Assistance system, control system, conveyance system, and assistance method

Abstract

The purpose of the present disclosure is to derive coordinate conversion information pertaining to a coordinate conversion formula for performing coordinate conversion between position coordinates expressed in a first coordinate system and position coordinates expressed in a second coordinate system. A first acquisition unit (111) of an assistance system (10) of the present disclosure acquires position coordinates of each of a first reference point and a second reference point in a first coordinate system. A second acquisition unit (112) acquires position coordinates of each of the first reference point and the second reference point in a second coordinate system. A derivation unit (113) uses the position coordinates of each of the first reference point and the second reference point in the first coordinate system and the position coordinates of each of the first reference point and the second reference point in the second coordinate system to derive coordinate conversion information pertaining to a coordinate conversion formula for converting the position coordinates in the first coordinate system into the position coordinates in the second coordinate system.

Description

Support system, control system, transport system, and support method

[0001] The present disclosure relates to an assistance system, a control system, a transport system, and an assistance method, and more particularly, to an assistance system, a control system, a transport system, and an assistance method that assist a task performed by a mobile object control system that controls the movement of a mobile object.

[0002] Patent Literature 1 discloses a control system including a controller and a processing device connected to the controller for performing predetermined processing on a workpiece. The processing device includes a position information update unit that updates position information output from the processing device in a local coordinate system of the processing device at a predetermined interval, and a transmission unit that transmits the position information updated by the position information update unit and time information at which the update was performed to the controller. The controller includes a receiving unit that receives the position information and time information from the processing device, and a coordinate conversion unit. The coordinate conversion unit converts the position information received from the processing device into world coordinate system position information in the world coordinate system using a predetermined coordinate conversion formula that represents the relative relationship between the local coordinate system and the world coordinate system of the processing device. A user program running on the controller performs position control for each control application using position information expressed in the world coordinate system.

[0003] The coordinate conversion unit of the control system described above has a coordinate conversion formula set in advance, and can only convert position coordinates of a local coordinate system whose relative relationship with the world coordinate system is indicated by the set coordinate conversion formula into position coordinates of the world coordinate system. Therefore, the coordinate conversion unit of the control system cannot convert position coordinates of another local coordinate system whose relative relationship with the world coordinate system is unknown into position coordinates of the world coordinate system.

[0004] Japanese Patent Application Laid-Open No. 2019-212123

[0005] The object of the present disclosure is to provide an assistance system, a control system, a transport system, and an assistance method that are capable of deriving coordinate transformation information related to a coordinate transformation formula for performing coordinate transformation between position coordinates expressed in a first coordinate system and position coordinates expressed in a second coordinate system.

[0006] An assistance system according to one aspect of the present disclosure assists a mobile object control system that controls the movement of a first mobile object to control the movement of a second mobile object. When first route information representing a route of movement in a first coordinate system is input, the first mobile object moves according to the first route information. The mobile object control system controls the movement of the first mobile object by outputting the first route information to the first mobile object. When second route information representing a route of movement in a second coordinate system is input, the second mobile object moves according to the second route information. The assistance system includes a first acquisition unit, a second acquisition unit, and a derivation unit. The first acquisition unit acquires position coordinates of a first reference point and a second reference point in the first coordinate system. The second acquisition unit acquires position coordinates of the first reference point and the second reference point in the second coordinate system. The derivation unit derives coordinate transformation information regarding a coordinate transformation formula that converts the position coordinates of the first coordinate system into the position coordinates of the second coordinate system, using the position coordinates of each of the first reference point and the second reference point in the first coordinate system and the position coordinates of each of the first reference point and the second reference point in the second coordinate system.

[0007] An assistance system according to one aspect of the present disclosure assists a mobile body control system that controls the movement of a first mobile body to control the movement of a second mobile body. When first route information representing a route of movement in a first coordinate system is input, the first mobile body moves according to the first route information. The mobile body control system controls the movement of the first mobile body by outputting the first route information to the first mobile body. When second route information representing a route of movement in a second coordinate system is input, the second mobile body moves according to the second route information. The assistance system includes a first acquisition unit, a second acquisition unit, and a derivation unit. The first acquisition unit acquires position coordinates of a reference point in the first coordinate system. The second acquisition unit acquires position coordinates of the reference point in the second coordinate system. The orientations of the first mobile body and the second mobile body when they stop at the reference point are set to a predetermined stopping direction. The derivation unit derives coordinate transformation information relating to a coordinate transformation formula that converts position coordinates in the first coordinate system into position coordinates in the second coordinate system, using the position coordinates of the reference point in the first coordinate system and a first stop angle that represents the stop direction in the first coordinate system, and the position coordinates of the reference point in the second coordinate system and a second stop angle that represents the stop direction in the second coordinate system.

[0008] A control system according to one aspect of the present disclosure includes the assistance system and the mobile object control system. The mobile object control system includes a conversion unit and a route information output unit. The conversion unit converts the first route information, which represents the travel route in the first coordinate system, into second route information, which represents the travel route in the second coordinate system, using the coordinate conversion formula created based on the coordinate conversion information. The route information output unit outputs the second route information converted by the conversion unit to the second mobile object.

[0009] According to one aspect of the present disclosure, there is provided a conveyance system including the support system and the mobile body control system that controls the movement of the first mobile body and the second mobile body, wherein the first mobile body and the second mobile body each perform a conveyance task of conveying a conveyed object, the conveyed object including at least one of a carriage that can accommodate components to be mounted on a circuit board and a component supply unit that supplies the components to a manufacturing device that mounts the components on the circuit board.

[0010] An assistance method according to one aspect of the present disclosure assists a mobile object control system that controls the movement of a first mobile object to control the movement of a second mobile object. When first route information representing a route of movement in a first coordinate system is input, the first mobile object moves according to the first route information. The mobile object control system controls the movement of the first mobile object by outputting the first route information to the first mobile object. When second route information representing a route of movement in a second coordinate system is input, the second mobile object moves according to the second route information. The assistance method includes a first acquisition process, a second acquisition process, and a derivation process. In the first acquisition process, position coordinates of a first reference point and a second reference point in the first coordinate system are acquired. In the second acquisition process, position coordinates of the first reference point and the second reference point in the second coordinate system are acquired. In the derivation process, coordinate transformation information regarding a coordinate transformation formula that converts the position coordinates of the first coordinate system into the position coordinates of the second coordinate system is derived using the position coordinates of the first reference point and the second reference point in the first coordinate system and the position coordinates of the first reference point and the second reference point in the second coordinate system.

[0011] An assistance method according to one aspect of the present disclosure assists a mobile object control system that controls the movement of a first mobile object to control the movement of a second mobile object. When first route information representing a route of movement in a first coordinate system is input, the first mobile object moves according to the first route information. The mobile object control system controls the movement of the first mobile object by outputting the first route information to the first mobile object. When second route information representing a route of movement in a second coordinate system is input, the second mobile object moves according to the second route information. The assistance method includes a first acquisition process, a second acquisition process, and a derivation process. In the first acquisition process, position coordinates of a reference point in the first coordinate system are acquired. In the second acquisition process, position coordinates of the reference point in the second coordinate system are acquired. The orientations of the first mobile object and the second mobile object when they stop at the reference point are set to a predetermined stopping direction. In the derivation process, coordinate transformation information relating to a coordinate transformation formula that converts position coordinates in the first coordinate system into position coordinates in the second coordinate system is derived using the position coordinates of the reference point in the first coordinate system and a first stop angle that represents the stop direction in the first coordinate system, and the position coordinates of the reference point in the second coordinate system and a second stop angle that represents the stop direction in the second coordinate system.

[0012] FIG. 1 is a schematic system configuration diagram of a transportation system including a support system according to an embodiment of the present disclosure. FIG. 2 is a diagram illustrating an example of a first electronic map held by a first mobile body included in the transportation system. FIG. 3 is a diagram illustrating an example of a second electronic map held by a second mobile body included in the transportation system. FIG. 4 is a diagram illustrating a method by which the support system acquires position coordinates of a first reference point and a second reference point in a first coordinate system. FIG. 5 is an explanatory diagram of a sub-screen displayed on a display unit of the support system. FIG. 6 is a flowchart illustrating the operation of the support system. FIG. 7 is a flowchart illustrating the operation of the support system. FIG. 8 is a flowchart illustrating the operation of the mobile body control system. FIG. 9 is a flowchart illustrating the operation of the mobile body control system. FIG. 10 is a diagram illustrating a method by which the support system acquires position coordinates of a reference point when deriving coordinate transformation information and angle transformation information using a one-point teaching method. FIG. 11 is an explanatory diagram of a sub-screen displayed on a display unit of the support system. FIG. 12 is a diagram illustrating a method by which the support system of Variation 1 acquires position coordinates of a first reference point and a second reference point. Fig. 13 is a diagram illustrating a method by which the support system of Modification 1 acquires the position coordinates of the first reference point and the second reference point. Fig. 14 is an explanatory diagram illustrating a method by which the support system of Modification 1 acquires the position coordinates of the first reference point and the second reference point.

[0013] Hereinafter, a support system, a control system, and a transport system according to embodiments will be described in detail with reference to the drawings. The configurations described in the following embodiments are merely examples of the present disclosure. The present disclosure is not limited to the following embodiments, and various modifications are possible depending on the design, etc., as long as the effects of the present disclosure can be achieved.

[0014] (Embodiment) (1) Overview FIG. 1 is a schematic system configuration diagram of a transport system 60 including a support system 10 according to this embodiment.

[0015] The assistance system 10 of this embodiment assists the mobile object control system 20, which controls the movement of the first mobile object 30A, to control the movement of the second mobile object 30B. When first route information representing a movement route in a first coordinate system is input, the first mobile object 30A moves according to the first route information. The mobile object control system 20 controls the movement of the first mobile object 30A by outputting the first route information to the first mobile object 30A. When second route information representing a movement route in a second coordinate system is input, the second mobile object 30B moves according to the second route information.

[0016] The support system 10 includes a first acquisition unit 111 , a second acquisition unit 112 , and a derivation unit 113 .

[0017] The first acquisition unit 111 acquires the position coordinates of the first reference point and the second reference point in the first coordinate system.

[0018] The second acquisition unit 112 acquires the position coordinates of the first reference point and the second reference point in the second coordinate system.

[0019] The derivation unit 113 derives coordinate transformation information regarding a coordinate transformation formula that converts the position coordinates in the first coordinate system into the position coordinates in the second coordinate system, using the position coordinates of the first reference point and the second reference point in the first coordinate system and the position coordinates of the first reference point and the second reference point in the second coordinate system.

[0020] Here, the first mobile body 30A and the second mobile body 30B are autonomous mobile robots (AMRs) used for transporting objects in facilities such as factories, logistics centers (including distribution centers), offices, stores, schools, and hospitals. The first mobile body 30A and the second mobile body 30B move by running on a moving surface, for example, using one or more wheels. The moving surface is the surface on which the first mobile body 30A and the second mobile body 30B move. When the first mobile body 30A and the second mobile body 30B move within a facility, the moving surface is the floor of the facility, and when the first mobile body 30A and the second mobile body 30B move outdoors, the moving surface is the ground, for example.

[0021] The first moving body 30A and the second moving body 30B each hold map information of an electronic map that indicates the location of objects such as walls that exist on the moving surface.

[0022] The electronic map held by the first mobile object 30A (hereinafter referred to as the "first electronic map") is expressed, for example, in a first coordinate system. FIG. 2 shows an example of a first electronic map MP1 held by the first mobile object 30A. In the first electronic map MP1 in FIG. 2, the shaded area indicates the area where the object 100 exists. The first coordinate system is, for example, a left-handed system. The origin of the first electronic map MP1 is point P1 in the upper left of the first electronic map MP1. In the first electronic map MP1, the bottom of the map is north and the top of the map is south. The X-axis direction is along the east-west direction, with west being the positive direction of the X-axis. The Y-axis direction is along the north-south direction, with north being the positive direction of the Y-axis. In addition, the angle θ used to indicate the orientation of the first mobile object 30A is set so that 0 degrees corresponds to south, 90 degrees to west, 180 degrees to north, and 270 degrees to east. Furthermore, distances on the first electronic map MP1 are expressed in centimeters, and the smallest unit of distance expressed on the first electronic map MP1 is the resolution of the first electronic map MP1.

[0023] The electronic map held by the second mobile unit 30B (hereinafter referred to as the "second electronic map") is expressed, for example, in a second coordinate system. FIG. 3 shows an example of the second electronic map MP2 held by the second mobile unit 30B. In the second electronic map MP2 in FIG. 3, the hatched area indicates the area where the object 100 is located. The second coordinate system is, for example, a right-handed system. The origin of the second electronic map MP2 is point P2 near the center of the second electronic map MP2. In the second electronic map MP2, the left side of the map is north and the right side of the map is south. The X-axis direction is along the north-south direction, with south being the positive direction of the X-axis. The Y-axis direction is along the east-west direction, with east being the positive direction of the Y-axis. The angle θ used to indicate the orientation of the second mobile unit 30B is set such that 0 degrees corresponds to south, 90 degrees to east, 180 degrees to north, and 270 degrees to west. Furthermore, distances on the second electronic map MP2 are expressed in units of mm, and the smallest unit of distance expressed on the second electronic map MP2 is the resolution of the second electronic map MP2.

[0024] Because the first electronic map MP1 held by the first moving body 30A is expressed in the first coordinate system, it is necessary to instruct the first moving body 30A on a travel route in the first coordinate system. When first route information representing a travel route in the first coordinate system is input, the first moving body 30A can travel according to the first route information. The first route information is information that includes at least the position coordinates of a destination to which the first moving body 30A is to travel, and the first moving body 30A can travel to the destination according to the first route information. Note that the first route information may also include the position coordinates of one or more waypoints to be passed through on the way to the destination, and the first moving body 30A can travel to the destination via one or more waypoints.

[0025] Furthermore, because the second electronic map MP2 held by the second moving body 30B is expressed in the second coordinate system, it is necessary to instruct the second moving body 30B on the travel route in the second coordinate system. When second route information representing the travel route in the second coordinate system is input, the second moving body 30B can travel according to the second route information. The second route information is information that includes at least the position coordinates of the destination to which the second moving body 30B is traveling, and the second moving body 30B can travel to the destination according to the second route information. Note that the second route information may also include the position coordinates of one or more waypoints to be passed through on the way to the destination, and the second moving body 30B can travel to the destination via one or more waypoints.

[0026] Here, there is a first mobile object control system 20A provided to control the movement of a first mobile object 30A, and a second mobile object control system 20B provided to control the movement of a second mobile object 30B. The first mobile object control system 20A controls the movement of the first mobile object 30A by outputting first route information to the first mobile object 30A. The second mobile object control system 20B controls the movement of the second mobile object 30B by outputting second route information to the second mobile object 30B.

[0027] The assistance system 10 of this embodiment assists the mobile object control system 20, which is a first mobile object control system 20A for controlling the first mobile object 30A, so that it can control the movement of the second mobile object 30B.

[0028] In the assistance system 10 of this embodiment, for each of the first and second reference points, the position coordinates of the first and second reference points in the first coordinate system and the position coordinates of the first and second reference points in the second coordinate system are acquired. Therefore, the derivation unit 113 can derive coordinate transformation information related to a coordinate transformation formula for converting the position coordinates in the first coordinate system into the position coordinates in the second coordinate system using the position coordinates of each of the two points (the first and second reference points) expressed in the first coordinate system and the position coordinates expressed in the second coordinate system. Therefore, the mobile object control system 20 can convert the position coordinates in the first coordinate system into the position coordinates in the second coordinate system using the coordinate transformation information related to the coordinate transformation formula obtained by the assistance system 10, and can control the movement of the second mobile object 30B in addition to the first mobile object 30A.

[0029] When the mobile object control system 20 instructs the first mobile object 30A and the second mobile object 30B on the attitude (stopping direction) to be taken when the first mobile object 30A and the second mobile object 30B are stopped at a target location, the derivation unit 113 needs to convert the stop angle representing the stop direction in the first coordinate system into a stop angle representing the stop direction in the second coordinate system. In this case, the assistance system 10 may derive angle conversion information relating to an angle conversion formula (attitude conversion formula) for converting the stop angle representing the stop direction in the first coordinate system into a stop angle representing the stop direction in the second coordinate system.

[0030] Furthermore, the assistance system 10 of this embodiment and the mobile object control system 20 constitute a control system 40. In other words, the control system 40 includes the assistance system 10 and the mobile object control system 20. The mobile object control system 20 includes a conversion unit 211 and a route information output unit 212. The conversion unit 211 converts first route information, which represents a travel route in a first coordinate system, into second route information, which represents the travel route in a second coordinate system, using a coordinate conversion formula created based on the coordinate conversion information. The route information output unit 212 outputs the second route information converted by the conversion unit 211 to the second mobile object 30B.

[0031] The conversion unit 211 of the mobile object control system 20 converts the first route information into second route information using a coordinate transformation formula created using the coordinate transformation formula derived by the assistance system 10. Then, the route information output unit 212 outputs the second route information converted by the conversion unit 211 to the second mobile object 30B, so that the mobile object control system 20 can control the movement of the second mobile object 30B in addition to the first mobile object 30A.

[0032] Furthermore, the support system 10 of this embodiment and the mobile body control system 20 constitute a transport system 60 that transports transported objects using the first mobile body 30A and the second mobile body 30B. In other words, the transport system 60 includes the support system 10 and the mobile body control system 20. The mobile body control system 20 controls the movement of the first mobile body 30A and the second mobile body 30B. The first mobile body 30A and the second mobile body 30B each perform transport work to transport the transported object.

[0033] In this embodiment, the first movable body 30A and the second movable body 30B perform, for example, a transport operation of transporting transported objects. For example, the first movable body 30A and the second movable body 30B are used for a transport operation of transporting a component supply module that supplies components to a component mounter (a manufacturing device) that mounts components on a board in a factory where the component mounter is installed as a manufacturing device. In other words, the transported objects transported by the first movable body 30A and the second movable body 30B may include a component supply module. The transported objects transported by the first movable body 30A and the second movable body 30B may be the components themselves to be mounted on the board, or may be a cart that can accommodate the components to be mounted on the board. In other words, the transported objects transported by the first movable body 30A and the second movable body 30B may include at least one of the components to be mounted on the board and the component supply module that supplies components to the manufacturing device that mounts the components on the board.

[0034] According to this embodiment, the mobile body control system 20 can control the movement of a first mobile body 30A that moves according to first route information that represents a route of movement in a first coordinate system, and the movement of a second mobile body 30B that moves according to second route information that represents a route of movement in a second coordinate system.

[0035] (2) Details A transport system 60 including the support system 10 according to this embodiment will be described below with reference to the drawings.

[0036] The transport system 60 includes a support system 10, a first mobile object control system 20A that is a mobile object control system 20, a first mobile object 30A, and a second mobile object 30B.

[0037] The assistance system 10, the first mobile object control system 20A, the first mobile object 30A, and the second mobile object 30B will be described below with reference to the drawings.

[0038] (2.1) First Moving Body The first moving body 30A is, for example, an autonomous transport robot for transporting an object within a facility, and autonomously travels to a destination while towing or carrying the object.

[0039] The first moving body 30A includes a control unit 31, a communication unit 32, a traveling mechanism 33, a storage unit 34, and a range sensor 35. The first moving body 30A also includes, for example, a storage battery, and operates using electrical energy stored in the storage battery.

[0040] The communication unit 32 can communicate with the first mobile object control system 20A via the repeater 50 and the communication network NT1. As a communication method between the communication unit 32 and the repeater 50, for example, a wireless communication method is adopted.

[0041] Here, the repeater 50 is a device (access point) that relays communication between the first mobile object 30A and the second mobile object 30B and the mobile object control system 20 (first mobile object control system 20A). Although FIG. 1 shows one repeater 50, multiple repeaters 50 may be installed in the facility where the first mobile object 30A and the second mobile object 30B travel. The repeater 50 communicates with the first mobile object 30A and the second mobile object 30B using a wireless communication method that complies with standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or unlicensed low-power radio (specified low-power radio). The repeater 50 also communicates with the mobile object control system 20 (first mobile object control system 20A) via a communication network NT1 such as the Internet. The communication network NT1 is not limited to the Internet and may be, for example, a local communication network within the facility or within the facility's operating company.

[0042] The running mechanism 33 moves the first moving body 30A in the desired direction at the desired speed by individually controlling the rotational speed and rotational direction of the multiple drive wheels equipped on the first moving body 30A, for example, based on a control command input from the control unit 31.

[0043] The range sensor 35 includes, for example, a sensor such as a LiDAR (Light Detection and Ranging) that detects the surrounding conditions of the first moving body 30A. The range sensor 35 detects, for example, the presence or absence of an object (such as manufacturing equipment, a wall, or a person) and the position (distance and direction) of the object in a detection area around the first moving body 30A. Objects that can be detected by the range sensor 35 include other first moving bodies 30A or second moving bodies 30B. Note that the range sensor 35 is not limited to a LiDAR, and may be a sensor such as an image sensor (camera), a sonar sensor, or radar that can detect the surrounding conditions of the first moving body 30A.

[0044] The storage unit 34 includes, for example, a memory such as a RAM (Random Access Memory) or a ROM (Read Only Memory). The storage unit 34 stores identification information assigned to the first mobile object 30A, map information of a first electronic map MP1 of the facility through which the first mobile object 30A is moving, etc. The first electronic map MP1 stored in the storage unit 34 may be created based on information on the positions of objects detected by the range sensor 35 when the first mobile object 30A moves within the facility, for example.

[0045] The control unit 31 is mainly composed of a computer system including a memory and a processor. That is, the functions of the control unit 31 are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory, or may be provided via a telecommunications line such as the Internet, or may be recorded on a non-transitory recording medium such as a memory card and provided.

[0046] The control unit 31 performs self-position estimation to estimate the current position of the first mobile unit 30A, for example, by comparing the surrounding shape data detected by the range sensor 35 with the first electronic map MP1 stored in the memory unit 34.

[0047] In addition, the control unit 31 has a control function of controlling the running mechanism 33 based on the first route information input from the first mobile body control system 20A via the communication network NT1 and the repeater 50, and moving the first mobile body 30A along the first movement route.

[0048] The first moving object 30A may include other components as appropriate, such as a charging circuit for a storage battery, a user interface, etc. The user interface is a component for inputting information such as commands to the first moving object 30A.

[0049] (2.2) Second Mobile Body The second mobile body 30B, like the first mobile body 30A, is an autonomous transport robot for transporting transported objects within a facility, and autonomously travels to a destination while towing or carrying the transported objects.

[0050] The second moving body 30B has a similar configuration to the first moving body 30A, and therefore the same components as those of the first moving body 30A are given the same reference numerals and their description will be omitted.

[0051] In addition, the control unit 31 of the second mobile unit 30B performs self-position estimation to estimate the current position of the second mobile unit 30B, for example, by comparing the surrounding shape data detected by the range sensor 35 with the second electronic map MP2 stored in the memory unit 34.

[0052] In addition, the control unit 31 of the second moving body 30B has a control function of controlling the running mechanism 33 based on the second route information input from the first moving body control system 20A via the communication network NT1 and the repeater 50, and moving the second moving body 30B along the second movement route.

[0053] When the conveying system 60 is equipped with a second mobile body control system 20B, the control unit 31 of the second mobile body 30B controls the running mechanism 33 based on the second route information input from the second mobile body control system 20B, and moves the second mobile body 30B along the second travel route.

[0054] Note that the transport system 60 of this embodiment does not include a second mobile body control system 20B, and the assistance system 10 assists the first mobile body control system 20A so that the first mobile body control system 20A can control the movement of the second mobile body 30B. With the assistance of the assistance system 10, the first mobile body control system 20A converts the first route information into second route information expressed in a second coordinate system and outputs the converted second route information to the second mobile body 30B. The control unit 31 of the second mobile body 30B controls the traveling mechanism 33 based on the second route information input from the first mobile body control system 20A, and moves the second mobile body 30B along the second movement route.

[0055] (2.3) Support System The support system 10 includes a processing unit 11 , a first input unit 12 , a second input unit 13 , a display unit 14 , a storage unit 15 , and a communication unit 16 .

[0056] The assistance system 10 is realized, for example, by a computer device used by a user of the assistance system 10 .

[0057] The display unit 14 is realized by, for example, a display device such as a liquid crystal display provided in a computer device. The display unit 14 is capable of displaying an electronic map (first electronic map MP1) expressed in a first coordinate system.

[0058] The first input unit 12 is, for example, a pointing device such as a mouse included in the computer device, and is used to specify a position on the electronic map (first electronic map MP1) displayed on the display unit 14.

[0059] The second input unit 13 is, for example, an input device such as a keyboard included in the computer device, and is used to input the position coordinates in the second coordinate system of the position specified by the first input unit 12.

[0060] The storage unit 15 includes, for example, memories such as RAM and ROM, and / or external storage devices such as hard disks and solid-state drives (SSDs). The storage unit 15 stores, for example, coordinate conversion information related to coordinate conversion formulas for converting position coordinates in the first coordinate system into position coordinates in the second coordinate system. The storage unit 15 also stores data such as an electronic map (first electronic map MP1) that represents, in the first coordinate system, the movement plane on which the first mobile object 30A and the second mobile object 30B move within the facility.

[0061] The communication unit 16 is configured to be able to communicate with the first mobile object control system 20A via the communication network NT1. The communication unit 16 is also configured to be able to communicate with the second mobile object control system 20B via the communication network NT1.

[0062] The processing unit 11 is mainly composed of a computer system including a memory and a processor. That is, the functions of the processing unit 11 are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory, provided via a telecommunications line such as the Internet, or provided by being recorded on a non-transitory recording medium such as a memory card.

[0063] The processing unit 11 has functions such as a first acquisition unit 111, a second acquisition unit 112, a derivation unit 113, an output unit 114, and an extraction unit 115. Note that the first acquisition unit 111, the second acquisition unit 112, the derivation unit 113, the output unit 114, and the extraction unit 115 merely indicate functions realized by the processing unit 11 and do not necessarily indicate actual configurations.

[0064] The first acquisition unit 111 acquires the position coordinates of the first reference point and the second reference point in the first coordinate system. More specifically, when the first input unit 12 specifies the first reference point P11 or the second reference point P12 while the first electronic map MP1 is displayed on the display unit 14 as shown in FIG. 4 , the first acquisition unit 111 acquires the position coordinates in the first coordinate system of the first reference point P11 or the second reference point P12 specified by the first input unit 12 from the first electronic map MP1. For example, when the first reference point P11 is specified by the first input unit 12, the first acquisition unit 111 acquires the position coordinates in the first coordinate system of the first reference point P11 from the electronic map (i.e., the first electronic map MP1). For example, when the second reference point P12 is specified by the first input unit 12, the first acquisition unit 111 acquires the position coordinates in the first coordinate system of the second reference point P12 from the electronic map (i.e., the first electronic map MP1).

[0065] The second acquisition unit 112 acquires the position coordinates of the first reference point P11 and the second reference point P12 in the second coordinate system. More specifically, when the first reference point P11 or the second reference point P12 is designated by the first input unit 12, a sub-screen W1 as shown in FIG. 5 is displayed on the display unit 14. The sub-screen W1 is a screen for inputting position coordinates in the second coordinate system. The sub-screen W1 displays input boxes B1 and B2 for inputting position coordinates (X coordinate and Y coordinate) in the second coordinate system, and the position coordinates (X coordinate and Y coordinate) in the second coordinate system can be input into the input boxes B1 and B2 using the second input unit 13. The sub-screen W1 also displays a selection button B3 for selecting the model of the second moving object 30B. After inputting position coordinates into the input boxes B1 and B2 and selecting the model with the selection button B3, operating the OK button B4 inputs the position coordinates of the first reference point P11 or the second reference point P12 in the second coordinate system and information on the model of the second moving body 30B to the derivation unit 113. Note that, when the first reference point P11 is specified by the first input unit 12, the second acquisition unit 112 acquires the position coordinates of the first reference point P11 in the second coordinate system based on the position coordinates input by the second input unit 13. Furthermore, for example, when the second reference point P12 is specified by the first input unit 12, the second acquisition unit 112 acquires the position coordinates of the second reference point P12 in the second coordinate system based on the position coordinates input by the second input unit 13.

[0066] The derivation unit 113 derives coordinate transformation information related to a coordinate transformation formula using the position coordinates of the first reference point P11 and the second reference point P12 in the first coordinate system and the position coordinates of the first reference point P11 and the second reference point P12 in the second coordinate system. The coordinate transformation formula is a transformation formula that transforms position coordinates in the first coordinate system into position coordinates in the second coordinate system. Note that the first coordinate system is either a right-handed system or a left-handed system, and the second coordinate system is either a right-handed system or a left-handed system.

[0067] Whether the coordinate system of the first electronic map MP1 held by the first mobile body 30A, i.e., the first coordinate system expressing the first route information to be given to the first mobile body 30A, is a right-handed system or a left-handed system is determined by the model of the first mobile body 30A. Similarly, whether the coordinate system of the second electronic map MP2 held by the second mobile body 30B, i.e., the second coordinate system expressing the second route information to be given to the second mobile body 30B, is a right-handed system or a left-handed system is determined by the model of the second mobile body 30B. The storage unit 15 of the assistance system 10 stores, in association with each other, the models of multiple mobile bodies including the first mobile body 30A and the second mobile body 30B and information indicating whether the coordinate system of the route information to be given to each of the multiple mobile bodies is a right-handed system or a left-handed system.

[0068] The first mobile object control system 20A is a control system for controlling the first mobile object 30A, and therefore, information on the model of the first mobile object 30A and information on the coordinate system of the first route information to be given to the first mobile object 30A are registered in advance in the first mobile object control system 20A. In this embodiment, information that the coordinate system (first coordinate system) of the first route information to be given to the first mobile object 30A is a left-handed system is registered.

[0069] Here, when the first coordinate system is a left-handed system and the second coordinate system is a right-handed system, the derivation unit 113 sets the parameters oθ, sθ, sx, and sy used to derive the coordinate transformation formula and the angle transformation formula to oθ = 90, sθ = -1, sx = 1, and sy = -1, respectively. When the first coordinate system is a left-handed system and the second coordinate system is a left-handed system, the derivation unit 113 sets the parameters oθ, sθ, sx, and sy used to derive the coordinate transformation formula and the angle transformation formula to oθ = 0, sθ = 1, sx = 1, and sy = 1, respectively. The derivation unit 113 determines whether the second coordinate system is a left-handed system or a right-handed system based on the information about the model of the second moving body 30B input on the sub-screen W1, and determines the values ​​of the parameters oθ, sθ, sx, and sy.

[0070] After determining the values ​​of the parameters oθ, sθ, sx, and sy, the derivation unit 113 calculates parameters k, θ0, x0, and y0 used in the coordinate transformation equations using the following equations 1, 2, and 3. Here, the position coordinates of the first reference point P11 in the first coordinate system are (x1, y1), and the position coordinates of the second reference point P12 in the first coordinate system are (x2, y2). The position coordinates of the first reference point P11 in the second coordinate system are (x'1, y'1), and the position coordinates of the second reference point P12 in the second coordinate system are (x'2, y'2). The parameter k is the ratio (scale) of the distance unit of the first electronic map MP1 to the distance unit of the second electronic map MP2, and the parameter θ0 is the angular deviation of the coordinate axes of the first coordinate system from the coordinate axes of the second coordinate system. Furthermore, parameter x0 is the amount of deviation of the x coordinate of the origin of the first coordinate system from the origin of the second coordinate system, and parameter y0 is the amount of deviation of the y coordinate of the origin of the first coordinate system from the origin of the second coordinate system.

[0071]

[0072]

[0073]

[0074] When the parameters k, θ0, x0, and y0 are derived using Equation 1, Equation 2, and Equation 3, the derivation unit 113 can derive the coordinate transformation equation shown in Equation 4 and the angle transformation equation shown in Equation 5. The coordinate transformation equation of Equation 4 is a transformation equation that transforms position coordinates (x', y') in the second coordinate system into position coordinates (x, y) in the first coordinate system, and the angle transformation equation of Equation 5 is a transformation equation that transforms angle θ' in the second coordinate system into angle θ in the first coordinate system.

[0075]

[0076]

[0077] The coordinate transformation equation for converting the position coordinates (x, y) in the first coordinate system to the position coordinates (x', y') in the second coordinate system is as shown in Equation 6, and the angle transformation equation for converting the angle θ in the first coordinate system to the angle θ' in the second coordinate system is as shown in Equation 7.

[0078]

[0079]

[0080] The output unit 114 outputs the coordinate transformation information derived by the derivation unit 113 to the mobile object control system 20 (first mobile object control system 20A). The output unit 114 causes the communication unit 16 to transmit the coordinate transformation information derived by the derivation unit 113 to the first mobile object control system 20A. The coordinate transformation information may be the coordinate transformation formula itself, or may be the values ​​of the parameters k, θ0, x0, y0, sx, and sy used in the coordinate transformation formula. The output unit 114 also outputs angle transformation information related to the angle transformation formula derived by the derivation unit 113 to the mobile object control system 20 (first mobile object control system 20A). The output unit 114 causes the communication unit 16 to transmit the angle transformation information derived by the derivation unit 113 to the first mobile object control system 20A. The angle transformation information may be the angle transformation formula itself, or may be the values ​​of the parameters θ0, oθ, and sθ used in the angle transformation formula.

[0081] The extraction unit 115 has a function of extracting the first and second reference points by superimposing the first electronic map MP1 and the second electronic map MP2. That is, the extraction unit 115 extracts, as the first and second reference points, two points that coincide when the first electronic map represented in the first coordinate system and the second electronic map represented in the second coordinate system are superimposed. The method of extracting the first and second reference points by the extraction unit 115 will be described in "(3.1) Modification 1."

[0082] (2.4) Mobile Object Control System (First Mobile Object Control System) The first mobile object control system 20A, which is the mobile object control system 20, includes a processing unit 21A, a communication unit 22A, and a storage unit 23A.

[0083] The communication unit 22A can communicate with the support system 10 via the communication network NT1. The communication unit 22A can also communicate with each of the first mobile body 30A and the second mobile body 30B via the communication network NT1 and the repeater 50. The communication method of the communication unit 22A may be a wired communication method or a wireless communication method.

[0084] The storage unit 23A may include, for example, a memory such as a RAM or a ROM, or an external storage device such as a hard disk or an SSD. The storage unit 23A stores information related to the model of the first mobile object 30A. The information related to the model of the first mobile object 30A includes at least information indicating whether the first coordinate system of the first electronic map MP1 held by the first mobile object 30A is a right-handed system or a left-handed system. The storage unit 23A also stores coordinate conversion information related to the coordinate conversion formula and angle conversion information related to the angle conversion formula input from the assistance system 10. The storage unit 23A also stores information related to the model of the second mobile object 30B. The information related to the model of the second mobile object 30B includes at least information indicating whether the second coordinate system of the second electronic map MP2 held by the second mobile object 30B is a right-handed system or a left-handed system.

[0085] The processing unit 21A is mainly composed of a computer system including a memory and a processor. That is, the functions of the processing unit 21A are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory, provided via a telecommunications line such as the Internet, or provided by being recorded on a non-transitory recording medium such as a memory card.

[0086] The processing unit 21A has functions such as a conversion unit 211 and a route information output unit 212. Note that the conversion unit 211 and the route information output unit 212 merely indicate functions realized by the processing unit 21A and do not necessarily indicate actual configurations.

[0087] For example, when the communication unit 22A receives a transport command from a host system that manages the transport of the transported object, the processing unit 21A generates a control command to control the movement of the first mobile body 30A or the second mobile body 30B based on the transport command. Here, the transport command is information for instructing the transport of the transported object and includes at least position information of a first position from which the transported object is to be transported and position information of a second position to which the transported object is to be transported (destination). The transport command may include information about the transported object to be transported (e.g., the type, size, weight, etc. of the transported object). The control command generated by the processing unit 21A also includes route information representing the movement route from the first position to the second position. Note that the route information may include at least the position information of the first position and the position information of the second position. The route information may further include position information of intermediate points passed through on the way from the first position to the second position. The control command generated by the processing unit 21A may also include information about the transported object to be transported (e.g., the type, size, weight, etc. of the transported object).

[0088] The processing unit 21A creates route information (first route information) that represents a movement route in the first coordinate system, and therefore, when outputting a control command including the route information to the second moving body 30B, it is necessary to convert the first route information that represents the movement route in the first coordinate system into second route information that represents the movement route in the second coordinate system. The processing unit 21A has the function of a conversion unit 211, and when outputting a control command including the route information to the second moving body 30B, the conversion unit 211 converts the first route information that represents the movement route in the first coordinate system into second route information that represents the movement route in the second coordinate system using a coordinate conversion formula created based on the coordinate conversion information input from the support system 10.

[0089] The route information output unit 212 causes the communication unit 22A to transmit the control command created by the processing unit 21A to the moving body to be controlled (the first moving body 30A or the second moving body 30B). The communication unit 22A causes the control command to be transmitted to the moving body to be controlled (the first moving body 30A or the second moving body 30B) via the communication network NT1 and the repeater 50.

[0090] When the moving object to be controlled is the first moving object 30A, the route information output unit 212 causes the communication unit 22A to transmit a control command including the first route information created by the processing unit 21A to the first moving object 30A. The first moving object 30A moves along a movement route indicated by the first route information in accordance with the first route information included in the control command from the first moving object control system 20A.

[0091] On the other hand, when the moving object to be controlled is the second moving object 30B, the route information output unit 212 causes the communication unit 22A to transmit a control command including the second route information converted by the conversion unit 211 to the second moving object 30B. The second moving object 30B moves along a movement route indicated by the second route information in accordance with the second route information included in the control command from the first moving object control system 20A.

[0092] (2.5) Second Mobile Body Control System In the control system 40 of this embodiment, the first mobile body control system 20A controls the movement of the second mobile body 30B in addition to the first mobile body 30A, and therefore does not include a second mobile body control system 20B for controlling the movement of the second mobile body 30B.

[0093] The second mobile object control system 20B differs from the first mobile object control system 20A in that it does not include a conversion unit 211 and a route information output unit 212. The second mobile object control system 20B has the same configuration as the first mobile object control system 20A, except for the conversion unit 211 and the route information output unit 212.

[0094] The second mobile object control system 20B includes a processing unit 21B, a communication unit 22B, and a storage unit 23B.

[0095] The communication unit 22B can communicate with the support system 10 via the communication network NT1. The communication unit 22B can also communicate with the second mobile object 30B via the communication network NT1 and the repeater 50. The communication method of the communication unit 22B may be a wired communication method or a wireless communication method.

[0096] The storage unit 23B may include, for example, a memory such as a RAM or a ROM, or an external storage device such as a hard disk or an SSD. The storage unit 23B stores information related to the model of the second mobile object 30B. The information related to the model of the second mobile object 30B includes at least information indicating whether the second coordinate system of the second electronic map MP2 held by the second mobile object 30B is a right-handed system or a left-handed system.

[0097] The processing unit 21B is mainly composed of a computer system including a memory and a processor. That is, the functions of the processing unit 21B are realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory, provided via a telecommunications line such as the Internet, or provided by being recorded on a non-transitory recording medium such as a memory card.

[0098] For example, when the communication unit 22B receives a transport command from a higher-level system, the processing unit 21B generates a control command to control the movement of the second moving body 30B based on the transport command. The control command generated by the processing unit 21B includes route information representing the movement route of the second moving body 30B. The processing unit 21B generates route information (second route information) representing the movement route in the second coordinate system.

[0099] (2.6) Description of Operation The process by which the support system 10 of this embodiment derives coordinate transformation information and angle transformation information will be described with reference to the drawings.

[0100] When the derivation unit 113 of the assistance system 10 acquires the position coordinates in the first coordinate system and the position coordinates in the second coordinate system of two reference points (first reference point and second reference point), it derives coordinate transformation information and angle transformation information using the above-mentioned formulas 1 to 3. Here, a method of deriving coordinate transformation information and angle transformation information by inputting the position coordinates in the first coordinate system and the position coordinates in the second coordinate system of two reference points (first reference point and second reference point) into the assistance system 10 is called a two-point teaching method.

[0101] If the orientation of the moving bodies (first moving body 30A and second moving body 30B) when they stop at the reference points is determined to be a predetermined stopping direction, the derivation unit 113 can derive the coordinate conversion information and the angle conversion information based on the position coordinates in the first coordinate system and the position coordinates in the second coordinate system of one reference point, a first stopping angle that represents the stopping direction in the first coordinate system, and a second stopping angle that represents the stopping direction in the second coordinate system. Here, a method of deriving the coordinate conversion information and the angle conversion information by inputting the position coordinates in the first coordinate system and the position coordinates in the second coordinate system of one reference point (e.g., the first reference point), the first stopping angle, and the second stopping angle to the assistance system 10 is called a one-point teaching method.

[0102] Below, a method for the derivation unit 113 to derive the coordinate transformation information and angle transformation information will be described for each of the two-point teaching method and the one-point teaching method.

[0103] (2.6.1) Description of Two-Point Teaching Method The operation of the assistance system 10 in the two-point teaching method will be described with reference to Figures 4 to 7. Note that the flowcharts shown in Figures 6 and 7 are merely examples of the operation performed by the assistance system 10, and the order of processing may be changed as appropriate, and processing may be added or omitted as appropriate.

[0104] When a user of the assistance system 10 selects the two-point teaching method, which derives coordinate transformation information and angle transformation information by inputting the position coordinates of two reference points using the first input unit 12 or the second input unit 13, the processing unit 11 of the assistance system 10 starts the process of deriving coordinate transformation information and angle transformation information using the two-point teaching method.

[0105] When the assistance system 10 derives coordinate transformation information related to a coordinate transformation formula using the two-point teaching method, the processing unit 11 of the assistance system 10 causes the display unit 14 to display the first electronic map MP1 (see FIG. 4).

[0106] A user of the support system 10 selects two or more reference points (e.g., corners of pillars or walls) from an object 100, such as a wall or pillar, displayed on the first electronic map MP1 (S1). After the user selects two points P11 and P12 on the first electronic map MP1 as reference points (first and second reference points), the user inputs the position coordinates of the first and second reference points P11 and P12 in the first and second coordinate systems (S2). Note that the first electronic map MP1 shown in FIG. 4 and elsewhere illustrates the object 100 with dots. The first electronic map MP1 also includes multiple nodes N1 to N4, which are passage points for the first and second mobile units 30A and 30B, and multiple paths PT1 to PT3 connecting the nodes N1 to N4. A charger is installed at node N4 to charge the first and second mobile units 30A and 30B. When the first moving body 30A and the second moving body 30B stop at node N4, the first moving body 30A and the second moving body 30B stop in an orientation that allows the connectors of the first moving body 30A and the second moving body 30B to be connected to the connectors of the charger. Therefore, the orientations of the first moving body 30A and the second moving body 30B when they stop at node N4 are set to a predetermined stopping direction.

[0107] For example, when the user specifies a point P11 on the first electronic map MP1 as a reference point using the first input unit 12, a sub-screen W1 for inputting the position coordinates of the reference point P11 in the second coordinate system is displayed on the display unit 14. At this time, the first acquisition unit 111 acquires the position coordinates in the first coordinate system of the reference point P11 specified by the first input unit 12 from the first electronic map MP1. Furthermore, when the user inputs the position coordinates of the reference point P11 in the second coordinate system using the second input unit 13, the second acquisition unit 112 acquires the position coordinates input using the second input unit 13 as the position coordinates of the reference point P11 in the second coordinate system.

[0108] Next, when the user specifies point P12 on the first electronic map MP1 as a reference point using the first input unit 12, a sub-screen W1 for inputting the position coordinates of the reference point P12 in the second coordinate system is displayed on the display unit 14. At this time, the first acquisition unit 111 acquires the position coordinates in the first coordinate system of the reference point P12 specified by the first input unit 12 from the first electronic map MP1. Furthermore, when the user inputs the position coordinates of the reference point P12 in the second coordinate system using the second input unit 13, the second acquisition unit 112 acquires the position coordinates input using the second input unit 13 as the position coordinates of the reference point P12 in the second coordinate system.

[0109] When the first acquisition unit 111 and the second acquisition unit 112 acquire the position coordinates in the first coordinate system and the position coordinates in the second coordinate system of two or more reference points (including reference points P11 and P12), the derivation unit 113 selects the two reference points (e.g., reference points P11 and P12) that are the furthest apart from the two or more reference points as the first reference point and the second reference point (S10).

[0110] For example, if the distance between the first and second reference points selected in step S10 is shorter than a predetermined threshold, or if only the position coordinates of one reference point without the stop angle information described below are input, it is considered that coordinate conversion information and angle conversion information with good conversion accuracy cannot be derived. Here, "good conversion accuracy using the coordinate conversion information and angle conversion information" means that the conversion error between the position coordinates obtained by converting the position coordinates in the first coordinate system into the second coordinate system using the coordinate conversion information and angle conversion information and the position coordinates in the second coordinate system that represent the actual position corresponding to the position coordinates in the first coordinate system before conversion is equal to or less than a predetermined reference value.

[0111] When the first and second reference points are selected in step S10, the derivation unit 113 determines whether the reference points selected as the first and second reference points are reference points from which coordinate transformation information and angle transformation information with good transformation accuracy can be derived (S11).

[0112] If it is determined in step S11 that coordinate transformation information and angle transformation information with good conversion accuracy cannot be derived (S11: No), the processing unit 11 displays an error message on the display unit 14, recommending the selection of another reference point because coordinate transformation information and angle transformation information with good conversion accuracy cannot be derived (S15), and then terminates the processing. Having confirmed the error message on the display unit 14, the user can redo the process of selecting the first reference point and the second reference point, and can select first reference point and second reference point from which coordinate transformation information and angle transformation information with good conversion accuracy can be derived. Note that the content of the error message displayed on the display unit 14 can be changed as appropriate, and therefore illustrations and descriptions thereof will be omitted.

[0113] If it is determined in step S11 that coordinate transformation information and angle transformation information with good transformation accuracy can be derived (S11: Yes), the derivation unit 113 derives the coordinate transformation information and angle transformation information using the first reference point and the second reference point selected in step S10. That is, the derivation unit 113 derives coordinate transformation information and angle transformation information such as parameters k, θ0, x0, y0, etc. used in the coordinate transformation formulas and angle transformation formulas using the position coordinates in the first coordinate system and the position coordinates in the second coordinate system of the first reference point and the second reference point selected in step S10 and the above-mentioned Equations 1 to 3 (S12).

[0114] When the derivation unit 113 derives the coordinate transformation information and the angle transformation information, the processing unit 11 stores the coordinate transformation information and the angle transformation information derived by the derivation unit 113 in the storage unit 15 (S13). Furthermore, the output unit 114 causes the communication unit 16 to transmit (output) the coordinate transformation information and the angle transformation information derived by the derivation unit 113 to the first mobile object control system 20A (S14). When the communication unit 22A of the first mobile object control system 20A receives the coordinate transformation information and the angle transformation information from the assistance system 10, the communication unit 22A stores the received coordinate transformation information and the angle transformation information in the storage unit 23A.

[0115] Next, the operation of the first mobile object control system 20A to control the movement of the second mobile object 30B using the coordinate transformation information received from the support system 10 and the operation of acquiring the current position of the second mobile object 30B will be described with reference to Figures 8 and 9. Note that the flowcharts shown in Figures 8 and 9 are merely examples of the operation performed by the first mobile object control system 20A, and the order of processing may be changed as appropriate, and processing may be added or omitted as appropriate.

[0116] For example, when the first mobile object control system 20A transmits a control command to the second mobile object 30B based on a transport command received from a higher-level system, the processing unit 21A first generates first route information expressed in a first coordinate system. In this case, the conversion unit 211 converts the first route information expressed in the first coordinate system into second route information expressed in a second coordinate system using the coordinate conversion formula (6) (S21). Then, the route information output unit 212 transmits the second route information converted by the conversion unit 211 from the communication unit 22A to the second mobile object 30B (S22). When the communication unit 32 of the second mobile object 30B receives the second route information from the first mobile object control system 20A, the control unit 31 controls the traveling mechanism 33 based on the second route information, thereby moving the second mobile object 30B along the travel route represented by the second route information.

[0117] Furthermore, each of the first mobile body 30A and the second mobile body 30B periodically transmits the position coordinates of its current position from the communication unit 32 to the first mobile body control system 20A, and the first mobile body control system 20A periodically acquires the current positions of the first mobile body 30A and the second mobile body 30B. Note that each of the first mobile body 30A and the second mobile body 30B may irregularly transmit the position coordinates of its current position from the communication unit 32 to the first mobile body control system 20A, or may transmit the position coordinates of its current position in response to a request from the first mobile body control system 20A, for example.

[0118] When the communication unit 22A of the first mobile object control system 20A receives position coordinates from the second mobile object 30B (S31), the conversion unit 211 converts the position coordinates received from the second mobile object 30B into position coordinates in the first coordinate system using the coordinate conversion formula of Equation 4 (S32). The processing unit 21A of the first mobile object control system 20A stores the position coordinates of the second mobile object 30B converted by the conversion unit 211 in the storage unit 23A together with identification information of the second mobile object 30B and time information calculated by the timer function of the processing unit 11.

[0119] In addition, when the communication unit 22A of the first mobile body control system 20A receives position coordinates from the first mobile body 30A, the processing unit 21A stores the position coordinates received from the first mobile body 30A in the memory unit 23A together with the identification information of the first mobile body 30A and the time information calculated by the timer function of the processing unit 11.

[0120] This allows the processing unit 21A of the first mobile object control system 20A to grasp the position information of the first mobile object 30A and the second mobile object 30B.

[0121] (2.6.2) Description of One-Point Teaching Method The method by which the assistance system 10 derives coordinate transformation information and angle transformation information using the one-point teaching method will be described with reference to FIGS. 10 and 11. FIG.

[0122] When a user of the assistance system 10 uses the first input unit 12 or the second input unit 13 to select the one-point teaching method, which derives coordinate transformation information and angle transformation information by inputting the position coordinates of one reference point, the processing unit 11 of the assistance system 10 starts the process of deriving coordinate transformation information and angle transformation information using the one-point teaching method.

[0123] First, the processing unit 11 of the assistance system 10 causes the display unit 14 to display the first electronic map MP1 (see FIG. 10).

[0124] The user of the assistance system 10 selects a reference point (e.g., node N4 where a charger is installed) from any of nodes N1 to N4 displayed on the first electronic map MP1, at which the orientation of the first moving body 30A and the second moving body 30B when stopping is set to a predetermined stopping direction. When the user selects point P13 where the charger is installed on the first electronic map MP1 as the reference point at which the orientation of the first moving body 30A and the second moving body 30B when stopping is set to the predetermined stopping direction, the processing unit 11 performs processing to acquire the position coordinates of point P13 in the first coordinate system and the position coordinates in the second coordinate system.

[0125] When the user specifies a point P13 on the first electronic map MP1 as a reference point using the first input unit 12, a sub-screen W2 as shown in Fig. 11 is displayed on the display unit 14. The sub-screen W2 is a screen for inputting the position coordinate of the reference point P13 in the second coordinate system, a first stop angle representing the stop direction in the first coordinate system, and a second stop angle representing the stop direction in the second coordinate system. The position coordinate of the reference point P13 in the first coordinate system is displayed in a display field B11 at the upper side of the sub-screen W2. The position coordinate (x1, y1) of the reference point P13 in the first coordinate system is acquired by the first acquisition unit 111 reading the position coordinate in the first coordinate system of the reference point P13 specified on the first electronic map MP1 using the first input unit 12 from the first electronic map MP1. An input box B12 for inputting a first stop angle in the first coordinate system representing the stop direction of the first moving body 30A when it stops at the reference point P13 is displayed in the display field B11 at the upper side of the sub-screen W2. When the user inputs the first stop angle in the first coordinate system into the input box B12 using the second input unit 13, the first acquisition unit 111 acquires information about the first stop angle in the first coordinate system.

[0126] Also, at the bottom of the sub-screen W2, there are displayed a selection button B13 for selecting the model of the second moving body 30B, input boxes B14 and B15 for inputting the position coordinates (X coordinate and Y coordinate) of the reference point P13 in the second coordinate system, and an input box B16 for inputting the second stop angle in the second coordinate system.

[0127] In addition, when the assistance system 10 derives coordinate transformation information and angle transformation information using the one-point teaching method, the memory unit 15 of the assistance system 10 is assumed to have stored in advance information indicating whether the coordinate system of the electronic map held by the mobile body is a right-handed system or a left-handed system, and information on the distance unit of the electronic map, corresponding to the model of the mobile body.

[0128] The user, for example, operates the first input unit 12 to select a model using the selection button B13. The user also operates the second input unit 13 to input position coordinates into input boxes B14 and B15 and input a first stop angle and a second stop angle into input boxes B12 and B16. When the user then operates the first input unit 12 to select the OK button B17, for example, the position coordinates (x'1, y'1) of the reference point P13 in the second coordinate system, the first stop angle θ1 in the first coordinate system, the second stop angle θ2 in the second coordinate system, and model information of the second moving body 30B are input to the derivation unit 113, and the derivation unit 113 derives coordinate conversion information and angle conversion information.

[0129] The derivation unit 113 acquires information stored in association with the model of the second mobile body 30B from the memory unit 15, and acquires information indicating whether the second coordinate system of the second electronic map MP2 held by the second mobile body 30B is a left-handed system or a right-handed system, and information on the unit of distance of the second electronic map MP2.

[0130] Here, when the second coordinate system is a right-handed system, the derivation unit 113 sets the parameters oθ, sθ, sx, and sy used to derive the coordinate transformation formula and the angle transformation formula to oθ=90, sθ=−1, sx=1, and sy=−1, respectively. When the second coordinate system is a left-handed system, the derivation unit 113 sets the parameters oθ, sθ, sx, and sy used to derive the coordinate transformation formula and the angle transformation formula to oθ=0, sθ=1, sx=1, and sy=1, respectively.

[0131] Furthermore, since the processing unit 11 of the assistance system 10 previously stores information about the model of the first mobile object 30A, the derivation unit 113 can acquire information about the distance units of the first electronic map MP1 stored in the first mobile object 30A from the storage unit 15. Therefore, the derivation unit 113 can derive the scale k, which is the ratio of the distance units of the first electronic map MP1 to the distance units of the second electronic map MP2. Furthermore, the derivation unit 113 determines whether the second coordinate system is a left-handed system or a right-handed system based on the model information of the second mobile object 30B input on the sub-screen W2, and determines the values ​​of the parameters oθ, sθ, sx, and sy. After determining the scale k and the values ​​of the parameters oθ, sθ, sx, and sy, the derivation unit 113 calculates the parameters θ0, x0, and y0 used in the coordinate transformation formula and the angle transformation formula using the following equations 8 and 9. Here, θ0 is the angular deviation of the coordinate axes of the first coordinate system from the coordinate axes of the second coordinate system, x0 is the deviation of the x-coordinate of the origin of the first coordinate system from the origin of the second coordinate system, and y0 is the deviation of the y-coordinate of the origin of the first coordinate system from the origin of the second coordinate system.

[0132]

[0133]

[0134] When the parameters θ0, x0, and y0 are derived in this manner, the coordinate transformation formula shown in Expression 4 and the angle transformation formula shown in Expression 5 can be derived. The coordinate transformation formula of Expression 4 is a transformation formula that converts the position coordinates (x', y') in the second coordinate system into the position coordinates (x, y) in the first coordinate system, and the angle transformation formula of Expression 5 is a transformation formula that converts the angle θ' in the second coordinate system into the angle θ in the first coordinate system.

[0135] The coordinate transformation equation for converting the position coordinates (x, y) in the first coordinate system to the position coordinates (x', y') in the second coordinate system is as shown in Equation 6, and the angle transformation equation for converting the angle θ in the first coordinate system to the angle θ' in the second coordinate system is as shown in Equation 7.

[0136] When the derivation unit 113 derives the coordinate transformation information and angle transformation information, the processing unit 11 stores the coordinate transformation information and angle transformation information derived by the derivation unit 113 in the storage unit 15. Furthermore, the output unit 114 causes the communication unit 16 to transmit the coordinate transformation information and angle transformation information derived by the derivation unit 113 to the first mobile object control system 20A. When the communication unit 22A of the first mobile object control system 20A receives the coordinate transformation information and angle transformation information from the assistance system 10, the communication unit 22A stores the received coordinate transformation information and angle transformation information in the storage unit 23A.

[0137] As described above, in the one-point teaching method, the first acquisition unit 111 acquires the position coordinate of the reference point P13 in the first coordinate system, and the second acquisition unit 112 acquires the position coordinate of the reference point P13 in the second coordinate system. The orientations of the first moving body 30A and the second moving body 30B when they stop at the reference point P13 are set to a predetermined stopping direction. The derivation unit 113 then derives coordinate transformation information related to a coordinate transformation formula for converting the position coordinates in the first coordinate system into the position coordinates in the second coordinate system, using the position coordinate of the reference point P13 in the first coordinate system and a first stopping angle representing the stopping direction in the first coordinate system, and the position coordinate of the reference point P13 in the second coordinate system and a second stopping angle representing the stopping direction in the second coordinate system.

[0138] In the one-point teaching method, if the position coordinates of one reference point in the first coordinate system and the second coordinate system and the first stop angle and the second stop angle representing the stopping direction when the first moving body 30A and the second moving body 30B stop at one reference point can be obtained, the derivation unit 113 can derive coordinate transformation information and angle transformation information, so the user has the advantage of only needing to specify one reference point P13 on the first electronic map MP1.

[0139] Note that even when the user of the assistance system 10 selects the two-point teaching method as the method for deriving the coordinate transformation information and the angle transformation information, if a point at which the stopping directions of the first moving body 30A and the second moving body 30B when stopped are determined to be in a predetermined direction is selected as the first reference point, the processing unit 11 may change the derivation method from the two-point teaching method to the one-point teaching method. Also, if the user of the assistance system 10 selects the two-point teaching method as the method for deriving the coordinate transformation information and the angle transformation information but then performs an operation to select the one-point teaching method using the first input unit 12 or the second input unit 13, the processing unit 11 may change from the two-point teaching method to the one-point teaching method to derive the coordinate transformation information and the angle transformation information.

[0140] For example, when the assistance system 10 derives coordinate transformation information and angle transformation information using the two-point teaching method, if a point is selected as the first reference point such that the orientations of the first moving body 30A and the second moving body 30B when they stop at the first reference point are set to a predetermined stopping angle, the derivation unit 113 derives coordinate transformation information and angle transformation information using the one-point teaching method.

[0141] If the first acquisition unit 111 and the second acquisition unit 112 each acquire the position coordinates of a first reference point such that the orientation of the first moving body 30A and the second moving body 30B when they stop is set to a predetermined stopping direction, the derivation unit 113 can derive coordinate transformation information and angle transformation information using the position coordinates of this reference point in the first coordinate system and the second coordinate system, a first stopping angle that represents the stopping direction in the first coordinate system, and second angle information that represents the stopping direction in the second coordinate system.

[0142] Therefore, when each of the first acquisition unit 111 and the second acquisition unit 112 acquires the position coordinates of the first reference point before acquiring the position coordinates of the second reference point, if the first reference point is a point such that the orientations of the first moving body 30A and the second moving body 30B when they stop at the first reference point are set to a predetermined stopping direction, each of the first acquisition unit 111 and the second acquisition unit 112 does not perform the process of acquiring the position coordinates of the second reference point. Then, when each of the first acquisition unit 111 and the second acquisition unit 112 does not perform the process of acquiring the position coordinates of the second reference point, the derivation unit 113 derives coordinate transformation information using the position coordinates of the first reference point (reference point P13) in the first coordinate system and a first stopping angle representing the stopping direction in the first coordinate system, and the position coordinates of the first reference point in the second coordinate system and a second stopping angle representing the stopping direction in the second coordinate system.

[0143] In this way, even when deriving coordinate transformation information and angle transformation information using the two-point teaching method, if a point is selected as the first reference point such that the orientations of the first moving body 30A and the second moving body 30B when they stop are set to a predetermined stopping direction, the derivation unit 113 can derive the coordinate transformation information and angle transformation information without acquiring the position coordinates of the second reference point. Thus, the assistance system 10 can omit the effort of acquiring the position coordinates of the second reference point in the first coordinate system and the position coordinates in the second coordinate system.

[0144] 7, the derivation unit 113 may determine whether the method for deriving the coordinate transformation information and the angle transformation information is the two-point teaching method or the one-point teaching method based on the determination result of step S11. For example, the derivation unit 113 may derive the coordinate transformation information and the angle transformation information by switching to a derivation method that can derive coordinate transformation information and angle transformation information with higher conversion accuracy.

[0145] Specifically, the derivation unit 113 estimates the conversion accuracy when deriving the coordinate conversion information and the angle conversion information using the one-point teaching method and the two-point teaching method, based on the smallest unit of input digits of the stop angle input for the reference point (first reference point or second reference point), the distance between the two reference points (first reference point and second reference point), the resolution of the electronic map (first electronic map MP1 or second electronic map MP2), etc. Based on the estimation result of the conversion accuracy, the derivation unit 113 may select a derivation method from the one-point teaching method or the two-point teaching method that can derive the coordinate conversion information and the angle conversion information with better conversion accuracy, and derive the coordinate conversion information and the angle conversion information.

[0146] (3) Modifications The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be modified in various ways depending on the design, etc., as long as the object of the present disclosure can be achieved. Furthermore, functions similar to those of the assistance system 10 may be embodied in an assistance method, a computer program, a non-transitory recording medium on which a program is recorded, or the like.

[0147] An assistance method according to one aspect assists a mobile object control system (20) that controls the movement of a first mobile object (30A) to control the movement of a second mobile object (30B). When first route information representing a travel route in a first coordinate system is input, the mobile object control system (20) controls the movement of the first mobile object (30A) by outputting the first route information to the first mobile object (30A), which moves according to the first route information. When second route information representing a travel route in a second coordinate system is input, the second mobile object (30B) moves according to the second route information. The assistance method includes a first acquisition process, a second acquisition process, and a derivation process. The first acquisition process acquires position coordinates of a first reference point and a second reference point in the first coordinate system. The second acquisition process acquires position coordinates of the first reference point and the second reference point in the second coordinate system. In the derivation process, the position coordinates of the first reference point and the second reference point in the first coordinate system and the position coordinates of the first reference point and the second reference point in the second coordinate system are used to derive coordinate transformation information regarding a coordinate transformation formula that converts the position coordinates in the first coordinate system into the position coordinates in the second coordinate system.

[0148] Another aspect of the support method includes a first acquisition process, a second acquisition process, and a derivation process. In the first acquisition process, position coordinates of a reference point in a first coordinate system are acquired. In the second acquisition process, position coordinates of a reference point in a second coordinate system are acquired. The orientations of the first moving body 30A and the second moving body 30B when the first moving body 30A and the second moving body 30B stop at the reference point are set to a predetermined stop angle. In the derivation process, coordinate transformation information related to a coordinate transformation formula for converting position coordinates in the first coordinate system into position coordinates in the second coordinate system is derived using angle information representing the position coordinates of the reference point in the first coordinate system and the predetermined stop angle in the first coordinate system, and angle information representing the position coordinates of the reference point in the second coordinate system and the predetermined stop angle in the second coordinate system.

[0149] A (computer) program according to one aspect is a program for causing a computer system to execute the above-described support method.

[0150] Modifications of the above embodiment are listed below. The modifications described below can be applied in appropriate combinations. The above embodiment may also be referred to as the basic configuration.

[0151] The execution entity of the assistance system 10, the first mobile object control system 20A, or the assistance method in the present disclosure includes a computer system. The computer system is primarily composed of a processor and memory as hardware. The processor executes a program stored in the memory of the computer system to realize the functions of the execution entity of the assistance system 10, the first mobile object control system 20A, or the assistance method in the present disclosure. The program may be pre-stored in the memory of the computer system, provided via a telecommunications line, or provided by being stored on a non-transitory recording medium readable by the computer system, such as a memory card, an optical disk, or a hard disk drive. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs and LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large-scale integration (VLSI), or ultra-large-scale integration (ULSI). Furthermore, a field-programmable gate array (FPGA), which is programmed after the LSI is manufactured, or a logic device capable of reconfiguring the connections within the LSI or the circuit partitions within the LSI, can also be employed as a processor. Multiple electronic circuits may be integrated into a single chip or distributed across multiple chips. Multiple chips may be integrated into a single device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits, including a semiconductor integrated circuit or a large-scale integrated circuit.

[0152] Furthermore, it is not essential for the assistance system 10 that multiple functions are integrated into one housing, and the components of the assistance system 10 may be distributed across multiple housings. Furthermore, at least some of the functions of the assistance system 10 may be realized by the cloud (cloud computing) or the like.

[0153] Conversely, in the basic configuration, at least some of the functions of the support system 10 that are distributed across multiple devices may be integrated into a single housing.

[0154] In the basic configuration, the route information output unit 212 of the first mobile object control system 20A outputs the second route information converted by the conversion unit 211 from the communication unit 22A to the second mobile object 30B, but the route for outputting the second route information to the second mobile object 30B is not limited to this. For example, the route information output unit 212 of the first mobile object control system 20A may output the second route information converted by the conversion unit 211 from the communication unit 22A to the second mobile object control system 20B, and the second mobile object control system 20B may output the second route information received from the first mobile object control system 20A to the second mobile object 30b.

[0155] In the basic configuration, the number of the first mobile body 30A and the second mobile body 30B is one. However, the number of the first mobile body 30A and the second mobile body 30B may be one or more. Furthermore, in the basic configuration, the number of the second mobile body 30B is one. However, the control system 40 may include multiple types of the second mobile body 30B. The multiple types of the second mobile body 30B each hold an electronic map expressed in multiple types of second coordinate systems. When second route information representing a travel route in a corresponding one of the multiple types of second coordinate systems is input, each of the multiple types of second mobile bodies 30B moves according to the input second route information. The assistance system 10 may derive coordinate transformation information for each of the multiple types of second mobile bodies 30B, which transforms the position coordinates in the first coordinate system into the position coordinates in the second coordinate system corresponding to each of the multiple types of second mobile bodies 30B. The mobile object control system 20 can control the movement of each of the multiple types of second mobile objects 30B using the coordinate transformation information derived by the assistance system 10 for each of the multiple types of second mobile objects 30B.

[0156] In the basic configuration, the coordinate system of the first electronic map MP1 held by the first mobile unit 30A is a left-handed system, but the coordinate system of the first electronic map MP1 may be a right-handed system. In the basic configuration, the coordinate system of the second electronic map MP2 held by the second mobile unit 30B is a right-handed system, but the coordinate system of the second electronic map MP2 may be a left-handed system. Furthermore, the coordinate systems of the first electronic map MP1 and the second electronic map MP2 may both be left-handed systems, or both may be right-handed systems.

[0157] In the basic configuration, the transported object transported by the first mobile body 30A and the second mobile body 30B is a cart capable of accommodating components to be mounted on a circuit board or a component supply unit, but the transported object is not limited to these. The transported object transported by the first mobile body 30A and the second mobile body 30B may be, for example, goods stored in a logistics warehouse. Furthermore, the first mobile body 30A and the second mobile body 30B are not limited to those performing transport work of transporting transported objects, but may also perform work other than transport work (for example, patrol monitoring, etc.).

[0158] (3.1) Modification 1 In Modification 1, the method by which the first acquisition unit 111 acquires the position coordinates of the first reference point and the second reference point in the first coordinate system differs from the basic configuration described above. Also, in Modification 1, the method by which the second acquisition unit 112 acquires the position coordinates of the first reference point and the second reference point in the second coordinate system differs from the basic configuration described above. Note that, since the configuration of the support system 10 in Modification 1 is the same as the basic configuration, the same reference numerals are used for the common components and their description will be omitted.

[0159] The assistance system 10 of the first modification communicates with, for example, a second mobile object control system 20B that controls the movement of the second mobile object 30B, and acquires data of the second electronic map MP2 held by the second mobile object 30B from the second mobile object control system 20B. The assistance system 10 acquires information on the distance units of the second electronic map MP2 along with the data of the second electronic map MP2 from the second mobile object control system 20B. Note that the assistance system 10 may also communicate with the second mobile object 30B and acquire data of the second electronic map MP2 held by the second mobile object 30B from the second mobile object 30B.

[0160] The processing unit 11 enlarges or reduces the second electronic map MP2 to match the distance units of the first electronic map MP1 based on the distance units of the first electronic map MP1 and the second electronic map MP2, and then superimposes the first electronic map MP1 and the second electronic map MP2 (see Figure 12).

[0161] The processing unit 11 rotates the second electronic map MP2 by 45 degrees relative to the first electronic map MP1 (see FIGS. 13 and 14). When an object 100 displayed on the first electronic map MP1 overlaps with an object 100 displayed on the second electronic map MP2, the processing unit 11 calculates the rotation angle at that time as the rotation angle of the second electronic map MP2 relative to the first electronic map MP1.

[0162] When overlaying the image of the first electronic map MP1 and the image of the second electronic map MP2, the center positions of the images of the first electronic map MP1 and the second electronic map MP2 are first determined. Then, the images of the first electronic map MP1 and the second electronic map MP2 are overlaid so that the center positions of the images of the first electronic map MP1 and the second electronic map MP2 coincide. Then, the image of the second electronic map MP2 is rotated relative to the image of the first electronic map MP1 to find the position where the object 100 displayed on the first electronic map MP1 overlaps with the object 100 displayed on the second electronic map MP2. Furthermore, the image of the second electronic map MP2 is rotated by a predetermined angle (e.g., approximately 1 to 10 degrees), and the rotated second electronic map MP2 is overlaid on the first electronic map MP1. Then, when the object 100 displayed on the first electronic map MP1 and the object 100 displayed on the second electronic map MP2 overlap, the rotation angle of the second electronic map MP2 may be stopped.

[0163] At this time, the extraction unit 115 detects two points where the object 100 on the first electronic map MP1 overlaps with the object 100 on the second electronic map MP2 when the first electronic map MP1 and the second electronic map MP2 are superimposed as shown in FIG. The extraction unit 115 then determines, as a first reference point and a second reference point, two points P14 and P15 that coincide when the first electronic map MP1 and the second electronic map MP2 are superimposed. The first acquisition unit 111 then acquires the position coordinates of the first reference point P14 and the second reference point P15 in the first coordinate system from the first electronic map MP1. The second acquisition unit 112 then acquires the position coordinates of the first reference point P14 and the second reference point P15 in the second coordinate system from the second electronic map MP2.

[0164] When the first acquisition unit 111 acquires the position coordinates of the first reference point P14 and the second reference point P15 in the first coordinate system and the second acquisition unit 112 acquires the position coordinates of the first reference point P14 and the second reference point P15 in the second coordinate system, the derivation unit 113 derives coordinate transformation information and angle transformation information using the derivation method described in "(2.6.1) Description of the two-point teaching method."

[0165] (3.2) Modification 2 In Modification 2, the method by which the first acquisition unit 111 acquires the position coordinates of the first reference point and the second reference point in the first coordinate system differs from the basic configuration described above. Also, in Modification 2, the method by which the second acquisition unit 112 acquires the position coordinates of the first reference point and the second reference point in the second coordinate system differs from the basic configuration described above. Note that, since the configuration of the support system 10 in Modification 2 is the same as the basic configuration, the same reference numerals are used for the common components and their description will be omitted.

[0166] The assistance system 10 of the second modification communicates with, for example, a second mobile object control system 20B that controls the movement of the second mobile object 30B, and acquires data of the second electronic map MP2 held by the second mobile object 30B from the second mobile object control system 20B. The assistance system 10 acquires from the second mobile object control system 20B, along with the data of the second electronic map MP2, information indicating whether the coordinate system of the second electronic map MP2 is a right-handed system or a left-handed system, information on the unit of distance of the second electronic map MP2, and information on the position coordinates (x'1, y'1) of the origin of the second electronic map MP2. The assistance system 10 may also communicate with the second mobile object 30B and acquire data of the second electronic map MP2 held by the second mobile object 30B from the second mobile object 30B.

[0167] When the support system 10 acquires data of the second electronic map MP2, the derivation unit 113 derives the scale k of the second electronic map MP2 relative to the first electronic map MP1 based on the distance units of the first electronic map MP1 and the distance units of the second electronic map MP2.

[0168] Furthermore, when the second coordinate system is a right-handed system, the derivation unit 113 sets the parameters oθ, sθ, sx, and sy used to derive the coordinate transformation formula and the angle transformation formula to oθ = 90, sθ = -1, sx = 1, and sy = -1, respectively. Furthermore, when the second coordinate system is a left-handed system, the derivation unit 113 sets the parameters oθ, sθ, sx, and sy used to derive the coordinate transformation formula and the angle transformation formula to oθ = 0, sθ = 1, sx = 1, and sy = 1, respectively.

[0169] Furthermore, as in the first modification, the processing unit 11 enlarges or reduces the second electronic map MP2 based on the distance units of the first electronic map MP1 and the second electronic map MP2 to match the distance units of the first electronic map MP1, and then superimposes the first electronic map MP1 and the second electronic map MP2 (see FIG. 12 ). The processing unit 11 then rotates the second electronic map MP2 by 45 degrees relative to the first electronic map MP1 (see FIGS. 13 and 14 ) to find the position where the object 100 displayed on the first electronic map MP1 overlaps the object 100 displayed on the second electronic map MP2. When superimposing the images of the first electronic map MP1 and the second electronic map MP2, the processing unit 11 first determines the center positions of the images of the first electronic map MP1 and the second electronic map MP2, respectively. The processing unit 11 then superimposes the images of the first electronic map MP1 and the second electronic map MP2 so that the center positions of the images of the first electronic map MP1 and the second electronic map MP2 coincide with each other. Then, by rotating the image of the second electronic map MP2 relative to the image of the first electronic map MP1, the position where the object 100 displayed on the first electronic map MP1 overlaps with the object 100 displayed on the second electronic map MP2 can be found. Alternatively, for example, the image of the second electronic map MP2 may be rotated by a predetermined angle (e.g., approximately 1 to 10 degrees) and then the rotated second electronic map MP2 is overlaid on the first electronic map MP1. When the object 100 displayed on the first electronic map MP1 overlaps with the object 100 displayed on the second electronic map MP2, the rotation angle of the second electronic map MP2 may be stopped. As a result, the processing unit 11 obtains the rotation amount (rotation angle) θm of the second electronic map MP2 when the object 100 displayed on the first electronic map MP1 overlaps with the object 100 displayed on the second electronic map MP2, as shown in FIG. 14 .

[0170] When the derivation unit 113 determines the values ​​of the scale k, parameters oθ, sθ, sx, sy, and rotation amount θm, it calculates parameters θ0, x0, and y0 used in the coordinate transformation formula and the angle transformation formula using Equation 10 and Equation 11. Here, θ0 is the angular deviation of the coordinate axes of the first coordinate system from the coordinate axes of the second coordinate system. x0 is the deviation of the x-coordinate of the origin of the first coordinate system from the origin of the second coordinate system, and y0 is the deviation of the y-coordinate of the origin of the first coordinate system from the origin of the second coordinate system. Furthermore, x11 is the x-coordinate of the point in the first coordinate system corresponding to the origin of the second coordinate system, and y11 is the y-coordinate of the point in the first coordinate system corresponding to the origin of the second coordinate system. The processing unit 11 acquires the values ​​of x11 and y11 from the position coordinates of the point in the first coordinate system corresponding to the origin of the second coordinate system when the first electronic map MP1 and the second electronic map MP2 are superimposed so that the object 100 displayed on the first electronic map MP1 and the object 100 displayed on the second electronic map MP2 overlap.

[0171]

[0172]

[0173] When the parameters θ0, x0, and y0 are derived in this manner, the coordinate transformation formula shown in Expression 4 and the angle transformation formula shown in Expression 5 can be derived. The coordinate transformation formula of Expression 4 is a transformation formula that converts the position coordinates (x', y') in the second coordinate system into the position coordinates (x, y) in the first coordinate system, and the angle transformation formula of Expression 5 is a transformation formula that converts the angle θ' in the second coordinate system into the angle θ in the first coordinate system.

[0174] The coordinate transformation equation for converting the position coordinates (x, y) in the first coordinate system to the position coordinates (x', y') in the second coordinate system is as shown in Equation 6, and the angle transformation equation for converting the angle θ in the first coordinate system to the angle θ' in the second coordinate system is as shown in Equation 7.

[0175] (Summary) The above-described embodiments and the like disclose the following aspects.

[0176] A first aspect of the assistance system (10) assists a mobile body control system (20) that controls the movement of a first mobile body (30A) to control the movement of a second mobile body (30B). When first route information representing a movement route in a first coordinate system is input, the first mobile body (30A) moves according to the first route information. The mobile body control system (20) controls the movement of the first mobile body (30A) by outputting the first route information to the first mobile body (30A). When second route information representing a movement route in a second coordinate system is input, the second mobile body (30B) moves according to the second route information. The assistance system (10) includes a first acquisition unit (111), a second acquisition unit (112), and a derivation unit (113). The first acquisition unit (111) acquires position coordinates of a first reference point and a second reference point in the first coordinate system. The second acquisition unit (112) acquires position coordinates of the first and second reference points in the second coordinate system. The derivation unit (113) derives coordinate transformation information relating to a coordinate transformation formula for transforming position coordinates in the first coordinate system into position coordinates in the second coordinate system, using the position coordinates of the first and second reference points in the first coordinate system and the position coordinates of the first and second reference points in the second coordinate system.

[0177] According to this aspect, the derivation unit (113) can derive coordinate transformation information regarding a coordinate transformation formula that converts the position coordinates in the first coordinate system into the position coordinates in the second coordinate system for each of the two points (first reference point and second reference point) using the position coordinates expressed in the first coordinate system and the position coordinates expressed in the second coordinate system.

[0178] The assistance system (10) of the second aspect is the assistance system of the first aspect, further comprising an output unit (114) that outputs the coordinate transformation information derived by the derivation unit (113) to the mobile object control system (20).

[0179] According to this aspect, the mobile object control system (20) can convert position coordinates in the first coordinate system into position coordinates in the second coordinate system by using the coordinate conversion information obtained by the assistance system (10). Thus, the mobile object control system (20) can control the movement of the second mobile object (30B) in addition to the first mobile object (30A).

[0180] In the third aspect of the support system (10), in the first or second aspect, when each of the first acquisition unit (111) and the second acquisition unit (112) acquires the position coordinates of the first reference point before acquiring the position coordinates of the second reference point, if the first reference point is a point such that the orientations of the first moving body (30A) and the second moving body (30B) when they stop at the first reference point are set to a predetermined stopping direction, each of the first acquisition unit (111) and the second acquisition unit (112) does not perform processing to acquire the position coordinates of the second reference point.

[0181] According to this aspect, the process of acquiring the position coordinates of the second reference point can be omitted.

[0182] In the fourth aspect of the support system (10), in the third aspect, when each of the first acquisition unit (111) and the second acquisition unit (112) does not perform processing to acquire the position coordinates of the second reference point, the derivation unit (113) derives coordinate transformation information using the position coordinates of the first reference point in the first coordinate system and a first stop angle representing the stop direction in the first coordinate system, and the position coordinates of the first reference point in the second coordinate system and a second stop angle representing the stop direction in the second coordinate system.

[0183] According to this aspect, it is possible to derive the coordinate transformation information without acquiring the position coordinates of the second reference point.

[0184] In the fifth aspect of the support system (10), in any of the first to fourth aspects, the first coordinate system is either a right-handed system or a left-handed system, and the second coordinate system is either a right-handed system or a left-handed system.

[0185] According to this aspect, it is possible to derive coordinate transformation information whether the first coordinate system and the second coordinate system are a right-handed system or a left-handed system.

[0186] A sixth aspect of the assistance system (10) is in any one of the first to fifth aspects, and further includes a display unit (14), a first input unit (12), and a second input unit (13). The display unit (14) is capable of displaying a first electronic map (MP1) expressed in a first coordinate system. The first input unit (12) is an input unit for specifying a point on the first electronic map (MP1) displayed on the display unit (14). The second input unit (13) is an input unit for inputting position coordinates in the second coordinate system of the point specified by the first input unit (12). The first acquisition unit (111) acquires position coordinates of the first reference point in the first coordinate system from the first electronic map (MP1) when a first reference point is specified by the first input unit (12). The first acquisition unit (111) acquires the position coordinates of the second reference point in the first coordinate system from the first electronic map (MP1) when the second reference point is designated by the first input unit (12). The second acquisition unit (112) acquires the position coordinates of the first reference point in the second coordinate system based on the position coordinates input by the second input unit (13) when the first reference point is designated by the first input unit (12). The second acquisition unit (112) acquires the position coordinates of the second reference point in the second coordinate system based on the position coordinates input by the second input unit (13) when the second reference point is designated by the first input unit (12).

[0187] According to this aspect, it is possible to acquire the position coordinates of the first reference point in the first coordinate system and the second coordinate system, and the position coordinates of the second reference point in the first coordinate system and the second coordinate system.

[0188] A seventh aspect of the support system (10) is the same as any one of the first to fifth aspects, and further includes an extraction unit (115). The extraction unit (115) extracts, as a first reference point and a second reference point, two points that coincide when a first electronic map (MP1) expressed in a first coordinate system and a second electronic map (MP2) expressed in a second coordinate system are superimposed on each other. The first acquisition unit (111) acquires position coordinates in the first coordinate system of the first reference point and the second reference point from the first electronic map (MP1). The second acquisition unit (112) acquires position coordinates in the second coordinate system of the first reference point and the second reference point from the second electronic map (MP2).

[0189] According to this aspect, it is possible to acquire the position coordinates of the first reference point in the first coordinate system and the second coordinate system, and the position coordinates of the second reference point in the first coordinate system and the second coordinate system.

[0190] An assistance system (10) of an eighth aspect assists a mobile body control system (20) that controls the movement of a first mobile body (30A) to control the movement of a second mobile body (30B). When first route information representing a movement route in a first coordinate system is input, the first mobile body (30A) moves according to the first route information. The mobile body control system (20) controls the movement of the first mobile body (30A) by outputting the first route information to the first mobile body (30A). When second route information representing a movement route in a second coordinate system is input, the second mobile body (30B) moves according to the second route information. The assistance system (10) includes a first acquisition unit (111), a second acquisition unit (112), and a derivation unit (113). The first acquisition unit (111) acquires position coordinates of a reference point in the first coordinate system. A second acquisition unit (112) acquires position coordinates of a reference point in a second coordinate system. The orientations of the first moving body (30A) and the second moving body (30B) when they stop at the reference point are set to a predetermined stop direction. A derivation unit (113) derives coordinate transformation information related to a coordinate transformation formula for converting position coordinates in the first coordinate system into position coordinates in the second coordinate system, using position coordinates of the reference point in the first coordinate system and a first stop angle representing the stop direction in the first coordinate system, and position coordinates of the reference point in the second coordinate system and a second stop angle representing the stop direction in the second coordinate system.

[0191] According to this aspect, the derivation unit (113) can derive coordinate transformation information regarding a coordinate transformation formula that converts the position coordinates in the first coordinate system into the position coordinates in the second coordinate system using the position coordinates in the first coordinate system and the position coordinates in the second coordinate system of the reference point, the first stop angle, and the second stop angle.

[0192] The support system (10) of the ninth aspect is the eighth aspect, further comprising an output unit (114) that outputs the coordinate transformation information derived by the derivation unit (113) to the mobile object control system (20).

[0193] According to this aspect, the mobile object control system (20) can convert position coordinates in the first coordinate system into position coordinates in the second coordinate system by using the coordinate conversion information obtained by the assistance system (10). Thus, the mobile object control system (20) can control the movement of the second mobile object (30B) in addition to the first mobile object (30A).

[0194] In the assistance system (10) of the tenth aspect, in the eighth or ninth aspect, the first coordinate system is either a right-handed system or a left-handed system, and the second coordinate system is either a right-handed system or a left-handed system.

[0195] According to this aspect, it is possible to derive coordinate transformation information whether the first coordinate system and the second coordinate system are a right-handed system or a left-handed system.

[0196] A control system (40) of an eleventh aspect includes the assistance system (10) of any one of the first to tenth aspects and a mobile object control system (20). The mobile object control system (20) has a conversion unit (211) and a route information output unit (212). The conversion unit (211) converts first route information representing a travel route in a first coordinate system into second route information representing the travel route in a second coordinate system using a coordinate conversion formula created based on coordinate conversion information. The route information output unit (212) outputs the second route information converted by the conversion unit (211) to a second mobile object (30B).

[0197] According to this aspect, the mobile object control system (20) can convert position coordinates in the first coordinate system into position coordinates in the second coordinate system by using the coordinate conversion information obtained by the assistance system (10). Thus, the control system (40) can control the movement of the second mobile object (30B) in addition to the first mobile object (30A).

[0198] A conveyance system (60) of a twelfth aspect includes the support system (10) of any one of the first to tenth aspects and a mobile body control system (20) that controls the movement of a first mobile body (30A) and a second mobile body (30B). The first mobile body (30A) and the second mobile body (30B) each perform a conveyance operation to convey an object to be conveyed. The object to be conveyed includes at least one of a carriage that can accommodate components to be mounted on a board and a component supply unit that supplies components to a manufacturing device that mounts components on a board.

[0199] According to this aspect, the mobile object control system (20) can convert position coordinates in the first coordinate system into position coordinates in the second coordinate system by using the coordinate conversion information obtained by the support system (10). Thus, the transport system (60) can control the movement of the second mobile object (30B) in addition to the first mobile object (30A).

[0200] A thirteenth aspect of the assistance method assists a mobile object control system (20) that controls the movement of a first mobile object (30A) to control the movement of a second mobile object (30B). When first route information representing a movement route in a first coordinate system is input, the first mobile object (30A) moves according to the first route information. The mobile object control system (20) controls the movement of the first mobile object (30A) by outputting the first route information to the first mobile object (30A). When second route information representing a movement route in a second coordinate system is input, the second mobile object (30B) moves according to the second route information. The assistance method includes a first acquisition process, a second acquisition process, and a derivation process. In the first acquisition process, position coordinates of a first reference point and a second reference point in the first coordinate system are acquired. In the second acquisition process, position coordinates of the first reference point and the second reference point in the second coordinate system are acquired. In the derivation process, the position coordinates of the first reference point and the second reference point in the first coordinate system and the position coordinates of the first reference point and the second reference point in the second coordinate system are used to derive coordinate transformation information regarding a coordinate transformation formula that converts the position coordinates in the first coordinate system into the position coordinates in the second coordinate system.

[0201] According to this aspect, in the derivation process, using the position coordinates expressed in the first coordinate system and the position coordinates expressed in the second coordinate system for each of the two points (first reference point and second reference point), coordinate transformation information regarding a coordinate transformation formula that converts the position coordinates in the first coordinate system into position coordinates in the second coordinate system can be derived.

[0202] A fourteenth aspect of the assistance method assists a mobile object control system (20) that controls the movement of a first mobile object (30A) to control the movement of a second mobile object (30B). When first route information representing a movement route in a first coordinate system is input, the first mobile object (30A) moves according to the first route information. The mobile object control system (20) controls the movement of the first mobile object (30A) by outputting the first route information to the first mobile object (30A). When second route information representing a movement route in a second coordinate system is input, the second mobile object (30B) moves according to the second route information. The assistance method includes a first acquisition process, a second acquisition process, and a derivation process. In the first acquisition process, position coordinates of a reference point in the first coordinate system are acquired. In the second acquisition process, position coordinates of a reference point in the second coordinate system are acquired. The orientations of the first moving body (30A) and the second moving body (30B) when they stop at the reference point are set to a predetermined stopping direction. In the derivation process, coordinate transformation information is derived for a coordinate transformation formula that converts position coordinates in the first coordinate system into position coordinates in the second coordinate system using position coordinates of the reference point in the first coordinate system and a first stopping angle that represents the stopping direction in the first coordinate system, and position coordinates of the reference point in the second coordinate system and a second stopping angle that represents the stopping direction in the second coordinate system.

[0203] According to this aspect, the derivation process can derive coordinate transformation information regarding a coordinate transformation formula that converts the position coordinates in the first coordinate system into the position coordinates in the second coordinate system using the position coordinates in the first coordinate system of the reference point and the position coordinates in the second coordinate system, the first stop angle, and the second stop angle.

[0204] Not limited to the above aspects, various configurations (including modified examples) of the support system (10) according to the above embodiment can be embodied as a support method, a (computer) program, or a non-transitory recording medium on which a program is recorded, etc.

[0205] The configurations according to the second to seventh aspects are not essential for the support system (10) according to the first aspect and may be omitted as appropriate. The configurations according to the ninth and tenth aspects are not essential for the support system (10) according to the eighth aspect and may be omitted as appropriate.

[0206] REFERENCE SIGNS LIST 10 Support system 12 First input unit 13 Second input unit 14 Display unit 20 Mobile object control system 30A First mobile object 30B Second mobile object 40 Control system 60 Transport system 111 First acquisition unit 112 Second acquisition unit 113 Derivation unit 114 Output unit 115 Extraction unit 211 Conversion unit 212 Route information output unit MP1 First electronic map MP2 Second electronic map

Claims

1. A mobile body control system that controls the movement of a first mobile body by outputting first route information representing a movement route in a first coordinate system when the first route information represents the movement route of the first mobile body is input, and that supports the control of the movement of a second mobile body that moves according to the second route information when second route information representing the movement route in a second coordinate system is input, the support system comprising: a first acquisition unit that acquires position coordinates of each of a first reference point and a second reference point in the first coordinate system; a second acquisition unit that acquires position coordinates of each of the first reference point and the second reference point in the second coordinate system; and a derivation unit that derives coordinate transformation information regarding a coordinate transformation formula that converts position coordinates in the first coordinate system into position coordinates in the second coordinate system, using the position coordinates of each of the first reference point and the second reference point in the first coordinate system and the position coordinates of each of the first reference point and the second reference point in the second coordinate system.

2. The assistance system according to claim 1, further comprising an output unit that outputs the coordinate transformation information derived by the derivation unit to the mobile object control system.

3. The assistance system of claim 1 or 2, wherein when each of the first acquisition unit and the second acquisition unit acquires the position coordinates of the first reference point before acquiring the position coordinates of the second reference point, if the first reference point is a point such that the orientations of the first moving body and the second moving body when they stop at the first reference point are set to a predetermined stopping direction, each of the first acquisition unit and the second acquisition unit does not perform processing to acquire the position coordinates of the second reference point.

4. The assistance system of claim 3, wherein when each of the first acquisition unit and the second acquisition unit does not perform processing to acquire the position coordinates of the second reference point, the derivation unit derives the coordinate transformation information using the position coordinates of the first reference point in the first coordinate system and a first stop angle representing the stop direction in the first coordinate system, and the position coordinates of the first reference point in the second coordinate system and a second stop angle representing the stop direction in the second coordinate system.

5. The assistance system according to any one of claims 1 to 4, wherein the first coordinate system is either a right-handed system or a left-handed system, and the second coordinate system is either a right-handed system or a left-handed system.

6. A display unit capable of displaying a first electronic map expressed in the first coordinate system; a first input unit for specifying a point on the first electronic map displayed on the display unit; and a second input unit for inputting position coordinates in the second coordinate system of the point specified by the first input unit, wherein the first acquisition unit acquires the position coordinates in the first coordinate system of the first reference point from the first electronic map when the first reference point is specified by the first input unit; the first acquisition unit acquires the position coordinates in the first coordinate system of the second reference point from the first electronic map when the second reference point is specified by the first input unit; the second acquisition unit acquires the position coordinates in the second coordinate system of the first reference point based on the position coordinates input by the second input unit when the first reference point is specified by the first input unit; and the second acquisition unit acquires the position coordinates in the second coordinate system of the second reference point based on the position coordinates input by the second input unit when the second reference point is specified by the first input unit. The support system according to any one of claims 1 to 5.

7. The assistance system according to any one of claims 1 to 5, further comprising an extraction unit that extracts two points that coincide when a first electronic map expressed in the first coordinate system and a second electronic map expressed in the second coordinate system are superimposed as the first reference point and the second reference point, wherein the first acquisition unit acquires the position coordinates in the first coordinate system of the first reference point and the second reference point from the first electronic map, and the second acquisition unit acquires the position coordinates in the second coordinate system of the first reference point and the second reference point from the second electronic map.

8. A mobile body control system that controls the movement of a first mobile body by outputting first route information representing a travel route in a first coordinate system when the first route information representing the travel route in the first coordinate system is input, and that controls the movement of the first mobile body by outputting the first route information when second route information representing the travel route in a second coordinate system is input, is an assistance system that assists in controlling the movement of a second mobile body that moves according to the second route information, the system comprising: a first acquisition unit that acquires position coordinates of a reference point in the first coordinate system; a second acquisition unit that acquires position coordinates of the reference point in the second coordinate system; and a derivation unit, wherein the orientations of the first mobile body and the second mobile body when they stop at the reference points are set to predetermined stopping directions, and the derivation unit derives coordinate transformation information relating to a coordinate transformation formula that converts position coordinates in the first coordinate system into position coordinates in the second coordinate system, using the position coordinates of the reference point in the first coordinate system and a first stopping angle that represents the stopping direction in the first coordinate system, and the position coordinates of the reference point in the second coordinate system and a second stopping angle that represents the stopping direction in the second coordinate system. Support system.

9. The assistance system according to claim 8, further comprising an output unit that outputs the coordinate transformation information derived by the derivation unit to the mobile object control system.

10. The assistance system according to claim 8 or 9, wherein the first coordinate system is either a right-handed system or a left-handed system, and the second coordinate system is either a right-handed system or a left-handed system.

11. A control system comprising: an assistance system according to any one of claims 1 to 10; and the mobile object control system, wherein the mobile object control system has: a conversion unit that converts the first route information, which expresses the travel route in the first coordinate system, into second route information, which expresses the travel route in the second coordinate system, using the coordinate conversion formula created based on the coordinate conversion information; and a route information output unit that outputs the second route information converted by the conversion unit to the second mobile object.

12. A transport system comprising: an assistance system according to any one of claims 1 to 10; and a mobile body control system for controlling the movement of the first mobile body and the second mobile body, wherein the first mobile body and the second mobile body each perform a transport operation for transporting an object to be transported, and the object to be transported includes at least one of a carriage capable of accommodating components to be mounted on a circuit board, and a component supply unit for supplying the components to a manufacturing device that mounts the components on the circuit board.

13. A method of supporting a mobile body control system that controls the movement of a first mobile body by outputting first route information representing a travel route in a first coordinate system when the first route information represents the travel route in the first coordinate system, so that the mobile body control system can control the movement of a second mobile body that moves according to the second route information when second route information representing the travel route in a second coordinate system is input, the method comprising: a first acquisition process that acquires position coordinates of a first reference point and a second reference point in the first coordinate system; a second acquisition process that acquires position coordinates of the first reference point and the second reference point in the second coordinate system; and a derivation process that derives coordinate transformation information relating to a coordinate transformation formula that converts position coordinates in the first coordinate system into position coordinates in the second coordinate system, using the position coordinates of the first reference point and the second reference point in the first coordinate system and the position coordinates of the first reference point and the second reference point in the second coordinate system.

14. A support method for a mobile body control system that controls the movement of a first mobile body by outputting first route information representing a travel route in a first coordinate system when the first route information represents the travel route in the first coordinate system, so that the system can control the movement of a second mobile body that moves according to the second route information when second route information representing the travel route in a second coordinate system is input, the support method comprising: a first acquisition process for acquiring position coordinates of a reference point in the first coordinate system; a second acquisition process for acquiring position coordinates of the reference point in the second coordinate system; and a derivation process, wherein the orientations of the first mobile body and the second mobile body when they stop at the reference points are set to predetermined stopping directions, and the derivation process derives coordinate transformation information relating to a coordinate transformation formula for converting position coordinates in the first coordinate system into position coordinates in the second coordinate system using the position coordinates of the reference point in the first coordinate system and a first stopping angle representing the stopping direction in the first coordinate system, and the position coordinates of the reference point in the second coordinate system and a second stopping angle representing the stopping direction in the second coordinate system. How to help.

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