Abstract: A route determination system includes: an initial route line setting section that sets an initial route line including a plurality of split points between a starting point and a destination and connecting the first and second waypoints; and a movement route determination section that generates a candidate route line starting from the first waypoint and reaching the second waypoint by setting a predetermined number of control points at arbitrary positions within a specific range on the map, and that when all split points of the candidate route line are positioned within the passable area, determines, as a movement route for a mobile object, a route in a real space corresponding to the candidate route line, and when at least one of the split points of the candidate route line is positioned within an impassable area, increases the number of control points and performs the curving processing again.

Abstract: A work region setting device includes a processor executes computer-readable instructions to perform acquiring map information about a work region and work machine information about a plurality of work machines, deciding the work target region for each of the work machines for performing the work in a work range of a work region designated based on the map information, setting the decided work target region for each work machine, and transmitting the work target region to the work machine. The work machines include a first second work machines. The deciding of the work target region includes deciding a region including an edge of a boundary line located around the work range as a second work target region of the second work machine and deciding a region of the work range inside of the second work target region as a first work target region of the first work machine.

Abstract: A work area determination device includes: an acquisition unit for acquiring a travel track of a lawn mower that has traveled while being operated by a person; a movement track calculation unit for calculating a movement track of the mowing blade of the lawn mower on the basis of the travel track; and a determination unit for determining a lawn mowing work area from which the obstacle presence area is excluded, on the basis of the movement track.

Abstract: The route generation device includes a controller configured to generate, in response to acceptance of an allowable arrival time period assigned to at least one of the plurality of destinations, an input of information regarding specifics of a task to be performed at the at least one destination, and setting of a required time period according to the specifics of the task, a route that allows the autonomous mobile body to arrive at the at least one destination within the allowable arrival time period, based on the required time period. The controller is configured to control and cause the autonomous mobile body to travel along the generated route.

Abstract: An operation control system of a mobile object configured to be autonomously movable, the operation control system comprising: a position detection unit configured to detect a position of the mobile object; a recognition unit configured to recognize a state of a periphery of the mobile object; a decision unit configured to decide, in a case where the mobile object is in a stopped state, a condition for another mobile object to pass by the mobile object according to a result of the recognition by the recognition unit; and a sharing unit configured to share information indicating the position of the mobile object in the stopped state detected by the position detection unit and the condition decided by the decision unit with the other mobile object.

Abstract: A path planning device for planning a path on which a machine capable of transporting an object moves is provided. The device acquires a graph including a plurality of nodes corresponding to a plurality of points and a plurality of edges corresponding to a plurality of roads connecting the plurality of points, determines weights to be assigned to the plurality of edges, and selects a start point and an end point from the plurality of nodes, and determine a path from the start point to the end point based on the weights assigned to the plurality of edges. The weights are determined based on at least a weight of the object transported by the machine during movement on the road corresponding to each edge, and a difference in altitude between points corresponding to two nodes connected by each edge.

Abstract: An operation schedule management device includes an acquisition unit (401), a determination unit (402), a setting unit (403), and an adjustment unit (404). The acquisition unit (401) acquires an operation schedule (600) of each of a plurality of mobile objects. The determination unit (402) determines presence of an overlapping stop indicating that a plurality of mobile objects stop at the same position at the same time on the basis of the operation schedules (600). The setting unit (403) sets a stoppable range in which a plurality of mobile objects are able to stop at the same position. The adjustment unit (404) adjusts stop locations of the mobile objects such that the stop locations do not overlap in the stoppable range when the determination unit (402) determines that the overlapping stop is present.

Abstract: To provide a control system of a working machine and a control method of the working machine that enables an operator side to control the working machine, on the basis of an image transmitted from the working machine side. In a control system of a working machine which operates the working machine by an image from the working machine side, the working machine includes an image processing unit which converts a color image into a grayscale image; and a working machine communication unit which transmits the grayscale image from the working machine side to the system side, and the system includes a system communication unit which receives the grayscale image transmitted by the working machine; and a processing unit which restores a color image from the grayscale image, by the use of a learning model created using an original image of a working area, and an image in which tonal information is reduced from the original image.

Abstract: Provided are a route generation device and a route generation method for an autonomous mobile body that are capable of generating an appropriate route in consideration of waiting time at a destination. A route generation device for an autonomous mobile body to arrive at a plurality of destinations within periods set for the plurality of destinations on a one-to-one basis, the route generation device configured to generate a route going via a waiting place in a case in which the autonomous mobile body is to arrive at the destinations before the periods set if traveling to the plurality of destinations via a shortest route and in which the autonomous mobile body is able to arrive at the destinations within the periods set even if going via the waiting place where maintenance of the autonomous mobile body or predetermined work can be performed; and output the route to a travel control device for the autonomous mobile body so that the autonomous mobile body travels on the route.

Abstract: Provided is an instruction device capable of generating a driving route suitable for characteristics of a driving region while reducing the number of steps required to generate a route. The instruction device is configured to instruct an autonomous driving vehicle of a behavior plan including at least a driving route, the driving route includes an actual driving route created based on actual driving data obtained at the time of actual driving, and the actual driving route is set at a predetermined position on the driving route, based on the actual driving data.

Abstract: An autonomous traveling system includes: an information storage unit storing beforehand, for each of points on a target route from a departure place to a destination, turnability information indicating whether an autonomous traveling body traveling autonomously along the target route can turn to change a traveling posture thereof; and a travel planning unit determining the traveling posture with respect to each of traveling sections connecting the points, and determines, from among the points, a turn execution point at which the autonomous traveling body turns in order to take the determined traveling posture in each of the traveling sections, based on the turnability information, wherein the autonomous traveling body includes a travel control execution unit executing control for causing the autonomous traveling body to turn every time the autonomous traveling body reaches the turn execution point and to advance in each of the traveling sections in the determined traveling posture.

Abstract: The route generation device includes a controller configured to generate, in response to acceptance of an allowable arrival time period assigned to at least one of the plurality of destinations, an input of information regarding specifics of a task to be performed at the at least one destination, and setting of a required time period according to the specifics of the task, a route that allows the autonomous mobile body to arrive at the at least one destination within the allowable arrival time period, based on the required time period. The controller is configured to control and cause the autonomous mobile body to travel along the generated route.

Abstract: A pallet structure includes a positioning mechanism is provided. The positioning mechanism includes an engaging element disposed on a sloping edge and adapted to be engaged with slits formed on the inclined surface of a vehicle. A coil spring is connected between the engaging element and the sloping edge and biasing the engaging element to protrude outward from an outer surface of the sloping edge. A retaining element is disposed between an inner surface of the sloping edge and a bottom deck board of the pallet and configured to retain the engaging element to move between an engaging position and a disengaging position. The protruding end of the engaging element is protruded outward from the outer surface of the sloping edge in the engaging position, and the protruding end of the engaging element is not protruded from the outer surface of the sloping edge in the disengaging position.

Abstract: A pallet structure includes a positioning mechanism is provided. The positioning mechanism includes an engaging element disposed on a sloping edge and adapted to be engaged with slits formed on the inclined surface of a vehicle. A coil spring is connected between the engaging element and the sloping edge and biasing the engaging element to protrude outward from an outer surface of the sloping edge. A retaining element is disposed between an inner surface of the sloping edge and a bottom deck board of the pallet and configured to retain the engaging element to move between an engaging position and a disengaging position. The protruding end of the engaging element is protruded outward from the outer surface of the sloping edge in the engaging position, and the protruding end of the engaging element is not protruded from the outer surface of the sloping edge in the disengaging position.

Abstract: An autonomous mobile body control device includes a control unit that is capable of executing a first movement control that controls movement of an autonomous mobile body on the basis of a main map, and a second movement control that controls the movement of the autonomous mobile body on the basis of a local map. In the case that a map used when causing the autonomous mobile body to move is switched from the main map to the local map, or alternatively, in the case that the map used when causing the autonomous mobile body to move is switched from the local map to the main map, the control unit temporarily executes a third movement control that controls the movement of the autonomous mobile body on the basis of a landmark appearing in an acquired image.

Abstract: A moving body includes a sensor that detects a protruding portion of a load, a determination unit that determines whether or not the protruding portion is present, a footprint setting unit that sets a footprint formed by a first region obtained by projecting the moving body on the ground and a second region obtained by projecting the protruding portion on the ground or a footprint formed by the first region, depending on the presence or absence of the protruding portion, and a travel control unit that controls traveling of the moving body based on the footprint.

Abstract: A route determination system includes: an initial route line setting section that sets an initial route line including a plurality of split points between a starting point and a destination and connecting the first and second waypoints; and a movement route determination section that generates a candidate route line starting from the first waypoint and reaching the second waypoint by setting a predetermined number of control points at arbitrary positions within a specific range on the map, and that when all split points of the candidate route line are positioned within the passable area, determines, as a movement route for a mobile object, a route in a real space corresponding to the candidate route line, and when at least one of the split points of the candidate route line is positioned within an impassable area, increases the number of control points and performs the curving processing again.

Abstract: A rotor structure of an electric motor includes a rotor and a stator. The rotor is fixed to a motor shaft and rotates integrally with the motor shaft. The stator is fixed around the rotor. The rotor includes a cylindrical rotor core coaxially press-fitted and fixed to the motor shaft, a pair of ring-shaped end surface plates disposed facing two axial end surfaces of the rotor core, and permanent magnets respectively housed in slots penetrating an outer peripheral portion of the rotor core in an axial direction. A plurality of openings in which the permanent magnets are exposed are formed in a circumferential direction in an outer peripheral portion of one of the end surface plates, and a ring-shaped cover that covers the openings is detachably attached to an outer end surface of the outer peripheral portion of the end surface plate.

Abstract: An autonomous traveling system includes: an information storage unit storing beforehand, for each of points on a target route from a departure place to a destination, turnability information indicating whether an autonomous traveling body traveling autonomously along the target route can turn to change a traveling posture thereof; and a travel planning unit determining the traveling posture with respect to each of traveling sections connecting the points, and determines, from among the points, a turn execution point at which the autonomous traveling body turns in order to take the determined traveling posture in each of the traveling sections, based on the turnability information, wherein the autonomous traveling body includes a travel control execution unit executing control for causing the autonomous traveling body to turn every time the autonomous traveling body reaches the turn execution point and to advance in each of the traveling sections in the determined traveling posture.

Abstract: An autonomous traveling body includes a body portion that has a longitudinal direction, a traveling unit that travels autonomously. The autonomous traveling body includes a rollover determination unit that determines whether or not the autonomous traveling body is likely to roll over due to traveling, and a travel control execution unit that controls the traveling unit so as to change an orientation of the longitudinal direction with respect to an advancing direction, in a case where the rollover determination unit determines that the autonomous traveling body is likely to roll over.