Evacuation information generation system, evacuation information generation device, autonomous driving device, evacuation information generation method, and evacuation information generation program

Abstract

To provide an evacuation information generation system, etc., capable of generating effective evacuation information.SOLUTION: An evacuation information generation system has a processor, and generates evacuation information in a traveling area of an autonomous traveling apparatus. The processor is configured to execute acquisition of observation information observed by searching the traveling area, in which occurrence of hazard is estimated, with the autonomous traveling apparatus. The processor is configured to execute output of a hazard map representing a hazard level for each location in the traveling area in accordance with the observation information.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present disclosure relates to a technology for generating evacuation information in a travel area of ​​an autonomous mobile device. [Background technology]

[0002] Patent Document 1 discloses a system that guides a person to the outside of a building when an event occurs. When an event occurs, this system sets an evacuation route from the current location of the person to the exit of the building. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2021-47482 Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology of Patent Document 1, evacuation routes are set based on the current location of the person being guided and the location of the building exit, without taking into consideration whether the route is actually passable. Therefore, there is a risk that an effective evacuation route cannot be set, such as when the route becomes impassable due to a hazard such as a disaster.

[0005] An object of the present disclosure is to provide an evacuation information generation system capable of generating effective evacuation information. Another object of the present disclosure is to provide an evacuation information generation device capable of generating effective evacuation information. Yet another object of the present disclosure is to provide an autonomous driving device capable of generating effective evacuation information. Yet another object of the present disclosure is to provide an evacuation information generation method capable of generating effective evacuation information. Yet another object of the present disclosure is to provide an evacuation information generation program capable of generating effective evacuation information. [Means for solving the problem]

[0006] The technical means of the present disclosure for solving the problems will be described below. Note that the claims and the reference characters in parentheses in this section indicate the correspondence with the specific means described in the embodiments described later in detail, and do not limit the technical scope of the present disclosure.

[0007] A first aspect of the present disclosure is an evacuation information generation system having a processor (202; 102) and generating evacuation information for a travel area (A) of an autonomous mobile device (1), The processor Obtaining observation information observed by searching a travel area where a hazard is predicted to occur using an autonomous traveling device; outputting evacuation information in the form of a hazard map (M) representing the hazard level for each location within the travel area according to the observation information; is configured to execute

[0008] A second aspect of the present disclosure is an evacuation information generation device having a processor (202; 102), configured to be installable in an autonomous mobile device (1) or a remote center (2), which generates evacuation information for a travel area (A) of the autonomous mobile device (1), The processor Obtaining observation information observed by searching a travel area where a hazard is predicted to occur using an autonomous traveling device; outputting evacuation information in the form of a hazard map (M) representing the hazard level for each location within the travel area according to the observation information; is configured to execute

[0009] A third aspect of the present disclosure is an autonomous driving device having a processor (102) and autonomously traveling in a traveling area (A), The processor Obtaining observation information observed by searching a travel area where a hazard is predicted to occur using an autonomous traveling device; outputting evacuation information in the form of a hazard map (M) representing the hazard level for each location within the travel area according to the observation information; is configured to execute

[0010] A fourth aspect of the present disclosure is an evacuation information generation method executed by a processor (202; 102) to generate evacuation information for a travel area (A) of an autonomous mobile device (1), the method comprising: Obtaining observation information observed by searching a travel area where a hazard is predicted to occur using an autonomous traveling device; outputting evacuation information in the form of a hazard map (M) representing the hazard level for each location within the travel area according to the observation information; Includes.

[0011] A fifth aspect of the present disclosure is an evacuation information generation program stored in a storage medium (201; 101) for generating evacuation information for a travel area (A) of an autonomous mobile device (1), the program including instructions to be executed by a processor (202; 102), The command is, Acquiring observation information observed by searching a travel area where a hazard is predicted to occur using an autonomous traveling device; outputting evacuation information in the form of a hazard map (M) representing the hazard level for each location within the travel area according to the observation information; Includes.

[0012] According to the first to fifth aspects, a hazard map is output based on observation information from the autonomous mobile device for a travel area where a hazard is expected to occur. Therefore, the hazard map for each location can reflect actual observation information for that location. Therefore, effective evacuation information can be generated.

[0013] A sixth aspect of the present disclosure is an evacuation information generation system having a processor (202; 102) and generating evacuation information for a travel area (A) of an autonomous mobile device (1), The processor Obtaining observation information observed by searching a travel area where a hazard is predicted to occur using an autonomous traveling device; outputting evacuation information as evacuation route data within the travel area according to the observation information; configured to run 、 Obtaining observation information is Obtaining observation information obtained by searching a travel area using an active device that can communicate with the outside among the plurality of autonomous traveling devices; Acquiring observation information by searching for a lost device that has lost communication with the outside world within a travel area among the plurality of autonomous traveling devices using an active device; Including, Outputting evacuation information is and outputting a hazard map (M) showing the hazard level of the location where the disruption device is estimated to exist as a hazard level according to the state of the detected disruption device. .

[0014] A seventh aspect of the present disclosure is an evacuation information generation device having a processor (202; 102), configured to be installable in an autonomous mobile device (1) or a remote center (2), and configured to generate evacuation information for a travel area (A) of the autonomous mobile device (1), The processor Obtaining observation information observed by searching a travel area where a hazard is predicted to occur using an autonomous traveling device; outputting evacuation information as evacuation route data within the travel area according to the observation information; configured to run 、 Obtaining observation information is Obtaining observation information obtained by searching a travel area using an active device that can communicate with the outside among the plurality of autonomous traveling devices; Acquiring observation information by searching for a lost device that has lost communication with the outside world within a travel area among the plurality of autonomous traveling devices using an active device; Including, Outputting evacuation information is and outputting a hazard map (M) showing the hazard level of the location where the disruption device is estimated to exist as a hazard level according to the state of the detected disruption device. .

[0015] An eighth aspect of the present disclosure is an autonomous driving device (1) having a processor (102) and autonomously driving in a driving area (A), The processor Obtaining observation information observed by searching a travel area where a hazard is predicted to occur using an autonomous traveling device; outputting evacuation information as evacuation route data within the travel area according to the observation information; configured to run 、 Obtaining observation information is Obtaining observation information obtained by searching a travel area using an active device that can communicate with the outside among the plurality of autonomous traveling devices; Acquiring observation information by searching for a lost device that has lost communication with the outside world within a travel area among the plurality of autonomous traveling devices using an active device; Including, Outputting evacuation information is and outputting a hazard map (M) showing the hazard level of the location where the disruption device is estimated to exist as a hazard level according to the state of the detected disruption device. .

[0016] A ninth aspect of the present disclosure is an evacuation information generation method executed by a processor (202; 102) to generate evacuation information for a travel area (A) of an autonomous mobile device (1), Obtaining observation information observed by searching a travel area where a hazard is predicted to occur using an autonomous traveling device; outputting evacuation information as evacuation route data within the travel area according to the observation information; Including fruit, Obtaining observation information is Obtaining observation information obtained by searching a travel area using an active device that can communicate with the outside among the plurality of autonomous traveling devices; Acquiring observation information by searching for a lost device that has lost communication with the outside world within a travel area among the plurality of autonomous traveling devices using an active device; Including, Outputting evacuation information is and outputting a hazard map (M) showing the hazard level of the location where the disruption device is estimated to exist as a hazard level according to the state of the detected disruption device. .

[0017] A tenth aspect of the present disclosure is an evacuation information generation program stored in a storage medium (201; 101) for generating evacuation information for a travel area (A) of an autonomous mobile device (1), the program including instructions to be executed by a processor (202; 102), The command is, Acquiring observation information observed by searching a travel area where a hazard is predicted to occur using an autonomous traveling device; outputting evacuation information as evacuation route data within the travel area according to the observation information; Including fruit, Obtaining observation information is Obtaining observation information obtained by searching a travel area using an active device that can communicate with the outside among the plurality of autonomous traveling devices; Acquiring observation information by searching for a lost device that has lost communication with the outside world within a travel area among the plurality of autonomous traveling devices using an active device; Including, Outputting evacuation information is and outputting a hazard map (M) showing the hazard level of the location where the disruption device is estimated to exist as a hazard level according to the state of the detected disruption device. .

[0018] According to the sixth to tenth aspects, route evacuation data corresponding to observation information by the autonomous mobile device is output for a travel area where a hazard is predicted to occur. Therefore, actual observation information can be reflected in the evacuation route data within the travel area. Therefore, effective evacuation information can be generated. [Brief explanation of the drawings]

[0019] [Figure 1] 1 is a block diagram showing the overall configuration of an embodiment; [Figure 2] FIG. 1 is a schematic diagram illustrating a traveling environment of a host vehicle to which an embodiment is applied. [Figure 3] FIG. 2 is a block diagram showing the functional configuration of an autonomous driving device according to an embodiment. [Figure 4] 1 is a block diagram showing a functional configuration of an evacuation information generating system according to an embodiment. [Figure 5] 10 is a flowchart illustrating a flow executed by an information processing device in an embodiment. [Figure 6] 10 is a flowchart illustrating a flow in an area search mode executed by an information processing device according to an embodiment. [Figure 7] 10 is a flowchart illustrating a flow in a disrupted device search mode executed by an information processing device according to an embodiment. [Figure 8] 10 is a flowchart illustrating a flow executed by a server device according to an embodiment. [Figure 9] FIG. 10 is a diagram showing an example of hazard levels according to observation information acquired in the area search mode. [Figure 10] FIG. 10 is a diagram showing an example of a hazard level according to observation information acquired by the disruption device search mode. [Figure 11] FIG. 10 is a diagram illustrating an example of a hazard map. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings.

[0021] (First embodiment) The evacuation information generation system 3 of the first embodiment shown in Fig. 1 generates evacuation information related to a travel area A of an autonomous mobile device 1 shown in Fig. 2. The evacuation information generation system 3 includes, for example, a plurality of autonomous mobile devices 1 and a server device 2b provided in a remote center 2 that manages the operation of the autonomous mobile devices 1.

[0022] The autonomous mobile device 1 is an autonomous mobile robot that can autonomously travel in any direction, including forward, backward, left, or right. The autonomous mobile device 1 may be a logistics robot that normally travels autonomously within a facility such as a hospital or warehouse, serving as a travel area A, to transport luggage. Alternatively, the autonomous mobile device 1 may be a delivery robot that normally travels autonomously on roads, serving as a travel area A, to transport luggage to a delivery destination. Alternatively, the autonomous mobile device 1 may be an information gathering robot that normally patrols a travel area A, such as a facility or road, to collect specific information.

[0023] The autonomous mobile device 1 normally provides the above-described services within the travel area A, and when a hazard occurs, it collects, in the travel area A, observation information necessary for the evacuation information generation process in the evacuation information generation system 3. Here, a hazard is an event that may cause damage to the travel area A. A hazard can also be defined as an event that requires users of the travel area A to evacuate from the area. For example, hazards include disaster events such as earthquakes and fires. The travel area A in which a hazard occurs can also be called a hazard area.

[0024] The autonomous mobile device 1 is equipped with a sensor system 10, a communication system 20, a map database 30, a driving system 40, and an information processing device 100, all of which are shown in Fig. 3. The sensor system 10 acquires sensor information about the external and internal worlds of the autonomous mobile device 1 that can be used by the information processing device 100. To this end, the sensor system 10 is configured to include an external sensor 11 and an internal sensor 12.

[0025] The external sensor 11 acquires external information as sensor information from the external world that is the surrounding environment of the autonomous mobile device 1. The external sensor 11 may be a target detection type that detects targets that exist in the external world of the autonomous mobile device 1. The target detection type external sensor 11 is, for example, at least one of a camera, LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), radar, sonar, etc. The external information acquired by the external sensor 11 is sequentially stored in a storage medium such as the memory 101 of the autonomous mobile device 1 or the memory 201 of the server device 2b, linked to position information of the acquired location.

[0026] The internal sensor 12 acquires internal information as sensor information from the internal world, which is the internal environment of the autonomous mobile device 1. The internal sensor 12 may be a physical quantity detection type that detects a specific physical quantity of motion in the internal world of the autonomous mobile device 1. The physical quantity detection type internal sensor 12 is at least one type of sensor, such as a traveling speed sensor, an acceleration sensor, or a gyro sensor.

[0027] The communication system 20 acquires communication information usable by the information processing device 100 via wireless communication. The communication system 20 includes a positioning type that receives positioning signals from artificial satellites of a Global Navigation Satellite System (GNSS) that exist outside the autonomous mobile device 1. A positioning type communication system 20 is, for example, a GNSS receiver. The communication system 20 includes a wide-area communication type that transmits and receives communication signals to and from a wide-area communication system that exists outside the autonomous mobile device 1. The wide-area communication type communication system 20 is, for example, at least one of a Dedicated Short Range Communications (DSRC) communication device and a Cellular V2X (C-V2X) communication device. Through the wide-area communication type communication system 20, the autonomous mobile device 1 periodically provides its own position information to the remote center 2. The communication system 20 includes a short-range communication type that transmits and receives signals via local communication between autonomous mobile devices 1 that are located relatively close to each other. The short-range communication type communication system 20 is at least one of, for example, a Bluetooth (registered trademark) device, a Wi-Fi (registered trademark) device, and an infrared communication device.

[0028] The map database 30 stores map information that can be used by the information processing device 100. The map database 30 includes at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium. The map database 30 may be a database of a locator that estimates the autonomous mobile device 1's own state quantities, including its own position. The map database 30 may be a database of a planning unit that plans the travel of the autonomous mobile device 1. The map database 30 may be configured by combining multiple types of these databases.

[0029] The map database 30 acquires and stores the latest map information, for example, by communicating with the remote center 2 via the communication system 20. Here, the map information is converted into two-dimensional or three-dimensional data as information representing the driving environment of the autonomous mobile device 1. In particular, it is preferable to use digital data of high-precision maps as three-dimensional map data.

[0030] The map information may include facility information representing at least one of the positions, shapes, and floor conditions of walls, floors, and the like of a facility along which the vehicle travels. The map information may include installation information representing at least one of the positions, shapes, and types of installations attached to the facility. The map information may include road information representing at least one of the positions, shapes, and road surface conditions of a road along which the vehicle travels. The map information may include sign information representing at least one of the positions and shapes of signs and lane markings attached to the road. The map information may include structure information representing at least one of the positions and shapes of buildings and traffic lights facing the road.

[0031] The driving system 40 controls the driving of the autonomous mobile device 1 in cooperation with the information processing device 100 and the like. The driving system 40 includes, for example, a plurality of drive wheels and an electric actuator that controls the drive wheels. The drive wheels are, for example, Mecanum wheels or omni wheels, which are wheels that can turn due to the difference in rotational speed between the drive wheels. The electric actuator can drive each drive wheel independently. The electric actuator can switch the drive mode of the autonomous mobile device 1 between straight drive and turning drive by adjusting the difference in rotational speed between the drive wheels. The electric actuator may include a brake unit that applies braking to each drive wheel while it is rotating. The electric actuator may include a lock unit that locks each drive wheel while it is stopped.

[0032] The information processing device 100 is connected to a sensor system 10, a communication system 20, and a map database 30 via at least one of, for example, a LAN (Local Area Network) line, a wire harness, an internal bus, or a wireless communication line. The information processing device 100 is configured to include at least one dedicated computer.

[0033] The dedicated computer constituting the information processing device 100 may be a planning ECU (Electronic Control Unit) that plans a target trajectory along which the autonomous mobile device 1 will travel. The dedicated computer constituting the information processing device 100 may be a trajectory control ECU that causes an actual trajectory to follow a target trajectory of the autonomous mobile device 1. The dedicated computer constituting the information processing device 100 may be an actuator ECU that controls each electric actuator of the autonomous mobile device.

[0034] The dedicated computer constituting the information processing device 100 may be a sensing ECU that controls the sensor system 10 of the autonomous mobile device 1. The dedicated computer constituting the information processing device 100 may be a locator ECU that estimates the self-state quantity of the autonomous mobile device 1. The dedicated computer constituting the information processing device 100 may be a computer other than the autonomous mobile device 1 that constitutes, for example, an external center or mobile terminal that can communicate with the autonomous mobile device 1 via the communication system 20.

[0035] The dedicated computer constituting the information processing device 100 has at least one memory 101 and one processor 102. The memory 101 is at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium, that non-temporarily stores computer-readable programs, data, and the like. Here, "storage" may refer to accumulation in which data is retained even when the autonomous mobile device 1 is powered on or off, or may refer to temporary storage in which data is erased when the autonomous mobile device 1 is powered on or off. The processor 102 includes at least one type of core selected from a central processing unit (CPU), a graphics processing unit (GPU), a reduced instruction set computer (RISC)-CPU, a data flow processor (DFP), and a graph streaming processor (GSP).

[0036] In the information processing device 100, the processor 102 executes a plurality of instructions included in a search program stored in the memory 101 to execute search control that causes the autonomous mobile device 1 to search a traveling area A where a hazard has occurred. As a result, the information processing device 100 constructs a plurality of functional blocks for search control. The plurality of functional blocks constructed in the information processing device 100 include a search block 110 and a transmission block 120, as shown in FIG. 3 .

[0037] A search control method in which the information processing device 100 executes search control through the cooperation of these blocks 110 and 120 is executed according to the search control flow shown in Figures 5 to 7. This search control flow is executed repeatedly while the autonomous mobile device 1 is running. Note that each "S" in this search control flow represents multiple steps executed by multiple commands included in the search control program.

[0038] First, in S100, the search block 110 acquires hazard information. Hazard information is information indicating the occurrence of a hazard. Therefore, the driving area A to which the hazard information applies is an area where the occurrence of a hazard is predicted. The search block 110 acquires the hazard information, for example, from the remote center 2 via the communication system 20. Alternatively, the search block 110 may acquire the hazard information by determining the occurrence of a hazard based on information acquired by its own external sensor 11 and internal sensor 12.

[0039] In the following S110, the search block 110 determines whether communication with the remote center 2 is possible. The search block 110 determines whether communication with the remote center 2 is possible by diagnosing a fault in the wide-area communication system 20 and attempting communication with the remote center 2. If it is determined that communication is not possible, this flow ends. In this case, the autonomous mobile device 1 waits for a search from an active autonomous mobile device 1 that can communicate with the remote center 2 (described below) as an autonomous mobile device 1 in a disconnected state. Note that, below, an autonomous mobile device 1 in a disconnected state may be referred to as a disconnected device. Also, an autonomous mobile device 1 in an active state may be referred to as an active device. Note that, if the disconnected device can use a short-range communication system 20, it may transmit a signal to the surrounding area via short-range communication to assist the active device in searching.

[0040] On the other hand, if it is determined in S110 that communication with the remote center 2 is possible, the flow proceeds to S120. In S120, the search block 110 determines whether the autonomous mobile device 1 is capable of traveling. The search block 110 may determine whether it is capable of traveling by, for example, performing a fault diagnosis on the sensor system 10 or the traveling system 40. If it is determined that it is not capable of traveling, the flow proceeds to S130. In S130, the transmission block 120 transmits a fault notification to the remote center 2 via the communication system 20 notifying that it is not capable of traveling, and then ends the flow. Note that even if it is determined that it is not capable of traveling, the autonomous mobile device 1 may transmit observation information (described below) around the current stopping position to the remote center 2 if the external sensor 11 is available.

[0041] On the other hand, if it is determined in S120 that driving is possible, the flow proceeds to S140. In S140, the search block 110 determines the search mode of the autonomous mobile device 1. For example, the search block 110 determines the search mode by receiving a mode designation command from the remote center 2. The search mode includes, for example, an area search mode and a disrupted device search mode. If the mode is determined to be the area search mode, the flow proceeds to S150. If the mode is determined to be the disrupted device search mode, the flow proceeds to S160.

[0042] In executing the area search mode at S150, the autonomous mobile device 1 searches for facilities that make up travel area A and transmits the search results to the remote center 2. The detailed processing at S150 will be described below with reference to the flowchart in FIG.

[0043] In S151, the search block 110 acquires external environment information for the travel area A after the hazard. More specifically, the search block 110 causes the autonomous mobile device 1 to travel near a location in the travel area A for which observation information, described below, has not yet been acquired, and acquires external environment information for that location from the external environment sensor 11. At this time, the search block 110 may, for example, cause the autonomous mobile device 1 to travel so as to trace the location for which external environment information was acquired before the hazard occurred. Alternatively, the search block 110 may cause the autonomous mobile device 1 to travel so as to continue along the planned travel route before the hazard occurred. Alternatively, the search block 110 may cause the autonomous mobile device 1 to travel along the planned travel route distributed from the remote center 2 after the hazard occurred. The search block 110 acquires the external environment information by linking it to the position information of the location.

[0044] In the next step S152, the search block 110 acquires pre-hazard external world information related to the location for which the external world information was acquired in step S151. The search block 110 acquires pre-hazard external world information by reading, from the storage medium, pre-hazard external world information whose position information substantially matches the external world information acquired in step S151. Note that the pre-hazard external world information may have been acquired by another autonomous mobile device 1.

[0045] Furthermore, in S153, the transmission block 120 outputs observation information corresponding to the external environment information before and after the hazard to the remote center 2. More specifically, the transmission block 120 outputs, as observation information, difference information between the external environment information acquired in the area search and the external environment information before the hazard. The observation information may also include an analysis result of the difference. The output observation information is transmitted to the remote center 2 via the communication system 20. After processing in S153, the flow proceeds to S170 in FIG. 5.

[0046] On the other hand, in executing the disrupted device search mode in S160, the autonomous mobile device 1 searches for a disrupted device and transmits the search results to the remote center 2. The detailed processing in S160 will be described with reference to the flowchart in FIG.

[0047] In S161, the search block 110 starts traveling to search for the disrupted device. In the search for the disrupted device, the search block 110 acquires the location information of the disrupted device immediately before the disruption from the remote center 2 or the like, and controls the traveling system 40 to head toward the disruption location where the disrupted device is estimated to be present. The disruption location is, for example, an area within a specified range that includes the location coordinates immediately before the disruption.

[0048] In the next step S162, the search block 110 determines whether the autonomous mobile device 1 has arrived at the disruption location. The search block 110 continues searching for the disruption location until it determines that the autonomous mobile device 1 has arrived at the disruption location. If it determines that the autonomous mobile device 1 has arrived at the disruption location, the flow proceeds to step S163.

[0049] In S163, the search block 110 performs a diagnostic process on the state of the disrupted device at the disruption location. In the diagnostic process, the search block 110 determines whether local communication is possible between the active device (own device) and the disrupted device, for example, via a short-range communication system 20. In addition, in the diagnostic process, the search block 110 determines whether the external sensor 11 of the own device can recognize the disrupted device. Furthermore, in the diagnostic process, if the disrupted device can be recognized, the search block 110 determines the degree of damage to the appearance of the disrupted device.

[0050] Then, in S164, the transmission block 120 outputs the diagnostic information of the interrupted device acquired in S163 as observation information. The output observation information is transmitted to the remote center 2 via the communication system 20. After the processing of S164, the flow proceeds to S170 in FIG. 5.

[0051] In S170, the search block 110 determines whether there is an instruction to end the search. The instruction to end is sent to the autonomous mobile device 1 in response to, for example, an operation by a manager such as an operator at the remote center 2. If there is no instruction to end, the search block 110 executes the area search mode in S150. That is, the autonomous mobile device 1 in the area search mode expands the area search area within the facility until an instruction to end is received. Then, the autonomous mobile device 1 in the disconnected device search mode transitions to the area search mode if there is no instruction to end after searching for the disconnected device. As a result, the proportion of active autonomous mobile devices 1 executing the area search mode increases over time. When an instruction to end is received, this flow ends and the search process is completed. After completing the search, the autonomous mobile device 1 may wait at the search end point or may leave the travel area A in response to evacuation information from the remote center 2.

[0052] Next, we will explain in detail the server device 2b in the remote center 2, which generates evacuation information in response to the search process of the autonomous mobile device 1. The server device 2b is connected to the communicator 2a, which communicates with the autonomous mobile device 1, via at least one of, for example, a LAN line, a wire harness, an internal bus, or a wireless communication line. The server device 2b is configured to include at least one dedicated computer.

[0053] The dedicated computer constituting the server device 2b has at least one memory 201 and one processor 202. The memory 201 is at least one type of non-transient tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium, that non-temporarily stores computer-readable programs and data. Here, "storage" may refer to accumulation in which data is retained even when the dedicated computer is turned off, or may refer to temporary storage in which data is erased when the dedicated computer is turned off. The processor 202 includes at least one type of core, such as a CPU, a GPU, a RISC-CPU, a DFP, or a GSP.

[0054] In server device 2b, processor 202 executes a plurality of instructions included in an evacuation information generation program stored in memory 201 in order to generate evacuation information for travel area A of autonomous mobile device 1. In this way, server device 2b constructs a plurality of function blocks for generating evacuation information for travel area A. The plurality of function blocks constructed in evacuation information generation system 3 include a collection block 210 and an output block 220, as shown in FIG.

[0055] The evacuation information generation method in which the server device 2b generates evacuation information for travel area A of the autonomous mobile device 1 through the cooperation of these blocks 210 and 220 is executed according to the evacuation information generation flow shown in Figure 8. This evacuation information generation flow is executed repeatedly while the dedicated computer is running. Note that each "S" in this evacuation information generation flow represents a plurality of steps executed by a plurality of commands included in the evacuation information generation program.

[0056] First, in S200, the collection block 210 determines whether a hazard has occurred. The collection block 210 may determine that a hazard has occurred when hazard occurrence information is acquired from at least one of sources, such as distribution from a public communication network such as the Internet, a report from a facility, and information provided by a fire department or the like. The collection block 210 waits to proceed with this flow until it determines that an event has occurred. If it determines that a hazard has occurred, this flow proceeds to S210. In S210, the output block 220 outputs hazard information to the autonomous mobile device 1. The hazard information is transmitted to each autonomous mobile device 1 in the travel area A via the communication device 2a.

[0057] Next, in S220, the collection block 210 assigns search modes to the autonomous mobile devices 1 within the travel area A. Specifically, the collection block 210 identifies active devices that have not received any fault notifications, i.e., autonomous mobile devices 1 that are capable of traveling, by communicating with the autonomous mobile devices 1. The collection block 210 then assigns the identified autonomous mobile devices 1 to devices that will run the area search mode and devices that will run the disrupted device search mode. For example, the collection block 210 may assign the disrupted device search mode to the autonomous mobile device 1 closest to each disruption location, and assign the other autonomous mobile devices 1 to the area search mode. Note that the collection block 210 may assign multiple autonomous mobile devices 1 to one disruption location. The collection block 210 outputs the assignment result to each autonomous mobile device 1, causing each autonomous mobile device 1 to run the search mode corresponding to that autonomous mobile device.

[0058] In the next step S230, the collection block 210 acquires observation information from area searches from each active autonomous mobile device 1. Then, in step S240, the collection block 210 acquires observation information from a search for a disrupted device from each active autonomous mobile device 1. Note that the processing of steps S230 and S240 may be performed in parallel. The collection block 210 continues the acquisition process until sufficient location observation information has been collected to generate a hazard map, and then proceeds to step S250.

[0059] In S250, the output block 220 generates a hazard map according to each piece of observation information. Here, the hazard map is evacuation information in map form that indicates the hazard level for each location within the travel area A. The hazard level indicates the degree of danger to the user in the travel area A. The user is, for example, a person. Alternatively, the user may be the autonomous mobile device 1. The output block 220 may estimate the hazard level for each type of user.

[0060] The output block 220 estimates the hazard level of the corresponding location from each piece of observation information. For example, as shown in Fig. 11, the output block 220 estimates the hazard level for each location, which is a small section of the driving area A, according to the observation information for the corresponding position.

[0061] As shown in Figures 9 and 10, the output block 220 sets multiple hazard levels according to information from the observation information. In the example shown in Figures 9 and 10, the output block 220 sets five hazard levels, from lowest to highest, which are zero, low, medium, high, and highest risk. In the following examples, unless otherwise specified, the magnitude of the hazard levels is assumed to be the same for both people and the autonomous mobile device 1.

[0062] For example, as shown in Figure 9, the output block 220 determines whether there is damage to nearby walls, whether there are cave-ins in the floor, and whether there are any obstacles on the floor for each location based on the observation information obtained through area search, and determines the hazard level based on the state of the location estimated from the determination results.

[0063] Specifically, if the output block 220 determines that there is no wall damage, no floor cave-ins, and no obstacles, it presumes that there is no abnormality in the location. In this case, the output block 220 determines the hazard level to be zero. On the other hand, if the output block 220 determines that there is an obstacle without wall damage or floor cave-ins, it determines the hazard level at the location between low and high. The smaller the passable area is due to an obstacle, the higher the hazard level the output block 220 determines for the area and the obstacle position. The output block 220 may determine the hazard levels for the obstacle position and the passable area separately.

[0064] Furthermore, if the output block 220 determines that there is no wall damage, a floor cave-in, and no obstacles, it presumes that the floor is missing at that location. In this case, the output block 220 determines the hazard level to be between medium and high. The smaller the passable area is due to a floor cave-in, the higher the hazard level the output block 220 determines for that area and the cave-in portion. The output block 220 may determine the hazard levels for the cave-in portion and the passable area separately.

[0065] Furthermore, if the output block 220 determines that there is no wall damage, that there is a floor cave-in, and that there is an obstacle, it presumes that the floor at the location has been damaged by a heavy object falling, and that the heavy object or its fragments are scattered on the floor. In this case, the output block 220 determines the hazard level to be high. Furthermore, if the output block 220 determines that there is wall damage, that there is no floor cave-in, and that there is no obstacle, it determines the hazard level at the location to be low.

[0066] If the output block 220 determines that there is wall damage, no floor cave-in, and an obstacle, it presumes that an object installed on the wall at that location has fallen onto the floor. In this case, the output block 220 determines the hazard level to be low to medium. The smaller the passable area is due to the falling object, the higher the hazard level the output block 220 determines for that area and the location of the fallen object. The output block 220 may determine the hazard levels for the location of the falling object and the passable area separately.

[0067] Furthermore, if the output block 220 determines that there is wall damage, a floor cave-in, or no obstacles, it presumes that the structure of the wall or floor has changed due to the hazard. In this case, the output block 220 determines the hazard level to be high. Also, if the output block 220 determines that there is wall damage, a floor cave-in, or an obstacle, it presumes that the shape of the wall or floor has not been maintained due to the hazard, or that the floor has been significantly deformed, preventing normal environmental recognition. In this case, the output block 220 determines the hazard level to be the highest.

[0068] 10, the output block 220 determines the status of the disrupted device from the observation information obtained by the disrupted device search. For example, the output block 220 determines whether local communication with the disrupted device is possible, whether the disrupted device has been found, and whether the external appearance of the disrupted device is damaged. The output block 220 determines the hazard level at the disrupted location from the status of the disrupted device estimated from the determination result.

[0069] Specifically, if the output block 220 determines that local communication is possible, that the device has been found, and that there is no external damage, it determines that only the disruption device's communication function with the center has been damaged. In this case, the output block 220 determines the hazard level for people to be zero. Also, in this case, the output block 220 sets the hazard level for the autonomous mobile device 1 to low. Also, if the output block 220 determines that local communication is possible, that the device has been found, and that there is external damage, it presumes that the disruption device's communication function with the center and its housing have been damaged by an external impact. In this case, the output block 220 determines the hazard level to be medium.

[0070] Furthermore, if the output block 220 determines that local communication is possible, but that the device has not been found and it is not possible to determine whether there is external damage, it presumes that the disrupted device is left behind in an area that cannot be entered by other autonomous mobile devices 1. In this case, the output block 220 determines the hazard level to be high.

[0071] Furthermore, if the output block 220 determines that local communication is not possible, that a detection has been made, and that there is no external damage, it presumes that the communication function is unavailable due to a network card abnormality, the generation of jamming radio waves, etc. In this case, the output block 220 determines the hazard level for people to be low. In this case, the output block 220 also determines the hazard level for the autonomous mobile device 1 to be medium.

[0072] Furthermore, if the output block 220 determines that local communication is not possible, that the device has been found, and that there is external damage, it presumes that serious damage has occurred to the hardware of the disruption device due to an external impact. In this case, the output block 220 determines the hazard level to be high. If the output block 220 determines that local communication is not possible, that the device has not been found, and therefore it is not possible to determine whether there is external damage, it presumes that the status of the disruption device cannot be confirmed because it has been caught up in the collapse of a facility, for example. In this case, the output block 220 determines the hazard level to be the highest.

[0073] By setting the hazard level for each location as described above, the output block 220 generates a hazard map M in which a hazard level is defined for each subdivision, as shown in Figure 11. In Figure 11, the darker the hatching of the dots, the higher the hazard level. Subdivisions without hatching are locations for which the hazard level is set to zero.

[0074] In the following S260, the output block 220 generates evacuation route data within the travel area A. The evacuation route data is evacuation information in map format that represents the evacuation route Re within the travel area A. The output block 220 generates the evacuation route data based on the hazard map M generated in S250.

[0075] Specifically, the output block 220 searches for a route with the lowest hazard cost from a specified starting point to the exit of the travel area A, and designates the route as the evacuation route Re. For example, if an evacuee is detected within the travel area A, the starting point of the evacuation route Re is the current location of the evacuee. Alternatively, the evacuation route Re may start at any location. For example, the starting point of the hazard cost is a cost corresponding to the hazard level on the hazard map M. The hazard cost is a parameter related to the sum of the hazard levels of each location passed through, quantified so that the higher the hazard level, the higher the value. Note that the example shown in FIG. 11 shows the evacuation route Re with the lowest hazard level (zero), but it may pass through locations with a hazard level greater than zero as long as the hazard cost is minimized. Note that the output block 220 may generate evacuation route data with a constraint that the route does not pass through locations with a hazard level equal to or greater than a specified hazard level, regardless of the hazard cost.

[0076] Then, in S270, the output block 220 outputs the hazard map M and evacuation route data. The output block 220 may output this evacuation information to a rescue organization such as a fire department. Alternatively, the output block 220 may output this evacuation information to the autonomous mobile device 1 in the travel area A. Alternatively, the output block 220 may output this evacuation information to personnel such as an operator at the remote center 2.

[0077] At this time, the output block 220 outputs the evacuation route data in association with the hazard map M. That is, the output block 220 associates the data so that the position of the evacuation route Re is presented on the hazard map M, as shown in FIG.

[0078] According to the first embodiment described above, a hazard map M is output based on observation information from an autonomous mobile device for a travel area A where a hazard is expected to occur. Therefore, the hazard map M for each location can reflect actual observation information for that location. Therefore, effective evacuation information can be generated.

[0079] Furthermore, according to the first embodiment, route evacuation data is output according to observation information by the autonomous mobile device regarding travel area A where the occurrence of a hazard is predicted. Therefore, actual observation information can be reflected in the evacuation route data within travel area A. Therefore, effective evacuation information can be generated.

[0080] Furthermore, according to the first embodiment, evacuation route data is output in association with the hazard map M. Therefore, highly convenient evacuation information that allows users to grasp both the hazard level and evacuation route data can be provided.

[0081] Additionally, according to the first embodiment, acquiring observation information includes acquiring observation information obtained by searching the travel area A using an active device capable of communicating with the outside among the multiple autonomous mobile devices 1. Therefore, evacuation information can be generated using the active device capable of communicating with the outside.

[0082] According to the first embodiment, acquiring the observation information includes acquiring the observation information by searching the facilities that make up the travel area A using the active device. This allows evacuation information to be generated in response to damage to the travel area A caused by a hazard.

[0083] Furthermore, according to the first embodiment, acquiring observation information includes acquiring observation information obtained by searching for a disconnected device among the plurality of autonomous mobile devices 1 that has lost communication with the outside world within the travel area A using an active device. Then, outputting evacuation information includes outputting a hazard map M that indicates the hazard level of the location where the disconnected device is estimated to be located, as a hazard level according to the state of the searched disconnected device. Therefore, evacuation information according to the state of the disconnected device can be generated using the active device.

[0084] In addition, according to the first embodiment, outputting evacuation information includes outputting a hazard map M that indicates a hazard level according to the intercommunication state between the active device and the interrupted device. Therefore, evacuation information that utilizes the intercommunication state between the active device and the interrupted device can be generated.

[0085] According to the first embodiment, outputting evacuation information includes outputting a hazard map M showing a hazard level according to the observation state of the disruption device by the active device. This allows evacuation information according to the observation state of the disruption device to be generated by utilizing the active device.

[0086] (Other embodiments) Although one embodiment has been described above, the present disclosure should not be construed as being limited to the embodiment described above, and can be applied to various embodiments within the scope that does not deviate from the gist of the present disclosure.

[0087] In a modified example, some of the functions executed by the server device 2b may be executed by another control device, such as the information processing device 100 of the autonomous mobile device 1. Furthermore, in a modified example, some of the functions executed by the information processing device 100 may be executed outside the autonomous mobile device 1, such as at the remote center 2.

[0088] In a modified example, the evacuation information generating system 3 may output only one of the hazard map M and the evacuation route data.

[0089] In a modified example, the dedicated computer constituting the evacuation information generation system 3 may have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is at least one of an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), an SOC (System on a Chip), a PGA (Programmable Gate Array), and a CPLD (Complex Programmable Logic Device). Furthermore, such a digital circuit may have a memory that stores a program.

[0090] In addition to the forms described so far, the above-described embodiments and modifications may be implemented as an evacuation information generation device that is configured to be mountable on the autonomous driving device 1 or the remote center 2 and has at least one processor and one memory. In this case, the evacuation information generation device may be implemented in the form of a processing circuit (e.g., a processing ECU, etc.) or a semiconductor device (e.g., a semiconductor chip, etc.).

[0091] (Addendum) This specification discloses the following technical ideas and combinations thereof.

[0092] (Technical thought 1) An evacuation information generation system having a processor (202; 102) and generating evacuation information for a travel area (A) of an autonomous mobile device (1), The processor: acquiring observation information observed by searching the travel area where a hazard is predicted to occur using the autonomous traveling device; outputting a hazard map (M) representing a hazard level for each location within the travel area according to the observation information; An evacuation information generation system configured to execute the above.

[0093] (Technical thought 2) The outputting of the evacuation information includes: The evacuation information generating system according to Technical Idea 1 includes outputting evacuation route data within the driving area based on the hazard map.

[0094] (Technical Thought 3) The outputting of the evacuation information includes: The evacuation information generation system according to Technical Idea 2 includes outputting the evacuation route data in association with the hazard map.

[0095] (Technical Thought 4) An evacuation information generation system having a processor (202; 102) and generating evacuation information for a travel area (A) of an autonomous mobile device (1), The processor: acquiring observation information observed by searching the travel area where a hazard is predicted to occur using the autonomous traveling device; outputting evacuation route data within the travel area according to the observation information; An evacuation information generation system configured to execute the above.

[0096] (Technical Thought 5) The obtaining of the observation information includes: An evacuation information generation system according to any one of technical ideas 1 to 4, which includes acquiring the observation information obtained by searching the travel area using an active device among the plurality of autonomous driving devices that is capable of communicating with the outside.

[0097] (Technical Thought 6) The obtaining of the observation information includes: The evacuation information generation system described in technical idea 5 includes acquiring the observation information by searching for facilities that make up the travel area using the active device.

[0098] (Technical Thought 7) The obtaining of the observation information includes: and acquiring the observation information obtained by searching for a lost device that has lost communication with the outside world within the travel area among the plurality of autonomous traveling devices by the active device; The output of the evacuation information includes: An evacuation information generation system according to Technical Idea 5 or Technical Idea 6, which includes outputting a hazard map (M) representing the hazard level of the location where the existence of the disruption device is estimated as a hazard level according to the state of the detected disruption device.

[0099] (Technical Thought 8) The active device is the autonomous mobile device that can communicate with a remote center (2), and the disrupted device is the autonomous mobile device that has lost communication with the remote center, The output of the evacuation information includes: The evacuation information generation system described in Technical Idea 7 includes outputting the hazard map showing the hazard level according to the intercommunication status between the active device and the disconnected device.

[0100] (Technical Thought 9) The output of the evacuation information includes: An evacuation information generation system according to Technical Idea 7 or Technical Idea 8, which includes outputting a hazard map showing the hazard level according to the observation state of the disconnection device by the active device. [Explanation of symbols]

[0101] 1: Autonomous driving device, 2: Remote center, 3: Evacuation information generation system, 101, 201: Memory (storage medium), 102, 202: Processor, A: Driving area

Claims

1. An evacuation information generation system having a processor (202; 102) and generating evacuation information for a travel area (A) of an autonomous mobile device (1), The processor: acquiring observation information observed by searching the travel area where a hazard is predicted to occur using the autonomous traveling device; outputting evacuation information in the form of a hazard map (M) representing a hazard level for each location within the travel area according to the observation information; An evacuation information generation system configured to execute the above.

2. The output of the evacuation information includes: The evacuation information generating system according to claim 1 , further comprising: outputting evacuation route data within the driving area based on the hazard map.

3. The outputting of the evacuation information includes: The evacuation information generating system according to claim 2 , further comprising outputting the evacuation route data in association with the hazard map.

4. The obtaining of the observation information includes: The evacuation information generation system according to any one of claims 1 to 3, further comprising: acquiring the observation information obtained by searching the travel area using an active device among the plurality of autonomous driving devices that is capable of communicating with the outside.

5. The obtaining of the observation information includes: The evacuation information generating system according to claim 4 , further comprising: acquiring the observation information obtained by searching for facilities that constitute the travel area using the active device.

6. The obtaining of the observation information includes: and acquiring the observation information obtained by searching for a lost device that has lost communication with the outside world within the travel area among the plurality of autonomous traveling devices by the active device; The outputting of the evacuation information includes: The evacuation information generation system of claim 4, further comprising outputting a hazard map (M) representing the hazard level of the location where the disruption device is estimated to be present, as a hazard level according to the state of the detected disruption device.

7. The active device is the autonomous mobile device that can communicate with a remote center (2), and the disrupted device is the autonomous mobile device that has lost communication with the remote center, The outputting of the evacuation information includes: The evacuation information generating system according to claim 6 , further comprising outputting the hazard map indicating the hazard level according to the state of mutual communication between the active device and the disrupted device.

8. The outputting of the evacuation information includes: The evacuation information generating system according to claim 6 , further comprising outputting the hazard map indicating the hazard level according to the observation state of the disconnection device by the active device.

9. An evacuation information generation system having a processor (202; 102) and generating evacuation information for a travel area (A) of an autonomous mobile device (1), The processor: acquiring observation information observed by searching the travel area where a hazard is predicted to occur using the autonomous traveling device; outputting evacuation information as evacuation route data within the travel area according to the observation information; configured to run The obtaining of the observation information includes: Acquiring the observation information obtained by searching the travel area using an active device that can communicate with the outside among the plurality of autonomous traveling devices; Acquiring the observation information obtained by searching for a lost device that has lost communication with the outside world within the travel area among the plurality of autonomous traveling devices by the active device; Including, The outputting of the evacuation information includes: An evacuation information generation system that includes outputting a hazard map (M) that represents the hazard level of a location where the existence of the disruption device is estimated, as a hazard level according to the state of the detected disruption device.

10. Acquiring the observation information comprises: The evacuation information generating system according to claim 9 , further comprising: acquiring the observation information obtained by searching for facilities that constitute the travel area using the active device.

11. The active device is the autonomous driving device capable of communicating with a remote center (2), and the disrupted device is the autonomous driving device that has lost communication with the remote center, The outputting of the evacuation information includes: The evacuation information generating system according to claim 9 , further comprising outputting the hazard map indicating the hazard level according to a state of mutual communication between the active device and the disrupted device.

12. Outputting the evacuation information comprises: The evacuation information generating system according to claim 9 , further comprising outputting the hazard map indicating the hazard level according to the observation state of the disconnection device by the active device.

13. An evacuation information generation device having a processor (202; 102), configured to be installable in an autonomous mobile device (1) or a remote center (2), and generating evacuation information for a travel area (A) of the autonomous mobile device (1), The processor: acquiring observation information observed by searching the travel area where a hazard is predicted to occur using the autonomous traveling device; outputting evacuation information in the form of a hazard map (M) representing a hazard level for each location within the travel area according to the observation information; An evacuation information generating device configured to execute the above.

14. An evacuation information generation device having a processor (202; 102), configured to be installable in an autonomous mobile device (1) or a remote center (2), and generating evacuation information for a travel area (A) of the autonomous mobile device (1), The processor: acquiring observation information observed by searching the travel area where a hazard is predicted to occur using the autonomous traveling device; outputting evacuation information as evacuation route data within the travel area according to the observation information; configured to run The obtaining of the observation information includes: Acquiring the observation information obtained by searching the travel area using an active device that can communicate with the outside among the plurality of autonomous traveling devices; Acquiring the observation information obtained by searching for a lost device that has lost communication with the outside world within the travel area among the plurality of autonomous traveling devices by the active device; Including, The output of the evacuation information includes: An evacuation information generating device that includes outputting a hazard map (M) that represents the hazard level of a location where the existence of the disruption device is estimated, as a hazard level according to the state of the detected disruption device.

15. An autonomous driving device having a processor (102) and autonomously driving in a driving area (A), The processor: acquiring observation information observed by searching the travel area where a hazard is predicted to occur using the autonomous traveling device; outputting evacuation information in the form of a hazard map (M) representing a hazard level for each location within the travel area according to the observation information; An autonomous driving device configured to perform the above.

16. An autonomous driving device (1) having a processor (102) and autonomously driving in a driving area (A), The processor: acquiring observation information observed by searching the travel area where a hazard is predicted to occur using the autonomous traveling device; outputting evacuation information as evacuation route data within the travel area according to the observation information; configured to run The obtaining of the observation information includes: Acquiring the observation information obtained by searching the travel area using an active device that can communicate with the outside among the plurality of autonomous traveling devices; Acquiring the observation information obtained by searching for a lost device that has lost communication with the outside world within the travel area among the plurality of autonomous traveling devices by the active device; Including, The outputting of the evacuation information includes: An autonomous driving device that includes outputting a hazard map (M) that represents the hazard level of a location where the presence of the disruption device is estimated, as a hazard level according to the state of the detected disruption device.

17. An evacuation information generation method executed by a processor (202; 102) to generate evacuation information for a travel area (A) of an autonomous mobile device (1), comprising: acquiring observation information observed by searching the travel area where a hazard is predicted to occur using the autonomous traveling device; outputting evacuation information in the form of a hazard map (M) representing a hazard level for each location within the travel area according to the observation information; An evacuation information generating method including:

18. An evacuation information generation method executed by a processor (202; 102) to generate evacuation information for a travel area (A) of an autonomous mobile device (1), comprising: acquiring observation information observed by searching the travel area where a hazard is predicted to occur using the autonomous traveling device; outputting evacuation information as evacuation route data within the travel area according to the observation information; Including, The obtaining of the observation information includes: Acquiring the observation information obtained by searching the travel area using an active device that can communicate with the outside among the plurality of autonomous traveling devices; Acquiring the observation information obtained by searching for a lost device that has lost communication with the outside world within the travel area among the plurality of autonomous traveling devices by the active device; Including, The outputting of the evacuation information includes: An evacuation information generating method including outputting a hazard map (M) representing the hazard level of a location where the existence of the disruption device is estimated as a hazard level according to the state of the detected disruption device.

19. An evacuation information generation program stored in a storage medium (201; 101) for generating evacuation information for a travel area (A) of an autonomous mobile device (1), the program including instructions to be executed by a processor (202; 102), The instruction: acquiring observation information observed by searching the travel area where a hazard is predicted to occur using the autonomous traveling device; outputting evacuation information in the form of a hazard map (M) representing a hazard level for each location within the travel area according to the observation information; An evacuation information generation program including:

20. An evacuation information generation program stored in a storage medium (201; 101) for generating evacuation information for a travel area (A) of an autonomous mobile device (1), the program including instructions to be executed by a processor (202; 102), The instruction: acquiring observation information observed by searching the travel area where a hazard is predicted to occur using the autonomous traveling device; outputting evacuation information as evacuation route data within the travel area according to the observation information; Including, The acquiring of the observation information includes: Acquiring the observation information obtained by searching the travel area using an active device that can communicate with the outside among the plurality of autonomous traveling devices; Acquiring the observation information obtained by searching for a lost device that has lost communication with the outside world within the travel area among the plurality of autonomous traveling devices by the active device; Including, The output of the evacuation information includes: An evacuation information generation program that includes outputting a hazard map (M) that represents the hazard level of a location where the existence of the disruption device is estimated, as a hazard level according to the state of the detected disruption device.

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