optimal route based on the type of load, load weight, and vehicle center of gravity position. Neither technology can calculate a route taking into account the size of the mobile object loaded with cargo.

[0006] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a technique for identifying an appropriate route for a moving object loaded with cargo. [Means for solving the problem]

[0007] A route generation device according to one aspect of the present invention comprises: an acquisition means for acquiring a first image including a moving object and one or more second images including cargo; a size generating means for generating size information indicating a total size of the moving object on which one or more of the cargo items are loaded, using the first image and the one or more second images; The system further comprises a route generating means for generating at least one piece of information about a route that the moving body should take, using the size information.

[0008] A route generation method according to one aspect of the present invention includes: 1. A computer-implemented route generation method comprising: acquiring a first image including the moving object and one or more second images including the cargo; generating size information indicating a total size of the moving object carrying one or more of the cargo items using the first image and the one or more second images; Using the size information, at least one piece of information regarding the route that the moving body should take is generated.

[0009] A program according to one aspect of the present invention includes: The above route generation method is executed by a computer. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a technique for identifying an appropriate route for a moving object loaded with cargo. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a block diagram illustrating a functional configuration of a route generation device according to a first embodiment. [Figure 2] FIG. 2 is a diagram for explaining the size of a moving object. [Figure 3] FIG. 1 is a diagram for explaining the size of cargo. [Figure 4] FIG. 1 is a diagram for explaining the total size of a moving object loaded with cargo. [Figure 5] FIG. 3 is a diagram illustrating an example of the configuration of route information according to the first embodiment. [Figure 6] FIG. 3 is a diagram illustrating an example of the configuration of appropriate route information according to the first embodiment. [Figure 7] FIG. 10 is a diagram illustrating a computer for realizing a route generation device. [Figure 8] 4 is a flowchart illustrating the flow of a route generation method according to the first embodiment. [Figure 9] 4 is a flowchart illustrating the flow of processing executed by the route generation device according to the first embodiment. [Figure 10] 3A and 3B are diagrams for explaining the wheelbase, the wheelbase, and the coupler offset of a moving body. [Figure 11] 10 is a flowchart illustrating the flow of processing executed by a route generation device according to a second embodiment. [Figure 12] FIG. 10 is a diagram showing an example of a turning trajectory diagram of a moving object loaded with cargo. [Figure 13] FIG. 10 is a diagram for explaining a required road width. [Figure 14] FIG. 10 is a diagram illustrating an example of the configuration of route information according to the second embodiment. [Figure 15] FIG. 10 is a diagram illustrating an example of the configuration of reference information. [Figure 16] 10 is a flowchart illustrating the flow of a process executed by a route generation device according to a third embodiment. [Figure 17] FIG. 11 is a diagram illustrating an example of the configuration of appropriate route information according to the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, like components are designated by like reference numerals, and the description thereof will be omitted as appropriate.

[0013] (First embodiment) FIG. 1 is a block diagram illustrating the functional configuration of a route generation device 10 according to the first embodiment. The route generation device 10 according to this embodiment includes an acquisition unit 12, a size generation unit 14, and a route generation unit 16. The acquisition unit 12 acquires a first image including a moving object and one or more second images including cargo. The size generation unit 14 uses the first image and the one or more second images to generate size information indicating the total size of a moving object carrying one or more cargo items. The route generation unit 16 uses the size information to generate at least one piece of information regarding a route that the moving object should take. This will be explained in detail below.

[0014] In this embodiment, the first image and the second image are different images. The size generation unit 14 determines the size of the moving object based on the first image. The route generation unit 16 determines the size of one or more cargo items based on one or more second images. The route generation unit 16 then generates size information indicating the total size of the moving object on which cargo is loaded, using the size of the moving object and the size of the one or more cargo items. The processing performed by the size generation unit 14 is described in detail below.

[0015] FIG. 2 is a diagram illustrating the size of the moving object 20. The moving object 20 is not particularly limited, but is a truck in the example shown in this figure. Examples of the moving object 20 include vehicles such as trucks and trailers, and ships. The first image is an image of the moving object 20. In this embodiment, the first image does not need to include cargo 30. Furthermore, the moving object 20 included in the first image does not need to be carrying cargo 30. The first image may also be an image that constitutes a video. Examples of the imaging device 40 that captures the first image include a 2D camera, a 3D camera, and an RGB camera. The imaging device 40 is placed, for example, at a cargo distribution center, a cargo loading area at a factory, or a loading area for construction materials.

[0016] The acquisition unit 12 may acquire the first image from the imaging device 40, or the first image output from the imaging device 40 may be stored in the storage unit. In the latter case, the acquisition unit 12 may read and acquire the first image stored in the storage unit.

[0017] The acquisition unit 12 may acquire multiple first images. The size generation unit 14 may determine the size of the moving object 20 using multiple first images captured from different positions or angles. The size generation unit 14 calculates the size of the moving object 20 by processing the first images. The calculated size of the moving object 20 includes at least the width, height, and length of the moving object 20. The width of the moving object 20 is the horizontal distance between the left and right ends of the moving object 20 as viewed from the moving direction of the moving object 20. The height of the moving object 20 is the vertical distance from the horizontal ground to the highest point of the moving object 20 as viewed from the moving direction of the moving object 20. The length of the moving object 20 is the horizontal distance from the front end to the rear end of the moving object 20 in the moving direction of the moving object 20. The calculated size of the moving object 20 may further include the size of the loading section 21 (e.g., the bed of a truck) of the moving object 20. It is preferable that the size of the loading section 21 includes at least the length of the loading section 21. The length of the loading unit 21 is the horizontal distance from the front end to the rear end of the loading unit 21 in the direction of travel of the moving object 20. Identification of the moving object 20 and the loading unit 21 in the first image and calculation of their sizes can be performed using existing image processing technology.

[0018] An example of a method by which the size generation unit 14 determines the size of the moving object 20 using the first image is described below. If the imaging device 40 is a 3D camera, the 3D camera, for example, emits laser light toward an object and receives the light reflected from the object. Such a camera can measure the distance from the camera to the object by measuring the time between emission and reception of the light. Furthermore, a 3D image can be obtained by scanning the laser light. The actual size of the object can be calculated from the distance in the 3D image and the size of the object. If the imaging device 40 is a 2D camera, for example, the size generation unit 14 can determine the size of the moving object 20 by using a known size of an object included in the image as a reference. Furthermore, if the positional relationship between the imaging device 40 and the moving object 20 is fixed, the size generation unit 14 may calculate the size of the moving object 20 based on the position and angle of the moving object 20 relative to the imaging device 40.

[0019] FIG. 3 is a diagram for explaining the size of cargo 30. There are no particular limitations on cargo 30, but for example, cargo 30 is a package in which items are packed in a packing material such as a box or container. Furthermore, cargo 30 may be an unpackaged item, such as construction materials. The second image is an image of cargo 30. The second image may be an image that constitutes a video. An example of an imaging device 40 that captures the second image is the same as the example of imaging device 40 that captures the first image. The imaging device 40 that captures the first image and the imaging device 40 that captures the second image may be the same, or may be different imaging devices 40.

[0020] The acquisition unit 12 may acquire the second image from the imaging device 40, or the second image output from the imaging device 40 may be stored in the storage unit. In the latter case, the acquisition unit 12 may read and acquire the second image stored in the storage unit.

[0021] The acquisition unit 12 may acquire multiple second images. The size generation unit 14 may determine the size of each cargo 30 using multiple second images captured from different positions or angles. The size generation unit 14 calculates the size of the cargo 30 by processing the second images. The calculated size of the cargo 30 includes at least the width, height, and depth of the cargo 30. The width, height, and depth are lengths in three directions that are perpendicular to each other.

[0022] An example of a method by which the size generation unit 14 determines the size of the cargo 30 using the second image is similar to the example of a method by which the size generation unit 14 determines the size of the mobile object 20 using the first image. When there are multiple cargoes 30 to be loaded onto the mobile object 20, the size generation unit 14 determines the size of each of the multiple cargoes 30. One second image may include multiple cargoes 30, or may include only one cargo 30.

[0023] Next, the size generation unit 14 uses the size of the mobile object 20 and the size of the one or more cargoes 30 to generate one or more pieces of loading information indicating how to load the cargoes 30 onto the mobile object 20. As will be described in detail later, the route generation unit 16 generates information on the route that the mobile object 20 should take (hereinafter also referred to as the "proper route") for each of the one or more pieces of loading information. Also, as will be described later, the route generation unit 16 associates the corresponding loading information with each piece of information on the proper route and outputs it.

[0024] The method by which the size generation unit 14 generates loading information is described below. The size generation unit 14 generates loading information indicating a loading method that satisfies the conditions stipulated in traffic laws and regulations, for example. The one or more pieces of loading information generated by the size generation unit 14 include loading information indicating a loading method in which the total size of a mobile object loaded with one or more cargo items does not exceed a predetermined size. The one or more pieces of loading information generated by the size generation unit 14 include, for example, first loading information indicating a loading method in which the maximum amount of cargo 30 (e.g., maximum volume) can be loaded onto the mobile object 20, while satisfying the condition that the total width, height, and length of the mobile object 20 on which the cargo 30 is loaded do not exceed the width, height, and length of the mobile object 20, respectively. Furthermore, the one or more pieces of loading information generated by the size generation unit 14 include, for example, second loading information indicating a loading method in which the maximum amount of cargo 30 (e.g., maximum volume) can be loaded onto the mobile object 20, while satisfying the condition that the total size of the mobile object 20 on which the cargo 30 is loaded does not exceed the maximum size stipulated in traffic laws and regulations. Here, in the loading method indicated by the second loading information, one or more of the total width, height, and length of the moving body 20 on which the cargo 30 is loaded may exceed the width, height, and length of the moving body 20, respectively.

[0025] The method by which the size generation unit 14 generates one or more pieces of loading information is not particularly limited, but may be, for example, the following method. The loading information is, for example, information indicating the position and orientation of each of the multiple pieces of cargo 30 in the loading section 21 of the mobile object 20. One piece of loading information indicates one loading method. First, the size generation unit 14 searches for a method of loading all of the cargo 30 to be loaded onto the mobile object 20. Specifically, the size generation unit 14 generates multiple placement patterns (positions and orientations) for placing all of the cargo 30, for which sizes have been generated, on the loading section 21 of the mobile object 20. Here, in the placement patterns, other cargo 30 may be stacked on top of one piece of cargo 30. Furthermore, the size of the loading section 21 of the mobile object 20 can be used to generate the placement patterns. Then, for each of the multiple placement patterns generated, the total size (width, height, and length) of the mobile object 20 when the cargo 30 is loaded in that placement pattern is calculated.

[0026] Next, the size generation unit 14 extracts an arrangement pattern in which the calculated total size does not exceed the maximum size stipulated by law. Here, the size generation unit 14 may extract an arrangement pattern in which the calculated total size does not exceed the size of the mobile object 20. If an extracted arrangement pattern exists, the size generation unit 14 associates loading information indicating the arrangement pattern (loading method) with size information (total size) and outputs them to the route generation unit 16.

[0027] Furthermore, the size generation unit 14 generates multiple placement patterns for placing the remaining cargo 30, excluding the smallest cargo 30, among the multiple cargoes 30 for which sizes have been generated, in the loading section 21 of the mobile object 20, and searches for a loading method in the same way as when placing all cargoes 30. In this way, the size generation unit 14 searches for a loading method in order of the combination of cargoes 30 that will carry the largest load. The size generation unit 14 then continues searching for a loading method until, for example, a predetermined number of pieces of loading information have been output to the route generation unit 16. Alternatively, the size generation unit 14 continues searching for a loading method until all loading methods for cargoes 30 equal to or greater than a predetermined number or equal to or greater than a predetermined volume have been searched for.

[0028] FIG. 4 is a diagram illustrating the total size of the mobile body 20 loaded with cargo 30. In this embodiment, size information indicating the total size of the mobile body 20 loaded with cargo 30 includes at least the total width and height. The total width of the mobile body 20 loaded with cargo 30 is the horizontal distance between the left and right ends of the structure including the entire mobile body 20 and the cargo 30, as viewed from the direction of travel of the mobile body 20. The total height of the mobile body 20 loaded with cargo 30 is the vertical distance from the horizontal ground to the highest point of the structure including the entire mobile body 20 and the cargo 30, as viewed from the direction of travel of the mobile body 20. In this embodiment, the size information may or may not include the total length. The total length of the mobile body 20 loaded with cargo 30 is the horizontal distance from the frontmost end to the rearmost end of the structure including the entire mobile body 20 and the cargo 30, as viewed from the direction of travel of the mobile body 20.

[0029] The route generation unit 16 uses the size information to generate condition information indicating the conditions for a route that a mobile object 20 carrying one or more cargoes 30 can take. Then, the route generation unit 16 uses the condition information to generate information about the route that the mobile object 20 should take. The processing performed by the route generation unit 16 will be described in detail below.

[0030] The condition information indicates the conditions for a route that the route generation unit 16 can safely travel without colliding with obstacles. The condition information includes, for example, the minimum road width and the minimum height (clearance) from the road to obstacles above the road. The condition information is generated based on, for example, laws and regulations. For example, Japan's Vehicle Restriction Ordinance (Cabinet Order No. 265 of 1961) stipulates that the width of a vehicle traveling on "roads designated by road administrators as having extremely low vehicle traffic volume or one-way roads" within "urbanization areas" must be "0.5 meters less than the width of the carriageway." Therefore, the route generation unit 16 sets the minimum road width for "roads designated by road administrators as having extremely low vehicle traffic volume or one-way roads" within "urbanization areas" to the width included in the size information plus 0.5 meters. As such, vehicle width restrictions vary depending on the type of road, so it is preferable for the route generation unit 16 to generate condition information that includes conditions for each type of road. The route generating unit 16 may set the lower limit of the road's spatial height to, for example, the height included in the size information plus a predetermined value (for example, 0.5 m). The route generating unit 16 also associates the generated condition information with the corresponding loading information.

[0031] The route generation unit 16 generates information about a route that satisfies the conditions indicated in the condition information as information about the route that the mobile object 20 should take. The method by which the route generation unit 16 generates information about an appropriate route is not particularly limited, but may be, for example, the following method. The route generation unit 16 acquires map information, information about a starting point, and information about a destination. The map information is stored in advance in a storage unit accessible by the route generation unit 16, and the route generation unit 16 can acquire the map information by reading it. Alternatively, the route generation unit 16 may acquire the map information from a server of a map information providing service. The map information includes information about the width of each road, information about the clearance height of each road (e.g., height limit information), and information about the speed limit of each road. The map information also includes information for identifying the type of road. The route generation unit 16 can acquire the information about the starting point and the destination by accepting the information about the starting point and the destination input by the user to the route generation device 10.

[0032] The route generation unit 16 searches for all routes connecting the departure point to the destination, for example, using map information, information indicating the departure point, and information indicating the destination. Route detection may be performed only on relatively wide roads (such as major roads) on which trucks and other vehicles are expected to travel. In this case, it is not necessary to consider the required road width, which will be described later in the second embodiment. The search for routes connecting the departure point to the destination can be performed using existing technology. Based on the map information, the route generation unit 16 checks information indicating the width and clearance height of all roads included in each route and identifies the minimum road width and clearance height for each route. The route generation unit 16 also calculates the travel distance and travel time for each route. The route generation unit 16 calculates the travel time using the speed limit included in the map information, the travel speed stipulated by law, and the distance of each road. The route generation unit 16 generates route information for each route.

[0033] 5 is a diagram illustrating an example of the configuration of route information according to this embodiment. Each piece of route information includes information indicating the route, the minimum width of the road, the minimum clearance height of the road, the travel distance, and the travel time. The information indicating the route is, for example, information indicating the nodes and branches from the departure point to the destination in order. The nodes correspond to intersections, and the branches correspond to roads connecting two intersections, etc.

[0034] Next, the route generation unit 16 extracts information on an appropriate route (hereinafter also referred to as an "appropriate route") in light of the condition information from the generated plurality of pieces of route information. Specifically, the route generation unit 16 determines whether the minimum value of road width and the minimum value of spatial height included in the route information are greater than the lower limit values ​​of road width and spatial height included in the condition information, respectively. Then, the route generation unit 16 extracts route information in which the minimum value of road width is greater than the lower limit value of road width and the minimum value of spatial height is greater than the lower limit value of spatial height. Here, if the condition information includes conditions for each type of road, the route generation unit 16 determines which condition (such as the lower limit value of road width and the lower limit value of spatial height) included in the condition information should be applied according to the type of each road included in the map information.

[0035] When generating route information, the route generation unit 16 may search only a predetermined number of routes in order of shortest travel distance or travel time, instead of searching all routes connecting the departure point and the destination. In this case, if no route appropriate for certain condition information is extracted from the obtained multiple pieces of route information, additional route information may be generated.

[0036] 6 is a diagram illustrating an example of the configuration of appropriate route information according to this embodiment. The route generation unit 16 generates appropriate route information by associating information indicating the route of the extracted route information with the travel distance and travel time required to travel the route, and loading information corresponding to the route. Here, the loading information corresponding to the route is the loading information associated with the condition information when the route was determined to be an appropriate route.

[0037] The method by which the route generation unit 16 generates appropriate route information is not limited to the above-described method. For example, the route generation unit 16 may identify an appropriate route and generate appropriate route information as follows. Among roads included in the map information, the route generation unit 16 excludes roads that are narrower than the minimum road width value included in the condition information and roads whose spatial height is lower than the minimum spatial height value from candidate roads to be used for the route. Then, using only the roads that were not excluded, the route that can be traced from the departure point to the destination is searched for, and the searched route is designated as the appropriate route. In this case, for example, the route generation unit 16 may identify multiple appropriate routes, such as an appropriate route with the shortest driving time and an appropriate route with the shortest driving distance.

[0038] The route generation unit 16 generates appropriate route information for each piece of condition information, i.e., for each loading method. The route generation unit 16 then outputs the generated appropriate route information. There are no particular limitations on the method by which the route generation unit 16 outputs the appropriate route information. The route generation unit 16 may output the appropriate route information, for example, by displaying it on a display or the like, or by outputting it to another device, or by storing it in a storage device accessible from the route generation unit 16.

[0039] The route generating unit 16 may output multiple sets of appropriate route information, in which case the user of the route generating device 10 can select and adopt one of the multiple appropriate routes output.

[0040] When the route generation unit 16 outputs the appropriate route information by displaying it on a display or the like, it may display each appropriate route, for example, on a map. The route generation unit 16 may also display the travel distance and travel time for each appropriate route. Furthermore, the route generation unit 16 may also display a diagram showing the loading method based on the loading information associated with each appropriate route. When multiple pieces of appropriate route information are output, the multiple pieces of appropriate route information may be displayed sequentially or simultaneously. When multiple pieces of appropriate route information are displayed sequentially, the appropriate route information may be displayed, for example, in ascending order of travel distance or travel time. By checking the output information, the user can learn the appropriate combination of route and loading method.

[0041] Furthermore, instead of outputting the appropriate route information, the route generating unit 16 may output the route information that has not been extracted as the appropriate route information from among the plurality of pieces of route information.

[0042] The hardware configuration of the route generation device 10 will be described below. The acquisition unit 12, size generation unit 14, and route generation unit 16 of the route generation device 10 may be realized by hardware (e.g., hardwired electronic circuits, etc.) that realizes the acquisition unit 12, size generation unit 14, and route generation unit 16, or may be realized by a combination of hardware and software (e.g., a combination of an electronic circuit and a program that controls it). Below, a further description will be given of a case where the acquisition unit 12, size generation unit 14, and route generation unit 16 of the route generation device 10 are realized by a combination of hardware and software.

[0043] 7 is a diagram illustrating a computer 1000 for realizing the route generation device 10. The computer 1000 is any computer. For example, the computer 1000 is an SoC (System On Chip), a Personal Computer (PC), a server machine, a tablet terminal, or a smartphone. The computer 1000 may be a dedicated computer designed to realize the route generation device 10, or may be a general-purpose computer.

[0044] The computer 1000 includes a bus 1020, a processor 1040, a memory 1060, a storage device 1080, an input / output interface 1100, and a network interface 1120. The bus 1020 is a data transmission path through which the processor 1040, the memory 1060, the storage device 1080, the input / output interface 1100, and the network interface 1120 transmit and receive data to and from each other. However, the method of interconnecting the processor 1040 and other components is not limited to bus connection. The processor 1040 may be any of various processors, such as a central processing unit (CPU), a graphics processing unit (GPU), or a field-programmable gate array (FPGA). The memory 1060 is a main storage device implemented using a random access memory (RAM) or the like. The storage device 1080 is an auxiliary storage device implemented using a hard disk, a solid state drive (SSD), a memory card, a read-only memory (ROM), or the like.

[0045] The input / output interface 1100 is an interface for connecting the computer 1000 to an input / output device. For example, the input / output interface 1100 is connected to an input device such as a keyboard and an output device such as a display device.

[0046] The network interface 1120 is an interface for connecting the computer 1000 to a network. This communication network is, for example, a LAN (Local Area Network) or a WAN (Wide Area Network). The network interface 1120 may be connected to the network wirelessly or by wire.

[0047] The storage device 1080 stores program modules that realize the acquisition unit 12, size generation unit 14, and route generation unit 16 of the route generation device 10. The processor 1040 reads each of these program modules into the memory 1060 and executes them to realize the function corresponding to each program module.

[0048] Furthermore, when each of the above-mentioned storage units is provided inside the route generating device 10, the storage unit is realized, for example, using the storage device 1080. However, the storage unit may be a storage device provided outside the route generating device 10.

[0049] FIG. 8 is a flowchart illustrating the flow of a route generation method according to this embodiment. The route generation method according to this embodiment is executed by a computer. The route generation method according to this embodiment includes steps S11, S12, and S13. In step S11, a first image including a moving object and one or more second images including cargo are acquired. In step S12, size information indicating the total size of the moving object carrying one or more cargo items is generated using the first image and the one or more second images. Then, in step S13, at least one piece of information regarding a route that the moving object should take is generated using the size information. The route generation method according to this embodiment is executed by a route generation device 10 according to this embodiment. This will be described in detail below.

[0050] FIG. 9 is a flowchart illustrating the flow of processing executed by the route generation device 10 according to this embodiment. When a predetermined operation for route generation is performed on the route generation device 10, the acquisition unit 12 acquires a first image and a second image (S101). After the acquisition unit 12 acquires the first image and the second image, the size generation unit 14 generates the size of the moving object 20 using the first image and generates the size of the cargo 30 using the second image (S102). Then, the size generation unit 14 generates loading information indicating a loading method of the cargo 30 on the moving object 20, and generates size information for each loading method (S103). The route generation unit 16 generates condition information for each loading information using the size information generated by the size generation unit 14 (S104). Next, the route generation unit 16 acquires information indicating the departure point and information indicating the destination input to the route generation device 10 (S105). Then, the route generation unit 16 generates an appropriate route from the departure point to the destination that satisfies the conditions indicated in the condition information for each piece of loading information (S106). The route generation unit 16 outputs information indicating the generated appropriate route in association with the loading information corresponding to the appropriate route (S107).

[0051] In this way, the user can understand how to load the cargo 30 onto the moving object 20 and what route is appropriate for carrying out this loading method.

[0052] The route generation device 10 according to this embodiment can be applied to vehicles that travel on public roads, as well as vehicles that transport goods within a factory. It can also be used as a technology for avoiding collisions with surrounding obstacles in moving bodies such as autonomous vehicles and robots.

[0053] Next, the operation and effect of this embodiment will be described. The route generation device 10 according to this embodiment uses the first and second images to calculate the total size of the moving object 20 loaded with cargo 30. Then, an appropriate route for that size is identified. Therefore, even if the amount, size, number, etc. of cargo changes each time, it is easy to determine the route to be taken.

[0054] (Second embodiment) The route generation device 10 according to the second embodiment is similar to the route generation device 10 according to the first embodiment, except for the points described below.

[0055] The route generation unit 16 of the route generation device 10 according to this embodiment identifies the minimum turning radius of the mobile object 20. Then, using the identified minimum turning radius of the mobile object 20, the route generation unit 16 calculates the road width required for the mobile object 20 carrying one or more cargo items 30 to make a right-angle turn. The route generation unit 16 also generates condition information including the road width required for making a right-angle turn. In this way, the route generation device 10 according to this embodiment can identify an appropriate route by further taking into account the minimum turning radius of the mobile object 20. This will be explained in detail below.

[0056] In this embodiment, the acquisition unit 12 acquires identification information for identifying the moving object 20 included in the first image. The identification information of the moving object 20 is input to the route generation device 10 by, for example, a user. The identification information of the moving object 20 may be, for example, information indicating the type of vehicle of the moving object 20 assigned by the manufacturer of the moving object 20, or may be a model number of the moving object 20. Alternatively, the identification information of the moving object 20 may be information for identifying the type of the moving object 20 (compact car, standard car, semi-trailer combination vehicle, etc.).

[0057] The size of the moving body 20 generated by the size generation unit 14 according to this embodiment using the first image further includes the wheelbase and the wheel tread of the moving body 20. Furthermore, if the moving body 20 is an articulated vehicle such as a semi-trailer, the size of the moving body 20 further includes a coupler offset. The wheelbase, the wheel tread, and the coupler offset of the moving body 20 can be generated by image processing the first image using existing technology.

[0058] 10 is a diagram for explaining the wheelbase, tread, and coupler offset of the vehicle 20. The wheelbase of the vehicle 20 is the distance between the front and rear axles of the vehicle 20. The tread of the vehicle 20 is the distance between the centers of the left and right wheels of the vehicle 20 when viewed from the direction of travel of the vehicle 20. The coupler offset is the distance between the towing coupling part of the vehicle 20 and the rear wheel axle.

[0059] 11 is a flowchart illustrating the flow of processing executed by the route generation device 10 according to this embodiment. The processing executed by the route generation device 10 according to this embodiment is the same as the processing executed by the route generation device 10 according to the first embodiment, except for the points described below.

[0060] When a predetermined operation for route generation is performed on the route generation device 10, the acquisition unit 12 acquires the first image and the second image as well as the identification information of the moving object 20 (S201). Then, in S202, the size generation unit 14 generates the size of the moving object 20 using the first image, and generates the size of the cargo 30 using the second image. Here, the size of the moving object 20 includes the width, height, length, wheelbase, and tread of the moving object 20. Furthermore, if the moving object 20 is an articulated vehicle such as a semi-trailer, the size of the moving object 20 further includes a coupler offset.

[0061] Next, in S203, the size generation unit 14 generates one or more pieces of loading information in the same manner as in S103 in the first embodiment, and generates size information for each piece of loading information. In this embodiment, the size information includes the total length of the moving object 20 on which the cargo 30 is loaded.

[0062] In S204, the route generation unit 16 acquires the minimum turning radius of the moving body 20 based on the identification information of the moving body 20. The minimum turning radius is the radius of a circle drawn by the center of the outermost tire when the moving body 20 turns slowly with the steering wheel turned to the maximum right or left. A storage unit accessible from the route generation unit 16 stores in advance the identification information of multiple moving bodies and the minimum turning radius of each moving body in a mutually associated state. The route generation unit 16 can read and acquire the minimum turning radius corresponding to the identification information of the moving body 20 acquired in S201 from the storage unit.

[0063] In S205, the route generation unit 16 generates condition information for each piece of loading information, similar to S104 in the first embodiment. However, in this embodiment, the condition information includes a road width required for the mobile object 20 loaded with the cargo 30 to make a right-angle turn (hereinafter also referred to as "required road width").

[0064] FIG. 12 is a diagram showing an example of a turning trajectory of a mobile object 20 loaded with cargo 30. FIG. 13 is a diagram for explaining the required road width. As shown in FIGS. 12 and 13, in order for a mobile object 20 loaded with cargo 30 to make a right-angle turn at an intersection or the like without going off the road, a road width wider than the total width of the mobile object 20 loaded with cargo 30 is required. The route generation unit 16 calculates the required road width using the total width and total length included in the size information, the wheelbase and wheelbase of the mobile object 20 generated in S202, and the minimum turning radius of the mobile object 20 acquired in S204. If the mobile object 20 is a combined vehicle such as a semi-trailer, the route generation unit 16 further calculates the required road width using a coupler offset. The required road width can be calculated using an existing method. For example, in order to allow for some leeway in the road width, the route generation unit 16 may include in the condition information a value obtained by adding a predetermined length to the required road width as the road width required to make a right-angle turn, i.e., the lower limit of the road width at an intersection.

[0065] 11, in S206, the route generation unit 16 acquires information indicating the departure point and information indicating the destination, similar to S105 in the first embodiment. Next, in S207, the route generation unit 16 generates, for each piece of loading information, an appropriate route from the departure point to the destination that satisfies the conditions indicated in the condition information, similar to S106 in the first embodiment. Specifically, in this embodiment, when generating route information, the route generation unit 16 specifies the minimum road width and minimum clearance height on each route, as well as the minimum road width at intersections on each route.

[0066] 14 is a diagram illustrating an example of the configuration of route information according to this embodiment. Each piece of route information includes information indicating the route, the minimum road width, the minimum clearance height, the minimum road width at intersections, the travel distance, and the travel time.

[0067] When extracting information on an appropriate route from the generated plurality of pieces of route information, the route generation unit 16 determines whether the minimum road width and minimum spatial height included in the route information are greater than the lower limit road width and lower limit spatial height included in the condition information, respectively, and determines whether the minimum road width at an intersection included in the route is greater than the lower limit road width at the intersection included in the condition information.The route generation unit 16 then extracts route information in which 1) the minimum road width is greater than the lower limit road width, 2) the minimum spatial height is greater than the lower limit spatial height, and 3) the minimum road width at an intersection is greater than the lower limit road width at the intersection.

[0068] Returning to FIG. 11, in S208, the route generating unit 16 outputs information indicating the generated appropriate route in association with loading information corresponding to the appropriate route, similar to S107 in the first embodiment.

[0069] <Modification> A modified example of the route generation device 10 according to this embodiment will be described below. In this modified example, in S204, the route generation unit 16 determines the minimum turning radius using reference information indicating the relationship between the length of the mobile object 20 and the minimum turning radius, instead of using the identification number of the mobile object 20 to obtain the minimum turning radius. The reference information is stored in advance in a storage unit accessible by the route generation unit 16. The reference information is determined, for example, based on traffic laws and regulations.

[0070] FIG. 15 is a diagram illustrating the configuration of reference information. For example, Article 4 of Japan's Road Structure Ordinance (Cabinet Order No. 320 of 1970) specifies the length and minimum turning radius of four types of vehicles as the specifications for each type of vehicle that serve as the basis for road design. Specifically, the length of a compact car is listed as 4.7 m and the minimum turning radius as 6 m, the length of a compact car, etc. is listed as 6 m and the minimum turning radius as 7 m, the length of a standard car is listed as 12 m and the minimum turning radius as 12 m, and the length of a semi-trailer truck is listed as 16.5 m and the minimum turning radius as 12 m. Therefore, for example, reference information is defined as shown in FIG. 15. Then, for example, if the length of moving body 20 is 5 m, moving body 20 is considered to be a compact car, etc., and a value of 7 m is obtained as the minimum turning radius.

[0071] In this way, the route generation unit 16 acquires, in the reference information, the minimum turning radius corresponding to the length of the moving body 20 generated from the first image. In this modification, the minimum turning radius can be determined using predetermined reference information and the length of the moving body 20, so the acquisition unit 12 does not need to acquire identification information of the moving body 20 in S201. The processing executed by the route generation device 10 according to this modification is as described using FIG. 11 , except for S201 and S204.

[0072] Next, the operation and effect of this embodiment will be described. In this embodiment, the same operation and effect as in the first embodiment can be obtained. In addition, an appropriate route can be generated by further taking into account the road width required for the moving body 20 loaded with cargo 30 to make a right-angle turn.

[0073] (Third embodiment) The route generation device 10 according to the third embodiment is similar to the route generation device 10 according to at least one of the first and second embodiments, except for the points described below.

[0074] In this embodiment, the first image and the second image are the same third image including a moving object 20 loaded with one or more cargo items 30. The size generating means generates size information using the third image. That is, the third image serves as both the first image and the second image. The acquiring unit 12 according to this embodiment does not need to acquire the first image and the second image separately. This will be explained in detail below.

[0075] 16 is a flowchart illustrating the flow of processing executed by the route generation device 10 according to this embodiment. In S301, the acquisition unit 12 acquires a third image. The acquisition of the third image can be performed in the same manner as the acquisition of the first and second images described above. Note that the acquisition unit 12 may further acquire identification information of the moving object 20, as described in the second embodiment.

[0076] In S303, the size generation unit 14 generates size information indicating the total size of the mobile object 20 with the cargo 30 loaded. The size generation unit 14 can identify the total size as it appears in the third image by processing the third image using existing technology. The content of the size information is as described in the first and second embodiments. In this embodiment, the size generation unit 14 does not generate loading information. Furthermore, the size generation unit 14 is only required to generate one piece of size information relating to the loading state as it appears in the third image.

[0077] If necessary for subsequent processing, the size generation unit 14 may further generate the length, wheelbase, tread, coupler offset, etc. of the mobile object 20 alone. The length, wheelbase, tread, coupler offset, etc. of the mobile object 20 alone can be generated using the third image in the same manner as described in the first and second embodiments.

[0078] In S304, the route generation unit 16 generates condition information using the size information. Here, the route generation unit 16 is required to generate only one piece of condition information. The method by which the route generation unit 16 generates condition information is as described in the first and second embodiments. Furthermore, the route generation unit 16 may obtain the minimum turning radius of the mobile object 20 and generate a condition related to the required road width, as described in the second embodiment.

[0079] In S305, the route generation unit 16 acquires information indicating the departure point and information indicating the destination, similar to S105 in the first embodiment. Then, in S306, the route generation unit 16 generates a proper route from the departure point to the destination, which satisfies the conditions indicated in the condition information, similar to S106 in the first embodiment. However, the route generation unit 16 according to this embodiment does not need to generate proper routes for multiple loading methods. The proper route generated by the route generation unit 16 is a proper route for the loading state shown in the third image.

[0080] In S307, the route generating unit 16 outputs information indicating the generated appropriate route, similar to S107 in the first embodiment.

[0081] 17 is a diagram illustrating the configuration of appropriate route information according to this embodiment. The route generation unit 16 according to this embodiment does not need to associate loading information with the appropriate route.

[0082] The route generation device 10 according to this embodiment can identify an appropriate route for a mobile object 20 that is already loaded with cargo 30. For example, there is a case where the mobile object 20, loaded with cargo 30, passes through multiple locations. In this case, it is preferable to identify an appropriate route and loading method from the departure point to a waypoint using the method according to the first embodiment before the mobile object 20 loads the cargo 30, and then identify an appropriate route to the next destination using the method according to this embodiment after the mobile object 20 arrives at the waypoint. This is because, since the mobile object 20 will already have cargo 30 loaded at the waypoint, once an appropriate route for the loading status is known, there is no need to consider other loading methods.

[0083] In addition, some of the cargo 30 may be unloaded from the moving body 20 at a stopover point. In this case, a third image is obtained by photographing the state after some of the cargo 30 has been unloaded. Then, the third image can be used to generate an appropriate route.

[0084] Next, the operation and effect of this embodiment will be described. In this embodiment, the same operation and effect as in the first embodiment can be obtained. In addition, it is possible to identify an appropriate route for a moving object 20 that has already loaded with cargo 30.

[0085] Although the embodiments of the present invention have been described above with reference to the drawings, these are merely examples of the present invention, and various other configurations may be adopted. For example, in the sequence diagrams and flowcharts used in the above description, multiple steps (processes) are described in order, but the order of execution of the steps performed in each embodiment is not limited to the order described. In each embodiment, the order of the steps shown in the drawings may be changed to the extent that the content is not affected. Furthermore, the above-described embodiments may be combined to the extent that the content is not contradictory.

[0086] A part or all of the above-described embodiments can be described as, but not limited to, the following supplementary notes. 1-1. An acquisition means for acquiring a first image including a moving object and one or more second images including cargo; a size generating means for generating size information indicating a total size of the moving object on which one or more of the cargo items are loaded, using the first image and the one or more second images; a route generating means for generating at least one piece of information about a route that the moving body should take, using the size information; Route generator. 1-2. In the route generation device described in 1-1, The route generation means generating condition information indicating conditions for a route that the moving body carrying the one or more cargo items can take using the size information; Using the condition information, information on the route that the moving body should take is generated. Route generator. 1-3. In the route generation device described in 1-2, The condition information includes a minimum width of the road and a minimum height from the road to an obstacle above the road. 1-4. In the route generation device according to 1-2. or 1-3., The route generation means Identifying a minimum turning radius of the moving object; Using the identified minimum turning radius of the moving body, calculate a road width required for the moving body loaded with the one or more cargoes to make a right-angle turn; Generate the condition information including the road width required to make the right-angle turn Route generator. 1-5. In the route generation device according to any one of 1-2 to 1-4, The route generation means generates information about a route that satisfies the conditions indicated in the condition information as information about a route that the mobile body should take. Route generator. 1-6. In the route generation device according to 1-5, A route generation device in which a route that satisfies the conditions set forth in the condition information is a route in which at least the minimum road width on the route is greater than the lower limit road width included in the condition information, and the minimum spatial height on the route is greater than the lower limit height from the road to an obstacle above the road included in the condition information. 1-7. In the route generation device according to any one of 1-1 to 1-6, the first image and the second image are different images, The size generating means Identifying the size of the moving object based on the first image; Identifying the size of the one or more cargo items based on the one or more second images; generating the size information using the size of the vehicle and the size of the one or more cargo items; Route generator. 1-8. In the route generation device according to 1-7, the size generation means generates one or more pieces of loading information indicating a method of loading the cargo onto the mobile body using the size of the mobile body and the size of the one or more pieces of cargo; The route generation means generating information on a route that the moving body should take for each of the one or more pieces of loading information; The loading information is output in association with each piece of information about the route that the moving body should take. Route generator. 1-9. In the route generation device according to 1-8, The one or more pieces of loading information generated by the size generation means include loading information indicating a loading method in which the size of the moving body loaded with the one or more pieces of cargo does not exceed a predetermined size. Route generator. 1-10. The route generation device according to any one of 1-1 to 1-6, the first image and the second image are the same image including the moving object loaded with the one or more cargo items, The size generating means generates the size information using the image. Route generator.

[0087] 2-1. A computer-implemented route generation method, comprising: acquiring a first image including the moving object and one or more second images including the cargo; generating size information indicating a total size of the moving object carrying one or more of the cargo items using the first image and the one or more second images; Using the size information, generate at least one piece of information regarding a route that the moving body should take. Route generation method. 2-2. In the route generation method described in 2-1, generating condition information indicating conditions for a route that the moving body carrying the one or more cargo items can take using the size information; Using the condition information, information on the route that the moving body should take is generated. Route generation method. 2-3. In the route generation method described in 2-2, A route generation method in which the condition information includes a minimum width of the road and a minimum height from the road to an obstacle above the road. 2-4. In the route generation method described in 2-2. or 2-3., Identifying a minimum turning radius of the moving object; Using the identified minimum turning radius of the moving body, calculate a road width required for the moving body loaded with the one or more cargoes to make a right-angle turn; Generate the condition information including the road width required to make the right-angle turn Route generation method. 2-5. In the route generation method according to any one of 2-2 to 2-4, Generate information about a route that satisfies the conditions indicated in the condition information as information about a route that the mobile body should take. Route generation method. 2-6. In the route generation method described in 2-5, A route generation method in which a route that satisfies the conditions set forth in the condition information is a route in which at least the minimum road width on the route is greater than the lower limit road width included in the condition information, and the minimum spatial height on the route is greater than the lower limit height from the road to an obstacle above the road included in the condition information. 2-7. In the route generation method according to any one of 2-1 to 2-6, the first image and the second image are different images, Identifying the size of the moving object based on the first image; Identifying the size of the one or more cargo items based on the one or more second images; generating the size information using the size of the vehicle and the size of the one or more cargo items; Route generation method. 2-8. In the route generation method described in 2-7, generating one or more pieces of loading information indicating a method of loading the cargo onto the mobile body using the size of the mobile body and the size of the one or more cargoes; generating information on a route that the moving body should take for each of the one or more pieces of loading information; The loading information is output in association with each piece of information about the route that the moving body should take. Route generation method. 2-9. In the route generation method described in 2-8, The one or more pieces of loading information include the loading information indicating a loading method in which the size of the moving body loaded with the one or more pieces of cargo does not exceed a predetermined size. Route generation method. 2-10. In the route generation method according to any one of 2-1 to 2-6, the first image and the second image are the same image including the moving object loaded with the one or more cargo items, The size information is generated using the image. Route generation method. 3-1. A program that causes a computer to execute the route generation method described in any one of 2-1 to 2-10. [Explanation of symbols]

[0088] 10 Route Generator 12 Acquisition Department 14 Size Generation Unit 16 Route generation section 20 Mobile 21 Loading section 30 Freight 40 Imaging device 1000 calculator 1020 Bus 1040 processor 1060 memory 1080 storage device 1100 Input / Output Interface 1120 Network Interface

Claims

1. an acquisition means for acquiring a first image including a moving object and one or more second images including cargo; a size generating means for generating size information indicating a total size of the moving object on which one or more cargo items are loaded, using the first image and the one or more second images; route generation means for generating at least one piece of information about a route that the moving object should take, using the size information; the first image and the second image are different images, The size generating means Identifying a size of the moving object based on the first image; Identifying the size of the one or more cargo items based on the one or more second images; generating the size information using the size of the vehicle and the size of the one or more cargo items; the size generation means generates one or more pieces of loading information indicating a method of loading the cargo onto the mobile body using the size of the mobile body and the size of the one or more pieces of cargo; The route generation means generating information on a route that the moving body should take for each of the one or more pieces of loading information; The loading information is output in association with each piece of information about the route that the moving body should take. Route generator.

2. 2. The route generating device according to claim 1, The route generation means generating condition information indicating conditions for a route that the moving body carrying the one or more cargo items can take using the size information; Using the condition information, information on the route that the moving body should take is generated. Route generator.

3. 3. The route generating device according to claim 2, The route generation means Identifying a minimum turning radius of the moving object; Using the identified minimum turning radius of the moving body, calculate a road width required for the moving body loaded with the one or more cargoes to make a right-angle turn; Generate the condition information including the road width required to make the right-angle turn Route generator.

4. 4. The route generating device according to claim 2 or 3, The route generation means generates information about a route that satisfies the conditions indicated in the condition information as information about a route that the mobile body should take. Route generator.

5. In the route generation device according to claim 1, The one or more pieces of loading information generated by the size generation means include loading information indicating a loading method in which the total size of the moving body loaded with the one or more pieces of cargo does not exceed a predetermined size. Route generator.

6. 1. A computer-implemented route generation method comprising: acquiring a first image including a moving object and one or more second images including cargo; generating size information indicating a total size of the moving object carrying one or more of the cargo items using the first image and the one or more second images; generating at least one piece of information regarding a route that the moving object should take using the size information; the first image and the second image are different images, Identifying a size of the moving object based on the first image; Identifying the size of the one or more cargo items based on the one or more second images; generating the size information using the size of the vehicle and the size of the one or more cargo items; generating one or more pieces of loading information indicating a method of loading the cargo onto the mobile body using the size of the mobile body and the size of the one or more cargoes; generating information on a route that the moving body should take for each of the one or more pieces of loading information; The loading information is output in association with each piece of information about the route that the moving body should take. Route generation method.

7. A program that causes a computer to execute the route generation method described in claim 6.

Images