Assistance system, control system, transport system, assistance method, and program

Abstract

The present invention enables first map information including a movement route expressed in a first coordinate system, which is used in a first mobile body control system, to be easily deployed in a second mobile body control system. An assistance system (10) comprises an input unit (12), a conversion unit (119), and an output unit (120). The input unit (12) receives input of the first map information including a movement route expressed in the first coordinate system. The conversion unit (119) converts the first map information to second map information M (J2) by converting position coordinates in the first coordinate system to position coordinates in a second coordinate system. The second map information includes a movement route, which is expressed in the second coordinate system and on which a second mobile body can travel, and serves as the basis of second route information. The output unit (120) outputs the second map information converted by the conversion unit (119).

Description

Support system, control system, conveyance system, support method, and program

[0001] The present disclosure relates to a support system, a control system, a conveyance system, a support method, and a program. More specifically, the present disclosure relates to a support system that supports processing performed by a movement control system that controls the movement of a moving body, a control system including the support system, a conveyance system including the support system, a support method, and a program.

[0002] The system described in Patent Document 1 is a system (first movement control system) that controls a first autonomous mobile device (first moving body), and in another system (second movement control system) that controls a second autonomous mobile device (second moving body) different from the first autonomous mobile device, based on operation information indicating information for operating the second autonomous mobile device and route information (first route information) indicating information regarding the travel route (movement route) of the first autonomous mobile device, it includes a travel control unit that controls the travel of the first autonomous mobile device.

[0003] In the above-described system, there is a desire to control the movement of the second autonomous mobile device by the above-described system by creating map information (first map information) including a travel route expressed in the coordinate system (first coordinate system) used in the above-described system and easily deploying the created map information to other systems.

[0004] Japanese Patent Application Laid-Open No. 2023-140232

[0005] An object of the present disclosure is to provide a support system, a control system, a conveyance system, a support method, and a program that can easily deploy first map information including a movement route expressed in the first coordinate system used in the first movement control system to the second movement control system.

[0006] A support system according to one aspect of the present disclosure supports a first mobile object control system in controlling the movement of a second mobile object controlled by a second mobile object control system. The first mobile object control system controls the movement of the first mobile object by inputting first path information, which represents a movement path in a first coordinate system, to the first mobile object. The second mobile object control system controls the movement of the second mobile object by inputting second path information, which represents a movement path in a second coordinate system, to the second mobile object. The support system comprises an input unit, a conversion unit, and an output unit. The input unit receives input of first map information, which includes a movement path expressed in the first coordinate system. The conversion unit converts the first map information into second map information by converting the position coordinates of the first coordinate system to position coordinates of the second coordinate system. The second map information includes a movement path that the second mobile object can travel on, expressed in the second coordinate system, and forms the basis of the second path information. The output unit outputs the second map information converted by the conversion unit.

[0007] A control system according to one aspect of the present disclosure comprises the support system and the first mobile control system. The first mobile control system includes a processing unit for creating the first map information. The conversion unit of the support system converts the first map information created by the processing unit into second map information. The second map information output from the output unit of the support system is input to the second mobile control system.

[0008] A transport system according to one aspect of the present disclosure comprises the support system and the first mobile body control system. The first mobile body and the second mobile body each perform a transport operation to transport an object to be transported. The object to be transported includes at least one of a trolley and a parts supply module. The trolley is capable of accommodating components to be mounted on a substrate. The parts supply module supplies the components to a manufacturing apparatus that mounts the components on the substrate.

[0009] A support method according to one aspect of the present disclosure supports a first mobile object control system in enabling the control of the movement of a second mobile object controlled by a second mobile object control system. The first mobile object control system controls the movement of the first mobile object by inputting first path information representing a movement path in a first coordinate system to the first mobile object. The second mobile object control system controls the movement of the second mobile object by inputting second path information representing a movement path in a second coordinate system to the second mobile object. The support method comprises an input step, a conversion step, and an output step. The input step receives input of first map information including a movement path expressed in the first coordinate system. The conversion step converts the first map information into second map information by converting the position coordinates of the first coordinate system to position coordinates of the second coordinate system. The second map information includes a movement path that the second mobile object can travel on, expressed in the second coordinate system, and forms the basis of the second path information. The output step outputs the second map information converted in the conversion step.

[0010] A program according to one aspect of this disclosure is a program for causing one or more processors to execute the support method.

[0011] Figure 1 is a diagram of the configuration of a transport system equipped with a support system according to the embodiment. Figure 2 is a diagram showing an example of a first map used in a first mobile control system equipped with the transport system. Figure 3 is a diagram showing an example of a second map used in a second mobile control system. Figure 4 is a diagram of the configuration of a processing unit equipped with the support system. Figure 5 is a diagram showing an example of an operation screen for route creation in the second mobile control system. Figure 6 is a diagram showing an example of first map information created by the first mobile control system. Figure 7 is a diagram showing an example of a sub-screen displayed on the operation screen. Figure 8 is a diagram showing an example of another sub-screen displayed on the operation screen. Figure 9 is a diagram showing yet another example of a sub-screen displayed on the operation screen. Figure 10 is a diagram showing an example of second map information in image format. Figure 11 is a flowchart explaining the operation of the support system. Figure 12 is a flowchart explaining the operation of the support system.

[0012] The support system according to the embodiments will be described in detail below with reference to the drawings. The configuration described in the following embodiments is merely one example of the disclosure. The 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 disclosure can be achieved.

[0013] (Embodiment) (1) Overview As shown in Figures 1 and 4, the support system 10 of this embodiment supports the control of the movement of the second mobile body 30B, which is controlled by the second mobile body control system 20B, which controls the movement of the second mobile body 30B by inputting first path information representing a movement path in a first coordinate system to the first mobile body 30A. The support system 10 includes an input unit 12, a conversion unit 119 (see Figure 4), and an output unit 120 (see Figure 4). The input unit 12 receives input of first map information. The first map information includes a movement path expressed in a first coordinate system. The conversion unit 119 converts the first map information into second map information by converting the position coordinates of the first coordinate system to position coordinates of the second coordinate system. The second map information is expressed in a second coordinate system and includes a travel path that the second mobile body 30B can travel, and serves as the basis for the second route information. The output unit 120 outputs the second map information converted by the conversion unit 119.

[0014] With this configuration, second map information using a second coordinate system (i.e., second map information for the second mobile control system 20B) can be easily generated from first map information using a first coordinate system (i.e., first map information for the first mobile control system 20A). As a result, the first map information using the first coordinate system can be easily deployed to the second mobile control system 20B.

[0015] Here, the first mobile robot 30A and the second mobile robot 30B are autonomous mobile robots (AMRs) used for transporting goods in facilities such as factories, logistics centers (including distribution centers), offices, stores, schools, and hospitals. The first mobile robot 30A and the second mobile robot 30B move by, for example, traveling on a moving surface using one or more wheels. The moving surface is the surface on which the first mobile robot 30A and the second mobile robot 30B move. When the first mobile robot 30A and the second mobile robot 30B move inside a facility, the floor of the facility becomes the moving surface, and when the first mobile robot 30A and the second mobile robot 30B move outdoors, the ground becomes the moving surface.

[0016] The first mobile body 30A and the second mobile body 30B each hold an electronic map (hereinafter sometimes simply referred to as "map") that represents the arrangement of objects such as walls present on the moving surface.

[0017] The electronic map held by the first mobile body 30A (hereinafter referred to as the first map) is represented in, for example, a first coordinate system. Figure 2 is an example of the first map MP1 held by the first mobile body 30A. In Figure 2, the symbol 100 indicates an object placed on the moving surface. The origin of the first map MP1 is point T1 in the upper left of the first map MP1. In the first map MP1, the bottom of the map is north and the top of the map is south. The X-axis direction follows the east-west direction, with west being the positive direction of the X-axis. The Y-axis direction follows the north-south direction, with north being the positive direction of the Y-axis. Also, 0 degrees of the angle θ used to indicate the direction of the first mobile body 30A is south, 90 degrees is west, 180 degrees is north, and 270 degrees is east. The first map MP1 in Figure 2 shows an example of a movement path 70 on which the first mobile body 30A moves.

[0018] Furthermore, the electronic map held by the second mobile body 30B (hereinafter referred to as the second map) is represented, for example, in a second coordinate system. Figure 3 is an example of the second map MP2 held by the second mobile body 30B. In the second map MP2 of Figure 3, object 100 is shown with hatching. The origin of the second map MP2 is point T2 near the center of the second map MP2. In the second map MP2, the left side of the map is north, and the right side of the map is south. The X-axis direction follows the north-south direction, with south being the positive direction of the X-axis. The Y-axis direction follows the east-west direction, with east being the positive direction of the Y-axis. Also, 0 degrees of the angle θ used to indicate the direction of the second mobile body 30B is south, 90 degrees is east, 180 degrees is north, and 270 degrees is west.

[0019] Since the first map MP1 held by the first mobile body 30A is represented in a first coordinate system, the first mobile body 30A needs to be instructed on its movement path in the first coordinate system. When the first mobile body 30A receives first path information representing the movement path in the first coordinate system, it can move according to the first path information. The first path information includes at least the position coordinates of the destination to which the first mobile body 30A will move, and the first mobile body 30A can move to the destination according to the first path information. The first path information may also include the position coordinates of one or more waypoints that the first mobile body 30A will pass through before reaching the destination, and the first mobile body 30A can move to the destination by passing through one or more waypoints.

[0020] The first route information includes first attribute information. The first attribute information is information attached to the travel route indicated by the first route information, and defines a predetermined operation (setting operation) to be performed by the first mobile body 30A. The first attribute information is defined in a first format. The first format is the format used by the first mobile body 30A (i.e., the format used by the first mobile body control system 20A), and means, for example, a format. By reading the first attribute information, the first mobile body 30A performs the setting operation defined by the first attribute information on the travel route indicated by the first route information.

[0021] Here, we will explain in detail the travel path indicated by the first route information. A travel path includes multiple nodes and multiple paths. A node defines a destination point or waypoint, etc. A path defines a route connecting two nodes. A travel path is formed by connecting the nodes of multiple nodes with paths. Attribute information (first attribute information) can be set for nodes and paths.

[0022] Attribute information that can be set for a node may include information such as the node type, set operation, target model, and stopping angle. For example, one node type can be selected from several types (e.g., destination point and waypoint). The set operation is a predetermined operation to be performed by a mobile body located at the node where this set operation is set. One predetermined operation can be selected from several operations (e.g., Gp, Ch, Gw, Hm, etc.). Gp is ​​an operation setting that causes the mobile body to grasp the object to be transported located at the node where Gp is ​​set. Gw is an operation setting that causes the mobile body to position itself at a predetermined stopping angle at the node where Gw is set, pause briefly, and then move forward. Ch is an operation setting that causes the mobile body to connect to a charging device located at the node where Ch is set and receive power. Hm is an operation setting that causes the mobile body to wait at the node where Hm is set. The target model is the model (also called type) of mobile body that can pass through (are available for use) the node. The stopping angle is the required positioning angle for a mobile object when it stops at a node. On the map, nodes are marked with the letter "No". Furthermore, nodes with a set operation (Gp, Ch, Gw, Hm, etc.) are marked with a symbol representing the set operation ("Gp", "Ch", "Gw", "Hm", etc.) instead of "No". Attribute information that can be set on a path may include the target model, etc. The target model is the model (also called type) of mobile object that can pass through the path. The movement path 70 shown in Figure 2 is an example of movement information shown by the first movement information. The movement path 70 in Figure 2 has multiple nodes 70a to 70d and multiple paths 70e to 70g. The setting operation "Ch" is set on node 70a.

[0023] Furthermore, since the second map MP2 held by the second mobile body 30B is represented in a second coordinate system, the second mobile body 30B needs to be instructed on its movement path in the second coordinate system. When the second mobile body 30B receives second path information representing the movement path in the second coordinate system, it can move according to the second path information. The second path information includes at least the position coordinates of the destination to which the second mobile body 30B will move, and the second mobile body 30B can move to the destination point according to the second path information. The second path information may also include the position coordinates of one or more waypoints that the second mobile body 30B will pass through before reaching the destination point, and the second mobile body 30B can move to the destination point by passing through one or more waypoints.

[0024] The second route information includes second attribute information. The second attribute information is information attached to the travel path indicated by the second route information, and defines a predetermined operation (setting operation) to be performed by the second mobile body on the travel path indicated by the second route information. The second attribute information is defined in second format. The second format is the format used by the second mobile body 30B (i.e., the format used by the second mobile body control system 20B), and means, for example, a format. By reading the second attribute information, the second mobile body 30B performs the setting operation defined by the second attribute information on the travel path indicated by the second route information.

[0025] In this embodiment, the map and movement information are collectively referred to as map information. That is, map information includes the movement route and the map. Furthermore, the first map information means map information using a coordinate system (first coordinate system) and format (first format) usable by the first mobile control system 20A (i.e., map information usable by the first mobile control system 20A). Furthermore, the second map information means map information using a coordinate system (second coordinate system) and format (second format) usable by the second mobile control system 20B (i.e., map information usable by the second mobile control system 20B). Furthermore, the first attribute information is assumed to be included in the first movement route, but it is sufficient if it is included in the first map information. The second attribute information is assumed to be included in the second movement route, but it is sufficient if it is included in the second map information.

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

[0027] In this embodiment, the support system 10 provides support so that the first mobile body control system 20A for controlling the first mobile body 30A can control the movement of the second mobile body 30B via the second mobile body control system 20B for controlling the second mobile body 30B.

[0028] Furthermore, the control system 40 is composed of the support system 10 of this embodiment and the first mobile body control system 20A. In other words, the control system 40 comprises the support system 10 and the first mobile body control system 20A. As shown in Figure 1, the first mobile body control system 20A includes a processing unit 21A. The processing unit 21A creates first map information including a movement path represented in a first coordinate system. The conversion unit 119 of the support system 10 converts the first map information created by the processing unit 21A into second map information. The second map information output from the output unit 120 of the support system 10 is input to the second mobile body control system 20B.

[0029] This configuration allows the first map information created by the first mobile control system 20A to be converted into second map information. This makes it easy to deploy the first map information using the first coordinate system to the second mobile control system 20B.

[0030] Furthermore, the support system 10 and the first mobile body control system 20A of this embodiment constitute a transport system 60 that transports objects to be transported by the first mobile body 30A and the second mobile body 30B. In other words, the transport system 60 comprises the support system 10 and the first mobile body control system 20A. The first mobile body control system 20A 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 the transport operation of transporting objects to be transported.

[0031] The first mobile body 30A and the second mobile body 30B of this embodiment perform, for example, transport operations to transport objects. The first mobile body 30A and the second mobile body 30B are used, for example, in a factory where a component mounting machine (so-called mounter) for mounting components onto a substrate is installed as a manufacturing device, to transport a component supply module that supplies components to the component mounting machine, which is a manufacturing device. In other words, the objects to be transported by the first mobile body 30A and the second mobile body 30B may include a component supply module. The objects to be transported by the first mobile body 30A and the second mobile body 30B may be the components themselves to be mounted on the substrate, or a trolley capable of accommodating the components to be mounted on the substrate. In other words, the objects to be transported by the first mobile body 30A and the second mobile body 30B may include at least one of the components to be mounted on the substrate and a component supply module that supplies components to a manufacturing device for mounting components onto the substrate.

[0032] With this configuration, the first mobile body control system 20A can control the first mobile body 30A and the second mobile body 30B to perform the transport operation of transporting the object to be transported.

[0033] (2) Details below, the transport system 60 equipped with the support system 10 according to this embodiment will be described with reference to the drawings.

[0034] As shown in Figure 1, the transport system 60 comprises a support system 10, a first mobile body control system 20A, a first mobile body 30A, and a second mobile body 30B.

[0035] The support system 10, the first mobile control system 20A, the first mobile unit 30A, and the second mobile unit 30B will be described below with reference to the drawings. The second mobile control system 20B will also be described.

[0036] (2.1) First mobile body The first mobile body 30A is, for example, an autonomous transport robot for transporting objects within a facility, and autonomously travels to a destination by towing or loading the objects.

[0037] The first mobile unit 30A comprises a control unit 31A, a communication unit 32A, a driving mechanism 33A, a storage unit 34A, and a range sensor 35A. The first mobile unit 30A also includes, for example, a storage battery and operates using the electrical energy stored in the storage battery.

[0038] The communication unit 32A can communicate with the first mobile control system 20A via the repeater 50 and the communication network NT1. For example, a wireless communication method is used as the communication method between the communication unit 32A and the repeater 50.

[0039] Here, the repeater 50 is a device (access point) that relays communication between the first mobile unit 30A and the first mobile unit control system 20A, and communication between the second mobile unit 30B and the second mobile unit control system 20B. In Figure 1, there is only one repeater 50, but multiple repeaters 50 may be installed in the facility on which the first mobile unit 30A and the second mobile unit 30B move. The repeater 50 communicates with the first mobile unit 30A and the second mobile unit 30B using a wireless communication method compliant 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 first mobile unit control system 20A and the second mobile unit control system 20B via a communication network NT1 such as the Internet. Note that the communication network NT1 is not limited to the Internet, but may be, for example, a local communication network within the facility or within the facility's operating company.

[0040] The driving mechanism 33A moves the first mobile body 30A in a desired direction at a desired speed by individually controlling the rotational speed and rotational direction of the multiple drive wheels provided on the first mobile body 30A based on control commands input from the control unit 31A, for example.

[0041] The range sensor 35A includes, for example, a LiDAR (Light Detection and Ranging) sensor that detects the surrounding conditions of the first mobile body 30A. The range sensor 35A detects, for example, the presence or absence of objects (manufacturing equipment, walls, or people, etc.) and the position (distance and direction) of objects within the detection area around the first mobile body 30A. The objects to be detected by the range sensor 35A also include other first mobile bodies 30A or second mobile bodies 30B, etc. The range sensor 35A is not limited to LiDAR, and may also be an image sensor (camera), sonar sensor, or radar sensor capable of detecting the surrounding conditions of the first mobile body 30A.

[0042] The storage unit 34A includes, for example, memory such as RAM (Random Access Memory) and ROM (Read Only Memory). The storage unit 34A stores identification information assigned to the first mobile body 30A, map information of the first map MP1 of the facility to which the first mobile body 30A moves, and so on. The first map MP1 stored in the storage unit 34A may be created, for example, based on information about the positions of objects detected by the range sensor 35A when the first mobile body 30A moves within the facility.

[0043] The control unit 31A primarily consists of a computer system including memory and a processor. That is, the functions of the control unit 31A are realized when the processor executes a program recorded in the computer system's memory. The program may be pre-recorded in memory, provided via telecommunication lines such as the Internet, or provided on a non-temporary recording medium such as a memory card.

[0044] The control unit 31A performs self-position estimation to estimate the current position of the first moving object 30A by, for example, comparing the surrounding shape data detected by the range sensor 35 with the first electronic map stored in the storage unit 34A.

[0045] Further, the control unit 31A has a control function of controlling the traveling mechanism 33A based on the first path information input from the first movement control system 20A via the communication network NT1 and the repeater 50, and moving the first moving body 30A along the first movement path. Further, the control unit 31A has a control function of controlling the traveling mechanism 33A based on the first attribute information included in the first path information, and causing the first moving body 30A to perform a setting operation defined by the first attribute information.

[0046] The first moving body 30A appropriately includes components other than those described above, such as a charging circuit for a storage battery and a user interface. The user interface is a component for inputting information such as commands to the first moving body 30A.

[0047] (2.2) Second Moving Body The second moving body 30B is an autonomous transport robot for transporting a conveyed object within a facility, similar to the first moving body 30A, and autonomously travels to a destination while towing or loading the conveyed object.

[0048] Since the second moving body 30B has the same configuration as the first moving body 30A, for the common components 31A to 35A, the "A" after the symbol of the common component is replaced with "B" to obtain symbols 31B to 35B, and the description thereof is omitted.

[0049] The control unit 31B of the second moving body 30B performs self-position estimation for estimating the current position of the second moving body 30B by comparing, for example, the surrounding shape data detected by the measurement area sensor 35B with the second map stored in the storage unit 34B.

[0050] Further, the control unit 31 of the second moving body 30B has a control function of controlling the traveling mechanism 33B based on the second path information input from the second movement control system 20B via the communication network NT1 and the repeater 50, and moving the second moving body 30B along the second movement path. Further, the control unit 31B of the second moving body 30B has a control function of controlling the traveling mechanism 33B based on the second attribute information included in the second path information, and causing the second moving body 30B to perform a setting operation defined by the second attribute information.

[0051] Note that the second mobile body control system 20B is not included in the configuration of the transport system 60. The transport system 60 assumes that the second mobile body control system 20B is also in operation at the facility where the transport system 60 is operating. The support system 10 assists the first mobile body control system 20A so that it can control the movement of the second mobile body 30B via the second mobile body control system 20B, which is operating at the same facility. More specifically, the support system 10 converts first map information (i.e., map information created by the first mobile body control system 20A), which includes a movement path expressed in a first coordinate system, into second map information and outputs the converted second map information. The second map information includes a movement path (second movement path) that the second mobile body 30B can move along, expressed in a second coordinate system, and forms the basis of the second path information output from the second mobile body control system 20B to the second mobile body 30B. The second mobile unit control system 20B generates second route information based on the second map information output from the support system 10 and outputs the generated second route information to the second mobile unit 30B. The control unit 31 of the second mobile unit 30B controls the travel mechanism 33 based on the second route information output from the second mobile unit control system 20B and moves the second mobile unit 30B according to the second travel path.

[0052] (2.3) Support System The support system 10 comprises a processing unit 11, an input unit 12, a display unit 14, a storage unit 15, and a communication unit 16.

[0053] The support system 10 is implemented, for example, on a computer device used by the user of the support system 10.

[0054] The display unit 14 is implemented, for example, by a display device such as a liquid crystal display provided by a computer device. The display unit 14 can display the operation screen of the second mobile control system 20B via screen sharing.

[0055] The input unit 12 is, for example, an input device such as a mouse and keyboard provided by a computer device. The input unit 12 is an input device for the user to manually input various types of information into the support system 10. The user inputs, for example, coordinate transformation information and format transformation information, described later, into the input unit 12.

[0056] The storage unit 15 includes, for example, memory such as RAM and ROM, and / or external storage devices such as hard disks and SSDs (Solid State Drives). The storage unit 15 stores control programs for operating the processing unit 11, and various information used in the processing of the processing unit 11. The storage unit 15 also stores various information acquired via the input unit 12 or the communication unit 16.

[0057] The communication unit 16 is configured to communicate with the first mobile control system 20A via the communication network NT1. Furthermore, the communication unit 16 is configured to communicate with the second mobile control system 20B via the communication network NT1.

[0058] The processing unit 11 primarily consists of a computer system including memory and a processor. That is, the functions of the processing unit 11 are realized when the processor executes a program recorded in the computer system's memory. The program may be pre-recorded in memory, provided via telecommunication lines such as the Internet, or provided on a non-temporary recording medium such as a memory card.

[0059] The processing unit 11 includes a first acquisition unit 111, an extraction unit 112, a prohibition setting unit 113, a second acquisition unit 114, an output unit 115, a third acquisition unit 116, a fourth acquisition unit 117, a designation unit 118, a conversion unit 119, and an output unit 120. Note that the first acquisition unit 111, the extraction unit 112, the prohibition setting unit 113, the second acquisition unit 114, the output unit 115, the third acquisition unit 116, the fourth acquisition unit 117, the designation unit 118, the conversion unit 119, and the output unit 120 merely represent functions realized by the processing unit 11 and do not necessarily represent an actual configuration.

[0060] The first acquisition unit 111 acquires first map information from the first mobile control system 20A via the communication unit 16. The first map information includes travel routes expressed in a first coordinate system (more specifically, all travel routes that the first mobile body 30A and the second mobile body 30B can travel). All of the above travel routes are created, for example, by the processing unit 21A of the first mobile control system 20A, which will be described later. The first acquisition unit 111 stores the acquired first map routes in the storage unit 15.

[0061] The extraction unit 112 retains, from all the travel routes (first travel routes) included in the first map information (or the first map information stored in the storage unit 15) acquired by the first acquisition unit 111, the travel routes that meet the conditions for use by the second mobile body 30B. In other words, the extraction unit 112 extracts travel routes from the travel routes (first travel routes) included in the first map information, removing the parts that do not meet the conditions for use by the second mobile body 30B (unsuitable travel routes). Travel routes that meet the conditions for use by the second mobile body 30B are, for example, travel routes that lead to the destination point of the second mobile body 30B, or travel routes that have been selected as a model (type) that the second mobile body 30B can use. In the case of unsuitable travel routes that do not meet the conditions for use by the second mobile body 30B, the second mobile body 30B has not been selected as a usable model. Furthermore, the extraction unit 112 removes all first attribute information (incompatible attribute information) from the first map information, retaining only the first attribute information associated with the retained travel routes. The extraction unit 112 then generates first map information that includes the travel routes from which the incompatible travel routes have been removed (first travel routes) and the first attribute information associated with the travel routes from which the incompatible travel routes have been removed.

[0062] The prohibition setting unit 113 sets an entry-restricted area in the corresponding area of ​​the second map information that corresponds to the entry-restricted area set in the first map information when the conversion unit 119 converts the first map information to the second map information, as described later. In other words, it performs a process to reflect all the entry-restricted areas set in the first map information to the second map information. Furthermore, if there is an incompatible travel path in the first map information, the prohibition setting unit 113 may set an entry-restricted area in the corresponding area of ​​the second map information that corresponds to the area containing the incompatible travel path. More specifically, the prohibition setting unit 113, for example, finds a certain area containing an incompatible travel path in the first map MP1 included in the first map information, finds a corresponding area in the second map MP2 included in the second map information MJ2 that corresponds to the found certain area, and sets an entry-restricted area in the found corresponding area. This makes it possible to appropriately set the travel range of the second mobile body 30B. Furthermore, if there is a no-entry area set in the first map information independently of the incompatible travel route, the prohibition setting unit 113 sets a no-entry area in the corresponding area of ​​the second map information that corresponds to that no-entry area. No-entry areas set independently of the incompatible travel route may be set for safety reasons or to prevent collisions with fixed objects such as building walls and pillars or objects placed on the floor. Such no-entry areas may not only be set by humans but may also be set automatically by AI (artificial intelligence).

[0063] The second acquisition unit 114 acquires coordinate transformation information and format transformation information input to the input unit 12 by the user. The coordinate transformation information is information used to create a coordinate transformation formula for transforming position coordinates in the first coordinate system to position coordinates in the second coordinate system. The coordinate transformation information includes, for example, information regarding the position coordinates of a predetermined reference point in the first coordinate system (first transformation information) and information regarding the position coordinates of the same predetermined reference point in the second coordinate system (second transformation information). The first transformation information is information regarding the coordinate system (first coordinate system) used in the map information (first map information) used in the first mobile control system 20A. The second transformation information is information regarding the coordinate system (second coordinate system) used in the map information (second map information) used in the second mobile control system 20B. The format transformation information is information necessary to create a transformation formula (format transformation formula) for transforming the format used in the first attribute information (first format) to the format used in the second attribute information (second format). Format conversion information includes, for example, information about a first format (first format information) and information about a second format (second format information). Here, the above format is, for example, a format.

[0064] More specifically, the user uses, for example, a first map (i.e., a map using the first coordinate system) MP1 available in the first mobile control system 20A to determine the position coordinates of the predetermined reference point in the first coordinate system. The user also uses a second map (i.e., a map using the second coordinate system) MP2 available in the second mobile control system 20B to determine the position coordinates of the predetermined reference point in the second coordinate system. The user then inputs the obtained position coordinates of the predetermined reference point in the first coordinate system and the obtained position coordinates of the predetermined reference point in the second coordinate system into the input unit 12. The user also inputs, as format conversion information, the format of the first attribute information (first format) used in the first map information available in the first mobile control system 20A, corresponding to the format of the second attribute information (second format) of the second attribute information used in the second map information available in the second mobile control system 20B, into the input unit 12. For example, the format of the setting operation "Gp," which is an example of the first attribute information, is entered into the input unit 12 in correspondence with the format of the setting operation "Gp'," which is an example of the second attribute information with the corresponding content. Here, it is assumed that the setting operation "Gp'," which is an example of the second attribute information, is a setting operation with the same content as the setting operation "Gp."

[0065] The derivation unit 115 derives a coordinate transformation formula for transforming the position coordinates of the first coordinate system to the position coordinates of the second coordinate system, based on the coordinate transformation information acquired by the second acquisition unit 114. The derivation unit 115 also derives a transformation formula (format transformation formula) for transforming the first attribute information (i.e., attribute information defined in the first format) to the corresponding second attribute information (i.e., attribute information defined in the second format), based on the format transformation information acquired by the second acquisition unit 114.

[0066] The third acquisition unit 116 acquires the raw data of the second map information used by the second mobile control system 20B, or image data of the second map included in the second map information (i.e., a map image in image format). The raw data of the second map information refers to the second map information that does not include the travel route. More specifically, the third acquisition unit 116 acquires the raw data of the second map information or a map image in image format from the second mobile control system 20B via the communication unit 16.

[0067] The fourth acquisition unit 117 acquires information from the second mobile control system 20B regarding an operation screen used by the second mobile control system 20B that is screen-shareable. The operation screen is an operation screen for creating second map information (i.e., map information including a second movement path expressed in a second coordinate system and second attribute information defined in a second format) used by the second mobile control system 20B through screen operations. More specifically, the fourth acquisition unit 117 may acquire information about the operation screen by accessing the second mobile control system 20B via the communication unit 16, or it may acquire information about the operation screen by acquiring an application for creating the second map information. When acquiring the application, the operation screen can be shared on the display unit 14 of the support system 10 by starting the application on the support system 10.

[0068] The designation unit 118 specifies, from among a plurality of conversion methods, the conversion method to be used when converting the first map information generated by the extraction unit 112 into the second map information. That is, the designation unit 118 specifies, from among the plurality of conversion methods, the conversion method to be executed by the conversion unit 119, which will be described later. The converted second map information is map information in which the movement path is represented in the second coordinate system and the attribute information is defined in the second format (i.e., map information usable by the second mobile body control system 20B). Furthermore, the converted second map information includes the movement path that the second mobile body can travel and is the map information that forms the basis of the second route information indicating the movement path (movement path in the second coordinate system) to be output to the second mobile body 30B.

[0069] The above-mentioned multiple conversion methods include the first conversion method, the second conversion method, the third conversion method, and the fourth conversion method.

[0070] The first conversion method is a conversion method that uses raw data of the second map information usable by the second mobile control system. If raw data of the second map information is available, the first path information of the first coordinate system contained in the first map information is converted to the second movement path of the second coordinate system using a predetermined coordinate conversion formula, the converted second movement information is set in the raw data, and the first attribute information contained in the first map information is converted to second attribute information defined in the second format using a predetermined format conversion formula, and the converted second attribute information is set in the raw data, thereby enabling the generation of the second map information from the first map information. In other words, the first map information can be converted to the second map information.

[0071] The predetermined coordinate transformation formula described above is a transformation formula that transforms the position coordinates of the first coordinate system to the position coordinates of the second coordinate system. The predetermined coordinate transformation formula can be created using the coordinate transformation information input to the second acquisition unit 114. Furthermore, the predetermined coordinate transformation formula can be created using the acquired raw data and the first map information which is always available. Furthermore, the predetermined format transformation formula described above is a transformation formula that transforms the first format used for the first attribute information to the second format used for the second attribute information. The predetermined format transformation formula can be created using the format transformation information input to the second acquisition unit 114. Furthermore, the predetermined coordinate transformation formula can be created by obtaining the format (second format) of the attribute information (second attribute information) that can be used in the acquired raw data, and using the obtained format (second format) and the first format used for the first attribute information used for the first map information which is always available.

[0072] The second conversion method is an operation screen used in the second mobile control system 20B to create second map information which forms the basis of second route information to be output to the second mobile body 30B, and is a conversion method that uses an operation screen that can be displayed on the display unit 14 via screen sharing. More specifically, the second conversion method is a conversion method in which the support system 10 controls operations on the screen-shared operation screen, and through operations on the operation screen, causes the second mobile control system 20B to create second map information which has the same content as the first map information for which prohibited areas have been set by, for example, the prohibition setting unit 113, thereby converting the first map information into the second map information.

[0073] The third conversion method is a conversion method that uses a map image (image-format map) IM2 representing the second map MP2 included in the second map information. The third conversion method is suitable when the second map information cannot be obtained, screen sharing of the operation screen is not possible, and the map image IM2 can be obtained. The third conversion method draws the movement path (corresponding movement path) and attribute information (corresponding attribute information) corresponding to the first movement path and first attribute information included in the first map information generated by the extraction unit 112 in image format on the acquired map image IM2. More specifically, the third conversion method draws the corresponding movement path in image format on the map image IM2. In addition, the third conversion method sets the position coordinates of the corresponding movement path (i.e., the position coordinates of the nodes (corresponding nodes) and paths (corresponding paths) that constitute the corresponding movement path) in image format around the corresponding movement path (corresponding nodes and corresponding paths) in the map image IM2 using the position coordinates of the second coordinate system. The position coordinates of the second coordinate system described above are obtained from the position coordinates of the first coordinate system of the first movement path using the coordinate transformation formula created by the derivation unit 115. In addition, the third transformation method sets a simple explanatory text (single sentence) or a mark indicating the content of the corresponding attribute information (attribute information corresponding to the first attribute information) set for the corresponding movement path in image format around the corresponding movement path (i.e., the corresponding node and corresponding path).

[0074] The fourth conversion method is a conversion method that outputs the first route information and the first attribute information contained in the first map information generated by the extraction unit 112 in text format.

[0075] The designation unit 118 designates one of the first, second, third, and fourth conversion methods based on whether the third acquisition unit 116 is acquiring raw data of the second map information from the second mobile control system 20B, whether the fourth acquisition unit 117 can share the operation screen of the second mobile control system 20B, and whether the third acquisition unit 116 is acquiring the map image from the second mobile control system 20B.

[0076] More specifically, if the third acquisition unit 116 is acquiring raw data of the second map information from the second mobile control system 20B, the designation unit 118 specifies the first conversion method. If the third acquisition unit 116 is unable to acquire the raw data and the fourth acquisition unit 117 is able to share the operation screen, the designation unit 118 specifies the second conversion method. If the third acquisition unit 116 is unable to acquire the raw data, the fourth acquisition unit 117 is unable to share the operation screen, and the third acquisition unit 116 is acquiring the map image, the designation unit 118 specifies the third conversion method. If the third acquisition unit 116 is unable to acquire the raw data, the fourth acquisition unit 117 is unable to share the operation screen, and the third acquisition unit 116 is unable to acquire the map image, the designation unit 118 specifies the fourth conversion method.

[0077] The conversion unit 119 can convert the first map information to the second map information using multiple different conversion methods (first to fourth conversion methods). Based on the conversion method specified by the designation unit 118, the conversion unit 119 converts the first map information generated by the extraction unit 112 into the second map information.

[0078] More specifically, when the designation unit 118 specifies the first conversion method, the third acquisition unit 116 acquires raw data of the second map information, the second acquisition unit 114 acquires coordinate transformation information and format transformation information from the input unit 12, and the derivation unit 115 derives coordinate transformation formulas and format transformation formulas, respectively, from the coordinate transformation information and format transformation information acquired by the second acquisition unit 114. Then, the conversion unit 119 converts the position coordinates of the first coordinate system to the position coordinates of the second coordinate system using the derived coordinate transformation formulas, and converts the first attribute information of the first format to second attribute information of the second format that corresponds to the first attribute information using the derived format transformation formulas, thereby converting the first map information to the second map information. More specifically, the conversion unit 119 generates the second map information from the first map information by setting the movement path expressed in the converted second coordinate system and the converted second attribute information into the raw data of the second map information acquired by the third acquisition unit 116. During the conversion performed by the conversion unit 119, the prohibition setting unit 113 sets the aforementioned no-entry zone in the second map information.

[0079] Furthermore, if the designation unit 118 specifies the second conversion method, the conversion unit 119 displays the screen-shared operation screen G1 (see Figure 5) on the display unit 14 and acquires control rights of the screen-shared operation screen G1 from the second mobile control system 20B. The conversion unit 119 then controls the operation input to the operation screen G1 to create map information that includes route information corresponding to the first route information contained in the first map information MJ1 (see Figure 6) generated by the extraction unit 112, and attribute information corresponding to the first attribute information contained in the first map information MJ1, thereby generating the second map information. In other words, the conversion unit 119 controls the operation input to the operation screen G1, causing the second mobile control system 20B to generate the second map information. At that time, the prohibition setting unit 113 sets the aforementioned no-entry areas in the map information generated by the conversion unit 119 by operating the screen-shared operation screen G1.

[0080] Figure 5 shows an example of a screen-shared operation screen G1. The operation screen G1 has a first display area R1 and a second display area R2. The first display area R1 is the area where the second map MP2 included in the second map information is displayed. The second display area R2 is the area where a plurality of button images B21 to B24 for operating the operation screen G1 are displayed. The plurality of button images B21 to B24 include a first button image B21 for setting nodes that constitute a movement path (second movement path), a second button image B22 for setting paths that constitute a movement path (second movement path), a third button image B23 for setting no-entry areas, and a fourth button image B24 for reflecting the set nodes, paths and no-entry areas in the second map information.

[0081] The memory unit 15 has the first to fifth processing procedures set. The first processing procedure is for setting a node on the second map MP2 on the operation screen G1. The second processing procedure is for setting attribute information (second attribute information) to the set node. The third processing procedure is for setting a path on the second map MP2 on the operation screen G1. The fourth processing procedure is for setting attribute information (second attribute information) to the set path. The fifth processing procedure is for setting a no-entry area on the second map MP2 displayed on the operation screen G.

[0082] When the conversion unit 119 sets a node (corresponding node) M1 on the second map MP2 of the operation screen G1 that corresponds to a certain node N1 that constitutes the first movement path 71 set on the first map MP1 of the first map information MJ1 (see Figure 6) generated by the extraction unit 112, it controls the operation input to the operation screen G1 according to the first processing procedure. Also, when setting attribute information (second attribute information) for the corresponding node M1, it processes according to the second operation procedure. More specifically, the conversion unit 119 selects the first button image B21 for setting a node on the second map MP2 of the operation screen G1, and selects the same position on the second map MP2 of the operation screen G1 as the position of a certain node N1 on the first map MP1. This selection causes the setting screen G2 (sub-window, see Figure 7) for setting detailed information of the corresponding node M1 to be displayed on the operation screen G1. The conversion unit 119 sets various items (position coordinates, setting operation, model used, stopping angle, etc.) displayed on the setting screen G2 by making selection operations or inputting numerical values.

[0083] For example, when setting the "Position Coordinates" item on the settings screen G2, the position coordinates of a node N1 (see Figure 6) in the second coordinate system (X=885, Y=243), obtained by transforming the position coordinates of the first coordinate system using a predetermined coordinate transformation formula, are entered into the input fields B1 for the X coordinate and B2 for the Y coordinate, which are displayed near the "Position Coordinates" display area on the operation screen G1. The predetermined coordinate transformation formula is a coordinate transformation formula derived by the derivation unit. This input sets a corresponding node M1 to a node N1 at the position specified by the coordinate position of the second coordinate system on the second map MP2.

[0084] Furthermore, when setting the "Setting Operation" item on the settings screen G2, select the setting operation (Ch) that corresponds to the setting operation (for example, Ch) set for a certain node N1 (see Figure 6) from among the multiple operation items (Gp, Gw, Ch, Cw, etc.) displayed on the operation screen G1. In the example in Figure 7, the setting operation for "Ch" is set by checking the selection field corresponding to "Ch" among the multiple selection fields B3.

[0085] Furthermore, when setting the "Model Used" item on the settings screen G2, select the same model used (for example, robot B) as the model used set in a certain node N1 (see Figure 6). In the example in Figure 7, robot B is set as the model used by checking the box for "Robot B" among the multiple selection fields B4. Note that robot A refers to the first mobile body 30A, and robot B refers to the second mobile body 30B. In this selection, at least one model can be selected from among the multiple models used. Note that the model used is the type of mobile body that can pass through (is usable) the node.

[0086] Furthermore, when setting the "Stop Angle" item on setting screen G2, input fields B5 and B6, which are displayed near the "Stop Angle" display area on setting screen G2, are set. Input field B5 is an input field for selecting whether or not to enable the setting of the stop angle. Input field B6 is an input field for entering the numerical value of the stop angle. If a stop angle is set for a certain node N1, the conversion unit 119 enters the same stop angle (270 degrees) as the set stop angle (for example, 270 degrees) into input field B6 and places a check mark in input field B5. Note that even in the case of screen sharing, the conversion unit 119 performs a coordinate transformation to convert the first coordinate system to the second coordinate system, and the input of the stop angle is performed, for example, simultaneously with that coordinate transformation. If a stop angle is not set for a certain node N1, the conversion unit 119 does not place a check mark in input field B5 and does not enter a numerical value in input field B6.

[0087] Then, once the conversion unit 119 has finished setting all items on the setting screen G2, it selects the "OK" button image B7 on the setting screen G2. This confirms the setting information (position coordinates, setting operation, model used, stopping angle, etc.) for the corresponding node M1 that corresponds to a certain node N1. As a result of this confirmation, the corresponding node M1 is set at the position corresponding to node N1 on the second map MP2 of the operation screen G1. In addition, the corresponding node M1 is set with setting information (second attribute information) that corresponds to the setting information (first attribute information) set for node N1.

[0088] Note that among the above setting information, the setting operation, the model used, and the stopping angle are attribute information (second attribute information) of the corresponding node M1. In this way, the corresponding node M1 (second movement path) corresponding to a certain node N1 that constitutes the first movement path 71 in Figure 6 is set in the second map MP2. Also, attribute information (second attribute information) is set for the corresponding node M1. Using a similar processing procedure, corresponding nodes M2 to M6 corresponding to the remaining nodes N2 to N6 that constitute the first movement path 71 of the first map information MJ1 are set in the second map MP2, and attribute information (second attribute information) is set for the set corresponding nodes M2 to M6. Note that among the first attribute information set for nodes N1 to N6, attribute information that is not displayed in the items on the setting screen G2 is not reflected in the second map information MJ2.

[0089] When the conversion unit 119 sets a path (corresponding path) Q1 on the second map MP2 of the operation screen G1 that corresponds to a certain path (travel path) P1 which constitutes the first travel path 71 set in the first map MP1 of the first map information MJ1, it controls the operation input to the operation screen G1 according to the third processing procedure. Furthermore, when setting attribute information (second attribute information) for the corresponding path Q1, it performs processing according to the fourth processing procedure. More specifically, the conversion unit 119 selects the second button image B22 for setting the path (corresponding path) on the operation screen G1. This selection displays a setting screen G3 (sub-window, see Figure 8) on the operation screen G1 for setting detailed information of the corresponding path Q1. The conversion unit 119 sets various items (start and end coordinates of the path (corresponding path), model used, etc.) displayed on the setting screen G3 by making selection operations. For example, when setting the "start coordinates" and "end coordinates" items of a path on the setting screen G3, the conversion unit 119 inputs the start coordinates of the second coordinate system (X=841, Y=275), obtained by transforming the start coordinates of the first coordinate system of path P1 in Figure 6 using a predetermined coordinate transformation formula, into the input field B9 for the X coordinate and the input field B10 for the Y coordinate, which are displayed near the "start coordinates" display area on the setting screen G3. The conversion unit 119 also inputs the end coordinates of the second coordinate system (X=241, Y=275), obtained by transforming the end coordinates of the first coordinate system of path P1 in Figure 6 using a predetermined coordinate transformation formula, into the input field B11 for the X coordinate and the input field B12 for the Y coordinate, which are displayed near the "end coordinates" display area on the setting screen G3.

[0090] Furthermore, when setting the "Model Used" item on the settings screen G3, select the same model used (for example, Robot B) as the model used set in path P1 in Figure 6. In the example in Figure 8, Robot B is set as the model used by checking the box for "Robot B" among the multiple selection fields B13.

[0091] Then, once the conversion unit 119 has finished setting all items on the setting screen G3, it selects the "OK" button image B14 on the setting screen G3. This confirms the setting information for the corresponding path Q1 that corresponds to path P1 (start and end coordinates of the corresponding path Q1, the model used, etc.). With this confirmation, the corresponding path Q1 that corresponds to path P1 in Figure 6 is set on the second map MP2 of the operation screen G1. In addition, the setting information (second attribute information) that corresponds to the setting information (first attribute information) set for path P1 is set for the corresponding path Q1.

[0092] Of the above configuration information, the model used is attribute information (second attribute information) of the corresponding path Q1. In this way, the corresponding path Q1 corresponding to a certain path P1 that constitutes the first travel route 71 in Figure 6 is set in the second map MP2. Using a similar processing procedure, the corresponding paths Q2 to Q5 corresponding to the remaining paths P2 to P5 that constitute the first travel route 71 are set in the second map MP2.

[0093] The prohibition setting unit 113 sets an entry prohibition area S20 (see Figure 5) on the second map MP2 of the operation screen G1, which prohibits the entry of the second mobile body 30B. In this embodiment, the entry prohibition area S20 (see Figure 5) which prohibits the entry of the second mobile body 30B is set in the corresponding area of ​​the second map information MJ2 that corresponds to a certain area R20 including the non-conforming movement path P6a that was removed in the first map information MJ1 of Figure 6. The portion P6a shown by the dashed line in Figure 6 is the non-conforming movement path P6a that was removed by the extraction unit 112. The area S20 shown by the dotted line in Figure 5 is the corresponding area (entry prohibition area) in the second map MP2 of the second map information MJ2 that corresponds to a certain area R20 in the first map information MJ1 of Figure 6.

[0094] More specifically, when the prohibition setting unit 113 sets an entry-restricted area S20 in the second map MP2 of the operation screen G1 (see Figure 5) in a corresponding area corresponding to a certain area R20 of the first map MP1 in Figure 6, it controls the operation input to the operation screen G1 according to the fifth processing procedure. More specifically, the prohibition setting unit 113 selects the third button image B23 for setting the entry-restricted area on the operation screen G1. This selection displays a setting screen G4 (sub-window, see Figure 9) for setting detailed information of the entry-restricted area on the operation screen G1. The prohibition setting unit 113 sets various items (X coordinate range and Y coordinate range of the entry-restricted area, model used, etc.) displayed on the setting screen G4 by making selection operations or inputting numerical values.

[0095] For example, when setting the "X-coordinate range" item on the settings screen G4, the coordinate range of the second coordinate system (126 ≤ X ≤ 372, 273 ≤ Y ≤ 632) obtained by transforming the X-coordinate range in the first coordinate system of a certain area R20 of the first map information MJ1 in Figure 6 using a predetermined coordinate transformation formula is entered into the input fields B15, B16 for the X-coordinate range and B17, 18 for the Y-coordinate range, which are displayed near the "X-coordinate range" display area on the settings screen G4.

[0096] Furthermore, when setting the "Model Used" item on the setting screen G4, the prohibition setting unit 113 selects all selectable models used (e.g., robot B) other than the model used that was set in the incompatible movement path P6a (movement path) that was removed by the extraction unit 112 in the first map information MJ1 (Figure 6) (e.g., robot A). In the example in Figure 9, the model used is set by checking the selection field for robot B among the multiple selection fields B19. Note that "Model Used" refers to the model used (type of moving object) that is prohibited from entering the no-entry area S20.

[0097] Then, once the prohibition setting unit 113 has finished setting all items on the setting screen G4, it selects the "OK" button image B20 on the setting screen G4. This confirms the setting information for the no-entry area S20 set in the second map information MJ2 (X coordinate range and Y coordinate range of the no-entry area, model used, etc.). With this confirmation, the no-entry area S20, which prohibits robot B (i.e., the second mobile body 30B) from entering, is set on the second map MP2 of the operation screen G1 in the corresponding area that corresponds to a certain area R20 obtained on the first map MP1 of the first map information MJ1.

[0098] Then, the conversion unit 119 controls the operation input to the operation screen G1, and when a movement path (second movement path) 81 corresponding to the first movement path 71 and a no-entry area S20 are set on the second map MP2, it selects the fourth button image B24 on the operation screen G1. This selection reflects the second movement path 81 and the no-entry area S20 set on the second map MP2 into the second map information. This reflection generates second map information including the second movement path 81. In other words, the first map information MJ1 in Figure 6 is converted into second map information.

[0099] In this way, the conversion unit 119 converts the first map information MJ1 into the second map information by controlling the operation input to the operation screen G1 and generating the second map information from the first map information MJ1 in Figure 6.

[0100] Furthermore, if the designation unit 118 specifies the third conversion method, the third acquisition unit 116 acquires the map image (i.e., image-format map) IM2 (see Figure 10) of the second map MP2 used in the second map information. The conversion unit 119 draws the first movement path 71 and the first attribute information contained in the first map information MJ1 (see Figure 6) generated by the extraction unit 112 onto the acquired map image IM2 in image format. The drawn map image IM2 is referred to as map image MG2. More specifically, the conversion unit 119 draws the first movement path 71 contained in the first map information MJ1 onto the map image IM2 as the second movement path 82 in image format. Even more specifically, the conversion unit 119 draws each node N1 to N6 of the first movement path 71 in Figure 6 onto the map image IM2 as each node E1 to E6 in image format. Furthermore, the transformation unit 119 renders each path P1 to P5 of the first movement path 71 in Figure 6 as paths F1 to F5 in image format on the map image IM2. The transformation unit 119 also renders the position coordinates of each node E1 to E6 in image format near each node E1 to E5 on the map image IM2, using the position coordinates of the second coordinate system. The position coordinates of the second coordinate system are obtained from the position coordinates of the first coordinate system of each node N1 in Figure 6 using the coordinate transformation formula derived by the derivation unit 115. Furthermore, the transformation unit 119 renders the attribute information of each node E1 to E6 in image format near each node E1 to E5 on the map image IM2. Furthermore, the transformation unit 119 renders the attribute information of each path F1 to F5 in image format near each path F1 to F5 on the map image IM2. Furthermore, the prohibition setting unit 113 draws an entry-restricted area in image format in the map image IM2, corresponding to a certain area R20 determined on the first map information MJ1, in a corresponding area U20. Hereinafter, this will be referred to as the entry-restricted area U20. In addition, the prohibition setting unit 113 draws information in image format around the drawn entry-restricted area U20, including information on the coordinate range of the entry-restricted area U20 in the second coordinate system, and information on the types of user models that are prohibited from entering the entry-restricted area U20 (more specifically, all selectable user models other than those set in the incompatible travel path P6a that was removed by the extraction unit 112).In the example in Figure 10, for convenience, only the position coordinates (position coordinates in the second coordinate system) and attribute information (setting operation "Ch") of node E1 are drawn in image format by a rectangular frame 601. However, in reality, the position coordinates and attribute information of all nodes E1 to E6 and all paths F1 to F5 are also drawn in image format. In addition, although not shown in the example in Figure 10, information on the coordinate range of the no-entry area U20 in the second coordinate system and the type of vehicle that can be used for the no-entry area are drawn in image format around the no-entry area U20. In this way, the conversion unit 119 forms the second map information MJ2, which is an image-format map image (map image after drawing) MG2, from the first map information MJ1 in Figure 6. That is, the conversion unit 119 converts the first map information MJ1 into the image-format second map information MJ2.

[0101] If the designation unit 118 specifies the fourth conversion method, the conversion unit 119 outputs the first map information MJ1 (see Figure 6) generated by the extraction unit 112 as text-formatted information (second map information). More specifically, the conversion unit 119 outputs the position coordinates of each node N1 to N6 in the second coordinate system, the start and end coordinates of each path P1 to P5 in the second coordinate system, and the first attribute information of each node N1 to N6 and each path P1 to P6 as text-formatted map information (second map information). At this time, the prohibition setting unit 113 determines a certain area R20 from the first map information MJ1, determines the coordinate range (no-entry area) in the second coordinate system corresponding to the determined certain area R20, and includes the determined coordinate range (no-entry area) in text format in the map information. In other words, second map information in text format is generated from the first map information MJ1 in Figure 6. In other words, the first map information MJ1 is converted into the second map information in text format.

[0102] The output unit 120 outputs the second map information converted by the conversion unit 119 to the outside of the processing unit 11. The output unit 120 changes the output destination according to the conversion method specified by the designation unit 118. If the designation unit 118 specifies the first conversion method, the output unit 120 outputs the second map information converted by the conversion unit 119 from the communication unit 16 to the second mobile control system 20B via the communication network NT1. The second map information output from the output unit 120 is read into the second mobile control system 20B.

[0103] Furthermore, if the designation unit 118 specifies the second conversion method, the output unit 120 outputs the second map information converted by the conversion unit 119 from the communication unit 16 to the second mobile control system 20B via the communication network NT1. The second map information output from the output unit 120 is read into the second mobile control system 20B.

[0104] Furthermore, if the designation unit 118 specifies a third conversion method, the output unit 120 displays the map image in image format (second map information) on the display unit 14. This makes it possible to confirm the map image in image format generated by the conversion unit 119 on the display unit 14.

[0105] Furthermore, if the designation unit 118 specifies the fourth conversion method, the output unit 120 displays the map information in text format (second map information) on the display unit 14. This makes the map information in text format generated by the conversion unit 119 verifiable on the display unit 14.

[0106] (2.4) First Mobile Control System As shown in Figure 1, the first mobile control system 20A includes a processing unit 21A, a communication unit 22A, a storage unit 23A, an input unit 24A, and a display unit 25A.

[0107] The communication unit 22A can communicate with the support system 10 via the communication network NT1. Furthermore, the communication unit 22A can communicate with the first mobile unit 30A via the communication network NT1 and the repeater 50. The communication method of the communication unit 22A may be either a wired communication method or a wireless communication method.

[0108] The storage unit 23A may include, for example, memory such as RAM or ROM, or an external storage device such as a hard disk or SSD. It stores a control program for operating the first mobile control system 20A and various information used in the processing of the first mobile control system 20A. The storage unit 23A also stores information regarding the model of the first mobile unit 30A and information regarding the model of the second mobile unit 30B.

[0109] The input unit 24A is, for example, an input device such as a mouse and keyboard provided by a computer device. The input unit 24A is an input device for a user to manually input various information into the first mobile control system 20A.

[0110] The display unit 25A is a display device capable of displaying an operation screen for generating the first map information described later, and is, for example, a liquid crystal display.

[0111] The processing unit 21A primarily consists of a computer system including memory and a processor. That is, the functions of the processing unit 21A are realized when the processor executes a program recorded in the computer system's memory. The program may be pre-recorded in memory, provided via telecommunication lines such as the Internet, or provided on a non-temporary recording medium such as a memory card.

[0112] When the communication unit 22A receives a transport command from a higher-level system that manages the transport operation of the transported object, the processing unit 21A creates a control command to control the movement and operation of the first mobile body 30A based on the transport command. Here, the transport command is information for instructing the transport of the transported object, and includes at least the position information of the first position which is the source of the transported object, and the position information of the second position which is the destination of the transported object. The control command created by the processing unit 21A also includes first path information that represents the movement path from the first position to the second position. The first path information is expressed in a first coordinate system. That is, the processing unit 21A creates first path information that represents the movement path in a first coordinate system. First attribute information is set for the nodes and paths that constitute the movement path. The first attribute information includes attribute information that causes the mobile body to perform a predetermined operation (e.g., Gp, Gw, Ch, Cw, etc.) when the mobile body passes through (or is located at) a node or path which the first attribute information is set for the mobile body. The first attribute information is defined in a first format. The first route information only needs to include at least the location information of the first position and the location information of the second position. The first route information may further include the location information of intermediate points that are passed through on the way from the first position to the second position.

[0113] The processing unit 21A causes the communication unit 22A to transmit a control command, including the created first route information and first attribute information, to the mobile object to be controlled (first mobile object 30A) via the communication network NT1 and the repeater 50. The first mobile object 30A moves along the travel path indicated by the first route information, in accordance with the control command from the first mobile object control system 20A, and performs predetermined operations indicated by the first attribute information set on the travel path.

[0114] The processing unit 21A creates first map information which forms the basis of second map information which forms the basis of second path information for controlling the movement and operation of the second mobile body 30B. This first map information includes movement paths (e.g., all movement paths) that the second mobile body 30B can travel on, expressed in a first coordinate system. Furthermore, this first map information also includes movement paths (e.g., all movement paths) that the first mobile body 30A can travel on, expressed in a first coordinate system. This first map information further includes first attribute information defined in a first form. The first attribute information defines the operation of at least one of the first mobile body 30A and the second mobile body 30B. The first attribute information is set on at least one of the nodes and paths that constitute the movement paths included in the first map information. The first attribute information causes at least one of the first mobile body and the second mobile body that passes through (or is located at) the nodes and paths on which the first attribute information is set to perform a predetermined operation (e.g., Gp, Gw, Ch, Cw, etc.).

[0115] More specifically, the processing unit 21A generates the first map information (i.e., map information that forms the basis of the second map information) based on user input to the input unit 24A. The display unit 25A can display an operation screen for creating the first map information. The user creates the first map image that forms the basis of the second map image by operating the operation screen displayed on the display unit 25A.

[0116] The processing unit 21A outputs the created first map information to the support system 10 via the communication unit 22A. The support system 10 performs predetermined processing (such as limiting the movement path) on the first map information from the first mobile control system 20A, and then converts the processed first map information into second map information. During this conversion, the aforementioned no-entry zones are set in the second map information. The converted second map information is input as map information from the communication unit 16 of the support system 10 to the second mobile control system 20B, or is manually input from the input unit 24B to the second mobile control system 20B. Based on the input second map information, the second mobile control system 20B generates second route information and second attribute information for controlling the second mobile body 30B, generates a control command including the generated second route information and second attribute information, and transmits the generated control command to the second mobile body 30B via the communication unit 32 and the repeater 50. The second mobile body 30B moves along the movement path indicated by the second route information included in the control command from the second mobile body control system 20B, and performs predetermined operations indicated by the second attribute information set on the movement path.

[0117] (2.5) Second Mobile Control System The second mobile control system 20B has the same configuration as the first mobile control system 20A. That is, as shown in Figure 1, the second mobile control system 20B includes a processing unit 21B, a communication unit 22B, a storage unit 23B, and an input unit 24B.

[0118] The communication unit 22B can communicate with the support system 10 via the communication network NT1. Furthermore, the communication unit 22B can communicate with the second mobile unit 30B via the communication network NT1 and the repeater 50. The communication method of the communication unit 22B may be either wired or wireless communication.

[0119] The storage unit 23B may include, for example, memory such as RAM or ROM, or an external storage device such as a hard disk or SSD. The storage unit 23B stores information regarding the model of the second mobile unit 30B.

[0120] The processing unit 21B primarily consists of a computer system including memory and a processor. That is, the functions of the processing unit 21B are realized when the processor executes a program stored in the computer system's memory. The program may be pre-stored in memory, provided via telecommunication lines such as the Internet, or provided on a non-temporary recording medium such as a memory card.

[0121] When the communication unit 22B receives a transport command from a higher-level system (e.g., the first mobile body control system 20A) that manages the transport operation of the transported object, the processing unit 21B creates a control command to control the movement of the second mobile body 30B based on the transport command. The control command created by the processing unit 21B also includes route information representing the movement path from the first position to the second position. The route information is expressed in a second coordinate system. That is, the processing unit 21B creates second route information that represents the movement path in the second coordinate system. Second attribute information is set for the nodes and paths that constitute the movement path. The second attribute information is defined in a second format. The second route information only needs to include at least the location information of the first position and the location information of the second position. The second route information may further include the location information of intermediate points that are passed through on the way from the first position to the second position.

[0122] The processing unit 21B causes the communication unit 22B to transmit a control command, including the created second route information and second attribute information, to the mobile object to be controlled (second mobile object 30B) via the communication network NT1 and the repeater 50. The second mobile object 30B moves along the travel path indicated by the second route information included in the control command from the second mobile object control system 20B, and performs predetermined operations indicated by the second attribute information set on the travel path.

[0123] The processing unit 21B creates second map information which forms the basis of second route information for controlling the movement and operation of the second mobile body 30B. The second map information includes a movement path that the second mobile body 30B travels, expressed in a second coordinate system. The second map information further includes second attribute information defined in a second format. The second attribute information defines the operation of the second mobile body 30B. The second attribute information is set on at least one of the nodes and paths that constitute the movement path included in the second map information. The second attribute information causes the second mobile body located at the node and path on which the second attribute information is set to perform a predetermined operation (e.g., Gp, Gw, Ch, Cw, etc.).

[0124] More specifically, the processing unit 21B generates the aforementioned second map information (i.e., a second map image including the travel route of the second mobile object 30B) based on user input to the input unit 24B. The display unit 25B can display an operation screen for creating the aforementioned second map information. The user sets the travel route and second attribute information in the second map information by operating the operation screen displayed on the display unit 25B, thereby creating the aforementioned second map image.

[0125] The processing unit 21B creates a control command including second route information for controlling the movement of the second mobile body 30B and second attribute information for controlling the operation of the second mobile body 30B, based on the second map information it has created, and transmits the created control command from the communication unit 22A to the second mobile body 30B via the communication network NT1 and the repeater 50. The processing unit 21B also creates a control command including second route information and second attribute information based on the second map information acquired from the support system 10 via the communication unit 22B, and transmits the created control command from the communication unit 22A to the second mobile body 30B via the communication network NT1 and the repeater 50. The processing unit 21B also creates a control command including second route information and second attribute information based on various information manually entered by the user via the input unit 24B, and transmits the created control command from the communication unit 22A to the second mobile body 30B via the communication network NT1 and the repeater 50. The second mobile body 30B moves along the movement path indicated by the second route information included in the control command from the second mobile body control system 20B, and performs predetermined operations indicated by the second attribute information set on the movement path.

[0126] (2.6) The operation of the support system 10 will be explained with reference to the operation diagram 11. The operation of the first mobile control system 20A when it creates the first map information will also be explained.

[0127] First, the processing unit 21A of the first mobile control system 20A creates first map information including all first travel paths (travel paths expressed in a first coordinate system) that the first mobile body 30A and the second mobile body 30B can travel on, in accordance with the user's operation input to the input unit 24A (step S1). Then, the processing unit 21A sets first attribute information (attribute information defined in a first format) for the first travel paths included in the created first map information, in accordance with the user's operation input to the input unit 24A (step S2). Since the first travel paths are travel paths assumed to be traveled by the second mobile body 30B, the model used in the first attribute information set for each node and each path constituting the first travel path includes the model of the second mobile body 30B. The processing unit 21A outputs the generated first map information (i.e., map information including all first travel paths and first attribute information that the second mobile body 30B can travel on) to the support system 10 from the communication unit 22A. Then, the processing unit 11 (first acquisition unit 111) of the support system 10 acquires the first map information output from the first mobile control system 20A via the communication unit 16 (step S3). The processing unit 11 (first acquisition unit 111) stores the acquired first map information in the storage unit 15 (step S4).

[0128] The processing unit 11 then determines whether the second acquisition unit 114 has acquired coordinate transformation information to be used in deriving a coordinate transformation formula for converting the position coordinates of the first coordinate system to the position coordinates of the second coordinate system (step S5). The second acquisition unit 114 stores the acquired coordinate transformation information in the storage unit 15, and the processing unit 11 determines whether the second acquisition unit 114 has acquired the coordinate transformation information based on whether the coordinate transformation information is stored in the storage unit 15. If the processing unit 11 determines that the second acquisition unit 114 has not acquired the coordinate transformation information (No in step S5), the process ends. On the other hand, if the processing unit 11 determines that the second acquisition unit 114 has acquired the coordinate transformation information (Yes in step S5), the process proceeds to step S6.

[0129] In step S6, the processing unit 11 (extraction unit 112) removes the first movement paths and first attribute information included in the first map information stored in the storage unit 15 in step S4 (or the first map information acquired by the first acquisition unit 111 in step S3), retaining the first movement paths that match the usage conditions of the second mobile body 30B and the first attribute information associated with those first movement paths, while removing the first movement paths other than the retained first movement paths (unsuitable movement paths) and the first attribute information associated with unsuitable movement paths (unsuitable attribute information). As a result, first map information is generated that includes the first movement path that matches the conditions for use by the second mobile body 30B as a first movement path and the first attribute information associated with this first movement path.

[0130] Then, the processing unit 11 (designation unit 118) determines whether or not the third acquisition unit 116 has acquired raw data of the second map information (step S8). If the processing unit 11 determines that the third acquisition unit 116 has acquired raw data of the second map information (Yes in step S8), the processing unit 11 specifies a first conversion method from among a plurality of conversion methods (step S9). Then, if a first conversion method is specified, the processing unit 11 (conversion unit 119) derives a coordinate transformation formula and a format transformation formula (step S10). More specifically, the processing unit 11 uses the coordinate transformation information stored in the storage unit 15 to derive a coordinate transformation formula that converts the position coordinates of the first coordinate system to the position coordinates of the second coordinate system. The processing unit 11 (conversion unit 119) also uses the format transformation information stored in the storage unit 15 to derive a format transformation formula that converts the first format that defines the first attribute information included in the first map information to the second format that defines the second attribute information included in the second map information.

[0131] Then, the processing unit 11 (conversion unit 119) converts the first map information into the second map information using the derived coordinate transformation formula and format transformation formula (i.e., generates the second map information from the first map information) (step S11). More specifically, the processing unit 11 (conversion unit 119) uses the derived coordinate transformation formula to transform the first movement path of the first coordinate system contained in the first map information into the second movement path of the second coordinate system. Then, the processing unit 11 sets the transformed second movement path of the second coordinate system as the raw data of the second map information. In addition, the processing unit 11 (conversion unit 119) uses the derived format transformation formula to transform the first attribute information of the first format contained in the first map information into the second attribute information of the second format. Then, the processing unit 11 sets the transformed second attribute information of the second format as the raw data of the second map information. In this way, the processing unit 11 generates the second map information from the first map information. Furthermore, the processing unit 11 (prohibition setting unit 113) determines a certain area in the first map information that includes the portion where the incompatible movement path removed in step S6 was located, and in the second map information converted by the processing unit 11 (conversion unit 119) in step S11, sets an entry prohibition area in the corresponding area corresponding to the determined certain area, prohibiting the entry of the second mobile body 30B (step S11A). The second map information thus generated is expressed in the second coordinate system, includes the movement path traveled by the second mobile body 30B, and forms the basis of the second path information used to control the second mobile body 30B. Then, the processing unit 11 (output unit 120) transmits (outputs) the second map information generated by the processing unit 11 from the communication unit 16 to the second mobile body control system 20B (step S12). Then, the processing ends.

[0132] Furthermore, when the second mobile object control system 20B acquires the second map information from the support system 10, it generates a control command based on the acquired second map information, which includes second route information for controlling the movement of the second mobile object 30B and second attribute information for causing the second mobile object 30BA to perform a predetermined operation. The second mobile object control system 20B then outputs the generated control command to the second mobile object 30B by transmitting it to the second mobile object 30B via the communication network NT1 and the repeater 50. The second mobile object 30B moves along the movement path specified by the second movement information and performs the predetermined operation specified by the second attribute information set on the movement path.

[0133] On the other hand, if the processing unit 11 determines in step S8 that the third acquisition unit 116 has not acquired the raw data of the second map information (No in step S8), the processing unit 11 further determines whether or not it is possible to share the operation screen of the second mobile control system 20B (i.e., the operation screen for creating the second map image) (step S13). If the processing unit 11 determines that the operation screen can be shared (Yes in step S13), it specifies the second conversion method from among the multiple conversion methods (step S14). If the second conversion method is specified, the processing unit 11 (conversion unit 119) shares the operation screen on the display unit 14 and acquires control rights of the operation screen from the second mobile control system 20B (step S15). The processing unit 11 (conversion unit 119) then controls the operation input to the shared operation screen based on the processing procedure stored in the storage unit 15. As a result, the processing unit 11 creates (generates) map information (second map image) on the operation screen, which includes a movement path (second movement path) corresponding to the first movement path included in the first map information generated in step S6, and attribute information (second attribute information) corresponding to the first attribute information included in the first map information (step S16). The processing unit 11 (prohibition setting unit 113) also determines a certain area in the first map information that includes the portion where the incompatible movement path removed in step S6 was located, and on the operation screen, in the second map information converted by the processing unit 11 (conversion unit 119) in step S16, sets an entry prohibition area in the corresponding area that corresponds to the determined certain area, prohibiting entry by all selectable user models (e.g., second mobile unit 30B) other than the user model (e.g., first mobile unit 30A) that was set in the incompatible movement path removed in step S6 (step S16A). The second map information generated in this way is represented in a second coordinate system, includes the travel path of the second mobile body 30B, and forms the basis of the second path information used to control the second mobile body 30B. The processing unit 11 (output unit 120) then transmits (outputs) the second map information generated by the processing unit 11 to the second mobile body control system 20B via the communication unit 16 (step S17). The process then ends.

[0134] Furthermore, when the second mobile control system 20B acquires the second map information from the support system 10, it generates a control command based on the acquired second map information, similar to the first conversion method, which includes second route information for controlling the movement of the second mobile unit 30B and second attribute information for controlling the operation of the second mobile unit 30B. The second mobile control system 20B then outputs the generated control command to the second mobile unit 30B by transmitting it to the second mobile unit 30B via the communication network NT1 and the repeater 50. The second mobile unit 30B moves along the movement path indicated by the second movement information included in the control command and performs predetermined operations according to the second attribute information set on the movement path.

[0135] On the other hand, if the processing unit 11 determines in step S13 that screen sharing of the operation screen is not possible (No in step S13), the processing unit 11 further determines whether the third acquisition unit 116 has acquired a map image (image format map) of the second map to be used in the second map information from the second mobile control system 20B (step S18). If the processing unit 11 determines that the above map image has been acquired (Yes in step S18), the processing unit 11 (designation unit 118) specifies a third conversion method from among a plurality of conversion methods (step S19). Then, if a third conversion method is specified, the processing unit 11 (conversion unit 119) uses the coordinate conversion information stored in the storage unit 15 to derive a coordinate conversion formula that converts the position coordinates of the first coordinate system to the position coordinates of the second coordinate system (step S20). Then, the processing unit 11 generates second map information in image format from the first map information using the derived coordinate transformation formula (that is, the processing unit 11 converts the first map information into second map information which is a map image (step S21)). More specifically, the processing unit 11 uses the derived coordinate transformation formula to transform the position coordinates of at least one of the nodes and paths of the first travel path included in the first map information (in this embodiment, both nodes and buses) from the position coordinates of the first coordinate system to the position coordinates of the second coordinate system. The processing unit 11 also transforms the position coordinates of at least one of the nodes and paths constituting the first travel path included in the first map information. At the very least, one of them (in this embodiment, both the node and the bus) is drawn in image format on the map image. The processing unit 11 also draws the position coordinates in the second coordinate system, obtained by transforming the position coordinates of the nodes and paths of the first travel path in the first coordinate system using a coordinate transformation formula, in image format around the nodes and paths on the map image. The processing unit 11 also displays a short sentence explaining the content of the first attribute information included in the first map information, or a mark indicating the content of the first attribute information, in image format around the nodes and paths on the map image. The information of the short sentence and the mark is stored in the storage unit 15.Furthermore, the processing unit 11 (prohibition setting unit 113) determines a certain area in the first map information that includes the portion where the incompatible movement path removed in step S6 was located, and in step S21, in the second map information converted by the processing unit 11 (conversion unit 119), sets an entry prohibition area in the corresponding area corresponding to the determined certain area, prohibiting the entry of the second mobile body 30B (step S21A). Also, in step S21A, the processing unit 11 (prohibition setting unit 113) draws in image format information around the set entry prohibition area, including information on the coordinate range of the entry prohibition area in the second coordinate system, and information on all selectable user models (e.g., the second mobile body 30B) other than the user model that was set in the incompatible movement path removed in step S6 (e.g., the first mobile body 30A) that is prohibited from entering the entry prohibition area. In this way, the processing unit 11 generates second map information in image format from the first map information. The second map information generated in this way is represented in a second coordinate system, includes the travel path of the second mobile body 30B, and forms the basis of the second path information used to control the second mobile body 30B. The processing unit 11 (output unit 120) then displays the second map information generated by the processing unit 11 outside the processing unit 11 (for example, on the display unit 14) (step S22). By displaying the second map information on the display unit 14, the user can visually confirm the generated second map information. Then the process ends.

[0136] Furthermore, the user manually inputs the movement paths (nodes and paths) drawn on the generated second map information (map image) into the input unit 24B of the second mobile control system 20B, based on the position coordinates in the second coordinate system of the movement paths (nodes and paths) drawn on the generated second map information (map image), and short sentences or marks indicating the content of the attribute information drawn on the map image. In addition, the user manually sets the no-entry movement areas drawn on the map image into the input unit 24B of the second mobile control system 20B, based on the coordinate range in the second coordinate system of the no-entry areas drawn on the generated second map information (map image), and information on the user's model that is prohibited from entering the no-entry areas. As a result, the second mobile control system 20B is set up with map information that includes the movement paths corresponding to the movement paths drawn on the map image (i.e., movement paths expressed in the second coordinate system), and attribute information corresponding to the attribute information drawn on the map image (i.e., attribute information defined in the second format). The second mobile unit control system 20B then generates a control command that includes second route information for controlling the movement of the second mobile unit 30B and second attribute information for controlling the operation of the second mobile unit 30B, based on the set map information. The second mobile unit control system 20B then outputs the generated control command to the second mobile unit 30B by transmitting it to the second mobile unit 30B via the communication network NT1 and the repeater 50. The second mobile unit 30B moves along the movement path specified by the second movement information included in the control command and performs the predetermined operation specified by the second attribute information set on that movement path.

[0137] On the other hand, if the processing unit 11 determines in step S18 that a map image has not been acquired (No. in step S18), the processing unit 11 (designation unit 118) designates a fourth conversion method from among multiple conversion methods (step S23). If a fourth conversion method is designated, the processing unit 11 (conversion unit 119) uses the coordinate conversion information stored in the storage unit 15 to derive a coordinate conversion formula that converts the position coordinates of the first coordinate system to the position coordinates of the second coordinate system (step S24). Then, the processing unit 11 uses the derived coordinate conversion formula to generate second map information, which is information in text format, from the first map information (i.e., converts the first map information into second map information, which is information in text format. step S25).

[0138] More specifically, the processing unit 11 transforms the position coordinates of at least one of the nodes and paths of the first travel route included in the first map information (in this embodiment, both nodes and buses) from the position coordinates of the first coordinate system to the position coordinates of the second coordinate system using the derived coordinate transformation formula. Then, the processing unit 11 converts the position coordinates of the second coordinate system after the coordinate transformation into text format information. The processing unit 11 also converts short sentences describing the content of the first attribute information included in the first map information or marks indicating the content of the first attribute information into text format information. Furthermore, the processing unit 11 (prohibition setting unit 113) determines the coordinate range in the first coordinate system of a certain area in the first map information that includes the portion where the non-conforming travel route removed in step S6 was located, transforms the determined coordinate range in the first coordinate system into the coordinate range of the second coordinate system (i.e., the coordinate range of the no-entry area in the second map information), and converts the transformed coordinate range in the second coordinate system into text format information. Furthermore, the processing unit 11 (prohibition setting unit 113) converts information on all selectable user models other than the user model that was set on the incompatible movement path removed in step S6 (e.g., the first mobile unit 30A) (i.e., user models that are prohibited from entering the restricted area in the second map information (e.g., the second mobile unit 30B)) into text format information. The second map information, which is text format information, is generated from the text format information (information expressing the coordinate positions of nodes and paths in the second coordinate system in text format, information expressing the short sentences or marks in text format, and information on restricted areas). Then, the processing unit 11 (output unit 120) displays the second map information generated by the processing unit 11 outside the processing unit 11 (e.g., the display unit 14) (step S26). By displaying the second map information on the display unit 14, the user can visually confirm the generated second map information.

[0139] The user manually inputs the position coordinates and attribute information of paths and nodes in the second coordinate system, short sentences or marks indicating the content of the first attribute information, and information on restricted areas, as well as the position coordinates and attribute information of paths and nodes contained in the generated second map information (information in text format), and the information on restricted areas, into the input unit 24B of the second mobile control system 20B. As a result, the second mobile control system 20B sets map information that includes the movement path corresponding to the movement path contained in the text format information (i.e., the movement path expressed in the second coordinate system (second movement path)) and attribute information corresponding to the attribute information contained in the text format information (i.e., attribute information defined in the second format (second attribute information)), based on the information input into the input unit 24B by the user. The second mobile control system 20B then generates control commands that include second path information for controlling the movement of the second mobile body 30B and second attribute information for controlling the operation of the second mobile body 30B, based on the set map information. The second mobile control system 20B then outputs the generated control command to the second mobile body 30B by transmitting it via the communication network NT1 and the repeater 50. The second mobile body 30B moves along the movement path specified by the second movement information included in the control command and performs predetermined operations according to the second attribute information set for that movement path.

[0140] (2.7) Effects As described above, the support system 10 according to this embodiment supports the first mobile body control system 20A in controlling the movement of the second mobile body 30B controlled by the second mobile body control system 20B. The first mobile body control system 20A controls the movement of the first mobile body 30A by inputting first path information representing the movement path in a first coordinate system to the first mobile body 30A. The second mobile body control system 20B controls the movement of the second mobile body 30B by inputting second path information representing the movement path in a second coordinate system to the second mobile body 30B. The support system 10 includes an input unit 12, a conversion unit 119, and an output unit 120. The input unit 12 receives input of first map information MJ1 including a movement path expressed in a first coordinate system. The conversion unit 119 converts the first map information MJ1 to second map information MJ2 by ​​converting the position coordinates in the first coordinate system to position coordinates in the second coordinate system. The second map information MJ2 is expressed in a second coordinate system and includes travel paths 81 and 82 that the second mobile body 30B can travel, and serves as the basis for the second route information. The output unit 120 outputs the second map information MJ2 converted by the conversion unit 119. In other words, the support system 10 according to this embodiment supports the first mobile body control system 20A so that it can control the movement of the second mobile body 30B via the second mobile body control system 20B.

[0141] With this configuration, second map information using a second coordinate system, i.e., second map information for the second mobile control system 20B, can be easily generated from first map information using a first coordinate system (i.e., first map information for the first mobile control system 20A) MJ1. As a result, the first map information using the first coordinate system MJ1 can be easily deployed to the second mobile control system 20B.

[0142] Furthermore, in the support system 10 according to this embodiment, the first map information MJ1 further includes first attribute information. The first attribute information defines the operation of at least one of the first mobile body 30A and the second mobile body 30B and is defined in a first format. The conversion unit 119 converts the first attribute information to the second attribute information using a format conversion formula. The format conversion formula converts the first format to a second format used in the second mobile body control system 20B. The first attribute information is included in the first map information MJ1. The first attribute information is defined in a first format. The second attribute information is included in the second map information MJ2. The second attribute information is defined in a second format.

[0143] With this configuration, when creating the second map information MJ2 from the first map information MJ1, the first attribute information defined in the first format, which is included in the first map information MJ1, can be reflected in the second map information MJ2. This reduces the likelihood of the second mobile device 30B operating in a manner that does not conform to the first map information MJ1, which forms the basis of the second map information MJ2.

[0144] Furthermore, in the support system 10 according to this embodiment, the first attribute information includes type information indicating the type of at least one of the first mobile body 30A and the second mobile body 30B that can utilize the travel route included in the first map information MJ1.

[0145] This configuration allows for the setting of type information indicating the type of mobile device (model used) that can utilize the travel route included in the first map information MJ1.

[0146] Furthermore, in the support system 10 according to this embodiment, the conversion unit 119 can convert the first map information MJ1 to the second map information MJ2 using a plurality of different conversion methods (first to fourth conversion methods). The support system 10 further includes a designation unit 118. The designation unit 118 specifies a conversion method to be executed by the conversion unit 119 from among the plurality of conversion methods.

[0147] This configuration allows you to specify the optimal conversion method from among multiple conversion methods.

[0148] Furthermore, in the support system 10 according to this embodiment, the plurality of conversion methods include at least one of the first conversion method, the second conversion method, the third conversion method, and the fourth conversion method. The first conversion method uses raw map data usable in the second mobile control system 20B. The second conversion method uses an operation screen G1 for creating map information that forms the basis of the second route information in the second mobile control system 20B, and the operation screen G1 is displayed on the display unit 14 used in the support system 10 via screen sharing. The third conversion method uses a map image IM2 representing a map included in the second map information MJ2 used in the second mobile control system 20B. The third conversion method uses information in text format.

[0149] This configuration allows us to specifically identify the optimal conversion method from among the first to fourth conversion methods.

[0150] Furthermore, in the support system 10 according to this embodiment, when the designation unit 118 specifies the first conversion method, the conversion unit 119 uses a predetermined coordinate conversion formula to convert the first movement path of the first coordinate system included in the first map information MJ1 to the second movement path of the second coordinate system, sets the converted second movement path as raw data of the map information (for example, the second map information MJ2), and uses a predetermined format conversion formula to convert the first attribute information of the first format included in the first map information MJ1 to the second attribute information of the second format, sets the converted second attribute information as raw data, thereby generating the second map information MJ2 from the raw data.

[0151] According to this configuration, the first movement path and first attribute information contained in the first map information MJ1 are transformed using a predetermined coordinate transformation formula and a predetermined format transformation formula, and the second movement path and second attribute information after transformation are set as raw data to generate the second map information MJ2. Therefore, all of the information corresponding to the second mobile control system 20B from the first path information and first attribute information contained in the first map information MJ1 can be reflected in the second map information MJ2.

[0152] Furthermore, in the support system 10 according to this embodiment, when the designation unit 118 specifies the second conversion method, the conversion unit 119 generates the second map information MJ2 by ​​controlling the operation input to the screen-shared operation screen G1 and creating map information. The map information includes route information corresponding to the first route information included in the first map information MJ1, and attribute information corresponding to the first attribute information included in the first map information.

[0153] With this configuration, the second map information MJ2 can be easily created by utilizing the route creation function of the second mobile control system 20B.

[0154] Furthermore, in the support system 10 according to this embodiment, when the designation unit 118 specifies a third conversion method, the conversion unit 119 generates the second map information MJ2 by ​​drawing a corresponding route 82 in image format on the map image IM2 that corresponds to the first movement route 71 included in the first map information MJ1, drawing a position coordinate of the second coordinate system of the corresponding route 82 in image format around the corresponding route 82, and drawing corresponding information corresponding to the first attribute information associated with the first movement route 71 in image format around the corresponding route 82.

[0155] With this configuration, even when the first and second conversion methods cannot be used, the second map information MJ2 can be created using the map image IM2. Furthermore, since various information is rendered in image format on the map image IM2, it has the advantage of being visually easy to understand.

[0156] Furthermore, in the support system 10 according to this embodiment, when the designation unit 118 specifies the fourth conversion method, the conversion unit 119 generates the second map information MJ2 by ​​generating the position coordinates of the second coordinate system of the first movement path 71 included in the first map information MJ1, and corresponding information corresponding to the first attribute information associated with the first movement path 71, as text-formatted information.

[0157] With this configuration, if the first to third conversion methods cannot be used, the second map information MJ2 can be created using text-based information.

[0158] Furthermore, the support system 10 according to this embodiment further includes an extraction unit 112. The extraction unit 112 extracts the movement paths P1 to P5 from the movement paths P1 to P5 and P6a included in the first map information MJ1, from which the unsuitable movement path P6a that does not meet the conditions for the second mobile body 30B to be usable has been removed. The conversion unit 119 converts the first map information MJ1 after extraction by the extraction unit 112 into the second map information MJ2.

[0159] With this configuration, only the travel routes P1 to P5 and P6a included in the first map information MJ1 that meet the conditions for use by the second mobile body 30B can be converted to the second map information MJ2. As a result, the unsuitable travel route P6a can be removed from the first map information MJ1.

[0160] Furthermore, the support system 10 according to this embodiment further includes a prohibition setting unit 113. The prohibition setting unit 113 sets entry prohibition areas S20 and U20 that prohibit the entry of the second mobile body 30B in the corresponding areas of the second map information MJ2 that correspond to the area including the non-conformable movement path P6a in the first map information MJ1 or to entry prohibition areas set independently of the non-conformable movement path P6a.

[0161] With this configuration, it is possible to prevent the second mobile body 30B from entering the corresponding area (no-entry area S20, U20) of the second map information MJ2 that corresponds to the area containing the non-conforming movement path P6a in the first map information MJ1 or to a no-entry area set independently of the non-conforming movement path P6a.

[0162] Furthermore, the control system 40 according to this embodiment includes a first mobile control system 20A. The first mobile control system 20A includes a processing unit 21A that creates first map information MJ1. The conversion unit 119 of the support system 10 converts the first map information MJ1 created by the processing unit 21A into second map information. The second map information MJ2 output from the output unit 120 of the support system 10 is input to the second mobile control system 20B.

[0163] With this configuration, the first map information MJ1 created by the first mobile body control system 20A can be converted into the second map information MJ2. Therefore, the first mobile body control system 20A can control the movement of the second mobile body 30B in addition to the first mobile body 30A.

[0164] Furthermore, the transport system 60 according to this embodiment includes a support system 10 and a first mobile body control system 20A. The first mobile body 30A and the second mobile body 30B each perform transport operations to transport an object to be transported. The object to be transported includes at least one of a trolley and a parts supply module. The trolley is capable of accommodating components to be mounted on a circuit board. The parts supply module supplies components to a manufacturing apparatus that mounts components on a circuit board.

[0165] According to this embodiment, the first mobile body control system 20A can control the first mobile body 30A and the second mobile body 30B to perform a transport operation to transport an object to be transported.

[0166] (3) Other embodiments of the support system The same functions as the support system 10 may be embodied in a support method, a computer program, or a non-temporary recording medium on which a program is recorded.

[0167] One embodiment of the support method involves a first mobile object control system 20A assisting the second mobile object control system 20B in controlling 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 inputting first path information, which represents the movement path in a first coordinate system, to the first mobile object 30A. The second mobile object control system 20B controls the movement of the second mobile object 30B by inputting second path information, which represents the movement path in a second coordinate system, to the second mobile object 30B. The support method includes an input step S3, conversion steps S11, S16, S21, S25, and output steps S12, S17, S22, S26. The input step S3 receives input of first map information, which includes a movement path expressed in a first coordinate system. The conversion steps S11, S16, S21, and S25 convert the first map information MJ1 to the second map information MJ2 by ​​converting the position coordinates of the first coordinate system to the position coordinates of the second coordinate system. The second map information MJ2 is expressed in the second coordinate system and includes travel paths 81 and 82 that the second mobile body 30B can travel, and serves as the basis for the second path information. The output steps S12, S17, S22, and S26 output the second map information converted in the conversion steps S11, S16, S21, and S25.

[0168] A (computer) program according to one embodiment is a program that causes one or more processors to execute the above-described support method.

[0169] (4) Modifications The above embodiments are only one of many embodiments of the present disclosure. The above embodiments can be modified in various ways depending on the design, etc., as long as the objectives of the present disclosure are achieved. Modifications of the above embodiments are listed below. The modifications described below can be combined and applied as appropriate.

[0170] (4.1) Modification 1 (4.1.1) Configuration Embodiment 1 assumes a case where there is one second mobile body 30B. Modification 1 assumes a case where there are multiple second mobile bodies 30B. For this reason, the extraction unit 112 performs a process to extract a travel path from which portions that do not match the usage conditions of the second mobile body 30B (unsuitable travel path) have been removed from the travel path (first travel path) included in the first map information, for each of the multiple second mobile bodies 30B. That is, the extraction unit 112 extracts a travel path from which unsuitable travel paths have been removed from the travel path included in the first map information for each of the multiple second mobile bodies 30B.

[0171] In the first modified example, in step S1 of Figure 11, the processing unit 21A of the first mobile control system 20A creates first map information that includes all possible travel paths (travel paths expressed in a first coordinate system) that each of the first mobile body 30A and the plurality of second mobile bodies 30B can travel.

[0172] Furthermore, in the modified example 1, in step S6 of Figure 11, in the first map information created in step S1, among all the first movement paths mentioned above, the first movement path that matches the conditions for the first (N (=1) model) second mobile body 30B of the multiple (N models) second mobile bodies 30B to be usable, and the first attribute information associated with that first movement path are retained, and the first movement paths other than the retained first movement path (unsuitable movement path) and the first attribute information (unsuitable attribute information) associated with the unsuitable movement path are removed. Then the processing proceeds. Then, in steps S11, S16, S21, and S25, second map information that will be the basis for the second path information that controls the movement of the first second mobile body 30B is generated. Then, in steps S11A, S16A, S21A, and S25A, a no-entry zone is set in the corresponding area of ​​the generated second map information (i.e., the corresponding area that corresponds to a certain area in the first map information that includes the unsuitable movement path). As the user models (mobile bodies) prohibited from entering this restricted area, all selectable user models (for example, second mobile bodies 30B other than the Nth model among multiple second mobile bodies 30B) are set, excluding the user models that were set in the removed incompatible movement path (for example, the first mobile body 30A and the Nth second mobile body 30B). In this way, second map information corresponding to the first second mobile body 30B is generated. Once the second map information corresponding to the first second mobile body 30B is generated, the process returns to step S6, and the same process that was performed on the first second mobile body 30B is then performed on the second second mobile body 30B. As a result, in steps S11, S16, S21, and S25 of this cycle, second map information corresponding to the second second mobile body 30B is generated. Then, in steps S11A, S16A, S21A, and S25A, a restricted area is set in the generated second map information. Then, the process returns to step 6. In this way, multiple second map information corresponding to multiple (all) second mobile bodies 30B are generated. Once multiple second map information corresponding to multiple (all) second mobile bodies 30B are generated, the generated multiple second map information is combined into one second map information by the processing unit 11 of the support system 10. The combined one second map information is then output in steps S12, S17, S22, and S26.As a result, even when there are multiple second mobile bodies 30B as in the modified example 1, the second map information input to the second mobile body control system 20B is only one. Then the processing ends. Alternatively, multiple second map information corresponding to multiple second mobile bodies 30B may be input individually to the second mobile body control system 20B without being combined into a single second map information.

[0173] (4.1.2) The support system 10 according to the modified example 1 of the effect includes a plurality of second mobile bodies 30B. The extraction unit 112 extracts the travel routes from which unsuitable travel routes have been removed from the travel routes included in the first map information MJ1, separately from the plurality of second mobile bodies 30B (i.e., separately from the plurality of second mobile bodies 30B). With this configuration, unsuitable travel routes can be removed from the first map information MJ1.

[0174] (4.2) Modification 2 (4.2.1) Configuration Embodiment 1 assumes a case where there is one second mobile control system 20B. Modification 2 assumes a case where there are multiple second mobile control systems 20B and multiple second mobile bodies 30B corresponding to the multiple second mobile control systems 20B. In Modification 2, it is assumed that each second mobile control system 20B controls one second mobile body 30B.

[0175] In the modified example 2, in step S1 of Figure 11, the processing unit 21A of the first mobile control system 20A creates first map information that includes all first travel paths (travel paths expressed in a first coordinate system) that the first mobile body 30A and each of the second mobile bodies 30B of the plurality of second mobile control systems 20B can travel.

[0176] Furthermore, in the modified example 2, in step S6 of Figure 11, in the first map information created in step S1, among all the first movement paths mentioned above, the first movement path that matches the conditions for use by the second mobile body 30B controlled by the first (Nth) second mobile body control system 20B out of the multiple (N) second mobile body control systems 20B, and the first attribute information associated with that first movement path are retained, and the first movement paths other than the retained ones (unsuitable movement paths) and the first attribute information associated with unsuitable movement paths (unsuitable attribute information) are removed. Then, in steps S11, S16, S21, and S25, second map information is generated that forms the basis for second path information that controls the movement of the second mobile body 30B controlled by the first second mobile body control system 20B, and second attribute information that controls the operation of the second mobile body 30B. Then, in steps S11A, S16A, S21A, and S25A, a no-entry zone is set in the corresponding area of ​​the generated second map information (i.e., the corresponding area corresponding to a certain area in the first map information that includes the non-conforming travel path). As user models (mobile bodies) prohibited from entering this no-entry zone, all selectable second mobile bodies 30B (for example, second mobile bodies 30B controlled by a second mobile body control system 20B other than the Nth among multiple second mobile body control systems 20B) are set, except for the user models that were set in the removed non-conforming travel path (for example, the first mobile body 30A and the second mobile body 30B controlled by the Nth second mobile body control system 20B). In this way, second map information corresponding to the first second mobile body control system 20B is generated. Then, in the next steps S12, S17, S22, and S26, the generated second map information is output. Map information based on the outputted second map information is input to the first second mobile body control system 20B. Then, the process returns to step S6, and the same process that was performed on the first second mobile control system 20B is performed on the second second mobile control system 20B. As a result, second map information corresponding to the second second mobile control system 20B is generated in steps S11, S16, S21, and S25 of this cycle, no-entry zones are set in the second map information in the next steps S11A, S16A, S21A, and S25A, and the generated second map information is output in the next steps S11, S16, S21, and S25.Then, the process returns to step S6. In this way, second map information corresponding to multiple (all) second mobile control systems 20B is generated and output. Once the second map information corresponding to multiple (all) second mobile control systems 20B has been generated and output, the process ends.

[0177] (4.2.2) The support system 10 according to the modified effect 2 includes a plurality of second mobile control systems 20B, including a second mobile control system 20B, and a plurality of second mobile bodies 30B corresponding to the plurality of second mobile control systems 20B. The extraction unit 112 extracts from the travel paths included in the first map information MJ1 any unsuitable travel paths that do not meet the conditions for the availability of a second mobile body 30B corresponding to one of the plurality of second mobile control systems 20B among the plurality of second mobile bodies 30B. With this configuration, unsuitable travel paths can be removed from the first map information MJ1.

[0178] (4.3) Modification 3 (4.3.1) Configuration In the above embodiment, it is assumed that the first mobile control system 20A performs each of the steps S1 and S2 in Figure 1. In Modification 3, the support system 10 may perform each of the steps S1 and S2 in Figure 1. In this case, the support system 10 may have a function to create first map information including a first movement route, and a function to set first attribute functions to the created first map information, or the operation screen of the first mobile control system 20A (an operation screen for creating first map information including a first movement route and setting first attribute information to the first map information) may be shared on the display unit 14 of the support system 10, and the user or the processing unit 11 of the support system 10 may create based on the shared operation screen.

[0179] (4.4) Modification 4 In the above embodiment, an example is given in which the first to fourth conversion methods are provided. However, it is sufficient to provide at least one of the first to fourth conversion methods.

[0180] (4.5) Modification 5 Embodiment 1 illustrates a case in which the second mobile control system 20B controls the second mobile body 30B by creating a control command including second route information and second attribute information for controlling the movement of the second mobile body 30B based on the second map information MJ2 input from the support system 10, and transmitting the created control command to the second mobile body 30B.

[0181] In contrast, in Modification 5, the second mobile control system 20B transmits the second map information MJ2 input from the support system 10 to the second mobile body 30B, and the second mobile body 30B holds the received second map information MJ2. The first mobile control system 20A then transmits a control command to the second mobile body 30B specifying a destination. The second mobile body 30B moves along the travel path described in the second map information MJ2 it holds and moves to the destination specified in the received control command. At that time, the second mobile body 30B performs predetermined operations according to the second attribute information set in the second map information MJ2 that is related to the operation of the second mobile body 30 (for example, Gp, Gw, Ch, Cw, etc.).

[0182] In variation 5, the destination name used in the second map information is the same as the destination name used in the first map information. This allows the first mobile control system 20A to specify the destination for the second mobile 30B in a control command transmitted to the second mobile 30 using the destination name used in the first map information.

[0183] If the destination name used in the second map information differs from the destination name used in the first map information, the first mobile unit control system 20A transmits the control command to the second mobile unit 30B via the support system 10. That is, by transmitting the control command from the first mobile unit control system 20A to the support system 10, the destination name specified by the control command (i.e., the destination name used in the first map information) is converted to the destination name used in the second map information. Then, the support system 10 transmits a control command including the converted name (destination name) to the second mobile unit 30B. In this case, it is assumed that the support system 10 has a name conversion table for converting between the destination name used in the first map information and the destination name used in the second map information. Alternatively, the first mobile control system 20A obtains the name conversion table from the support system 10, uses the obtained name conversion table to convert the destination name used in the first map information to the destination name used in the second map information, generates a control command using the converted name (destination name), and transmits the generated control command (control command specifying the destination) to the second mobile unit 30B.

[0184] Thus, the support system 10 according to the modified example 5 assists the first mobile body control system 20A indirectly controlling the movement of the second mobile body 30B via the second mobile body control system 20B, as in the above embodiment, and also enabling direct control of the movement of the second mobile body 30B without going through the second mobile body control system 20B.

[0185] According to Modification 5, the movement of the second mobile body 30B can be controlled directly by a control command from the first mobile body control system 20A to the second mobile body 30B, without going through the second mobile body control system 20B.

[0186] (4.6) Modification 6 In Modification 6, compared to Modification 5, the support system 10 does not transmit (i.e., does not input) the generated second map information to the second mobile body 30B, but transmits it to the second mobile body 30B. That is, in Modification 6, instead of receiving the second map information from the second mobile body control system 20B, the second mobile body 30B receives the second map information from the support system 10 and holds the received second map information. In Modification 6, as in Modification 5, the second mobile body 30B receives a control command from the first mobile body control system 20A specifying a destination for the second mobile body 30B, moves along the movement path described in the second map information it holds, and moves to the destination specified in the control command. At that time, the second mobile body 30B performs predetermined operations according to the second attribute information set in the second map information MJ2 that is related to the operation of the second mobile body 30 (e.g., Gp, Gw, Ch, Cw, etc.).

[0187] In other words, the support system 10 according to the modified example 6 assists the first mobile body control system 20A in controlling the movement of the second mobile body 30B without going through the second mobile body control system 20B.

[0188] According to modification 6, the second map information generated by the support system 20 can be directly transmitted to and stored by the second mobile body 30B without going through the second mobile body control system 20B.

[0189] In the modified example 6, we assume, for example, that the designator specifies the first conversion method (a conversion method using raw map data).

[0190] (Summary) Based on the embodiments described above, the following embodiments are disclosed.

[0191] The support system (10) in the first embodiment assists the first mobile body control system (20A) in controlling the movement of the second mobile body (30B) controlled by the second mobile body control system (20B). The first mobile body control system (20A) controls the movement of the first mobile body (30A) by inputting first path information representing the movement path in a first coordinate system to the first mobile body (30A). The second mobile body control system (20B) controls the movement of the second mobile body (30B) by inputting second path information representing the movement path in a second coordinate system to the second mobile body (30B). The support system (10) comprises an input unit (12), a conversion unit (119), and an output unit (120). The input unit (12) receives input of first map information (MJ1) including a movement path expressed in a first coordinate system. The conversion unit (119) converts the first map information (MJ1) into the second map information (MJ2) by converting the position coordinates of the first coordinate system to the position coordinates of the second coordinate system. The second map information (MJ2) includes a travel path (81, 82) that can be traveled by the second mobile object (30B) and is expressed in the second coordinate system, and serves as the basis for the second path information. The output unit (120) outputs the second map information (MJ2) converted by the conversion unit (119).

[0192] With this configuration, second map information (i.e., second map information for the second mobile control system (20B)) (MJ2) using a second coordinate system can be easily generated from first map information (i.e., first map information for the first mobile control system (20A)) (MJ1) using a first coordinate system. As a result, the first map information (MJ1) using the first coordinate system can be easily deployed to the second mobile control system (20B).

[0193] In the support system (10) of the second embodiment, in the first embodiment, the first map information (MJ1) further includes first attribute information. The first attribute information defines the operation of at least one of the first mobile body (30A) and the second mobile body (30B) and is defined in a first format. The conversion unit (119) converts the first attribute information to second attribute information using a format conversion formula. The format conversion formula converts the first format to a second format used in the second mobile body control system (20B). The first attribute information is included in the first map information (MJ1). The first attribute information is defined in a first format. The second attribute information is included in the second map information (MJ2). The second attribute information is defined in a second format.

[0194] With this configuration, when creating second map information (MJ2) from first map information (MJ1), the first attribute information defined in the first format, which is included in the first map information (MJ1), can be reflected in the second map information (MJ2). This reduces the likelihood of the second mobile device (30B) operating in a manner that does not conform to the first map information (MJ1) on which the second map information (MJ2) is based.

[0195] In the third embodiment of the support system (10), in the second embodiment, the first attribute information includes type information indicating the type of at least one of the first mobile body (30A) and the second mobile body (30B) that can utilize the travel route included in the first map information (MJ1).

[0196] This configuration allows for the setting of type information indicating the type of mobile device (model) that can utilize the travel route included in the first map information (MJ1).

[0197] The fourth embodiment of the support system (10) is such that, in any one of the first to third embodiments, the conversion unit (119) can convert first map information (MJ1) to second map information (MJ2) using a plurality of mutually different conversion methods. The support system (10) further comprises a designation unit (118). The designation unit (118) designates a conversion method from among the plurality of conversion methods to be executed by the conversion unit (119).

[0198] This configuration allows you to specify the optimal conversion method from among multiple conversion methods.

[0199] In the fifth embodiment of the support system (10), in the fourth embodiment, the plurality of conversion methods include at least one of a first conversion method, a second conversion method, a third conversion method, and a fourth conversion method. The first conversion method uses raw map data usable in the second mobile control system (20B). The second conversion method uses an operation screen (G1) for creating map information that forms the basis of the second route information in the second mobile control system (20B), and the operation screen (G1) is displayable via screen sharing on the display unit (14) used in the support system (10). The third conversion method uses a map image (MG3) representing a map included in the map information used in the second mobile control system (20B). The fourth conversion method uses information in text format.

[0200] This configuration allows you to specifically select the optimal conversion method from among the first to fourth conversion methods.

[0201] In the support system (10) of the sixth embodiment, in the fifth embodiment, when the designation unit (118) specifies the first transformation method, the transformation unit (119) uses a predetermined coordinate transformation formula to transform the first movement path of the first coordinate system contained in the first map information (MJ1) into the second movement path of the second coordinate system, sets the transformed second movement path as raw data, and uses a predetermined format transformation formula to transform the first attribute information of the first format contained in the first map information (MJ1) into the second attribute information of the second format, sets the transformed second attribute information as raw data, thereby generating the second map information (MJ2) from the raw data.

[0202] According to this configuration, the first movement path and first attribute information contained in the first map information (MJ1) are transformed using a predetermined coordinate transformation formula and a predetermined format transformation formula, and the second movement path and second attribute information after transformation are set as raw data to generate the second map information (MJ2). Therefore, all of the information contained in the first map information (MJ1) (first path information and first attribute information) that corresponds to the second mobile control system (20B) can be reflected in the second map information (MJ2).

[0203] In the support system (10) of the seventh embodiment, in the fifth embodiment, when the designation unit (118) specifies the second conversion method, the conversion unit (119) generates the second map information (MJ2) by controlling the operation input to the screen-shared operation screen (G1) and creating map information. The map information includes route information corresponding to the first route information included in the first map information (MJ1), and attribute information corresponding to the first attribute information included in the first map information.

[0204] With this configuration, a second map image can be easily created by utilizing the route creation function of the second mobile control system (20B).

[0205] In the support system (10) of the eighth embodiment, in the fifth embodiment, when the designation unit (118) specifies the third conversion method, the conversion unit (119) generates second map information (MJ2) by drawing a corresponding path (82) in image format on the map image (MG3) that corresponds to the first movement path (71) included in the first map information (MJ1), drawing a position coordinate of the second coordinate system of the corresponding path (82) in image format around the corresponding path (82), and drawing corresponding information corresponding to the first attribute information associated with the first movement path (71) in image format around the corresponding path (81).

[0206] This configuration allows for the creation of a second map information (MJ2) using the map image (MG3) even when the first and second conversion methods cannot be used. Furthermore, since various information is rendered in image format on the map image (MG3), it has the advantage of being visually easy to understand.

[0207] In the support system (10) of the ninth embodiment, in the fifth embodiment, when the designation unit (118) specifies the fourth conversion method, the conversion unit (119) generates second map information (MJ2) by generating corresponding information in text format, which includes the position coordinates of the second coordinate system of the first movement path (71) included in the first map information (MJ1) and the first attribute information associated with the first movement path (71).

[0208] With this configuration, if the first to third conversion methods cannot be used, the second map information (MJ2) can be created using text-based information.

[0209] The support system (10) of the tenth embodiment further comprises an extraction unit (112) in the ninth embodiment. The extraction unit (112) extracts the travel paths (P1 to P5, P6a) included in the first map information (MJ1) from which the unsuitable travel path (P6a) that does not meet the conditions for use by the second mobile body (30B) has been removed. The conversion unit (119) converts the first map information (MJ1) after extraction by the extraction unit (112) into second map information (MJ2).

[0210] With this configuration, only the travel routes (P1 to P5, P6a) included in the first map information (MJ1) that meet the conditions for use by the second mobile entity (30B) (P1 to P5) can be converted to the second map information (MJ2). As a result, the unsuitable travel route (P6a) can be removed from the first map information (MJ1).

[0211] The support system (10) of the eleventh embodiment comprises a plurality of second mobile bodies (30B) in the tenth embodiment. The extraction unit (112) extracts, for each of the plurality of second mobile bodies (30B), the travel paths from which incompatible travel paths have been removed from the travel paths included in the first map information (MJ1).

[0212] This configuration allows for the removal of unsuitable travel routes from the first map information (MJ1).

[0213] The support system (10) of the twelfth embodiment includes, in the tenth embodiment, a plurality of second mobile control systems (20B) including a second mobile control system (20B), and a plurality of second mobile bodies (30B) including a second mobile body (30B) corresponding to the plurality of second mobile control systems (20B). The extraction unit (112) extracts travel paths from the travel paths included in the first map information (MJ1) that are incompatible with the conditions under which a second mobile body (30B) corresponding to one of the plurality of second mobile control systems (20B) among the plurality of second mobile bodies (30B) can be used.

[0214] This configuration allows for the removal of unsuitable travel routes from the first map information (MJ1).

[0215] The support system (10) of the 13th embodiment further comprises a prohibition setting unit (113) in any one of the 10th to 12th embodiments. The prohibition setting unit (113) sets an entry prohibition area (S20, U20) that prohibits the entry of the second mobile body (30B) in the area (R20) that includes the non-conformable movement path (P6a) in the first map information (MJ1) or in the corresponding area of ​​the second map information (MJ2) that corresponds to an entry prohibition area set independently of the non-conformable movement path (P6a).

[0216] With this configuration, it is possible to prohibit the second mobile object (30B) from entering the area (R20) in the first map information (MJ1) that includes the portion where the non-conforming movement path (P6a) has been removed, or the corresponding area in the second map information (MJ2) that corresponds to an area where entry is prohibited independently of the non-conforming movement path (P6a).

[0217] The control system (40) of the 14th embodiment comprises one support system (10) of the first to 13 embodiments and a first mobile control system (20A). The first mobile control system (20A) includes a processing unit (21A) that creates first map information (MJ1). The conversion unit (119) of the support system (10) converts the first map information (MJ1) created by the processing unit (21A) into second map information (MJ2). The second map information (MJ2) output from the output unit (120) of the support system (10) is input to the second mobile control system (20B).

[0218] With this configuration, the first map information (MJ1) created by the first mobile object control system (20A) can be converted into second map information (MJ2). Therefore, the first mobile object control system (20A) can control the movement of the second mobile object (30B) in addition to the first mobile object (30A).

[0219] The transport system of the 15th embodiment comprises a support system (10) of any one of the first to 13 embodiments and a first mobile body control system (20A). The first mobile body (30A) and the second mobile body (30B) each perform transport operations to transport an object to be transported. The object to be transported includes at least one of a trolley and a component supply module. The trolley is capable of accommodating components to be mounted on a circuit board. The component supply module supplies components to a manufacturing apparatus that mounts components on a circuit board.

[0220] According to this embodiment, the first mobile body (30A) and the second mobile body (30B) can be controlled by the first mobile body control system (20A) to perform a transport operation to transport an object to be transported.

[0221] The support method of the 16th embodiment supports the first mobile body control system (20A) so that the movement of the second mobile body (30B) controlled by the second mobile body control system (20B) can be controlled. The first mobile body control system (20A) controls the movement of the first mobile body (30A) by inputting first path information representing the movement path in a first coordinate system to the first mobile body (30A). The second mobile body control system (20B) controls the movement of the second mobile body (30B) by inputting second path information representing the movement path in a second coordinate system to the second mobile body (30B). The support method includes an input step (S3), a conversion step (S11, S16, S21, S25), and an output step (S12, S17, S22, S26). The input step (S3) receives input of first map information including a movement path expressed in a first coordinate system. The conversion steps (S11, S16, S21, S25) convert the first map information (MJ1) into the second map information (MJ2) by converting the position coordinates of the first coordinate system to the position coordinates of the second coordinate system. The second map information (MJ2) is expressed in the second coordinate system and includes a travel path (81, 82) that the second mobile object (30B) can travel, and serves as the basis for the second path information. The output steps (S12, S17, S22, S26) output the second map information (MJ2) converted in the conversion steps (S11, S16, S21, S25).

[0222] With this configuration, second map information (i.e., second map information for the second mobile control system (20B)) (MJ2) using a second coordinate system can be easily generated from first map information (i.e., first map information for the first mobile control system (20A)) (MJ1) using a first coordinate system. As a result, the first map information (MJ1) using the first coordinate system can be easily deployed to the second mobile control system (20B).

[0223] The program of the 17th embodiment is a program that causes one or more processors to execute the support method of the 16th embodiment.

[0224] This configuration allows us to provide a program that records the above-mentioned support methods.

[0225] 10 Support system 12 Input unit 14 Display unit 20A First mobile control system 20B Second mobile control system 30A First mobile unit 30B Second mobile unit 71 First movement path 82 Corresponding path 113 Prohibition setting unit 119 Conversion unit 120 Output unit 118 Designation unit G1 Operation screen MG3 Map image MJ1 First map information MJ2 Second map information P1-P5 Movement path P6a Incompatible movement path R20 Certain area (area) S20, U20 No entry area

Claims

1. A support system that enables a first mobile body control system, which controls the movement of a first mobile body by inputting first path information representing a movement path in a first coordinate system to the first mobile body, to control the movement of a second mobile body controlled by a second mobile body control system, which controls the movement of the second mobile body by inputting second path information representing a movement path in a second coordinate system to the second mobile body, comprising: an input unit that receives input of first map information including a movement path expressed in the first coordinate system; a conversion unit that converts the position coordinates of the first coordinate system to position coordinates of the second coordinate system, thereby converting the first map information into second map information that is expressed in the second coordinate system, includes a movement path that the second mobile body can travel on, and is the basis of the second path information; and an output unit that outputs the second map information converted by the conversion unit.

2. The support system according to claim 1, wherein the first map information further includes first attribute information defined in a first format that defines the operation of at least one of the first mobile body and the second mobile body, and the conversion unit converts the first attribute information defined in the first format included in the first map information into second attribute information defined in the second format included in the second map information using a format conversion formula that converts the first format into a second format used in the second mobile body control system.

3. The support system according to claim 2, wherein the first attribute information includes type information indicating the type of at least one of the first and second mobile bodies that can utilize the travel path included in the first map information.

4. The support system according to any one of claims 1 to 3, wherein the conversion unit is capable of converting the first map information to the second map information using a plurality of conversion methods that are different from each other, and the support system further comprises a designation unit that specifies a conversion method to be executed by the conversion unit from among the plurality of conversion methods.

5. The support system according to claim 4, wherein the plurality of conversion methods include at least one of: a first conversion method that uses raw map data usable in the second mobile control system; a second conversion method that uses an operation screen for creating map information that forms the basis of the second route information in the second mobile control system, the operation screen which can be displayed via screen sharing on a display unit used in the support system; a third conversion method that uses a map image representing a map included in the map information used in the second mobile control system; and a fourth conversion method that uses information in text format.

6. When the designation unit specifies the first conversion method, the conversion unit converts the first movement path of the first coordinate system included in the first map information to the second movement path of the second coordinate system using a predetermined coordinate conversion formula, sets the converted second movement path in the raw data, and converts the first attribute information of the first format included in the first map information to the second attribute information of the second format using a predetermined format conversion formula, sets the converted second attribute information in the raw data, thereby generating the second map information from the raw data, as described in claim 5.

7. When the designation unit specifies the second conversion method, the conversion unit generates the second map information by controlling the operation input to the screen-shared operation screen and creating map information that includes route information corresponding to the first route information included in the first map information and attribute information corresponding to the first attribute information included in the first map information, the support system according to claim 5.

8. When the designation unit specifies the third conversion method, the conversion unit generates the second map information by drawing a corresponding path in image format on the map image that corresponds to the first movement path included in the first map information, drawing a position coordinate of the second coordinate system of the corresponding path in image format around the corresponding path, and drawing corresponding information in image format around the corresponding path that corresponds to the first attribute information associated with the first movement path. The support system according to claim 5.

9. When the designation unit specifies the fourth conversion method, the conversion unit generates the second map information by generating the position coordinates of the second coordinate system of the first movement path included in the first map information and corresponding information corresponding to the first attribute information associated with the first movement path as text information, the support system according to claim 5.

10. The support system according to claim 9, further comprising an extraction unit that extracts travel routes from which unsuitable travel routes that do not meet the conditions for the use of the second mobile body have been removed from the travel routes included in the first map information, wherein the conversion unit converts the first map information after extraction by the extraction unit into second map information.

11. The support system according to claim 10, comprising a plurality of second moving bodies, wherein the extraction unit extracts, for each of the plurality of second moving bodies, a movement path from which the incompatible movement path has been removed from the movement path included in the first map information.

12. The support system according to claim 10, comprising: a plurality of second mobile control systems including the second mobile control system; and a plurality of second mobile bodies including the second mobile body and corresponding to the plurality of second mobile control systems, wherein the extraction unit extracts from the travel paths included in the first map information an unsuitable travel path from which conditions that do not meet the usability of a second mobile body corresponding to one of the plurality of second mobile control systems among the plurality of second mobile bodies are removed.

13. The support system according to any one of claims 10 to 12, further comprising a prohibition setting unit that sets an entry prohibition area in the corresponding area of ​​the second map information that corresponds to the area including the non-conformable travel path in the first map information or an entry prohibition area set independently of the non-conformable travel path, for which entry of the second moving body is prohibited.

14. A control system comprising: a support system according to any one of claims 1 to 13; and a first mobile control system, wherein the first mobile control system includes a processing unit for creating the first map information; the conversion unit of the support system converts the first map information created by the processing unit into second map information; and the second map information output from the output unit of the support system is input to the second mobile control system.

15. A transport system comprising: a support system according to any one of claims 1 to 13; and a first mobile control system, wherein the first mobile and the second mobile each perform transport operations for transporting an object to be transported, and the object to be transported includes at least one of: a trolley capable of accommodating components to be mounted on a substrate; and a component supply module for supplying the components to a manufacturing apparatus for mounting the components on the substrate.

16. A support method for enabling a first mobile body control system, which controls the movement of a first mobile body by inputting first path information representing a movement path in a first coordinate system to the first mobile body, to control the movement of a second mobile body controlled by a second mobile body control system, which controls the movement of the second mobile body by inputting second path information representing a movement path in a second coordinate system to the second mobile body, the support method comprising: an input step of receiving input of first map information including a movement path expressed in the first coordinate system; a conversion step of converting the first map information into second map information expressed in the second coordinate system, which includes a movement path that the second mobile body can travel on and which serves as the basis for the second path information, by converting the position coordinates of the first coordinate system to position coordinates of the second coordinate system; and an output step of outputting the second map information converted in the conversion step.

17. A program for causing one or more processors to execute the support method described in claim 16.

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