Route management system, route management method and computer readable medium

Abstract

An object of the present disclosure is to provide a sensing system, a sensing method and a non-transitory computer readable medium capable of reducing the time it takes for a moving object to execute an operation. In one aspect, a route management system includes: a generation means for generating, based on information about a target to which a moving object executes an operation, a fake obstacle zone around the target; and a determination means for determining, based on the fake obstacle zone and a position of a destination located around the target, a route of the moving object.

Description

ROUTE MANAGEMENT SYSTEM, ROUTE MANAGEMENT METHOD AND COMPUTER READABLE MEDIUM

[0001] The present disclosure relates to a route management system, a route management method and a non-transitory computer readable medium.

[0002] Technology is advancing to support the movement of vehicles, robots and other machines.

[0003] For example, Patent Literature 1 (PTL 1) discloses a parking assisting apparatus used for assisting in parking vehicles. In PTL 1, it is disclosed to assume an edge portion of an imaginary obstacle located in a predetermined relationship with a parking section line and create a target track which does not interfere with the edge portion.

[0004] PTL 1: EP2366593A1

[0005] In PTL 1, the method for assisting in parking vehicles is explained, however, it does not show how to manage a machine moving toward a target operated by the machine.

[0006] An object of the present disclosure is to provide a route management system, a route management method and a non-transitory computer readable medium capable of reducing the time it takes for a moving object to execute an operation.

[0007] According to one aspect of the disclosure, there is provided a route management system that includes: 　　a generation means for generating, based on information about a target to which a moving object executes an operation, a fake obstacle zone around the target; and 　　a determination means for determining, based on the fake obstacle zone and a position of a destination located around the target, a route of the moving object.

[0008] According to one aspect of the disclosure, there is provided a route management method that includes: 　　generating, based on information about a target to which a moving object executes an operation, a fake obstacle zone around the target; and 　　determining, based on the fake obstacle zone and a position of a destination located around the target, a route of the moving object.

[0009] According to one aspect of the disclosure, there is provided a non-transitory computer readable medium storing a program for causing a computer to execute: 　　generating, based on information about a target to which a moving object executes an operation, a fake obstacle zone around the target; and 　　determining, based on the fake obstacle zone and a position of a destination located around the target, a route of the moving object.

[0010] According to the present disclosure, it is possible to provide a sensing system, a sensing method and a non-transitory computer readable medium capable of reducing the time it takes for a moving object to execute an operation.

[0011] Fig. 1 is an example of a block diagram of a route management system according to the present disclosure.Fig. 2 is an example of a flowchart illustrating a method of the route management system according to the present disclosure.Fig. 3 is an example of a block diagram of a vehicle-to-target alignment system according to the present disclosure.Fig. 4 illustrates an example of states of a goal decision system.Fig. 5 is a schematic view of an example of a pose map.Fig. 6A is an example of a flowchart illustrating a method of the vehicle-to-target alignment system according to the present disclosure.Fig. 6B is an example of a flowchart illustrating a method of the vehicle-to-target alignment system according to the present disclosure.Fig. 7 is an example of a flowchart illustrating a method of goal decision system according to the present disclosure.Fig. 8 is a schematic view of the pose map region P1 and the vehicle which is outside the pose map region P1 according to the present disclosure.Fig. 9 is a flowchart of a method of the goal decision system in an outside pose map state according to the present disclosure.Fig. 10 is a schematic view of the pose map region and the vehicle which is inside a pose map region according to the present disclosure.Fig. 11 is a flowchart of a method of the goal decision system in an inside pose map state according to the present disclosure.Fig. 12 is a flowchart of a method of the goal decision system in a target alignment state according to the present disclosure.Fig. 13 is a block diagram of a computer apparatus according to the present disclosure.

[0012] (Notes) 　　Example embodiments according to the present disclosure will be described hereinafter with reference to the drawings. Note that the following description and the drawings are omitted and simplified as appropriate for clarifying the explanation and the dimensions of the various features may be arbitrarily increased or reduced for clarity of discussion. Further, the same elements are denoted by the same reference numerals and / or letters throughout the drawings, and redundant descriptions thereof are omitted as required. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and / or configurations discussed.

[0013] Also, in this disclosure, unless otherwise specified, "at least one of A or B (A / B)" may mean any one of A or B, or both A and B. Similarly, when "at least one" is used for three or more elements, it can mean any one of these elements, or any plurality of elements (including all elements). Use of the term "and / or" means that each option is usable individually or in combination with any, or all, of the other options. Further, it should be noted that in the description of this disclosure, elements described using the singular forms such as "a", "an", "the" and "one" may be multiple elements unless explicitly stated.

[0014] Each of the drawings or figures is merely an example to illustrate one or more example embodiments. Each figure may not be associated with only one particular example embodiment, but may be associated with one or more other example embodiments. As those of ordinary skill in the art will understand, various features or steps described with reference to any one of the figures can be combined with features or steps illustrated in one or more other figures, for example, to produce example embodiments that are not explicitly illustrated or described. Not all of the features or steps illustrated in any one of the figures to describe an example embodiment are necessarily essential, and some features or steps may be omitted. The order of the steps described in any of the figures may be changed as appropriate.

[0015] Further, the following disclosure provides many different embodiments, or examples, for implementing different features of the provided subject matter. Specific examples of components, values, operations, materials, arrangements, or the like, are described below to simplify the present disclosure. These are, of course, merely examples and are not intended to be limiting. Other components, values, operations, materials, arrangements, or the like, are contemplated. For example, the formation of a first feature over or on a second feature in the description that follows may include embodiments in which the first and second features are formed in direct contact, and may also include embodiments in which additional features may be formed between the first and second features, such that the first and second features may not be in direct contact.

[0016] Furthermore, spatially relative terms, such as "beneath", "below", "lower", "above", "upper" and the like, may be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. The spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The apparatus may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein may likewise be interpreted accordingly.

[0017] (Definitions) 　　In this disclosure, "moving object" means any machine that can move, such as a robot, a vehicle, a plane or the like. A vehicle may be an autonomous vehicle or a semi-autonomous vehicle. Further, a plane may be an airplane on autopilot or manual control or an Unmanned Aerial Vehicle (UAV).

[0018] In this disclosure, "operation" means any kind of work performed on a target. For example, operation includes, but not limited to, at least one of loading, grasping, shaking, marking, piercing, or inspecting.

[0019] In this disclosure, "target" means any kind of objects. For example, the target includes, but not limited to, at least one pallet, luggage, baggage, person or animal. The information about the target means information indicating any characteristic of the target, such as at least one of size, shape, speed or color of the target, but not limited to.

[0020] In this disclosure, "destination" around the target means a location where the moving object reaches to perform an operation on the target. "route" means a course the moving object will pass through.

[0021] (First Example Embodiment) 　　<Configuration Description> 　　Referring to Fig. 1, the route management system 10 includes a generation unit 12 and a determination unit 14. The route management system 10 may be one or more computers and / or machines. As an example, at least one of components in the route management system 10 can be installed in a computer as a combination of one or a plurality of memories and one or a plurality of processors. For example, the computer(s) used as the route management system 10 may be a management server or a controller installed in a moving object.

[0022] The generation unit 12 generates, based on information about a target to which a moving object executes an operation, a fake obstacle zone around the target. "fake obstacle zone" can be regarded as an obstacle that should be avoided by the moving object when it moves despite the fact that the obstacle does not actually exist. For example, the generation unit 12 can analyze size and shape of the target and generate the fake obstacle zone which includes a neighboring area of the target.

[0023] The determination unit 14 determines, based on the fake obstacle zone and a position of a destination located around the target, a route of the moving object. For example, the determination unit 14 can set the route from the location of the moving object to the destination so that the route does not overlap the fake obstacle zone.

[0024] <Flow Description> 　　Next, referring to the flowchart in Fig. 2, an example of the operation of the present disclosure will be described. The detail of each processing in Fig. 2 is already explained above and its explanation is omitted as appropriate.

[0025] First, the generation unit 12 generates, based on information about a target to which a moving object executes an operation, a fake obstacle zone around the target (step S12). Next, the determination unit 14 determines, based on the fake obstacle zone and a position of a destination located around the target, a route of the moving object (step S14).

[0026] <Description of Effects> 　　As route management system 10 generates a fake obstacle zone around the target and determines a route of the moving object based on the fake obstacle zone and a position of a destination, the route management system 10 can generate effective route for the moving object to approach the destination without contact or excessive proximity to the target. Therefore, it is capable of reducing the time it takes for the moving object to execute an operation.

[0027] (Second Example Embodiment) 　　<Configuration Description> 　　A second example embodiment of this disclosure will be described below referring to the accompanied drawings. This second example embodiment explains one of the specific examples of the first example embodiment, however, specific examples of the first example embodiment are not limited to this example embodiment.

[0028] The following description is applicable to any non-holonomic robot or vehicle. A non-holonomic robot or vehicle includes a robot or vehicle that cannot turn in a single spot, i.e., its turning radius is greater than zero. The following description will refer to a vehicle for the sake of brevity, but one of ordinary skill would understand that the current description is applicable to any non-holonomic robot or vehicle. The current description is also applicable to autonomous driving applications. A non-holonomic vehicle may be a forklift, however, not limited to this.

[0029] In the second example embodiment, global planning of a route for the vehicle from a current (e.g., initial) location to a destination location includes identification of waypoints along an estimated path (i.e., route) and the resultant set of waypoints constitutes a global path. Local planning includes selecting one of the identified waypoints and determining a route, which may be called as a local path in this disclosure, from the current location to the selected waypoint. "goal" includes a destination and temporary (intermediate) arrival point for a vehicle.

[0030] Fig. 3 illustrates an example of a vehicle-to-target alignment system that controls movement of a non-holonomic vehicle (hereinafter simply referred to as a vehicle in the second example embodiment.). The vehicle is used to approach and pick a target object. The vehicle-to-target alignment system 200 is used to determine a route for the vehicle to travel from an initial location to a destination (or final goal). In addition to the route determination, the vehicle-to-target alignment system 200 is also able to smoothly align a vehicle's orientation to a goal orientation.

[0031] For example, if the vehicle is a forklift and it is used in a warehouse, it needs to reach a destination and insert its forks into pallet holes. The vehicle-to-target alignment system 200 enables the vehicle to do these movements effectively.

[0032] In Fig.3, the vehicle-to-target alignment system 200 includes a work management system 210, a goal decision system 220, a planning module 230 and a controller 240. The vehicle-to-target alignment system 200 is connected to an odometry source 110, a detection node 120, a sensor 130 and a map server 140. Each unit in Fig.3 will be explained in detail.

[0033] The odometry source 110 determines current pose information of the vehicle. In this example, the current pose information includes information of the current position and an orientation of the vehicle at the current position. However, the current pose information may include other information. Hereinafter, the current position and the orientation of the vehicle at the current position may be referred to as a current pose.

[0034] In some embodiments, the odometry source 110 is also configured to determine a current velocity of the vehicle. In some embodiments, the odometry source 110 includes at least one sensor, such as an accelerometer, a gyroscope, or another suitable sensor, attached to the vehicle. In some embodiments, the odometry source 110 is implemented by a device external to the vehicle that detects the pose of the vehicle. For example, in some embodiments, a remote sensor such as a camera, a LiDAR, or other suitable remote sensor, is used to monitor the vehicle and the pose of the vehicle is determined using a processor connected to the remote sensor.

[0035] The odometry source 110 outputs the determined current pose information of the vehicle to the goal decision system 220, to the planning module 230 and to the controller 240. In some embodiments, the current pose information is provided to the goal decision system 220, the planning module 230 and the controller 240 independently either wirelessly or through a wired connection.

[0036] The detection node 120 determines a pose of the target object to be picked. The pose of the target object is a combination of location and orientation of the target object relevant to a reference axis. In some embodiments, the detection node 120 includes at least one sensor such as a camera, a light detection and ranging (LiDAR), or another suitable sensor attached to the vehicle. The detection node 120 can detect a pose of one or more target object. Further, the detection node 120 can differentiate two or more target objects that might overlap. In some embodiments, the detection node 120 works regardless of where the vehicle is. In some embodiments, the detection node 120 works if the vehicle is inside a pose map or on the border of the pose map. The pose map shows whether a location on the pose map is passable for the vehicle and its detail will be explained later.

[0037] The detection node 120 is configured to output the determined pose of the target object to the goal decision system 220 and the planning module 230. In some embodiments, the pose of the object is provided to the planning module 230 and goal decision system 220 independently either wirelessly or through a wired connection. In some embodiments, the pose of the target object goes through a filtering method using methods like Kalman Filter (KF) or Extended Kalman filters (EKF).

[0038] The sensor 130 is configured to detect one or more obstacle near the vehicle. In some embodiments, the sensor 130 is a single sensor. In some embodiments, the sensor 130 includes a plurality of sensors. In some embodiments, the sensor 130 includes sensors of different types. In some embodiments, the sensor 130 is within the vehicle. In some embodiments, the sensor 130 is external to the vehicle. In some embodiments, the sensor 130 is integrated with the odometry source 110. In some embodiments, the sensor 130 includes a camera, LiDAR, or another suitable sensor.

[0039] The sensor 130 is configured to provide information related to the surroundings of the vehicle to the planning module 230. The information may be Point Cloud Data, laser scan data, or other suitable data. In some embodiments, the sensor 130 provides the surrounding information to the planning module 230 wirelessly. In some embodiments, the sensor 130 provides the surrounding information to the planning module 230 via a wired connection.

[0040] The map server 140 is configured to store obstacle information and pathway locations. In some embodiments, the map server 140 is included in a memory connected to the vehicle. In some embodiments, the map server 140 is external to the vehicle, such as a cloud-based storage unit.

[0041] The map server 140 stores information on known locations of obstacles. In some embodiments, the map server 140 is updated based on new information from the vehicle and other vehicles as new obstacles are identified or locations of obstacles change.

[0042] In some embodiments, the map server 140 stores information on pathways, such as roads, aisles in a warehouse, hallways in a building or other suitable pathways, along which the vehicle is able to travel. In some embodiments, the map server 140 further stores information related to locations of other vehicles connected to the map server 140.

[0043] The map server 140 is configured to provide the obstacle information and pathway locations to the planning module 230. In some embodiments, the map server 140 transmits the obstacle information and pathway locations wirelessly. In some embodiments, the map server 140 transmits the obstacle information and pathway locations via a wired connection. In some embodiments, the map server 140 is also connected to the controller 240 in order to exchange information with the controller 240, either wirelessly or by a wired connection.

[0044] The work management system 210 provides destination pose information for the vehicle to the goal decision system 220 and the planning module 230. The destination pose information provided by the work management system 210 may be transmitted either wirelessly or through a wired connection. In some embodiments, the work management system 210 uses a graphical user interface (GUI) or another suitable input / output (I / O) device to provide the destination pose information.

[0045] In this example, the destination pose information includes information of a destination and a desired orientation of the vehicle at the destination. However, the destination pose information may include other information. Hereinafter, the destination and a desired orientation of the vehicle at the destination may be referred to as a destination pose. In some embodiments, the destination pose information is determined by an external device, e.g., a processor, configured to determine tasks for the vehicle.

[0046] The goal decision system 220 is configured to receive the current pose information of the vehicle from the odometry source 110; the destination pose information from work management system 210; information of a pose map from the planning module 230; and the pose of the target object from detection node 120. The goal decision system 220 is configured to use the received information to determine intermediate goal pose information of the vehicle before the vehicle reaches the destination indicated in the destination pose information given by the work management system 210. The goal decision system 220 can receive the information either wirelessly or using a wired connection.

[0047] In this example, the intermediate goal pose information includes information of an intermediate goal point and a desired orientation of the vehicle at the intermediate goal point. However, the intermediate goal pose information may include other information. Hereinafter, the intermediate goal point and the desired orientation of the vehicle at the intermediate goal point may be referred to as an intermediate goal pose.

[0048] The goal decision system 220 is configured to output the determined intermediate goal pose information to the planning module 230 either wirelessly or through a wired connection. The goal decision system 220 can be in the form of a state machine or a behavior tree or another structure.

[0049] The goal decision system 220 is implemented using one or more processors. In some embodiments, the initialization state g2 is part of a machine. In some embodiments, the initialization state g2 is not part of a machine.

[0050] Fig. 4 illustrates an example of states of the goal decision system. In Fig. 4, there is an initialization state g2, a transition state g4, an outside pose map state g6, an inside pose map state g7 and a target alignment state g8 of the goal decision system 220. Each of the states will be explained below.

[0051] In the initialization state g2, the goal decision system 220 is configured to receive the current pose information of the vehicle from the odometry source 110. In some embodiments, in the initialization state g2, the goal decision system 220 confirms that the pose of the target object is being output by the detection node 120. In the initialization state g2, the goal decision system 220 is configured to use the received information and make sure that all the modules required for the planning module 230 to be executed are running correctly. In the initialization state g2, in some embodiments, if the goal decision system 220 confirms that the planning module 230 is running correctly, the goal decision system 220 moves on to the transition state g4, which is the next state of the initialization state g2.

[0052] In the transition state g4, the goal decision system 220 is configured to use the current pose information of the vehicle, the destination pose information and the information of the pose map to calculate the relative position of the vehicle with respect to the destination. The pose map shows whether a location on the pose map is passable for the vehicle (or whether the location on the pose map is within an obstacle zone). The goal decision system 220 uses the result of the calculation to determine whether the next state should be executed by the goal decision system 220. The next state could be either the outside pose map state g6, inside pose map state g7 or target alignment state g8.

[0053] The goal decision system 220 determines one state from these three states based on the position of the vehicle. Specifically, the goal decision system 220 moves to the outside pose map state g6 if the vehicle is outside the pose map, and it moves to the inside pose map state g7 or target alignment state g8 if the vehicle is inside the pose map or on the border of the pose map.

[0054] In the outside pose map state g6, the goal decision system 220 is configured to receive surrounding information from the sensor 130 and a temporary global plan from the planning module 230. The temporary global plan is a temporarily-determined plan to indicate a path from the current pose to the destination pose. In the outside pose map state g6, the goal decision system 220 is configured to use the surrounding information, the temporary global plan, the current pose information of the vehicle and information of intermediate goal points to determine one intermediate goal pose of the vehicle while the vehicle is outside a drive zone (pose map). The drive zone is an area in a pose map and not included in fake obstacle zone(s), therefore the vehicle can move freely in the drive zone. The detailed explanation of the pose map is mentioned below.

[0055] As mentioned earlier, the intermediate goal pose information includes information of an intermediate goal point and a desired orientation of the vehicle at the intermediate goal point. In the outside pose map state g6, the goal decision system 220 is configured to output the determined intermediate goal pose information to the planning module 230 either wirelessly or through a wired connection.

[0056] In the inside pose map state g7, the goal decision system 220 is configured to use the current pose of the vehicle as well as the pose map from the planning module 230 to determine one intermediate goal pose of the vehicle while the vehicle is inside the drive zone. In the inside pose map state g7, the goal decision system 220 is configured to output the intermediate goal pose information to the planning module 230 either wirelessly or through a wired connection.

[0057] In the target alignment state g8, the goal decision system 220 is configured to use the current pose information of the vehicle and the destination pose information to determine a turning radius of the vehicle required to generate a direct path. The direct path is a path to reach the destination pose from the current pose without a via point. The goal decision system 220 is also configured to modify the turning radius in the planning module 230 and send destination information to the planning module 230 either wirelessly or through a wired connection. The destination information includes the direct path, the destination pose and the turning radius. The goal decision system 220 can apply any kind of methods to generate the direct path in the target alignment state g8.

[0058] Referring back to Fig. 3, the planning module 230 is configured to receive the current pose information of the vehicle from the odometry source 110; the destination pose information from the work management system 210; obstacle information and pathway locations from the map server 140; the surrounding information from the sensor 130; and the intermediate goal information / destination information from the goal decision system 220. The planning module 230 is configured to use the received information to determine one or more waypoints between the current pose and the destination pose and one or more local paths based on the selected waypoints. The selected waypoints are the points that the vehicle passes through when it actually moves. The planning module 230 is configured to output the one or more waypoints and one or more local paths to the controller 240 either wirelessly or through a wired connection.

[0059] Further, the planning module 230 is configured to use the received information to determine a temporary global plan when the vehicle is outside the pose map. As mentioned earlier, the temporary global plan is a temporarily-determined plan to indicate a path from the current pose to the destination pose. The planning module 230 can apply any kind of methods to determine the temporary global plan.

[0060] The planning module 230 is implemented using one or more processors. In some embodiments, the planning module 230 is part of the vehicle. In some embodiments, the planning module 230 is external to the vehicle.

[0061] Specifically, as shown in Fig. 3, the planning module 230 includes a waypoint generation unit 232 and a map generation unit 234. Each element of the planning module 230 will be explained in detail.

[0062] The waypoint generation unit 232 may be the move_base planning architecture in Robot Operating System (ROS). The waypoint generation unit 232 is configured to receive the current pose information from the odometry source 110, the obstacle information and pathway locations from the map server 140, the surrounding information from the sensor 130; and the intermediate goal information / destination information from the goal decision system 220.

[0063] The waypoint generation unit 232 is configured to generate the one or more waypoints of one or more local paths using the received information and send the waypoints and the local paths to the controller 240. The local path is a route from the current (initial) location or one selected waypoint to another selected waypoint. The waypoint generation unit 232 is implemented using one or more processors. In some embodiments, the waypoint generation unit 232 is part of the vehicle. In some embodiments, the waypoint generation unit 232 is external to the vehicle.

[0064] The map generation unit 234 is configured to receive the destination pose information from the work management system 210 and the obstacle information and pathway locations from the map server 140. The map generation unit 234 is configured to use the received information to generate a pose map including fake obstacle zones as well as intermediate goal points.

[0065] The pose map shows whether a location on the pose map is passable for the vehicle (or whether the location on the pose map is within an obstacle zone). Further, in this example, the fake obstacle zones include rectangle shaped fake obstacles and quarter circle shaped fake obstacles. The rectangle shaped fake obstacles include square shaped fake obstacles. However, the fake obstacle zones may include areas of other shapes. An example of the pose map will be explained later.

[0066] The map generation unit 234 can be part of the planning module 230 in some embodiments. The map generation unit 234 can be external to the planning module 230 in some embodiments. The map generation unit 234 is implemented using one or more processors.

[0067] The controller 240 is configured to provide commands to the vehicle. In some embodiments, the controller 240 is included as part of the vehicle. In some embodiments, the controller 240 is external to the vehicle. In some embodiments, the controller 240 includes a cloud-based controller implemented using one or more servers.

[0068] The controller 240 is configured to receive the waypoints and local paths from the planning module 230 as well as the current pose from the odometry source 110. In some embodiments, the controller 240 is configured to receive the waypoints and local paths wirelessly. In some embodiments, the controller 240 is configured to receive the waypoints and local paths via a wired connection.

[0069] Based on the local paths and waypoints, the controller 240 is configured to determine which movements the vehicle should perform to change from the current pose to the destination pose or intermediate goal pose at the selected waypoint.

[0070] The controller 240 is configured to provide commands for both speed and direction of the movement determined as the movement the robot should perform. In some embodiments, the controller 240 is configured to provide the commands to the vehicle wirelessly. In some embodiments, the controller 240 is configured to provide the commands to the vehicle using a wired connection.

[0071] Fig. 5 is a schematic view of the pose map generated by the map generation unit 234 in accordance with some embodiments. In some embodiments, the pose map is generated as part of a cost map. In some embodiments, the map generation unit 234 generates the pose map region P1 showing an area in front of the target object P2 the vehicle needs to be aligned with. The front side of the target object P2 means the side of the target object P2 where the vehicle's goal location is located. In some embodiments, the target object P2 is a pallet on which luggage can be mounted. In Figs. 5, 8 and 10, the direction in which the vehicle is headed to the destination or the target is indicated by the y-axis, and the direction, perpendicular to the y-axis, in which the boundary of a drive zone P5 described below extends is indicated by the x-axis.

[0072] In some embodiments, the pose map region P1 includes fake obstacle zones including two rectangle shaped obstacle zones P3 and two quarter circle shaped obstacle zones P4. In Fig. 5, Each of the rectangle shaped obstacle zone P3 and the quarter circle shaped obstacle zone P4 are adjacent in the y-axis direction. In some embodiments, the map generation unit 234 calculates the size of the rectangle shaped obstacle zones P3 using a safety threshold depending on the vehicle which is used for loading. In some embodiments, the map generation unit 234 calculates the turning radius of the quarter circle shaped obstacle zones P4 using the minimum turning radius of the vehicle.

[0073] In some embodiments, the map generation unit 234 sets the size and / or shape of the rectangle shaped obstacle zones P3 depending on the size and / or shape of the target object P2. In some embodiments, the map generation unit 234 sets the size and / or shape of the rectangle shaped obstacle zones P3 depending on the safety tolerance of the vehicle. In some embodiments, the map generation unit 234 marks the rectangle shaped obstacle zones P3 with the destination which is at the center of the line connecting the bottom / top corner points of the rectangle shaped obstacle zones P3. In some embodiments, the map generation unit 234 sets the distance between the rectangle shaped obstacle zones P3 depending on the goal tolerance of the vehicle for the target object P2. In some embodiments, the map generation unit 234 sets the distance between the rectangle shaped obstacle zones P3 depending on the size and / or shape of target object P2.

[0074] In some embodiments, the map generation unit 234 generates the quarter circle shaped obstacle zones P4 opposite the target with respect to the destination so that the quarter circle shaped obstacle zones P4 is set to increase size of the fake obstacle zone as it moves from the destination to the target. In some embodiments, the map generation unit 234 sets the size and / or shape of the quarter circle shaped obstacle zones P4 depends on the size and / or shape of target object P2. In some embodiments, the map generation unit 234 sets the size and / or shape of the quarter circle shaped obstacle zones P4 depending on the safety tolerance of the vehicle. In some embodiments, the map generation unit 234 sets the distance between the quarter circle shaped obstacle zones P4 depending on the goal tolerance of the vehicle for the target object P2. In some embodiments, the map generation unit 234 sets the distance between the quarter circle shaped obstacle zones P4 depending on the size and / or shape of target object P2.

[0075] Further, in some embodiments, the map generation unit 234 sets a drive zone P5 by removing the fake obstacle zones from the area of the pose map region P1. The vehicle is allowed to be in the drive zone P5 but not in the rectangle shaped obstacle zones P3 and the quarter circle shaped obstacle zones P4. In some embodiments, the map generation unit 234 determines a traversable gap zone P7 (passable zone) of the drive zone P5 between the quarter circle shaped obstacle zones P4 by considering the tolerance required to align with the target object P2. In some embodiments, the map generation unit 234 sets a drive zone width P6 (cw) using the tolerance required to align with the target object P2. The drive zone width P6 means part of the drive zone P5 in the y-axis direction at the x-axis end of the pose map region P1. In some embodiments, the map generation unit 234 calculates the length of the drive zone width P6 depending on the range of sensors used to detect the target object P2.

[0076] Further, in some embodiments, the map generation unit 234 sets intermediate goal points including intermediate border goal points P8 and intermediate drive zone goal points P9. These intermediate goal points are candidate points for the vehicle to pass through and are inside or at the border of the drive zone P5. The map generation unit 234 generates the intermediate border goal points P8 on the border of the pose map region P1. In the outside pose map state g6, the goal decision system 220 uses the surrounding information, the temporary global plan, the current pose information of the vehicle and the information of the intermediate border goal points P8 generated by the map generation unit 234 to select one of the intermediate border goal points P8. Then, the goal decision system 220 determines intermediate goal pose information of the vehicle based on the chosen intermediate border goal point P8.

[0077] Further, in some embodiments, the map generation unit 234 generates the intermediate drive zone goal points P9 inside the drive zone P5. The map generation unit 234 may generate the intermediate drive zone goal points P9 by randomly choosing points as possible via-points in the pose map. In the inside pose map state g7, the goal decision system 220 uses the current pose of the vehicle and the pose map including the intermediate drive zone goal points P9 to determine an intermediate goal while the vehicle is inside the drive zone P5. Specifically, the goal decision system 220 selects one or more of the intermediate drive zone goal points P9. Then, the goal decision system 220 determines intermediate goal pose information of the vehicle based on the chosen intermediate drive zone goal points P9.

[0078] In some embodiments, the map generation unit 234 sets the number of the intermediate border goal points P8 and / or the intermediate drive zone goal points P9 depending on the least count of the steering value of the vehicle. In some embodiments, the map generation unit 234 sets the number of the intermediate border goal points P8 and / or the intermediate drive zone goal points P9 depending on the computing power of the processor used for calculation processed in the vehicle-to-target alignment system 200.

[0079] <Flow Description> 　　Next, referring to the flowcharts in Figs. 6A, 6B, 7, 9 and 10, examples of the operation of the present disclosure will be described. The detail of each processing in these figures is already explained above and its explanation is omitted as appropriate.

[0080] Figs. 6A and 6B are flowcharts of a method M1 of generating the pose map in accordance with some embodiments. In some embodiments, the method M1 is implemented using the map generation unit 234. In the transition state g4, The goal decision system 220 can use the pose map generated in the method M1 to decide the next state. The process of the generating the pose map will be explained using Figs. 5, 6A and 6B.

[0081] First, the map generation unit 234 receives the destination pose information (step S102). In some embodiments, the destination pose information is provided by the work management system 210. In some embodiments, the destination pose information includes information of location of the target object P2. In some embodiments, the destination pose information is set when the vehicle is away from the target object P2 considering the safety tolerance for the vehicle.

[0082] Following step S102, the map generation unit 234 generates and marks the rectangle shaped obstacle zones P3 on either side of the destination on the pose map (step S104). The rectangle shaped obstacle zones P3 are generated near the destination on the pose map.

[0083] Then, the map generation unit 234 generates and marks the quarter circle shaped obstacle zones P4 opposite the target as seen from (with respect) to the rectangle shaped obstacle zones P3 (step S106).

[0084] Next, the map generation unit 234 generates the intermediate border goal points P8 (step S108). In some embodiments, the map generation unit 234 sets the number of the intermediate border goal points P8 to be generated depending on the least count of the steering angle of the vehicle. In some embodiments, the map generation unit 234 sets the number of border goal points P8 to be generated depending on the computing power of the processor used.

[0085] In accordance with some embodiments, the goal decision system 220 uses the intermediate border goal points P8 only when the goal decision system 220 is in the outside pose map state g6, however, not limited to the example. In some embodiments, the goal decision system 220 uses the intermediate border goal points P8 when the goal decision system 220 is in the outside pose map state g6 as well as the inside pose map state g7.

[0086] Then, the map generation unit 234 generates the intermediate drive zone goal points P9 (step S110). In some embodiments, the goal decision system 220 uses these points as intermediate goal points when the goal decision system 220 is in the inside pose map state g7. In other words, in this case, a direct path to the destination may not be possible. In some embodiments, the map generation unit 234 sets the number of intermediate drive zone goal points P9 depending on the least count of the steering angle of the vehicle. In some embodiments, the map generation unit 234 sets the number of intermediate drive zone goal points P9 depending on the computing power of the processor used.

[0087] After step S110, the map generation unit 234 calculates a turning radius for each via intermediate goal point to go to the destination (step S112).

[0088] The map generation unit 234 compares the turning radius calculated in step S112 with the minimum turning radius (Rmin) of the vehicle (step S114). This comparing is performed to determine whether the vehicle can go to the destination in one direct path when the vehicle is at the intermediate goal point. If the calculated turning radius is more than or equal to the Rmin(No in step S114), the intermediate goal point corresponding to the turning radius is added to the pose map region P1 as a possible via-point (step S116). If the calculated turning radius is less than the Rmin(Yes in step S114), the intermediate goal point corresponding to the turning radius is eliminated and not taken into account in subsequent processing (step S118).

[0089] The map generation unit 234 determines whether all the intermediate goal points are compared with Rminin step S114 (step S120). If part of all the intermediate goal points is not compared in step S114 (No in step S120), the map generation unit 234 compares the turning radius corresponding to the intermediate goal point which has not been compared with Rmin(step S114). If all the intermediate goal points are compared in step S114, the process of the map generation unit 234 is ended.

[0090] Fig. 7 is a flowchart of a method M2 of the goal decision system 220 in the transition state g4. In some embodiments, the goal decision system 220 determines the next state to be implemented by the goal decision system 220. The process of the transition state g4 will be explained using Figs. 5 and 7.

[0091] First, the goal decision system 220 uses the current pose information of the vehicle, the destination pose information and the information of the pose map to calculates the current pose of the vehicle with respect to the pose map region P1 (step S202). Throughout this process, the goal decision system 220 checks the position of the vehicle.

[0092] Next, the goal decision system 220 compares the relative position of the vehicle with the pose map region P1 to determine whether if the vehicle is inside the pose map region P1 (step S204). If the vehicle is determined to be outside the pose map region P1 (No in step S204), the goal decision system 220 moves to the outside pose map state g6 (step S206).

[0093] If the vehicle is determined to be inside the pose map region P1 (Yes in step S204), the goal decision system 220 calculates a turning radius for a direct path (step S208). The turning radius of the direct path is required to generate a direct path from the current pose to the destination. Then the goal decision system 220 compares the turning radius calculated in step S208 with the minimum turning radius (Rmin) of the vehicle (step S210). Throughout this process, the goal decision system 220 determines whether the vehicle can go from its current pose to the destination in a single maneuver (i.e., via direct path).

[0094] If the calculated turning radius is more than or equal to the Rmin(No in step S210), the system moves to the target alignment state g8 (step S212). In step S212, a direct path from the current pose of the vehicle to the destination is possible. If the calculated turning radius is less than the Rmin(Yes in step S210), the system moves to the inside pose map state g7 (step S214). In step S214, a direct path from the current pose of the vehicle to the destination is not possible.

[0095] Fig. 8 is a schematic view of the pose map region P1 and the vehicle V1 which is outside the pose map region P1. This situation shown in Fig. 8 is the situation for which the goal decision system 220 is performing an action in the outside pose map state g6. Fig. 8 shows a temporary global plan P11 indicating the path starting from the vehicle V1's current pose to the destination P12. The destination P12 is at the edge of the traversable gap zone P7. A point P13 is the point on the temporary global plan P11 that intersects the border of the drive zone P5. The point P14 is the point on the border of the drive zone P5 closest to the point P13 on the global plan.

[0096] Fig. 9 is a flowchart of a method M3 of the goal decision system 220 in the outside pose map state g6. The flow shown in Fig. 8 is executed as a subsequent processing of step S206. The process of the outside pose map state g6 will be explained using Figs. 8 and 9.

[0097] First, the goal decision system 220 receives the information of the temporary global plan P11 generated by the planning module 230 (step S302). Second, the goal decision system 220 searches the nearest point from the border of the pose map region P1 and finds the point P13 the nearest point from the border (step S304). In other words, the goal decision system 220 finds the point where the temporary global plan p11 cuts the border of the pose map region P1.

[0098] Next, the goal decision system 220 calculates to determine that, in all the intermediate border goal points P8, the point P14 is the closest to the point P13 (step S306). The goal decision system 220 sends the waypoint generation unit 232 the information of the point P14 (e.g., intermediate goal pose information) as an intermediate goal (step S308). The vehicle will move in accordance with the determined intermediate goal.

[0099] Fig. 10 is a schematic view of the pose map region P1 and the vehicle which is inside the pose map region P1. This situation shown in Fig. 10 is the situation for which the goal decision system 220 is performing an action in the inside pose map state g7. Fig. 10 shows the selected waypoint P21 with a least travel cost. As shown below, the goal decision system 220 selects the waypoint P21 and sends the waypoint generation unit 232 the information of the waypoint P21. As a result, the vehicle V1 moves a local path P22 from the vehicle V1's current position to the waypoint P21.

[0100] In some embodiments, as shown in Fig. 10, the goal decision system 220 selects a waypoint P23 after selecting the waypoint P21. The method of selecting the waypoint P23 is the same as the method of selecting the waypoint P21. Therefore, the vehicle V1 can move a local path from the waypoint P21 to the waypoint P23. By repeating the selecting the waypoint in this way, the vehicle V1 can reach the destination P12.

[0101] Fig. 11 is a flowchart of a method M4 of the goal decision system 220 in the inside pose map state g7. The flow shown in Fig. 11 is executed as a subsequent processing of step S214. The process of the inside pose map state g7 will be explained using Figs. 10 and 11.

[0102] First, the goal decision system 220 calculates the travel cost for all the intermediate goal points (the intermediate border goal points P8 and intermediate drive zone goal points P9) (step S402). In some embodiments, the goal decision system 220 calculates the travel cost for each of the intermediate goal points using the following Equation (1): Here, is the path length from the current pose to the intermediate goal point (waypoint), and is the path length from the intermediate goal point to the destination. The length of the two paths may be calculated by Reeds-Shepp method. However, the goal decision system 220 can calculate the travel cost using other methods.

[0103] Next, among all the intermediate goal points (candidate points), the goal decision system 220 selects one intermediate goal point as the intermediate goal point to be sent to the planning module 230 (step S404). In some embodiments, among all the intermediate goal points, the goal decision system 220 selects the intermediate goal point with the lowest travel cost calculated in step S402. In some embodiments, among all the intermediate goal points, the goal decision system 220 selects the intermediate goal point with the travel cost below a certain threshold.

[0104] Then, the goal decision system 220 sends the information of the selected intermediate goal point as intermediate goal pose information to the waypoint generation unit 232 (step S406). The vehicle will move in accordance with the determined intermediate goal pose.

[0105] Fig. 12 is a flowchart of a method M5 of the goal decision system 220 in the target alignment state g8. The flow shown in Fig. 12 is executed as a subsequent processing of step S212. The process of target alignment state g8 will be explained using Fig. 12.

[0106] First, the goal decision system 220 calculates a turning radius for the vehicle to go from the current pose to the destination in a direct path (step S502). Second, the goal decision system 220 modifies the turning radius received from the planning module 230 to the radius calculated in step S502 (step S504). Then, the goal decision system 220 send the information of the destination as the destination information to the waypoint generation unit 232 (step S506). The vehicle will move to the destination on a direct path.

[0107] <Description of Effects> 　　Aligning a non-holonomic vehicle to a target usually involves a navigation module that helps the vehicle navigate to a point near the target, and an alignment module which determines actuation to align the vehicle to the destination.

[0108] In related art, aligning the vehicle involves using the goal orientation to generate a path that may or may not be complicated depending on the current vehicle orientation. The path generated also depends on the minimum turning radius of the vehicle. This path is usually complicated due to multiple forward and reverse motions.

[0109] In most pallet alignment systems, a vehicle comes close to a pallet and then starts alignment process. Due to kinematic constraints, this may not always be possible without collision. As a result, the vehicle must move backwards and then start alignment process again to achieve high accuracy required for loading of pallets. This increases the time required to complete the task and reduces efficiency.

[0110] In the second example embodiment, the vehicle-to-target alignment system 200 make it possible to dock a vehicle to a target location. Fake obstacle zones are created on the pose map near the goal point and based on the position of the vehicle with respect to fake obstacle zones, the vehicle-to-target alignment system 200 can decide a via point (intermediate goal point) for the vehicle to reach arrive where a direct path is possible.

[0111] Because of this procedure, the vehicle can stop at the edge of the pose map region P1 to check if a direct path to desired pallet is possible. If the direct path is not possible, the vehicle can make required changes before coming near the pallet.

[0112] Further, the map generation unit 234 may generate the quarter circle shaped obstacle zones P4 opposite the target with respect to the destination so that the quarter circle shaped obstacle zones P4 is set to increase size of the fake obstacle zone as it moves from the destination to the target. Therefore, throughout this procedure, the fake obstacle zones act like a "funnel" and can help better alignment of the vehicle.

[0113] Further, the map generation unit 234 may generate the quarter circle shaped obstacle zones P4 so that each of the quarter circle shaped obstacle zones P4 forms an arc and sets a turning radius of the arc using a turning radius of the vehicle. Therefore, the vehicle can move smoothly along the quarter circle shaped obstacle zones P4, reducing the time it takes to reach the destination.

[0114] Further, the map generation unit 234 may generate two of the quarter circle shaped obstacle zones P4, each with an arc, and the drive zone P5 (passable zone) for the vehicle between the two-quarter circle shaped obstacle zones P4. Therefore, the vehicle-to-target alignment system 100 can limit the area the vehicle can pass through before reaching the destination and reduce the time it takes to reach the destination.

[0115] Further, the map generation unit 234 may set size and / or shape of the quarter circle shaped obstacle zones P4 based on size and / or shape of the target. Therefore, the vehicle-to-target alignment system 100 can set the area the vehicle can pass through before reaching the destination in an appropriate way to reduce the time the vehicle takes to reach the destination even if the size and / or shape of the target changes.

[0116] Further, the goal decision system 220 may select a via point (intermediate goal point) from candidate points by calculating travel costs for the candidate points and the waypoint generation unit 232 may determine the local path through the via point. Therefore, the vehicle-to-target alignment system 100 can generate a local path effective for the moving of the vehicle to reduce the time the vehicle takes to reach the destination.

[0117] Further, at step S210, the goal decision system 220 may compare the turning radius of the direct path with the turning radius of the vehicle, and if the turning radius of the direct path is less than the turning radius of the vehicle, selects the via point. Therefore, if the turning radius of the direct path is more than or equal to the turning radius of the vehicle, the vehicle-to-target alignment system 100 can generate a direct path and the vehicle moves to the destination in accordance with the direct path. Therefore, the vehicle-to-target alignment system 100 can reduce the time the vehicle takes to reach the destination if the situation allows.

[0118] Further, at steps S114 and S116, the map generation unit 234 may set the intermediate goal points (candidate points) so that each turning radius of the intermediate goal points required to generate a direct path from the intermediate goal point to the destination is more than or equal to a turning radius of the vehicle. Therefore, even if the goal decision system 220 selects the via point, the vehicle-to-target alignment system 100 can set a direct path from the via point to the destination to reduce the time the vehicle takes to reach the destination.

[0119] As shown above, the vehicle-to-target alignment system 200 helps the vehicle to travel a better, efficient path in order to be able to dock itself at the destination. The vehicle may face the front of a pallet at the destination. The target location here can be a docking station or a pallet that the vehicle needs to pick or any other element such that the vehicle docks to it.

[0120] Efficiency of movement for the vehicle helps to reduce the power consumption by the vehicle. For example, if the vehicle is an electric vehicle (EV), battery life of the vehicle is improved as efficiency of movement is improved. In some embodiments, the vehicle includes an engine. Increasing efficiency of movement reduces fuel consumption by the vehicle including the engine. For example, when using a forklift in a warehouse, efficiency of movement helps to improve stocking or distribution processes within the warehouse, which in turn increases productivity in a logistics operation.

[0121] In the above-described example embodiments, for example, the following modifications are possible.

[0122] In the second example embodiment, instead of the minimum turning radius of the vehicle, the average turning radius of the vehicle can be used. Further, instead of generating two of the zone P4, only one of the zone P4 may be generated on the pose map. The shape of the zone P4 is not limited to quarter circle shaped, but may be any shape with an arc. Further, the shape of the zone P4 may be a triangle or any shape without an arc. If the zone P4 is set to increase size of the zone P4 as it moves from the destination to the target, this configuration achieves the above effects.

[0123] Next, a configuration example of the route management system 10 and / or the vehicle-to-target alignment system 200 is explained hereinafter with reference to Fig. 13.

[0124] The route management system, which includes both examples of the route management system 10 and the vehicle-to-target alignment system 200, may be implemented on a computer system as illustrated in Fig. 13. Referring to Fig. 13, a computer system 90, such as a server or the like, includes a communication interface 91, a memory 92 and a processor 93.

[0125] The communication interface 91 (e.g., a network interface controller (NIC)) may be configured to communicatively connect to a wide variety of sensors provided in a moving object (e.g., robot). Furthermore, the communication interface 91 may communicate with other computer(s) and / or machine(s) to receive and / or send data related to the computation of the computer system 90. The communication interface 91 may include any one of wireless network interfaces.

[0126] The memory 92 may store program 94 (program instructions) to enable the computer system 90 to function as the route management system 10 or the vehicle-to-target alignment system 200. However, in some embodiments, the program 94 may be stored in the memory 92 for interfacing with external devices. The program 94 may enable processor 93 to generate instructions readable by the external devices to implement operations processed in the route management system 10 and / or the vehicle-to-target alignment system 200. Further, the memory 92 may store data required to perform the processes above, such as the pose map, the travel cost or the like.

[0127] The memory 92 includes, for example, a semiconductor memory (for example, Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable and Programmable ROM (EEPROM), and / or a storage device including at least one of Hard Disk Drive (HDD), SSD (Solid State Drive), Compact Disc (CD), Digital Versatile Disc (DVD) and so forth. From another point of view, the memory 92 is formed by a volatile memory and / or a nonvolatile memory. The memory 92 may include a storage disposed apart from the processor 93. In this case, the processor 93 may access the memory 92 through an I / O interface (not shown).

[0128] The processor 93 is configured to read the program 94 (program instructions) from the memory 92 to execute the program 94 (program instructions) to realize the functions and processes of the above-described plurality of embodiments. The processor 93 may be, for example, a microprocessor, an MPU (Micro Processing Unit), or a CPU (Central Processing Unit). Furthermore, the processor 93 may include a plurality of processors. In this case, each of the processors executes one or a plurality of programs including a group of instructions to cause a computer to perform an algorithm explained above with reference to the drawings.

[0129] The processor 93 may receive commands from I / O interface (not shown) coupled to external circuitry. In some embodiments, the I / O interface includes a keyboard, keypad, mouse, trackball, trackpad, and / or cursor direction keys.

[0130] The program 94 includes program instructions (program modules) for executing processing of each unit of the sensing system in the above-described plurality of embodiments. The program 94 may include instructions (or software codes) that, when loaded into a computer, cause the computer to perform one or more of the functions described in the embodiments. The program may be stored in a non-transitory computer readable medium or a tangible storage medium. By way of example, and not limitation, non-transitory computer readable media or tangible storage media can include a random-access memory (RAM), a read-only memory (ROM), a flash memory, a solid-state drive (SSD) or other memory technologies, compact disk-read only memory (CD-ROM,) compact disk-read / write (CD-R / W), digital versatile disk (DVD), Blu-ray disc ((R): Registered trademark) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices. The program may be transmitted on a transitory computer readable medium or a communication medium. By way of example, and not limitation, transitory computer readable media or communication media can include electrical, optical, acoustical, or other form of propagated signals.

[0131] In some embodiments, implementation of the route management system 10 or the vehicle-to-target alignment system 200 can be done not only in one computer system 90 but also in a plurality of computer systems 90. For example, one computer system 90 can send / receive data needed for operations processed in the route management system 10 or the vehicle-to-target alignment system 200 to / from another computer system 90 to achieve the operations.

[0132] The whole or part of the example embodiments disclosed above can be described as, but not limited to, the following supplementary notes. 　　(Supplementary Note 1) 　　A route management system comprising: 　　a generation means for generating, based on information about a target to which a moving object executes an operation, a fake obstacle zone around the target; and 　　a determination means for determining, based on the fake obstacle zone and a position of a destination located around the target, a route of the moving object. 　　(Supplementary Note 2) 　　The route management system according to Supplementary Note 1, wherein 　　the generation means generates the fake obstacle zone opposite the target with respect to the destination so that the fake obstacle zone is set to increase size of the fake obstacle zone as it moves from the destination to the target. 　　(Supplementary Note 3) 　　The route management system according to Supplementary Note 1 or 2, wherein 　　the generation means generates the fake obstacle zone so that the fake obstacle zone forms an arc and sets a turning radius of the arc using a turning radius of the vehicle. 　　(Supplementary Note 4) 　　The route management system according to Supplementary Note 3, wherein 　　the generation means generates two of the fake obstacle zones, each with an arc, and a passable zone for the vehicle between the two fake obstacle zones. 　　(Supplementary Note 5) 　　The route management system according to any one of Supplementary Notes 1 to 4, wherein 　　the generation means sets size and / or shape of the fake obstacle zone based on size and / or shape of the target. 　　(Supplementary Note 6) 　　The route management system according to any one of Supplementary Notes 1 to 5, wherein 　　the determination means selects a via point from candidate points outside the fake obstacle zone by calculating travel costs for the candidate points and determine the route through the via point. 　　(Supplementary Note 7) 　　The route management system according to Supplementary Note 6, wherein 　　the determination means compares a turning radius required to generate a direct path from a position of the vehicle to the destination with a turning radius of the vehicle, and if the turning radius required to generate the direct path is less than the turning radius of the vehicle, selects the via point. 　　(Supplementary Note 8) 　　The route management system according to Supplementary Note 6 or 7, wherein 　　the generation means sets the candidate points so that each turning radius of the candidate point required to generate a direct path from the candidate point to the destination is more than or equal to a turning radius of the vehicle. 　　(Supplementary Note 9) 　　A route management method comprising: 　　generating, based on information about a target to which a moving object executes an operation, a fake obstacle zone around the target; and 　　determining, based on the fake obstacle zone and a position of a destination located around the target, a route of the moving object. 　　(Supplementary Note 10) 　　The route management method according to Supplementary Note 9, wherein the route management method further comprising: 　　generating the fake obstacle zone opposite the target with respect to the destination so that the fake obstacle zone is set to increase size of the fake obstacle zone as it moves from the destination to the target. 　　(Supplementary Note 11) 　　The route management method according to Supplementary Note 9 or 10, wherein the route management method further comprising: 　　generating the fake obstacle zone so that the fake obstacle zone forms an arc and sets a turning radius of the arc using a turning radius of the vehicle. 　　(Supplementary Note 12) 　　The route management method according to Supplementary Note 11, wherein the route management method further comprising: 　　generating two of the fake obstacle zones, each with an arc, and a passable zone for the vehicle between the two fake obstacle zones. 　　(Supplementary Note 13) 　　The route management method according to any one of Supplementary Notes 9 to 12, wherein the route management method further comprising: 　　setting size and / or shape of the fake obstacle zone based on size and / or shape of the target. 　　(Supplementary Note 14) 　　The route management method according to any one of Supplementary Notes 9 to 13, wherein the route management method further comprising: 　　selecting a via point from candidate points outside the fake obstacle zone by calculating travel costs for the candidate points and determine the route through the via point. 　　(Supplementary Note 15) 　　The route management method according to Supplementary Note 14, wherein the route management method further comprising: 　　comparing a turning radius required to generate a direct path from a position of the vehicle to the destination with a turning radius of the vehicle, and if the turning radius required to generate the direct path is less than the turning radius of the vehicle, selects the via point. 　　(Supplementary Note 16) 　　The route management system according to Supplementary Note 14 or 15, wherein the route management method further comprising: 　　setting the candidate points so that each turning radius of the candidate point required to generate a direct path from the candidate point to the destination is more than or equal to a turning radius of the vehicle. 　　(Supplementary Note 17) 　　A program for causing a computer to execute: 　　generating, based on information about a target to which a moving object executes an operation, a fake obstacle zone around the target; and 　　determining, based on the fake obstacle zone and a position of a destination located around the target, a route of the moving object. 　　(Supplementary Note 18) 　　The program according to Supplementary Note 17, wherein the program causes the computer to further execute: 　　generating the fake obstacle zone opposite the target with respect to the destination so that the fake obstacle zone is set to increase size of the fake obstacle zone as it moves from the destination to the target. 　　(Supplementary Note 19) 　　The program according to Supplementary Note 17 or 18, wherein the program causes the computer to further execute: 　　generating the fake obstacle zone so that the fake obstacle zone forms an arc and sets a turning radius of the arc using a turning radius of the vehicle. 　　(Supplementary Note 20) 　　The program according to Supplementary Note 19, wherein the program causes the computer to further execute: 　　generating two of the fake obstacle zones, each with an arc, and a passable zone for the vehicle between the two fake obstacle zones.

[0133] Some or all of elements (e.g., structures and functions) specified in Supplementary Notes 2 to 8 dependent on Supplementary Note 1 may also be dependent on Supplementary Note 9 and Supplementary Note 17 in dependency similar to that of Supplementary Notes 2 to 8 on Supplementary Note 1. Some or all of elements specified in any of Supplementary Notes may be applied to various types of hardware, software, and recording means for recording software, systems, and methods.

[0134] The present disclosure has been particularly shown and described with reference to example embodiments thereof, the present disclosure is not limited to these example embodiments. It will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present disclosure as defined by the claims. And each embodiment can be appropriately combined with at least one of embodiments.

[0135] 10　　route management system 12　　generation unit 14　　determination unit 110　　odometry source 120　　detection node 130　　sensor 140　　map server 200　　vehicle-to-target alignment system 210　　work management system 220　　goal decision system 230　　planning module 232　　waypoint generation unit 234　　map generation unit 240　　controller

Claims

1. A route management system comprising: 　　a generation means for generating, based on information about a target to which a moving object executes an operation, a fake obstacle zone around the target; and 　　a determination means for determining, based on the fake obstacle zone and a position of a destination located around the target, a route of the moving object.

2. The route management system according to claim 1, wherein 　　the generation means generates the fake obstacle zone opposite the target with respect to the destination so that the fake obstacle zone is set to increase size of the fake obstacle zone as it moves from the destination to the target.

3. The route management system according to claim 1 or 2, wherein 　　the generation means generates the fake obstacle zone so that the fake obstacle zone forms an arc and sets a turning radius of the arc using a turning radius of the vehicle.

4. The route management system according to claim 3, wherein 　　the generation means generates two of the fake obstacle zones, each with an arc, and a passable zone for the vehicle between the two fake obstacle zones.

5. The route management system according to any one of claims 1 to 4, wherein 　　the generation means sets size and / or shape of the fake obstacle zone based on size and / or shape of the target.

6. The route management system according to any one of claims 1 to 5, wherein 　　the determination means selects a via point from candidate points outside the fake obstacle zone by calculating travel costs for the candidate points and determine the route through the via point.

7. The route management system according to claim 6, wherein 　　the determination means compares a turning radius required to generate a direct path from a position of the vehicle to the destination with a turning radius of the vehicle, and if the turning radius required to generate the direct path is less than the turning radius of the vehicle, selects the via point.

8. The route management system according to claim 6 or 7, wherein 　　the generation means sets the candidate points so that each turning radius of the candidate point required to generate a direct path from the candidate point to the destination is more than or equal to a turning radius of the vehicle.

9. A route management method comprising: 　　generating, based on information about a target to which a moving object executes an operation, a fake obstacle zone around the target; and 　　determining, based on the fake obstacle zone and a position of a destination located around the target, a route of the moving object.

10. The route management method according to claim 9, wherein the route management method further comprising: 　　generating the fake obstacle zone opposite the target with respect to the destination so that the fake obstacle zone is set to increase size of the fake obstacle zone as it moves from the destination to the target.

11. The route management method according to claim 9 or 10, wherein the route management method further comprising: 　　generating the fake obstacle zone so that the fake obstacle zone forms an arc and sets a turning radius of the arc using a turning radius of the vehicle.

12. The route management method according to claim 11, wherein the route management method further comprising: 　　generating two of the fake obstacle zones, each with an arc, and a passable zone for the vehicle between the two fake obstacle zones.

13. The route management method according to any one of claims 9 to 12, wherein the route management method further comprising: 　　setting size and / or shape of the fake obstacle zone based on size and / or shape of the target.

14. The route management method according to any one of claims 9 to 13, wherein the route management method further comprising: 　　selecting a via point from candidate points outside the fake obstacle zone by calculating travel costs for the candidate points and determine the route through the via point.

15. The route management method according to claim 14, wherein the route management method further comprising: 　　comparing a turning radius required to generate a direct path from a position of the vehicle to the destination with a turning radius of the vehicle, and if the turning radius required to generate the direct path is less than the turning radius of the vehicle, selects the via point.

16. The route management system according to claim 14 or 15, wherein the route management method further comprising: 　　setting the candidate points so that each turning radius of the candidate point required to generate a direct path from the candidate point to the destination is more than or equal to a turning radius of the vehicle.

17. A non-transitory computer readable medium storing a program for causing a computer to execute: 　　generating, based on information about a target to which a moving object executes an operation, a fake obstacle zone around the target; and 　　determining, based on the fake obstacle zone and a position of a destination located around the target, a route of the moving object.

18. The non-transitory computer readable medium according to claim 17, wherein the program causes the computer to further execute: 　　generating the fake obstacle zone opposite the target with respect to the destination so that the fake obstacle zone is set to increase size of the fake obstacle zone as it moves from the destination to the target.

19. The non-transitory computer readable medium according to claim 17 or 18, wherein the program causes the computer to further execute: 　　generating the fake obstacle zone so that the fake obstacle zone forms an arc and sets a turning radius of the arc using a turning radius of the vehicle.

20. The non-transitory computer readable medium according to claim 19, wherein the program causes the computer to further execute: 　　generating two of the fake obstacle zones, each with an arc, and a passable zone for the vehicle between the two fake obstacle zones.

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