Information processing device

Abstract

An information processing device according to the present disclosure comprises: a flow line information reception unit that receives flow line information indicating flow lines of a mobile body that are generated on the basis of movement position information indicating movement positions of the mobile body in a region of interest; and a correction unit that, if a flow line in the flow line information includes an abnormal movement range indicating an abnormality in the movement of the mobile body, corrects an abnormal flow line indicating the flow line of the abnormal movement of the mobile body included in the abnormal movement range.

Description

Information processing apparatus

[0001] The present disclosure relates to an information processing apparatus.

[0002] Conventionally, when moving a load within a predetermined area or between predetermined points using a vehicle for transporting loads, it may be necessary to measure and track the position of the vehicle. For example, in order to measure and track the position of a moving object such as a vehicle with high precision, for example, by VSlam (Visual Simultaneous Localization And Mapping), a moving object equipped with a camera moves while imaging its surroundings, and the amount of movement of the moving object is calculated based on the amount of movement of feature points in a plurality of captured images, and the estimation of position information (such as self-position as an example) from three-dimensional information of the surrounding real space and the generation of the movement path of the moving object based on the three-dimensional positions of a plurality of feature points are performed simultaneously.

[0003] Japanese Patent Application Laid-Open No. 2011-170563, Japanese Patent Application Laid-Open No. 2010-205276

[0004] For example, in an open space, the degree of freedom of movement of a moving object is high, and information regarding the orientation of the moving object during turning of the moving object may be prone to errors. In addition, due to false detection of feature points or misrecognition of the positional relationship between the feature points and the camera, it may not be possible to appropriately correct the error of the movement path due to the feature points.

[0005] One of the problems to be solved by the present disclosure is to appropriately correct the error of the movement path of a moving object.

[0006] The information processing apparatus according to the present disclosure includes a movement path information receiving unit that receives movement path information indicating the movement path of a moving object generated based on movement position information indicating the movement position of the moving object in a target area, and a correction unit that corrects an abnormal movement path indicating the abnormal movement of the moving object included in the abnormal movement range when the movement path of the movement path information includes an abnormal movement range indicating an abnormality in the movement of the moving object.

[0007] Figure 1 is a schematic diagram showing the configuration of a vehicle according to the first embodiment. Figure 2 is a diagram showing an example of the functional configuration of the information processing system according to the first embodiment. Figure 3 is a schematic diagram showing an example of movement path information according to the first embodiment. Figure 4 is a schematic diagram showing an example of movement path correction information according to the first embodiment. Figure 5 is a sequence diagram showing an example of the processing flow executed in the information processing system according to the first embodiment. Figure 6 is a flowchart showing an example of the processing flow executed in an edge terminal according to the first embodiment. Figure 7 is a flowchart showing an example of the processing flow executed in an edge terminal according to the first embodiment. Figure 8 is a diagram showing an example of the functional configuration of the information processing system according to the second modified example. Figure 9 is a diagram showing an example of the functional configuration of the information processing system according to the second embodiment. Figure 10 is a schematic diagram for explaining partial movement paths according to the second embodiment. Figure 11 is a schematic diagram for explaining second movement path correction information according to the second embodiment. Figure 12 is a flowchart showing an example of the processing flow executed in an edge terminal according to the second embodiment. Figure 13 is a block diagram showing an example of the hardware configuration of the information processing system according to the embodiment and modified example.

[0008] Hereinafter, embodiments of the information processing device according to this disclosure will be described with reference to the drawings. In this description, components having the same or substantially the same function as those described above in previously shown drawings will be denoted by the same reference numerals, and descriptions may be omitted as appropriate. Furthermore, even when representing the same or substantially the same parts, the dimensions and proportions may be shown differently in the drawings. In addition, for example, from the viewpoint of ensuring the readability of the drawings, reference numerals may be denoted only for the main components in the description of each drawing, and reference numerals may not be denoted for components having the same or substantially the same function as those described above in previously shown drawings.

[0009] In addition, in the descriptions of this disclosure, components having the same or substantially the same function may be distinguished by adding alphanumeric characters to the end of the reference numeral. Alternatively, if multiple components having the same or substantially the same function are not to be distinguished, they may be described together by omitting the alphanumeric characters at the end of the reference numeral.

[0010] In the following explanation, we will illustrate the case where VSLAM (Visual Simultanate Localization and Mapping), which uses images as three-dimensional information of the surrounding real space, is used to simultaneously estimate the position and create a map to generate the movement path of a moving object. Furthermore, we will illustrate the case where, for example, a video (moving image) containing multiple frames is used as the image used as three-dimensional information of the surrounding real space, but still images may be used in part or in whole.

[0011] (First Embodiment) Figure 1 is a schematic diagram showing the configuration of a vehicle 1 according to the first embodiment. The vehicle 1 may be a user's vehicle, such as a forklift or a truck. The vehicle 1 is an example of a mobile body. The vehicle 1 may also be an autonomous mobile body configured to move autonomously, or it may be configured to move in response to direct or remote operation by a user.

[0012] Vehicle 1 is equipped with a cargo bed 12 for loading cargo 11. Vehicle 1 may also be equipped with a lifting mechanism 13 for loading and unloading cargo 11 onto the cargo bed 12. Furthermore, the body of vehicle 1 is equipped with a camera 2 to photograph in predetermined directions relative to vehicle 1 (forward, rearward, side, upward, and / or downward).

[0013] Camera 2 captures images of a subject in a predetermined orientation relative to Vehicle 1 at predetermined intervals while Vehicle 1 is moving. Camera 2 is an example of a first camera. Camera 2 is also an example of an imaging unit. Camera 2 includes, for example, at least one camera. Camera 2 may capture still images at predetermined intervals, or it may extract frames at predetermined intervals from a series of frames of a moving image. Camera 2 transmits the captured images to a sensing terminal 3, which will be described later. Camera 2 adds a timestamp to each image indicating the time the image was taken.

[0014] Furthermore, the vehicle 1 is equipped with a sensing terminal 3. The sensing terminal 3 measures the position of the vehicle 1 based on images captured by the camera 2. The sensing terminal 3 extracts feature points from multiple images captured by the camera 2, associates the extracted feature points with the images, and calculates the relative position of the vehicle 1 with respect to a predetermined reference position based on the amount of change in feature points between the images. In addition, the sensing terminal 3 extracts one of multiple markers that are placed at predetermined positions and are visually identifiable from the images captured by the camera 2, and calculates the absolute position of the vehicle 1 on a pre-given map based on the extracted marker.

[0015] The sensing terminal 3 stores identifiers and location information for a plurality of markers that are placed at predetermined locations and are visually identifiable, and map information including the pathways for the vehicle 1. The marker locations may be expressed as relative positions to a predetermined reference position, and / or as associated with the map.

[0016] In this embodiment, a case is illustrated in which feature points (markers) such as barcodes or two-dimensional codes, called "landmarks," are placed in advance in the target area, for example, on objects such as traffic cones (registered trademark), walls, pillars, floors, etc., and the sensing terminal 3 performs position estimation and movement path generation using the "landmarks" extracted from the image as feature points.

[0017] Figure 2 shows an example of the functional configuration of the information processing system 100 according to the first embodiment. As shown in Figure 2, the information processing system 100 includes a vehicle 1, a cloud 5, and an edge terminal 7.

[0018] In the information processing system 100, the sensing terminal 3, the cloud 5, and the edge terminal 7 are connected to each other via a network 9 (telecommunication line) such as the Internet. Note that communication between the sensing terminal 3, the cloud 5, and the edge terminal 7 may also be conducted via a dedicated communication line (telecommunication line).

[0019] Cloud 5 is, for example, at least one server device built on a network 9 such as the Internet. Cloud 5 may further include other devices such as network storage (storage device).

[0020] The edge terminal 7 is, for example, a portable terminal (mobile terminal) such as a personal computer (PC) or a tablet PC. The edge terminal 7 is an example of an information processing device.

[0021] Next, the functional configurations of the sensing terminal 3, cloud 5, and edge terminal 7 in the information processing system 100 according to this embodiment will be described.

[0022] The sensing terminal 3 comprises an image receiving unit 31, an image processing unit 32, an image recognition unit 33, a movement path information generation unit 34, a movement path extraction unit 35, and a communication unit 36.

[0023] The image receiving unit 31 receives images of the surrounding environment of the vehicle 1 captured by the camera 2. The image receiving unit 31 also issues an image termination instruction to the camera 2 to end the transmission of images of the surrounding environment of the vehicle 1 captured by the camera 2.

[0024] The image processing unit 32 extracts the coordinates of corresponding feature points from images of the surrounding environment of multiple vehicles 1, each captured by the camera 2 at multiple time points separated by a predetermined time interval. Specifically, the image processing unit 32 extracts the coordinates of corresponding feature points from images of the surrounding environment of multiple vehicles 1 received by the image receiving unit 31. The image processing unit 32 then generates movement position information indicating the movement position of the vehicle 1 in the target area. Here, the coordinates of the corresponding feature points correspond to the movement position of the vehicle 1.

[0025] The image recognition unit 33 extracts one of several markers that are visually identifiable and placed at predetermined positions from an image of the surrounding environment of the vehicle 1 captured by the camera 2.

[0026] The movement path information generation unit 34 generates movement path information indicating the movement of vehicle 1 using SLAM (Simultaneous Localization and Mapping) based on images of the surrounding environment of vehicle 1 captured by a camera 2 mounted on vehicle 1. Specifically, the movement path information generation unit 34 generates movement path information indicating the movement of vehicle 1 based on the movement position information generated by the image processing unit 32.

[0027] For example, the movement information generation unit 34 calculates the amount of movement of vehicle 1 based on the amount of movement of feature points in two temporally adjacent images extracted by the image processing unit 32. The movement information generation unit 34 also calculates the relative position of vehicle 1 with respect to a predetermined reference position (for example, the position when vehicle 1 started moving) based on the coordinates of feature points in multiple images. The movement information generation unit 34 assigns a timestamp of the image associated with those calculations (the latter of the two temporally adjacent images) to the relative position.

[0028] The movement path information generation unit 34 then generates movement path information indicating the movement path of vehicle 1 based on the amount of movement and relative position of vehicle 1. The movement path is a line segment that connects each relative position by the amount of movement in a time series based on a timestamp. The movement path information includes the movement path, the position coordinates of the relative positions, the timestamp, and marker position information where a marker capable of estimating the vehicle 1's own position is located. The movement path of vehicle 1 generated by the movement path information generation unit 34 is also called the first movement path. The movement path information generated by the movement path information generation unit 34 is also called the first movement path information.

[0029] The movement path extraction unit 35 extracts movement paths to be included in the movement path information. Specifically, when the movement path extraction unit 35 receives an instruction from the cloud 5 to start movement path extraction, it extracts movement paths to be included in the movement path information generated by the movement path information generation unit 34, and, in cooperation with the communication unit 36 ​​(described later), transmits the extracted movement paths to the cloud 5.

[0030] The communication unit 36 ​​is equipped with a module such as Wi-Fi® or Bluetooth® and its control program, and is wirelessly connected to the cloud 5 and edge terminal 7 for communication.

[0031] Cloud 5 comprises a communication unit 51, an instruction unit 52, a movement path information receiving unit 53, an output unit 54, and a movement path correction information receiving unit 55.

[0032] The communication unit 51 is connected to the communication unit 36 ​​of the sensing terminal 3 in a communication manner. Furthermore, the communication unit 51 is connected to the communication unit 71 of the edge terminal 7 in a communication manner.

[0033] The instruction unit 52 issues a motion path extraction start instruction to the sensing terminal 3 to begin extracting motion paths included in the motion path information. The instruction unit 52 also issues a motion path extraction end instruction to the sensing terminal 3 to end the extraction of motion paths included in the motion path information. For example, the instruction unit 52 issues motion path extraction start and motion path extraction end instructions based on information input from input devices such as keyboards and pointing devices connected to the cloud 5.

[0034] The movement path information receiving unit 53 receives movement path information. Specifically, the movement path information receiving unit 53 works in cooperation with the communication unit 51 to receive movement path information transmitted by the sensing terminal 3. For example, the movement path information receiving unit 53 receives movement path information indicating the movement path of the vehicle 1, which is generated based on movement position information indicating the movement position of the vehicle 1 in the target area.

[0035] The output unit 54 outputs movement path information. Specifically, the output unit 54 outputs the movement path information received by the movement path information receiving unit 53. For example, the output unit 54 displays (outputs) the movement path information received by the movement path information receiving unit 53 to a display unit such as a display device connected to the cloud 5.

[0036] Here, the output format of the output unit 54 will be explained using Figure 3. Figure 3 is a schematic diagram showing an example of movement path information according to the first embodiment. Figure 3 shows the display device 41, map 42, operation unit 43, operation unit 44, and operation unit 45. Map 42 corresponds to the map of the target area in which the vehicle 1 moves. Operation unit 43 corresponds to the content of the instruction to start movement path extraction from the instruction unit 52 described above. Operation unit 44 corresponds to the content of the instruction to end movement path extraction from the instruction unit 52 described above.

[0037] For example, when a user inputs into the operation unit 43, the output unit 54 sequentially outputs movement information and begins the process of overlaying the movement lines 46 included in the movement information onto the map 42. Then, when the user inputs into the operation unit 44, the output unit 54 stops outputting movement information and the process of overlaying the movement lines 46 included in the movement information onto the map 42 ends.

[0038] Incidentally, the movement path 46 output by the output unit 54 may contain errors in the movement of the vehicle 1. In this case, the user operates the operation unit 45 to correct the error. When the user operates the operation unit 45, the instruction unit 52 issues an instruction to the edge terminal 7 to start correcting the movement path 46 included in the movement path information. The edge terminal 7 then starts the correction process for the movement path 46.

[0039] Returning to Figure 2, let's continue the explanation. The edge terminal 7 includes a communication unit 71, a movement path information receiving unit 72, a determination unit 73, a first acquisition unit 74, a calculation unit 75, a detection unit 76, a first search unit 77, a correction unit 78, and a movement path correction information transmission unit 79.

[0040] The communication unit 71 is connected to the communication unit 36 ​​of the sensing terminal 3 in a communication manner. Furthermore, the communication unit 71 is connected to the communication unit 51 of the edge terminal 7 in a communication manner.

[0041] The movement path information receiving unit 72 receives movement path information. Specifically, the movement path information receiving unit 72, in cooperation with the communication unit 71, receives movement path information transmitted from the sensing terminal 3 via the cloud 5 when it receives an instruction from the cloud 5 to start correcting the movement path 46. Alternatively, the movement path information receiving unit 72 may also receive movement path information transmitted by the sensing terminal 3 in cooperation with the communication unit 71.

[0042] The determination unit 73 determines whether there is an abnormal movement range indicating an abnormal movement of the vehicle 1 in the traffic line information. Specifically, the determination unit 73 determines whether there is an abnormal movement range indicating an abnormal movement of the vehicle 1 in the traffic line information received by the traffic line information receiving unit 72. For example, when the coordinates of the traffic line 46 at a predetermined sampling time change significantly, the determination unit 73 determines that there is an abnormal movement range indicating an abnormal movement of the vehicle 1 in the traffic line information. On the other hand, when the coordinates of the traffic line 46 at a predetermined sampling time do not change significantly, the determination unit 73 determines that there is no abnormal movement range indicating an abnormal movement of the vehicle 1 in the traffic line information.

[0043] When the determination unit 73 determines that there is an abnormal movement range indicating an abnormal movement of the vehicle 1 in the traffic line information, the edge terminal 7 performs correction processing on the traffic line 46 included in the traffic line information. Hereinafter, the content of the process in which the edge terminal 7 performs correction processing on the traffic line 46 will be described. First, the content of the process of detecting the target of the traffic line 46 on which the edge terminal 7 performs correction processing will be described.

[0044] The first acquisition unit 74 acquires marker recognition information. The first acquisition unit 74 is an example of an acquisition unit. Specifically, when the determination unit 73 determines that there is an abnormal movement range indicating an abnormal movement of the vehicle 1 in the traffic line information, the first acquisition unit 74 cooperates with the communication unit 71 to acquire marker recognition information from the sensing terminal 3. For example, the first acquisition unit 74 acquires at least one piece of marker recognition information N from the sensing terminal 3. Also, the first acquisition unit 74 continues the process until the acquisition of all the marker recognition information is completed.

[0045] In addition, the first acquisition unit 74 acquires marker position information where a marker capable of estimating the self-position of the vehicle 1 is located. Specifically, the first acquisition unit 74 acquires the position information M and the position information (M - 1) indicating the position immediately before the position information M included in the traffic line information at the same time as the marker recognition information N. The position information M and the position information (M - 1) indicating the position immediately before the position information M are an example of the marker position information where a marker capable of estimating the self-position of the vehicle 1 is located.

[0046] For example, among the movement line information received by the movement line information receiving unit 72, the first acquisition unit 74 identifies the movement line information at the same time as the marker recognition information N, and acquires the position information M included in the identified movement line information and the position information (M−1) indicating the position immediately before the position information M. Here, the position information M and the position information (M−1) are in the relationship of the end point and the start point in the position coordinates of the line segment of the movement line 46 included in the movement line information. Note that although the first acquisition unit 74 acquires the position information M and the position information (M−1) indicating the position immediately before the position information M, the present invention is not limited thereto. For example, the position information M and the position information (M−t) indicating the position t [sampling] before the position information M may be acquired.

[0047] The calculation unit 75 calculates the speed V between the position information M and the position information (M−1). Specifically, the calculation unit 75 calculates the speed V between the position information M and the position information (M−1) acquired by the first acquisition unit 74. For example, the calculation unit 75 calculates the speed V by dividing the time difference between the timestamps of the position information M and the position information (M−1) with respect to the line segment corresponding to the position information M and the position information (M−1).

[0048] The detection unit 76 detects the movement of the vehicle 1 in which the speed of the vehicle 1 is equal to or higher than the standard movement speed determined in the work in the target area among the movement lines 46. Specifically, the detection unit 76 detects the movement of the vehicle 1 in which the speed V calculated by the calculation unit 75 is equal to or higher than the standard movement speed determined in the work in the target area. The standard movement speed is, for example, the average speed of the vehicle 1 in the target area. Note that the standard movement speed may be set for each performance of the vehicle 1 and each target area in which the vehicle 1 moves.

[0049] Here, when the detection unit 76 detects the movement line 46 having a speed equal to or higher than the standard movement speed, since the movement line 46 having a speed equal to or higher than the standard movement speed is an abnormal movement line, the edge terminal 7 corrects the abnormal movement line. Next, the content of the correction process of the abnormal movement line performed by the edge terminal 7 will be described.

[0050] The first search unit 77 searches for location information L included in the movement path information that corresponds to the same time as the marker recognition information (N-1) among the movement path information. The first search unit 77 is an example of a search unit. Specifically, the first search unit 77 searches for location information L included in the movement path information that corresponds to the same time as the marker recognition information (N-1) that corresponds to the marker recognition information immediately preceding the marker recognition information N, which is included in the marker recognition information acquired by the first acquisition unit 74 among the movement path information received by the movement path information receiving unit 72. Here, location information L is location information that replaces the location information (M-1), which is the starting point of the abnormal movement path.

[0051] The correction unit 78 corrects the abnormal movement path of vehicle 1 corresponding to the abnormal movement range. Specifically, if the movement path 46 of the movement information includes an abnormal movement range indicating an abnormal movement of vehicle 1, the correction unit 78 corrects the abnormal movement path indicating the movement path 46 of the abnormal movement of vehicle 1 included in the abnormal movement range. For example, the correction unit 78 performs a linear correction on the abnormal movement path of vehicle 1 corresponding to the abnormal movement range, specifically between the start point and the end point of the abnormal movement of vehicle 1.

[0052] The correction unit 78 extracts the positions of markers located before and after the abnormal movement path (marker recognition information (N-1) and the position of marker recognition information N) as the start and end points, estimates the position of vehicle 1 based on the marker positions, and replaces the position information (M-1), which is the start point of the abnormal movement path of vehicle 1, with position information L. The correction unit 78 then takes the corrected start point as position information L and the corrected end point as position information M, connects position information L and position information M with a line segment, and performs linear correction to create the corrected movement path. The correction unit 78 then generates movement path correction information including the linearly corrected movement path. Once the correction unit 78 has finished generating the movement path correction information including the linearly corrected movement path, the edge terminal 7 terminates the movement path correction process for the movement path 46.

[0053] The movement path correction information transmission unit 79 transmits movement path correction information. Specifically, the movement path correction information transmission unit 79, in cooperation with the communication unit 71, transmits the movement path correction information generated by the correction unit 78 to the cloud 5.

[0054] The movement path correction information receiving unit 55 of Cloud 5 receives movement path correction information. Specifically, the movement path correction information receiving unit 55 works in cooperation with the communication unit 51 to receive movement path correction information transmitted from the edge terminal 7. Then, the output unit 54 of Cloud 5 outputs the movement path correction information. Specifically, the output unit 54 outputs the movement path correction information received by the movement path correction information receiving unit 55. For example, the output unit 54 outputs the movement path correction information received by the movement path correction information receiving unit 55 to a display unit such as a display device connected to Cloud 5.

[0055] Here, the output format of the output unit 54 will be explained using Figure 4. Figure 4 is a schematic diagram showing an example of movement path correction information according to the first embodiment. Figure 4 shows a diagram in which the movement path 47 included in the movement path correction information is superimposed on the map 42 compared to Figure 3. Furthermore, the movement path 46 and movement path 47 shown in Figure 4 are output by the output unit 54 when the user operates both 453 of the operation unit 45. This allows the user to check the movement path 46 and movement path 47 of the vehicle 1 before and after correction. Note that when the user operates the pre-correction 451 of the operation unit 45, only the movement path 46 is output by the output unit 54. Also, when the user operates the post-correction 452 of the operation unit 45, only the movement path 47 is output by the output unit 54.

[0056] Figure 5 is a sequence diagram showing an example of the processing flow executed in the information processing system 100 according to the first embodiment.

[0057] In step S61, camera 2 transmits the image of the surrounding environment of vehicle 1 that it has captured to sensing terminal 3. In step S62, the image receiving unit 31 of sensing terminal 3 receives the image of the surrounding environment of vehicle 1 that camera 2 has captured. In step S63, the instruction unit 52 of cloud 5 instructs sensing terminal 3 to start extracting movement paths 46 to be included in the movement path information. In step S64, the movement path information generation unit 34 of sensing terminal 3 extracts the movement paths 46 included in the movement path information it has generated and, in cooperation with the communication unit 36, transmits the extracted movement paths 46 to cloud 5.

[0058] In step S65, the movement path information receiving unit 53 of the cloud 5, in cooperation with the communication unit 51, receives movement path information including the movement path 46 transmitted by the sensing terminal 3. In step S66, the output unit 54 of the cloud 5 displays (outputs) the movement path information received by the movement path information receiving unit 53 to a display unit such as a display device connected to the cloud 5. In step S67, the instruction unit 52 of the cloud 5 instructs the sensing terminal 3 to terminate the extraction of the movement path 46 included in the movement path information.

[0059] In step S68, the image receiving unit 31 of the sensing terminal 3 issues an image termination instruction to the camera 2 to end the transmission of the image of the surrounding environment of the vehicle 1 captured by the camera 2. Note that the processing in step S68 may be performed between steps S66 and S67. In step S69, the instruction unit 52 of the cloud 5 issues a motion path correction start instruction to the edge terminal 7 to start correcting the motion path 46 included in the motion path information. In step S70, the edge terminal 7 starts the motion path correction processing of the motion path 46.

[0060] In step S71, the movement path correction information transmission unit 79 of the edge terminal 7 transmits the movement path correction information generated by the correction unit 78 to the cloud 5 in cooperation with the communication unit 71. In step S72, the output unit 54 of the cloud 5 outputs the movement path correction information received by the movement path correction information receiving unit 55 to a display unit such as a display device connected to the cloud 5. In step S73, the edge terminal 7 completes the movement path correction processing of the movement path 46.

[0061] Next, the flow of the correction process for the movement path 46 performed by the edge terminal 7 will be explained using Figures 6 and 7. Figures 6 and 7 are flowcharts showing an example of the processing flow performed in the edge terminal 7 according to the first embodiment.

[0062] First, the movement path information receiving unit 72, in cooperation with the communication unit 71, receives a movement path correction start instruction from the cloud 5 to start correcting the movement path 46, and receives movement path information transmitted from the sensing terminal 3 to the cloud 5 (S701). Next, the determination unit 73 determines whether there is an abnormal movement range indicating an abnormality in the movement of the vehicle 1 in the movement path information received by the movement path information receiving unit 72 (step S702). If the determination unit 73 determines that there is no abnormal movement range indicating an abnormality in the movement of the vehicle 1 in the movement path information (step S702: No), the edge terminal 7 terminates this process.

[0063] On the other hand, if the determination unit 73 determines that there is an abnormal movement range in the movement information indicating an abnormality in the movement of vehicle 1 (step S702: Yes), the process proceeds to step S703. In step S703, the edge terminal 7 performs movement correction processing on the movement 46 included in the movement information (step S703). When step S703 is completed, the edge terminal 7 terminates this process. Next, the contents of the processing in step S703 will be explained using Figure 7.

[0064] When the determination unit 73 determines that there is an abnormal movement range in the movement path information indicating an abnormality in the movement of the vehicle 1, the first acquisition unit 74, in cooperation with the communication unit 71, acquires at least one marker recognition information N from the sensing terminal 3 (step S704). Subsequently, the first acquisition unit 74 acquires position information M and position information (M-1) indicating the position immediately preceding position information M, which are included in the movement path information at the same time as the marker recognition information N (step S705). Subsequently, the calculation unit 75 calculates the speed V between position information M and position information (M-1) acquired by the first acquisition unit 74 (step S706).

[0065] The detection unit 76 detects the movement of the vehicle 1 such that the speed V calculated by the calculation unit 75 is equal to or greater than the standard travel speed defined for the work in the target area (step S707). If the detection unit 76 detects that the speed V is not equal to or greater than the standard travel speed (step S707: No), the process proceeds to step S704. On the other hand, if the detection unit 76 detects that the speed V is equal to or greater than the standard travel speed (step S707: Yes), the process proceeds to step S708.

[0066] In step S708, the first search unit 77 searches for location information L included in the movement path information at the same time as the marker recognition information (N-1) included in the marker recognition information acquired by the first acquisition unit 74, among the movement path information received by the movement path information receiving unit 72 (step S708). Subsequently, the correction unit 78 replaces the location information (M-1), which is the starting point of the abnormal movement path of the vehicle 1, with location information L (step S709). Subsequently, the correction unit 78 sets the corrected starting point as location information L and the corrected ending point as location information M, connects location information L and location information M with a line segment, and performs a linear correction to create the corrected movement path 47 (step S710).

[0067] Next, the correction unit 78 generates movement path correction information including the linearly corrected movement path 47 (step S711). Subsequently, the first acquisition unit 74 determines whether the acquisition of all marker recognition information has been completed (step S712). If the first acquisition unit 74 determines that the acquisition of all marker recognition information has not been completed (step S712: No), the process proceeds to step S704. On the other hand, if the first acquisition unit 74 determines that the acquisition of all marker recognition information has been completed (step S712: Yes), the process proceeds to step S713.

[0068] In step S713, the movement path correction information transmission unit 79, in cooperation with the communication unit 71, transmits the movement path correction information generated by the correction unit 78 to the cloud 5 (step S713). When the processing in step S713 is completed, the edge terminal 7 terminates this process.

[0069] As described above, the edge terminal 7 according to this embodiment receives movement path information indicating the movement path 46 of the vehicle 1, which is generated based on movement position information indicating the movement position of the vehicle 1 in the target area. If the movement path 46 of the movement path information includes an abnormal movement range indicating an abnormal movement of the vehicle 1, the edge terminal 7 corrects the abnormal movement path indicating the movement path 47 of the abnormal movement of the vehicle 1 included in the abnormal movement range.

[0070] Conventionally, for example, in an open space, the degree of freedom of movement of vehicle 1 is high, and information regarding the orientation of the moving object when vehicle 1 turns can be prone to errors. In addition, due to false detection of feature points or misrecognition of the positional relationship between feature points and camera 2, it may not be possible to properly correct errors in the movement path caused by feature points. For example, when correcting errors in the movement path using images of the surrounding environment of vehicle 1 from camera 2 mounted on vehicle 1, image distortion, blur, and noise occur, so correction processing requires many conditions, increases the amount of computation, and may not be able to handle many false detections and misrecognitions.

[0071] In this embodiment, instead of the sensing terminal 3 mounted on the vehicle 1 performing correction processing of the vehicle 1's movement path, the edge terminal 7, which is not mounted on the vehicle 1 but is connected to the vehicle 1, corrects the abnormal movement path that indicates the abnormal movement of the vehicle 1 included in the abnormal movement range when the movement path includes an abnormal movement range indicating an abnormal movement of the vehicle 1, in order to appropriately correct the error in the movement path. As a result, the edge terminal 7 can appropriately correct the error in the movement path of the moving object.

[0072] The embodiments described above can also be modified and implemented as appropriate by changing some of the configurations or functions of each of the devices described above. The effects of the embodiments described herein are merely illustrative and not limiting, and other effects may also exist. Therefore, several modifications of the embodiments described above will be described below as other embodiments. In the following, we will mainly describe the differences from the embodiments described above, and will omit detailed explanations of points that are common to what has already been described.

[0073] (First Modification) In the above-described embodiment, the edge terminal 7 was described in a form in which it detects the movement of vehicle 1 within the movement path 46 where the speed of vehicle 1 is equal to or greater than the standard movement speed defined for work in the target area, but it is not limited to this. For example, the detection unit 76 of the edge terminal 7 may detect the movement of vehicle 1 within the movement path 46 where the distance traveled by vehicle 1 is outside the standard movement distance defined for work in the target area.

[0074] The standard travel distance may be set for each vehicle 1's performance and for each target area in which the vehicle 1 moves. In other words, the detection unit 76 of the edge terminal 7 detects the movement of vehicle 1 within the movement path 46 when the vehicle 1's speed is equal to or greater than the standard travel speed defined for the work in the target area, or when the vehicle 1's travel distance is outside the standard travel distance defined for the work in the target area.

[0075] (Second Modification) In the second modification, a configuration in which the vehicle 1 is equipped with an IMU (Internal Measurement Unit) will be described using Figure 8. Figure 8 is a diagram showing an example of the functional configuration of the information processing system 100 according to the second modification. In the information processing system 100 of the second modification, the vehicle 1 is further equipped with an IMU 21 compared to the information processing system 100 of the first embodiment.

[0076] The IMU 21 is equipped with an angular velocity (gyro) sensor, an acceleration sensor, and a weight sensor, and is capable of detecting three-dimensional inertial motion. The IMU 21 is an example of an inertial measurement device. The IMU 21 detects the inertial motion of the vehicle 1 at predetermined time intervals while the vehicle 1 is moving. Inertial motion is, for example, rotation information indicating that the vehicle 1 has turned. The IMU 21 transmits the detected rotation information to the sensing terminal 3. The IMU 21 adds a timestamp to each rotation information, indicating the time when the rotation information was detected.

[0077] The movement path information generation unit 34 of the sensing terminal 3 receives the turning information transmitted by the IMU 21. The movement path information generation unit 34 then synchronizes the timestamp of the movement path information and the timestamp of the turning information with respect to the generated movement path information. In other words, the movement path information according to the second modified example includes turning information.

[0078] The first search unit 77 of the edge terminal 7 searches for position information before and after the point where there is no turning information among the movement information received by the movement information receiving unit 72. Here, the position information before and after the point where there is no turning information is the position information that replaces the position information (M-1) which is the starting point of the abnormal movement and the position information M which is the ending point of the abnormal movement.

[0079] Then, the correction unit 78 of the edge terminal 7 extracts the positions where the vehicle 1 located before and after the abnormal movement line is not turning as the start point and end point, and replaces the position information (M-1) which is the start point of the abnormal movement line of the vehicle 1 with the position information before there is no turning information, and replaces the position information M which is the end point of the abnormal movement line of the vehicle 1 with the position information after there is no turning information. The correction unit 78 takes the corrected start point as the position information before there is no turning information and the corrected end point as the position information after there is no turning information, and performs linear correction by connecting the position information before there is no turning information and the position information after there is no turning information with a line segment to create the corrected movement line.

[0080] (Third Modification) In the above-described embodiment, a configuration was described in which the output unit 54 of the cloud 5 outputs movement information and movement correction information, but the invention is not limited thereto. For example, the edge terminal 7 may be equipped with an output unit. The output unit of the edge terminal 7 may output movement information and movement correction information to a display unit such as a display device connected to the edge terminal 7.

[0081] (Second Embodiment) In the second embodiment, a fixed camera is installed within the target area, and the edge terminal 7 performs abnormal movement correction processing of the vehicle 1 based on the movement path of the vehicle 1 generated by the fixed camera.

[0082] Figure 9 shows an example of the functional configuration of the information processing system 100 according to the second embodiment. The information processing system 100 of the second embodiment further includes a fixed camera 10 compared to the information processing system 100 of the first embodiment. The edge terminal 7 of the second embodiment also includes an extraction unit 80, a second acquisition unit 81, and a second search unit 82.

[0083] The fixed camera 10 is installed within the area where the vehicle 1 moves. The fixed camera 10 is an example of a second camera. The fixed camera 10 is installed, for example, in an area that is likely to be the starting point of an abnormal movement of the vehicle 1. An area that is likely to be the starting point of an abnormal movement of the vehicle 1 is, for example, an area where the vehicle 1 turns. The fixed camera 10 captures an image of the subject in a predetermined orientation at predetermined intervals.

[0084] The subject captured by the fixed camera 10 is, for example, a vehicle 1 moving within the target area. The fixed camera 10 may capture still images at predetermined intervals, or it may extract frames at predetermined intervals from a series of frames of a moving image. The fixed camera 10 transmits the captured images to the edge terminal 7. The fixed camera 10 adds a timestamp to each image indicating the time the image was taken.

[0085] Furthermore, the fixed camera 10 extracts vehicle 1 from multiple images taken at multiple times separated by a predetermined time interval and generates second movement information indicating the movement of vehicle 1. The movement of vehicle 1 generated by the fixed camera 10 is also called the second movement. The second movement is a line segment that connects the positions of each vehicle 1 in chronological order based on the timestamp, with the amount of movement. The second movement information includes the second movement, the position coordinates of vehicle 1, and the timestamp. The fixed camera 10 then transmits the generated second movement information to the edge terminal 7. The fixed camera 10 generates second movement information and transmits it to the edge terminal 7 each time vehicle 1 is extracted.

[0086] The extraction unit 80 of the edge terminal 7 refers to the time-series location information included in the movement path information and extracts partial movement paths that indicate movement paths within a predetermined area. Specifically, the extraction unit 80 refers to the time-series location information included in the movement path information received by the movement path information receiving unit 72 and extracts partial movement paths that indicate movement paths within a predetermined area. Movement paths within a predetermined area are movement paths that are within the range captured by the fixed camera 10.

[0087] Here, partial movement lines will be explained using Figure 10. Figure 10 is a schematic diagram for explaining partial movement lines according to the second embodiment. Figure 10 shows a map 411, movement lines 412 of the movement line information, a predetermined area 413, and partial movement lines 414. In order to extract partial movement lines 414 within the predetermined area 413 shown in Figure 10, the extraction unit 80 extracts partial movement lines 414 that indicate movement lines corresponding to the location information within the range captured by the fixed camera 10 from the time-series location information included in the movement line information.

[0088] Returning to Figure 9, the explanation continues. The second acquisition unit 81 of the edge terminal 7 acquires the second movement path information. The second acquisition unit 81 is an example of an acquisition unit. Specifically, the second acquisition unit 81 works in cooperation with the communication unit 71 to acquire the second movement path information indicating the movement path of the vehicle 1 transmitted by the fixed camera 10. Alternatively, the movement path information receiving unit 72 of the edge terminal 7 may receive the second movement path information.

[0089] The second search unit 82 of the edge terminal 7 searches for the time and coordinate position corresponding to the start and end points included in the partial movement path 414 from the second movement path information. Specifically, the second search unit 82 searches for the time and coordinate position corresponding to the start and end points of the partial movement path 414 extracted by the extraction unit 80 from the position coordinates and timestamp of the vehicle 1 included in the second movement path information acquired by the second acquisition unit 81.

[0090] If the second search unit 82 cannot find the time and coordinate position corresponding to the start and end points included in the partial movement path 414 from the second movement path information, it searches for the time and coordinate position corresponding to the start and end points included in the partial movement path 414 corresponding to the second movement path information from other movement path information.

[0091] The correction unit 78 corrects the partial movement path 414. Specifically, if the first movement path in the first movement path information includes position information of the turning area of ​​the vehicle 1, the correction unit 78 performs a correction by replacing the partial movement path 414, which indicates the movement path of the partial movement of the vehicle 1 included in the turning area, with the second movement path. For example, the correction unit 78 performs a correction by replacing the partial movement path 414 extracted by the extraction unit 80 with the second movement path included in the second movement path information searched by the second search unit 82. The correction unit 78 then generates movement path correction information including the replaced movement path. Here, the movement path correction information including the replaced movement path generated by the correction unit 78 is also called the second movement path correction information.

[0092] Here, the second movement path correction information will be explained using Figure 11. Figure 11 is a schematic diagram for explaining the second movement path correction information according to the second embodiment. Figure 11 shows the second movement path 415 included in the second movement path correction information superimposed on the map 411 compared to Figure 10. Since the second movement path 415 is a movement path generated by the fixed camera 10, it exists within a predetermined area 413. As a result, the edge terminal 7 can, for example, reflect the second movement path 415 generated by the fixed camera 10 in response to abnormal movement paths included in the movement path information generated by the sensing terminal 3, without receiving instructions regarding movement path correction from the user.

[0093] Returning to Figure 9, the explanation continues. The output unit 54 of the cloud 5 outputs the second movement path correction information received by the movement path correction information receiving unit 55 to a display unit such as a display device connected to the cloud 5. Note that the output unit 54 of the cloud 5 may also be provided by the edge terminal 7. In this case, the output unit of the edge terminal 7 outputs the second movement path correction information generated by the correction unit 78 to a display unit such as a display device connected to the edge terminal 7.

[0094] Figure 12 is a flowchart showing an example of the processing flow performed in the edge terminal 7 according to the second embodiment. Steps S701 and S713 in the flowchart shown in Figure 12 are the same processes as steps S701 and S713 shown in Figure 7, so their explanation is omitted.

[0095] In step S801, the extraction unit 80 refers to the time-series position information included in the movement information received by the movement information receiving unit 72 and extracts a partial movement 414 that indicates movement within a predetermined area (step S801). Subsequently, the second acquisition unit 81, in cooperation with the communication unit 71, acquires second movement information indicating the movement of the vehicle 1 transmitted by the fixed camera 10 (step S802).

[0096] Next, the second search unit 82 searches for the time and coordinate position corresponding to the start and end points of the partial movement path 414 extracted by the extraction unit 80, based on the position coordinates and timestamp of the vehicle 1 included in the second movement path information acquired by the second acquisition unit 81 (step S803). If the second search unit 82 cannot find the time and coordinate position corresponding to the start and end points included in the partial movement path 414 from the second movement path information (step S803: none), the process proceeds to step S701.

[0097] On the other hand, if the second search unit 82 is able to find the time and coordinate position corresponding to the start and end points included in the partial movement line 414 from the second movement line information (step S803: yes), the process proceeds to step S804. In step S804, the correction unit 78 performs a correction in which the extraction unit 80 replaces the partial movement line 414 with the second movement line 415 included in the second movement line information found by the second search unit 82 (step S804). Subsequently, the correction unit 78 generates movement line correction information including the replaced movement line (step S805).

[0098] As described above, the edge terminal 7 according to this embodiment receives first movement information indicating the first movement of the vehicle 1, which is generated based on first image information captured by a first camera mounted on the vehicle 1 moving in the target area, and second movement information indicating the second movement of the vehicle 1, which is generated based on second image information captured by a second camera placed in the target area. If the first movement of the first movement information includes position information of the turning area of ​​the vehicle 1, the edge terminal 7 performs a correction by replacing the partial movement 414, which indicates the movement of the partial movement of the vehicle 1 included in the turning area, with the second movement 415.

[0099] Conventionally, for example, in an open space, the degree of freedom of movement of vehicle 1 is high, and information regarding the orientation of the moving object when vehicle 1 turns can be prone to errors. In addition, due to false detection of feature points or misrecognition of the positional relationship between feature points and camera 2, it may not be possible to properly correct errors in the movement path caused by feature points. For example, when correcting errors in the movement path using images of the surrounding environment of vehicle 1 from camera 2 mounted on vehicle 1, image distortion, blur, and noise occur, so correction processing requires many conditions, increases the amount of computation, and may not be able to handle many false detections and misrecognitions.

[0100] In this embodiment, the edge terminal 7 performs a correction by replacing the partial movement path 414, which indicates the movement path of the partial movement of the vehicle 1 included in the turning region, with the second movement path 415. The second movement path 415 is a movement path generated based on an image captured by a fixed camera 10 placed in the target region, and the image captured by the fixed camera 10 is in a state where distortion, blur, and noise are less likely to occur. As a result, the edge terminal 7 can appropriately correct errors in the movement path of the moving object.

[0101] (Fourth Modification) In the second embodiment described above, the edge terminal 7 identified the area where the fixed camera 10 is installed as the area that is likely to be the starting point of an abnormal movement path of the vehicle 1, but it is not limited to this. For example, the edge terminal 7 may identify the area that is likely to be the starting point of an abnormal movement path based on the turning information detected by the IMU 21 installed in the vehicle 1 as described in the second modification.

[0102] For example, the first movement information includes turning information related to the turning of vehicle 1 detected by the IMU 21 installed in vehicle 1. The position information of the turning region is the position where the orientation of vehicle 1 changes beyond a predetermined value, as determined from the angular velocity information of vehicle 1 included in the turning information. For example, when the angular velocity around the yaw axis included in the angular velocity information of vehicle 1 is greater than a predetermined threshold, the orientation of vehicle 1 changes beyond a predetermined value, and the position of this change becomes the position information of the turning region where vehicle 1 has turned. Note that the angular velocity around the yaw axis of vehicle 1 is defined as the angular velocity of vehicle 1 with respect to the floor surface.

[0103] (Fifth variation) For example, the edge terminal 7 may identify areas that are likely to be the starting point of abnormal movement patterns based on images of the surrounding environment of the vehicle 1 captured by the camera 2.

[0104] For example, the first image information includes images of the surrounding environment of vehicle 1, captured in a time series as vehicle 1 moves. The position information of the turning region is the position where the orientation of vehicle 1 changes from a predetermined value, as determined from the difference in the time series images. For example, the changes in the image of feature points (e.g., changes in optical flow, etc.) at time points separated by a predetermined time will be different when vehicle 1 is moving in a straight line compared to when vehicle 1 is turning. The position where the change in the image of the feature points occurred corresponds to the position where the orientation changes from a predetermined value.

[0105] Figure 13 is a block diagram showing an example of the hardware configuration of the sensing terminal 3, cloud 5, and edge terminal 7 included in the information processing system 100 according to the embodiment and modified examples.

[0106] In the above embodiment and its modified form, the sensing terminal 3, cloud 5, and edge terminal 7 have a processor 501, main memory 502, auxiliary memory 503, and device I / F 504 interconnected by a bus or the like, and have a hardware configuration using a normal computer.

[0107] The processor 501 is, for example, a CPU (Central Processing Unit) and is a computing device that controls the sensing terminal 3, cloud 5, and edge terminal 7 of the above embodiment and its modified form. The main memory 502 is, for example, RAM (Random Access Memory) and stores data necessary for various processes performed by the processor 501. The auxiliary memory 503 is, for example, ROM (Read Only Memory) and stores programs and the like that realize information processing by the processor 501.

[0108] The device interface 504 is an interface for various inputs / outputs and / or communications of the sensing terminal 3, the cloud 5, and the edge terminal 7. For example, the device interface 504 may include an output interface configured to connect to an external output device that outputs audio, images, or video, or to function as such an output device. Various displays (display components) such as liquid crystal displays (LCDs), organic EL (Electroluminescence) displays, and projectors, as well as speakers, can be used as output devices as appropriate.

[0109] For example, the device I / F 504 may include an input interface configured to allow connection of an external input device for acquiring user operations, or to function as such an input device. Suitable input devices include keyboards, mice, touch panels, microphones, etc.

[0110] For example, the device I / F 504 may include a communication interface configured to connect to an external communication device that communicates with the sensing terminal 3, the cloud 5, and the edge terminal 7, or to function as such a communication device. As the communication interface, a wired communication circuit such as USB (Universal Serial Bus®) or Ethernet®, or a wireless communication circuit compatible with various standards such as 3G, LTE, 4G, 5G, 6G, Wi-Fi®, Bluetooth®, or infrared communication can be used as appropriate.

[0111] In the sensing terminal 3, cloud 5, and edge terminal 7 of the above embodiment and its modifications, the processor 501 reads a program from the auxiliary storage device 503 onto the main storage device 502 and executes it, thereby realizing each of the above-mentioned functional units on the computer.

[0112] Furthermore, the programs for executing the above-mentioned processes performed on the sensing terminal 3, cloud 5, and edge terminal 7 in the above-described embodiment and modified version may be stored in an HDD (hard disk drive). Alternatively, the programs for executing the above-mentioned processes performed on the sensing terminal 3, cloud 5, and edge terminal 7 in the above-described embodiment and modified version may be pre-installed and provided in the auxiliary storage device 503.

[0113] Furthermore, the programs for executing the above-described processes performed by the sensing terminal 3, cloud 5, and edge terminal 7 in the above embodiments and modified versions may be provided as computer program products by being stored in an installable or executable file format on a computer-readable storage medium such as a CD-ROM, CD-R, memory card, DVD (Digital Versatile Disk), or flexible disk (FD).

[0114] Furthermore, the program for executing the information processing performed on the sensing terminal 3, cloud 5, and edge terminal 7 of the above embodiment and modified version may be stored on a computer connected to a network such as the Internet and provided by allowing users to download it via the network. Alternatively, the program for executing the information processing performed on the sensing terminal 3, cloud 5, and edge terminal 7 of the above embodiment and modified version may be provided or distributed via a network such as the Internet.

[0115] The mobile object may be a vehicle other than vehicle 1, such as a forklift or a truck with four wheels. It may also be a vehicle with one to three wheels, five or more wheels, or a mobile object without wheels, such as an airplane, helicopter, drone, or hovercraft, regardless of the number of wheels and / or whether or not it has wheels. The sensing terminal 3 according to this embodiment can estimate the position of the mobile object based on an image of the surrounding environment of the mobile object captured by camera 2, rather than estimating the position of the mobile object from the rotation speed of the wheels. In addition to an autonomous mobile object, it may also be a pushcart used by a user or a head-mounted display worn by a user.

[0116] According to at least one embodiment described above, errors in the movement path of the moving object can be appropriately corrected.

[0117] While several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents.

[0118] (Note) The various aspects of this disclosure are described below as a summary in the notes. (1) An information processing device comprising: a movement path information receiving unit that receives movement path information indicating the movement path of a moving body generated based on movement position information indicating the movement position of the moving body in a target area; and a correction unit that corrects an abnormal movement path indicating the movement path of the abnormal movement of the moving body included in the abnormal movement range when the movement path of the movement path information includes an abnormal movement range indicating an abnormality in the movement of the moving body. (2) The information processing device according to (1) above, comprising: a detection unit that detects the abnormal movement of the moving body among the movement paths where the speed of the moving body is equal to or greater than the standard movement speed defined in the work in the target area or where the distance the moving body moves is outside the standard movement distance defined in the work, wherein the correction unit performs a linear correction on the abnormal movement path between the start point and the end point of the abnormal movement. (3) The information processing device according to (2) above, comprising an acquisition unit that acquires marker position information where a marker capable of estimating the self-position of the moving body is located, wherein the correction unit extracts the positions of the markers located before and after the abnormal movement line as the start point and the end point, and estimates the position of the moving body based on the positions of the markers. (4) The information processing device according to (2) above, wherein the movement line information includes rotation information relating to the rotation of the moving body, wherein the correction unit extracts positions where the moving body is not rotating, located before and after the abnormal movement line, as the start point and the end point. (5) The information processing device according to any one of (1) to (4) above, comprising an output unit that outputs the movement line information to a display unit, wherein the output unit outputs the abnormal movement line before correction and the abnormal movement line after correction to the display unit. (6) The information processing device described in (1) above, wherein the movement information is generated using SLAM (Simultaneous Localization and Mapping) from an image of the surrounding environment of the moving body captured by an imaging unit mounted on the moving body.(7) An information processing device comprising: a movement path information receiving unit that receives first movement path information indicating a first movement path of a moving body generated based on first image information captured by a first camera mounted on a moving body moving in a target area, and second movement path information indicating a second movement path of a moving body generated based on second image information captured by a second camera placed in the target area; and a correction unit that, when the first movement path of the first movement path information includes position information of a turning area of ​​the moving body, performs a correction to replace the partial movement path indicating the movement path of a partial movement of the moving body included in the turning area with the second movement path. (8) The information processing device according to (7) above, wherein the first movement path information includes turning information relating to the turning of the moving body detected by an inertial measuring device mounted on the moving body, and the position information of the turning area is a position where the orientation of the moving body changes more than a predetermined value, as specified from the angular velocity information of the moving body included in the turning information. (9) The information processing apparatus according to (7) above, wherein the first image information includes images taken in time series around the moving body as the moving body moves, and the position information of the rotation region is a position where the orientation of the moving body changes more than a predetermined value, as determined from the difference of the time series images. (10) The information processing apparatus according to (7) above, further comprising an output unit that outputs the first movement information and the second movement information to a display unit, wherein the output unit outputs the partial movement before correction and the second movement after correction to the display unit.

[0119] 1 Vehicle 2 Camera 3 Sensing terminal 5 Cloud 7 Edge terminal 10 Fixed camera 21 IMU 31 Image receiving unit 32 Image processing unit 33 Image recognition unit 34 Movement path information generation unit 35 Movement path extraction unit 36 ​​Communication unit 51 Communication unit 52 Instruction unit 53 Movement path information receiving unit 54 Output unit 55 Movement path correction information receiving unit 71 Communication unit 72 Movement path information receiving unit 73 Judgment unit 74 First acquisition unit 75 Calculation unit 76 Detection unit 77 First search unit 78 Correction unit 79 Movement path correction information transmission unit 80 Extraction unit 81 Second acquisition unit 82 Second search unit 100 Information processing system

Claims

1. An information processing device comprising: a movement path information receiving unit that receives movement path information indicating the movement path of a moving object, which is generated based on movement position information indicating the movement position of the moving object in a target area; and a correction unit that corrects the abnormal movement path indicating the movement path of the abnormal movement of the moving object included in the abnormal movement range when the movement path of the movement path information includes an abnormal movement range indicating an abnormality in the movement of the moving object.

2. The information processing apparatus according to claim 1, comprising a detection unit that detects abnormal movement of the moving body in the movement path where the speed of the moving body is equal to or greater than the standard movement speed defined for the work in the target area, or where the distance the moving body travels is outside the standard movement distance defined for the work, and the correction unit that performs a linear correction on the abnormal movement path between the start point and the end point of the abnormal movement.

3. The information processing apparatus according to claim 2, comprising an acquisition unit that acquires marker position information where a marker capable of estimating the self-position of the moving object is located, wherein the correction unit extracts the positions of the markers located before and after the abnormal movement line as the start point and the end point, and estimates the position of the moving object based on the positions of the markers.

4. The information processing apparatus according to claim 2, wherein the movement path information includes rotation information relating to the rotation of the moving body, and the correction unit extracts positions where the moving body is not rotating, located before and after the abnormal movement path, as the start point and the end point.

5. An information processing device according to any one of claims 1 to 4, comprising an output unit that outputs the movement path information to a display unit, wherein the output unit outputs the abnormal movement path before correction and the abnormal movement path after correction to the display unit.

6. The information processing apparatus according to claim 1, wherein the movement information is generated using SLAM (Simultaneous Localization and Mapping) from images of the surrounding environment of the moving body captured by an imaging unit mounted on the moving body.

7. An information processing device comprising: a movement path information receiving unit that receives first movement path information indicating a first movement path of a moving body generated based on first image information captured by a first camera mounted on a moving body moving in a target area, and second movement path information indicating a second movement path of the moving body generated based on second image information captured by a second camera placed in the target area; and a correction unit that, when the first movement path of the first movement path information includes position information of the turning area of ​​the moving body, performs a correction by replacing the partial movement path indicating the movement path of the partial movement of the moving body included in the turning area with the second movement path.

8. The information processing device according to claim 7, wherein the first motion information includes rotation information relating to the rotation of the moving body detected by an inertial measuring device mounted on the moving body, and the position information of the rotation region is a position in which the orientation of the moving body changes more than a predetermined value, as determined from the angular velocity information of the moving body included in the rotation information.

9. The information processing apparatus according to claim 7, wherein the first image information includes images captured in time series around the moving body as the moving body moves, and the position information of the rotation region is a position where the orientation of the moving body changes more than a predetermined value, as determined from the difference of the images in the time series.

10. The information processing device according to claim 7, further comprising an output unit that outputs the first movement information and the second movement information to a display unit, wherein the output unit outputs the partial movement before correction and the second movement after correction to the display unit.

Images