Movability determination device and mobility determination method

Abstract

To provide a technique that is able to set a route along which a moving body can actually move as a target moving route.SOLUTION: A moving availability determination device includes a route acquisition unit configured to acquire a candidate movement route, an information acquisition unit configured to acquire determination basis information including at least one of the following information: moving object feature information indicating at least one of a specification related to a movement of a moving object and a dimension of the moving object; speed condition information indicating a condition for moving speed of the moving object in a target moving route; and structure information indicating at least one of a position and a size of a structure in a region including the target moving route, and a determination unit configured to perform a determination of whether or not the candidate moving route acquired by the route acquisition unit is a movable route, by using the determination basis information.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to determination of whether a target movement route is a movable route.

Background Art

[0002] Various systems have been proposed that transmit a target movement route to a moving body and cause the moving body to move according to the received target movement route (see, for example, Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in a conventional system, there is a possibility that the instructed target movement route is a route along which the moving body cannot actually move. Therefore, a technique that enables the moving body to set an actually movable route as the target movement route is desired.

Means for Solving the Problems

[0005] The present disclosure can be realized in the following forms. [Model 1] A mobility determination device for determining whether a target movement path instructed to a moving body that moves according to a target movement path is a mobility path that the moving body can move along, comprising: a path acquisition unit that acquires candidate movement paths which are candidate paths for the target movement path; an information acquisition unit that acquires determination basis information which includes: a moving body characteristic information according to the type of moving body, which indicates at least one of the specifications relating to the movement of the moving body and the dimensions of the moving body; a speed condition information which indicates the conditions for the movement speed of the moving body in the target movement path; and a structure information which indicates at least one of the position and size of a structure in the area surrounding the target movement path; and a determination unit that performs a determination of whether the candidate movement path acquired by the path acquisition unit is a mobility path using the determination basis information, wherein the device comprises: a path determination condition which is at least some of the conditions for generating the candidate movement path, which includes condition (i) the position coordinates of the starting point of the candidate movement path, condition (ii) the position coordinates of the ending point of the candidate movement path, and condition (iii) the handles that the moving body has CutThe system further includes a user interface unit that accepts input of path determination conditions, which include the position coordinates of the return point, condition (iv) the first radius of curvature of the arc portion closer to the starting point that includes the cutback point, condition (v) the second radius of curvature of the arc portion closer to the ending point that includes the cutback point, and condition (vi) the speed of the moving body. The path acquisition unit acquires the candidate movement path by generating the candidate movement path using the path determination conditions input from the user interface unit, and the determination unit simulates the movement of the moving body according to the generated candidate movement path, and determines that condition (I) the center position of the moving body is within the allowable lateral displacement range over the entire candidate movement path. A device for determining whether a candidate movement path is a movable path if all of the following conditions are met: (II) the positional displacement in the width direction of the moving body is within a range of allowable lateral displacement; (III) the target steering angle in the movement of the moving body is less than or equal to a preset maximum steering angle; (III) the distance between the moving body and the structure is greater than or equal to a predetermined threshold distance; and (IV) the movement speed of the moving body is greater than or equal to a predetermined minimum speed. If at least one of the conditions (I) to (IV) is not met, the device determines whether a candidate movement path is a movable path.

[0006] (1) According to one embodiment of the present disclosure, a mobility determination device is provided that determines whether a target movement path instructed to a moving body that moves according to a target movement path is a mobility path that the moving body can move along. The mobility determination device comprises: a path acquisition unit that acquires a candidate movement path which is a candidate path for the target movement path; an information acquisition unit that acquires determination basis information which includes at least one of the following: a moving body characteristic information which is information indicating at least one of the specifications relating to the movement of the moving body and the dimensions of the moving body; a speed condition information which is information indicating the conditions for the movement speed of the moving body in the target movement path; and a structure information which is information indicating at least one of the position and size of a structure in the area including the target movement path; and a determination unit that performs a determination of whether the candidate movement path generated by the path acquisition unit is a mobility path using the determination basis information. According to this type of mobility determination device, determination basis information is acquired which includes at least one of the following: moving object characteristic information, speed condition information, and structural information. Using this determination basis information, it is determined whether or not a candidate movement path is a movable path. Therefore, a candidate movement path that the moving object can actually move along can be set as the target movement path. (2) The mobility determination device of the above form may further include a user interface unit that accepts input of route determination conditions, which are at least some of the conditions for determining the candidate movement path, and the route acquisition unit may generate the candidate movement path using the route determination conditions input from the user interface unit. This type of movement feasibility determination device can generate candidate movement paths according to the user's intentions. Therefore, the target movement path can be set to a path according to the user's intentions, or a path similar to a path according to the user's intentions. (3) The mobility determination device of the above form further comprises a display control unit, wherein the path acquisition unit modifies the candidate movement path by changing at least a part of the path determination conditions input from the user interface unit when it is determined that the candidate movement path is not a movable path, thereby generating a modified candidate movement path, the determination unit performs the determination on the modified candidate movement path, and the display control unit displays the modified candidate movement path on the display device when it is determined that the modified candidate movement path is a movable path. With this type of mobility determination device, the user can easily find out which routes the mobile object can actually travel along if the candidate travel routes generated using the route determination conditions input from the user interface are not feasible for the mobile object. Therefore, the user can avoid the trouble of trial and error in identifying route determination conditions that can generate a movable route. (4) In the above-described mobility determination device, the device further comprises a display control unit, wherein the determination basis information includes the moving body characteristic information, and the path acquisition unit, when it is determined that the candidate movement path is not the movable path, modifies the candidate movement path by changing at least a part of the path determination conditions input from the user interface unit to generate a modified candidate movement path, the determination unit performs the determination on the modified candidate movement path, and when it is determined that the candidate movement path is not the movable path, modifies the moving body characteristic information to perform the determination, and the display control unit, when it is determined that the modified candidate movement path is the movable path, may display the modified candidate movement path and the type information corresponding to the moving body characteristic information of the moving body that can move along the modified candidate movement path in association with each other on the display unit. With this type of mobility determination device, the user can easily find out what kind of path and what type of mobile object can move along if the candidate movement path generated using the path determination conditions input from the user interface unit is not traversable by the mobile object. Therefore, even when the path determination conditions are restricted, the user can set a target movement path that the mobile object can move along.

[0007] This disclosure can be implemented in various forms. For example, it can be implemented in the form of a method for determining whether or not something can be moved, a device for determining whether or not something can be moved, or a computer program for implementing the method for determining whether or not something can be moved, or a non-temporary storage medium storing such a computer program. [Brief explanation of the drawing]

[0008] [Figure 1] This block diagram shows a part of a manufacturing line to which a movable / unmovable determination device, as one embodiment of the present disclosure, is applied. [Figure 2] A flowchart showing the procedure for determining whether a route can be traveled in the first embodiment. [Figure 3] An explanatory diagram showing an example of a candidate movement path that will be generated. [Figure 4] An explanatory diagram showing the target route setting window displayed on the display device in step S145. [Figure 5] A flowchart showing the procedure for determining whether a route can be traveled in the second embodiment. [Figure 6] An explanatory diagram showing the target route setting window displayed on the display device in step S145a. [Modes for carrying out the invention]

[0009] A. First Embodiment: A1. System configuration: Figure 1 is a block diagram showing a part of a manufacturing line L1 to which a mobility determination device 100, as one embodiment of the present disclosure, is applied. The mobility determination device 100 determines whether the target movement path instructed to the mobile body 200 is a path that the mobile body 200 can move along (hereinafter referred to as the "mobile path"). In this embodiment, the mobile body 200 is a vehicle. The term "vehicle" has a broad meaning and includes not only vehicles in a completed product state, but also vehicles in a semi-finished product or work-in-progress state during the manufacturing process. Note that the mobile body 200 is not limited to vehicles, but may be any type of mobile body such as a ship, aircraft, or robot. The manufacturing line L1 is a manufacturing line for the mobile body 200 and may be set up not only within the factory premises, but also in an area outside the factory premises, such as a parking lot.

[0010] The mobile vehicle 200 is remotely controlled by the mobility determination device 100 and drives automatically. Specifically, the mobile vehicle 200 drives according to the target travel path instructed by the mobility determination device 100. In this embodiment, the "target travel path" includes the coordinates of the position that the mobile vehicle 200 should target (hereinafter referred to as "target position coordinates") and the vehicle speed. Based on the target position coordinates and vehicle speed received from the mobility determination device 100, the mobile vehicle 200 performs driving operations including driving, steering, and braking. At this time, the current position and attitude of the mobile vehicle 200 are determined using detection results from detection devices 80 such as cameras and LiDAR installed inside or outside the factory, and the driving operations are controlled according to the determined current position and attitude.

[0011] In this embodiment, the mobility determination device 100 is configured as a computer. The mobility determination device 100 is configured to communicate with the production management server SV1 via the network NW1. The production management server SV1 manages the manufacturing of the mobile body 200 on the manufacturing line L1.

[0012] The movement determination device 100 includes a main body unit 10 and a user interface unit (UI unit) 20. The user interface unit 20 includes a display device 21, a keyboard 22, and a mouse 23. An input window 211 for inputting at least a part of the conditions (hereinafter referred to as "route determination conditions") for determining a route (hereinafter referred to as "candidate movement route") that is a candidate for the target movement route is displayed on the display device 21. Therefore, the user interface unit 20 can be said to be a functional unit that accepts input of the route determination conditions.

[0013] The main body unit 10 includes a CPU 11, a hard disk drive (HDD) 12, a ROM 13, a RAM 14, a communication unit 15, and an input / output interface unit 16. The CPU 11 functions as a route acquisition unit 11a, an information acquisition unit 11b, a determination unit 11c, a display control unit 11d, a route setting unit 11e, and an instruction unit 11f by expanding and executing a control program stored in advance in the hard disk 12 in the RAM 14.

[0014] The route acquisition unit 11a acquires a candidate movement route. In the present embodiment, the route acquisition unit 11a acquires the candidate movement route by generating the candidate movement route using the route determination conditions input from the input window 211.

[0015] The information acquisition unit 11b acquires determination basis information. The "determination basis information" is information used as a basis in determining whether the candidate movement route is a movable route. In the present embodiment, the determination basis information includes moving body characteristic information, speed condition information, and structure information. Note that the determination basis information may not include a part of the moving body characteristic information, the speed condition information, and the structure information.

[0016] "Mobile body characteristic information" refers to information indicating at least one of the specifications related to the movement of the mobile body 200 and the dimensions of the mobile body 200. In the present embodiment, the "specifications related to the movement of the mobile body 200" include the maximum steering angle of the steering wheel, the wheelbase, and the steering speed of the steering wheel. In addition to these pieces of information, or in place of at least a part of these pieces of information, other arbitrary types of specifications related to the movement of the mobile body 200, such as tire size and tread, may be included. Examples of the dimensions of the mobile body 200 include the overall length, vehicle height, vehicle width, and the like.

[0017] "Speed condition information" refers to information indicating the conditions of the moving speed of the mobile body 200 on the target movement route. Specifically, in the present embodiment, the speed condition information is the minimum vehicle speed of the mobile body 200 on the target movement route. The minimum vehicle speed is determined from the tact time on the production line L1.

[0018] "Structure information" is information indicating at least one of the position and size of the structure in the area including the target movement route. The "structure" has a broad meaning including, for example, production facilities such as industrial robots and conveyors, as well as building columns, gates, and the work areas of workers.

[0019] The determination unit 11c executes the determination as to whether the candidate movement route acquired by the route acquisition unit 11a is a passable route, using the determination basis information. The display control unit 11d causes the display device 21 to display the corrected candidate movement route. The "corrected candidate movement route" is a route obtained by correcting the candidate movement route by changing a part of the route determination conditions. The route setting unit 11e determines and sets the target movement route. The instruction unit 11f instructs the mobile body 200 about the target movement route set by the route setting unit 11e.

[0020] The communication unit 15 includes a wireless communication interface for communicating with the mobile body 200 and a wired communication interface for communicating with the production management server SV1. Note that the communication unit 15 may include only either one of the wireless communication interface and the wired communication interface.

[0021] A2. Route travel feasibility determination process: Figure 2 is a flowchart showing the procedure for determining whether a route can be traveled in the first embodiment. When a user instructs the execution of the target route setting menu by inputting route confirmation conditions into the input window 211, the movement feasibility determination device 100 executes the route travel feasibility determination process shown in Figure 2. For example, when creating a new manufacturing line L1, changing the layout of equipment in manufacturing line L1, or changing the target vehicle models to be manufactured in manufacturing line L1, the user instructs the execution of the target route setting menu and the route travel feasibility determination process is executed in order to set or change the target travel route.

[0022] In step S105, the route acquisition unit 11a generates candidate travel routes using the route determination conditions entered by the user.

[0023] Figure 3 is an explanatory diagram showing an example of a generated candidate travel path CR1. In the example in Figure 3, a candidate travel path CR1 is generated that enters the first building f1 through the first passage pa1, passes by equipment e1 inside the first building f1, exits the first building f1, and enters the second building f2 through the second passage pa2. The endpoint of the first passage pa1 is gate g1 at the entrance of the first building f1. The endpoint of the second building f2 is gate g2 at the entrance of the second building f2.

[0024] The route determination conditions entered by the user are the following six conditions (i) to (vi). (i) Position coordinates (x1, y1) of the starting point P1 (ii) Position coordinates of endpoint P3 (x3, y3) (iii) Position coordinates (x2, y2) of steering wheel return point P2 (iv) First radius of curvature r1 (v) Second radius of curvature r2 (vi) Vehicle speed AA (km / h) The steering wheel return point P2 is the point at which the steering wheel return begins. In this embodiment, the candidate travel path CR1 is generated as a path composed of line segments with the starting point P1 and the ending point P3 as endpoints, connected by a path of two continuous circular arcs. Therefore, the steering wheel return occurs at the position where the two circular arcs connect. The first radius of curvature r1 is the radius of curvature of the circular arc portion on the near side (closer to the starting point P1). The second radius of curvature r2 is the radius of curvature of the circular arc portion on the far side (closer to the ending point P3). The vehicle speed AA is the vehicle speed when traveling along the candidate travel path CR1.

[0025] The path acquisition unit 11a sets two circles c1 and c2 based on the input path determination conditions. The path acquisition unit 11a identifies a path shown by a thick solid line using a straight line with the starting point P1 and ending point P3 as endpoints, and the two circles c1 and c2. The path acquisition unit 11a identifies eight points P11 to P18 on this path. For example, it identifies point P13 as the point of tangency between the straight line with the starting point P1 as an endpoint and circle c1. Next, the path acquisition unit 11a identifies two points P11 and P12 that divide the distance between the starting point P1 and point P13 into three equal parts. Next, the path acquisition unit 11a identifies point P14 that divides the arc between point P13 and the cutback point P2 into two equal parts along the arc. Similarly, the path acquisition unit 11a identifies points P15 to P18. The route acquisition unit 11a identifies target positions at predetermined distances between each of the points P11, P2, P3, and P11 to P18. For example, target positions may be identified every 50 cm. The route acquisition unit 11a identifies the coordinates of the starting point P1, P2, P3, P11 to P18, and all target positions as target position coordinates, and also identifies the vehicle speed AA input by the user as the vehicle speed, thereby generating a candidate travel route CR1.

[0026] As shown in Figure 2, in step S110, the information acquisition unit 11b acquires the basis for the determination. Specifically, the information acquisition unit 11b acquires mobile object characteristic information and speed condition information from the production management server SV1, and acquires structural information from the hard disk 12.

[0027] The determination unit 11c uses the determination basis information acquired in step S110 to determine whether the candidate movement path CR1 generated in step S105 is a feasible movement path (step S115). Specifically, the determination unit 11c simulates the movement of the mobile body 200 according to the candidate movement path CR1 shown in Figure 3 and determines whether the following conditions (I) to (IV) are met. (I) Throughout the entire path, the center position of the moving body 200 is within the allowable lateral displacement range in the vehicle width direction. (II) The target steering angle is less than or equal to the permitted maximum steering angle. (III) The distance between the moving body 200 and the structure is greater than or equal to a predetermined threshold distance. (IV) The vehicle speed is equal to or greater than the minimum vehicle speed. The determination unit 11c determines that candidate travel path CR1 is a traversable path if all of the above conditions (I) to (IV) are met, and determines that candidate travel path CR1 is not a traversable path if at least some of the above conditions (I) to (IV) are not met.

[0028] If candidate travel path CR1 is determined to be a traversable path (step S120: YES), the process ends. The route setting unit 11e sets candidate travel path CR1 as the target travel path, and the instruction unit 11f instructs the moving body 200 to follow the set target travel path.

[0029] In contrast, if candidate travel path CR1 is determined not to be a traversable path (step S120: NO), the path acquisition unit 11a generates a revised candidate travel path by changing at least a part of the input path determination conditions (step S125). In this embodiment, the targets of change in step S125 are the first radius of curvature r1 and the second radius of curvature r2. The path acquisition unit 11a generates a revised candidate travel path by changing the first radius of curvature r1 and the second radius of curvature r2 one at a time.

[0030] The determination unit 11c performs a determination to determine whether the candidate travel path to be modified is a traversable path (step S130). If it is determined that the candidate travel path to be modified is a traversable path (step S130: YES), the determination unit 11c stores the candidate travel path to be modified in the ROM 13 (step S135). After the completion of step S135, or if it is determined that the candidate travel path to be modified is not a traversable path (step S130: NO), the route acquisition unit 11a determines whether the changes to all route confirmation conditions to be changed have been completed (step S140).

[0031] If it is determined that the changes to all route determination conditions have not been completed (step S140: NO), the process returns to step S125. In this case, the unchanged route determination conditions are changed to generate a corrected travel route, and steps S130 to S140 are executed. On the other hand, if it is determined that the changes to all route determination conditions have been completed (step S140: YES), the display control unit 11d causes the display device 21 to display the corrected candidate travel routes that the mobile body 200 can move along (step S145).

[0032] Figure 4 is an explanatory diagram showing the target route setting window W1 displayed on the display device 21 in step S145. The target route setting window W1 includes a candidate movement route display unit W11, a modified candidate movement route display unit W12, and a confirmation button B21.

[0033] The candidate movement path display unit W11 displays the candidate movement path CR1. The candidate movement path display unit W11 is equipped with a selection button B11. However, as shown in Figure 4, the selection button B11 is grayed out, and the user cannot press the selection button B11.

[0034] The modified candidate movement path display unit W12 displays the modified candidate movement path CR2. Modified candidate movement path CR2 differs from candidate movement path CR1 in that the first radius of curvature is r1a, which is larger than the first radius of curvature r1, and the second radius of curvature is r2a, which is larger than the second radius of curvature r2, but all other path determination conditions are the same. According to modified candidate movement path CR2, a smaller steering angle is required compared to candidate movement path CR1. The modified candidate movement path display unit W12 is equipped with a selection button B12. The display state of the selection button B12 is in a pressable state.

[0035] The user can easily see that candidate travel route CR1, generated using the route confirmation conditions they entered, is not a traversable route because the selection button B11 is grayed out in the candidate travel route display unit W11. Furthermore, the user can easily see what kind of route the mobile object 200 can travel on because the modified candidate travel route CR2 is displayed in the modified candidate travel route display unit W12. Then, when the user presses the selection button B12 to select modified candidate travel route CR2, and then presses the confirm button B21, modified candidate travel route CR2 is determined and set as the target travel route. After the completion of step S145, the route travel feasibility determination process ends.

[0036] According to the mobility determination device 100 of the first embodiment described above, determination basis information including moving body characteristic information, speed condition information, and structural information is acquired, and determination of whether or not the candidate movement path CR1 is a movable path is made using this determination basis information. As a result, the candidate movement path CR1 that is actually movable by the moving body 200 can be set as the target movement path.

[0037] Furthermore, since candidate movement paths CR1 are generated using the path determination conditions input from the user interface unit 20, candidate movement paths CR1 can be generated according to the user's intentions. Therefore, a path according to the user's intentions, or a path similar to a path according to the user's intentions, can be set as the target movement path. In addition, since the modified candidate movement path CR2 is displayed on the display device 21, the user can easily find out what kind of path the moving object 200 can move along. As a result, the user can avoid the trouble of trial and error in identifying path determination conditions that can generate a movable path.

[0038] B. Second Embodiment: The configuration of the movable / unmovable determination device 100 in the second embodiment is the same as the configuration of the movable / unmovable determination device 100 in the first embodiment shown in Figure 1.

[0039] Figure 5 is a flowchart showing the procedure for determining whether a route can be traveled in the second embodiment. The route travel feasibility determination process in the second embodiment differs from the route travel feasibility determination process in the first embodiment shown in Figure 2 in that step S132 is executed instead of step S130, step S135a is executed instead of step S135, and step S145a is executed instead of step S145.

[0040] The determination unit 11c identifies the types of vehicles that can travel along each of the candidate travel paths CR1 generated in step S105 and the modified candidate travel path CR2 generated in step S125 (step S132). Specifically, the determination unit 11c changes the vehicle characteristic information from the determination basis information acquired in step S110 to the vehicle characteristic information of other vehicle types, and then performs a vehicle travel simulation for each of the candidate travel paths CR1 and CR2 to determine whether the above conditions (I) to (IV) are met.

[0041] The determination unit 11c stores in the ROM 13 information indicating the type of movable object identified as a result of step S132 (hereinafter referred to as "type information") and the candidate modified movement path in association (step S135a). Subsequently, if it is determined that the changes to all path determination conditions have been completed (step S140: YES), the display control unit 11d displays the candidate modified movement path and the type information in association on the display device 21 (step S145a). In the second embodiment, the targets of change in step S125 are the first radius of curvature r1, the second radius of curvature r2, and the retraction point P2.

[0042] Figure 6 shows step S1 4 This is an explanatory diagram showing the target route setting window W2 displayed on the display device 21 in 5a. The target route setting window W2 comprises a candidate movement path display unit W21 and two modified candidate movement path display units W22 and W23.

[0043] The candidate movement path display unit W21 displays candidate movement path CR1. The modified candidate movement path display unit W22 displays modified candidate movement path CR2. Modified candidate movement path CR2 is the same as modified candidate movement path CR2 shown in Figure 4 in the first embodiment. The modified candidate movement path display unit W23 displays modified candidate movement path CR3. Modified candidate movement path CR3 is a path generated by changing the values ​​of the first radius of curvature and the second radius of curvature from the values ​​of the first radius of curvature r1, r1a and the second radius of curvature r2, r2a in candidate movement path CR1 and modified candidate movement path CR2, changing the cutback point from cutback point P2 to cutback point P4 (x4, y4), and changing the vehicle speed from AA to BB.

[0044] Each display unit W21 to W23 displays type information, i.e., the type of vehicle that can be moved. In Figure 6, schematic type information such as "AAAA" is used for the type of vehicle that can be moved. Each display unit W21 to W23 is provided with a selection button B31. By pressing the selection button B31, the user can select candidate travel route CR1 or one of the modified candidate travel routes CR2 or CR3 as the target travel route. In addition, the vehicle type can be selected on a separate screen (not shown).

[0045] The mobility determination device 100 of the second embodiment described above has the same effects as the mobility determination device 100 of the first embodiment. In addition, the user can easily find out what kind of path and what type of mobile object can move along. For this reason, the user can set a target movement path that the mobile object can move along, even when the path determination conditions are limited.

[0046] C. Other embodiments: (C1) In each embodiment, candidate movement paths were generated by the path acquisition unit 11a using path determination conditions input from the user interface unit 20, but the disclosure is not limited thereto. Other devices (not shown) may generate candidate movement paths, and the path acquisition unit 11a may acquire candidate movement paths from such other devices. Alternatively, for example, instead of the user inputting path determination conditions, the user may draw a path on the path generation menu screen, such as the one shown by the thick line in Figure 3, and based on the drawn path, the path acquisition unit 11a may derive a starting point P1, a cutback point P2, an ending point P3, a first radius of curvature r1, and a second radius of curvature r2 to set a candidate movement path. Furthermore, a modified candidate movement path may also be autonomously generated by the path acquisition unit 11a by arbitrarily changing at least one of the starting point P1, cutback point P2, ending point P3, first radius of curvature r1, and second radius of curvature r2.

[0047] (C2) In the first embodiment, movable candidate modification movement paths were displayed on the display device 21, but the disclosure is not limited thereto. When movable candidate modification movement paths are identified, they may be determined as the target movement path without being displayed on the display device 21.

[0048] (C3) In each embodiment, at least one of the route setting unit 11e and the instruction unit 11f may be provided by another device different from the movement feasibility determination device 100, for example, by the production management server SV1, instead of the movement feasibility determination device 100. Also, although the display device 21 was provided by the movement feasibility determination device 100, it may be provided by another device different from the movement feasibility determination device 100.

[0049] (C4) The conditions used in determining whether a candidate travel path CR1 is a travelable path are not limited to (I) to (IV) above. For example, in a configuration in which the detection device 80 includes an imaging device, the condition "the moving object 200 travels within an imaging range in which an image capable of accurately recognizing the moving object 200 can be captured" may be used in place of at least some of the conditions (I) to (IV), or in addition to conditions (I) to (IV), to determine whether a travelable path is a travelable path.

[0050] (C5) In step S125 of each embodiment, the first radius of curvature r1 and the second radius of curvature r2 were the conditions for determining the route, but the disclosure is not limited thereto. In addition to the first radius of curvature r1 and the second radius of curvature r2, or in place of at least one of the first radius of curvature r1 and the second radius of curvature r2, at least one of the starting point P1, the cutback point P2, the ending point P3, and the vehicle speed may be the conditions for which the route is determined. Furthermore, a priority order may be set for the conditions (i) to (vi) above, and the conditions with lower priority may be changed first. For example, the highest priority may be set for the starting point P1 and the ending point P3, the second highest priority for the cutback point P2, and the lowest priority for the first radius of curvature r1 and the second radius of curvature r2, and the first radius of curvature r1 and the second radius of curvature r2 may be the conditions for which the route is determined first. Then, if a movable route cannot be determined, the cutback point P2 may be the condition for which the route is determined. This configuration allows for the generation of modified travel routes that reflect the user's intentions regarding each condition.

[0051] (C6) In each embodiment, some of the configurations implemented by hardware may be replaced with software, and conversely, some of the configurations implemented by software may be replaced with hardware. For example, at least one of the following functional units may be implemented by an integrated circuit, a discrete circuit, or a module combining such circuits. Furthermore, if some or all of the functions of this disclosure are implemented by software, the software (computer program) may be provided in the form of a computer-readable recording medium. "Computer-readable recording medium" is not limited to portable recording media such as flexible disks and CD-ROMs, but also includes various internal storage devices in a computer such as RAM and ROM, and external storage devices fixed to a computer such as hard disks. In other words, "computer-readable recording medium" has a broad meaning that includes any recording medium in which data packets can be fixed rather than temporary.

[0052] This disclosure is not limited to the embodiments described above, and can be implemented in various configurations without departing from its spirit. For example, the technical features in each embodiment corresponding to the technical features in each form described in the summary of the invention can be replaced or combined as appropriate in order to solve some or all of the above-mentioned problems, or to achieve some or all of the above-mentioned effects. Furthermore, if a technical feature is not described as essential in this specification, it can be deleted as appropriate. [Explanation of Symbols]

[0053] 10...Main unit, 11...CPU, 11a...Path acquisition unit, 11b...Information acquisition unit, 11c...Determination unit, 11d...Display control unit, 11e...Path setting unit, 11f...Instruction unit, 12...Hard disk, 13...ROM, 14...RAM, 15...Communication unit, 16...Input / output interface unit, 20...User interface unit, 21...Display device, 22...Keyboard, 23...Mouse, 80...Detection device, 100...Movement feasibility determination device, 200...Movement unit, 211...Input window, B11...Selection button, B12...Selection button, B21...Confirm button, B31...Selection button, CR1...Candidate movement path, CR2...Correction candidate movement path, CR3...Correction candidate movement path, L 1...Manufacturing line, NW1...Network, P1...Start point, P11~P18...Point, P2...Return point, P3...End point, P4...Return point, SV1...Production management server, W1...Target path setting window, W11...Candidate movement path display unit, W12...Modified candidate movement path display unit, W2...Target path setting window, W21...Candidate movement path display unit, W22...Modified candidate movement path display unit, W23...Modified candidate movement path display unit, c1...Circle, c2...Circle, e1...Equipment, f1...First building, f2...Second building, g1...Gate, g2...Gate, pa1...First aisle, pa2...Second aisle, r1...First radius of curvature, r1a...First radius of curvature, r2...Second radius of curvature, r2a...Second radius of curvature

Claims

1. A device for determining whether a target movement path, instructed to a moving body that moves according to a target movement path, is a movement path that the moving body can travel along, A path acquisition unit acquires candidate movement paths, which are candidate paths for the aforementioned target movement path. An information acquisition unit that acquires determination basis information including: mobile body characteristic information corresponding to the type of mobile body, which is information indicating at least one of the specifications relating to the movement of the mobile body and the dimensions of the mobile body; speed condition information indicating the conditions for the movement speed of the mobile body in the target movement path; and structure information indicating at least one of the position and size of a structure in the area surrounding the target movement path. A determination unit performs a determination using the determination basis information to determine whether the candidate travel path acquired by the route acquisition unit is a travelable path, Equipped with, A path determination condition which is at least some of the conditions for generating the candidate travel path, Condition (i) The position coordinates of the starting point of the candidate travel path, Condition (ii) The position coordinates of the endpoint of the candidate travel path, Condition (iii) The position coordinates of the steering return point of the handle of the moving body, Condition (iv) The first radius of curvature of the arc portion on the side closer to the starting point that includes the cutback point, Condition (v) The second radius of curvature of the arc portion on the side closer to the endpoint that includes the cutback point, The system further includes a user interface unit that accepts input of route determination conditions, including condition (vi) the speed of the moving object, The route acquisition unit acquires the candidate travel path by generating the candidate travel path using the route determination conditions input from the user interface unit. The determination unit simulates the movement of the moving body according to the acquired candidate movement path, Condition (I) Throughout the entire candidate movement path, the center position of the moving body is within the lateral displacement tolerance range, which is the range in which positional displacement in the width direction of the moving body is permitted. Condition (II) The target steering angle in the movement of the moving body is less than or equal to the preset maximum steering angle, Condition (III) The distance between the moving body and the structure is greater than or equal to a predetermined threshold distance, Condition (IV) The moving speed of the moving body is equal to or greater than a predetermined minimum speed, A device for determining whether a movement is possible, which determines that the candidate movement path is a movable path if all of the above conditions are met, and determines that the candidate movement path is not a movable path if at least one of the above conditions (I) to (IV) is not met.

2. In the mobility determination device according to claim 1, The display control unit is further provided, If the route acquisition unit determines that the candidate travel route is not a traversable route, it modifies the candidate travel route by changing at least a part of the route determination conditions input from the user interface unit to generate a modified candidate travel route. The determination unit performs the determination on the candidate modified movement path, The display control unit is a movement feasibility determination device that, when it is determined that the proposed modified movement path is a movable path, causes the proposed modified movement path to be displayed on a display device.

3. In the mobility determination device according to claim 1 or claim 2, It further includes a display control unit, The basis information for the determination includes the mobile body characteristic information, If the route acquisition unit determines that the candidate travel route is not a traversable route, it modifies the candidate travel route by changing at least a part of the route determination conditions input from the user interface unit to generate a modified candidate travel route. The determination unit performs the determination on the candidate modified movement path, and if it is determined that the candidate movement path is not a movable path, it changes at least one of the specifications and the dimensions and performs the determination again. Movement feasibility determination device, wherein when the display control unit determines that the modified candidate movement path is a movable path, the display unit displays the modified candidate movement path and type information indicating the type of the movable body corresponding to the movable body feature information, which includes at least one of the specifications and dimensions of the movable body that can move along the modified candidate movement path.

4. A method for determining whether a target movement path, instructed to a moving object that moves according to a target movement path, is a movement path that the moving object can travel along, To obtain candidate travel paths, which are candidate paths for the aforementioned target travel path, Obtaining determination basis information that includes: mobile body characteristic information corresponding to the type of mobile body, which is information indicating at least one of the specifications relating to the movement of the mobile body and the dimensions of the mobile body; speed condition information indicating the conditions for the movement speed of the mobile body in the target movement path; and structure information indicating at least one of the position and size of structures in the area surrounding the target movement path; The determination of whether the acquired candidate travel path is a traversable path is performed using the determination basis information, Equipped with, Obtaining the aforementioned candidate travel paths means Route determination conditions, which are at least some of the conditions for determining the candidate travel path input from the user interface unit, Condition (i) The position coordinates of the starting point of the candidate travel path, Condition (ii) The position coordinates of the endpoint of the candidate travel path, Condition (iii) The position coordinates of the steering return point of the handle of the moving body, Condition (iv) The first radius of curvature of the arc portion on the side closer to the starting point that includes the cutback point, Condition (v) The second radius of curvature of the arc portion on the side closer to the endpoint that includes the cutback point, The system accepts input of a path determination condition including condition (vi) the speed of the moving object, The candidate travel path is obtained by generating the candidate travel path using the route determination conditions input from the user interface unit, Includes, Making the aforementioned determination means The movement of the moving body is simulated according to the acquired candidate movement path, Condition (I) Throughout the entire candidate movement path, the center position of the moving body is within the lateral displacement tolerance range, which is the range in which positional displacement in the width direction of the moving body is permitted. Condition (II) The target steering angle in the movement of the moving body is less than or equal to the preset maximum steering angle, Condition (III) The distance between the moving body and the structure is greater than or equal to a predetermined threshold distance, Condition (IV) The moving speed of the moving body is equal to or greater than a predetermined minimum speed, If all of the above conditions are met, it is determined that the candidate travel path is the movable path, and if at least one of the above conditions (I) to (IV) is not met, it is determined that the candidate travel path is not the movable path, A method for determining whether movement is permitted, including the method itself.

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