Path creation device, path management system, storage medium, and path creation method

Abstract

A path creation device, a path management system, a storage medium, and a path creation method that can reduce the amount of information representing a path. The path creation device creates the shortest path from a departure location to a destination location and selects a first landmark location and a second landmark location included in the shortest path. When the path creation device determines that the partial path between the first via landmark location and the second via landmark location is one based on the path cost value, it creates a compressed path obtained by deleting one or more third via landmark locations between the first landmark location and the second landmark location from the shortest path.

Description

Technical Field

[0001] The present disclosure relates to a path creation device, a path management system, a storage medium, and a path creation method. Background Art

[0002] Patent Document 1 discloses a moving path generation device for a robot. The moving path generation device generates a map that connects objects in a space with connectors. By tracking the objects connected by the connectors, the robot can move autonomously without specifying a detailed moving path.

[0003] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2006-259963

[0004] However, in the moving path generation device described in Patent Document 1, when the moving path becomes longer, the number of indicated objects and their connectors increases. Therefore, the amount of information representing the path becomes larger. Summary of the Invention

[0005] The present disclosure has been completed in order to solve the above problems. An object of the present disclosure is to provide a path creation device, a path management system, a storage medium, and a path creation method that can reduce the amount of information representing a path.

[0006] The path creation device of the present disclosure includes: a path cost calculation unit that calculates a path cost value representing the cost required for a robot moving autonomously to move on a path between two locations; an overall path creation unit that creates information on an overall path based on first map information showing the positions of a plurality of landmark locations, the overall path being a union of a plurality of paths starting from the starting location of the robot and reaching the destination location via three or more passing landmark locations among the plurality of landmark locations; a shortest path creation unit that determines, as the shortest path, the path with the smallest path cost value calculated by the path cost calculation unit among the plurality of paths included in the overall path created by the overall path creation unit; a partial path creation unit that selects a first passing landmark location among the three or more passing landmark locations included in the shortest path determined by the shortest path creation unit, and a second passing landmark location that passes after the first passing landmark location among the three or more passing landmark locations and is not adjacent to the first passing landmark location, and creates one or more partial paths starting from the first passing landmark location and reaching the second passing landmark location via at least one landmark location among the plurality of landmark locations shown in the first map information; and a compressed path creation unit that, when the number of partial paths in the one or more partial paths created by the partial path creation unit, for which the path cost value calculated by the path cost calculation unit is equal to or less than a specified threshold value, is one, creates a compressed path obtained by deleting, from the shortest path, one or more third passing landmark locations that are present between the first passing landmark location and the second passing landmark location among the three or more passing landmark locations included in the shortest path.

[0007] The path management system of the present disclosure includes: a movement control device that controls the movement of a robot; and a management server that, when receiving information on a departure location and a destination location of the robot, sends information on a movement path from the departure location to the destination location to the movement control device. In the path management system, the management server includes: a first storage device that stores first map information showing the positions of a plurality of landmark locations; a path creation device; and a communication device that sends information on the compressed path created by the path creation device to the movement control device as information on the movement path. The movement control device includes: a communication unit that receives the information on the compressed path created by the path creation device; a second storage unit that stores second map information indicating the positions of the plurality of landmark locations included in the first map information; a restored path cost calculation unit that calculates a path cost value representing the cost required for the robot to move on a path between two locations; a restored partial path creation unit that, when the communication unit receives the information on the compressed path, creates one or more restored partial paths that start from the first intermediate landmark location included in the compressed path and reach the second intermediate landmark location included in the compressed path via at least one of the plurality of landmark locations included in the second map information stored in the second storage unit; a restored path creation unit that creates information on a restored path that includes the restored partial path with the minimum path cost value calculated by the restored path cost calculation unit among the one or more restored partial paths created by the restored partial path creation unit and the compressed path; and a movement control unit that moves the robot based on the information on the restored path created by the restored path creation unit.

[0008] A computer-readable storage medium storing a computer program, when the computer program is executed by a processor, performs the following steps: a path cost calculation step of calculating a path cost value representing the cost required for a robot moving autonomously to move on a path between two locations; an overall path creation step of creating information on an overall path based on first map information showing the positions of a plurality of landmark locations, the overall path being a union of a plurality of paths starting from the starting location of the robot and reaching the destination location via three or more landmark locations among the plurality of landmark locations; a shortest path creation step of determining, as the shortest path, the path having the smallest path cost value calculated by the path cost calculation step among the plurality of paths included in the overall path created by the overall path creation step; a partial path creation step of selecting a first via landmark location among the three or more via landmark locations included in the shortest path determined by the shortest path creation step, and a second via landmark location that passes after the first via landmark location among the three or more via landmark locations and is not adjacent to the first via landmark location, and creating one or more partial paths starting from the first via landmark location and reaching the second via landmark location via at least one landmark location among the plurality of landmark locations shown in the first map information; and a compressed path creation step of creating a compressed path obtained by deleting, from the shortest path, one or more third via landmark locations existing between the first via landmark location and the second via landmark location among the three or more via landmark locations included in the shortest path, when the number of partial paths having a path cost value calculated by the path cost calculation step less than a specified threshold among the one or more partial paths created by the partial path creation step is one.

[0009] The path creation method of the present disclosure includes: a path cost calculation process for calculating a path cost value, which represents the cost required for a robot moving autonomously to move on a path between two locations; an overall path creation process for creating information on an overall path based on first map information showing the positions of a plurality of landmark locations, where the overall path is the union of a plurality of paths starting from the starting location of the robot and reaching the destination location via three or more passing landmark locations among the plurality of landmark locations; a shortest path creation process for determining, as the shortest path, the path with the smallest path cost value calculated by the path cost calculation process among the plurality of paths included in the overall path created by the overall path creation process; a partial path creation process for selecting a first passing landmark location among the three or more passing landmark locations included in the shortest path determined by the shortest path creation process, and a second passing landmark location that passes after the first passing landmark location and is not adjacent to the first passing landmark location among the three or more passing landmark locations, and creating one or more partial paths starting from the first passing landmark location and reaching the second passing landmark location via at least one landmark location among the plurality of landmark locations shown in the first map information; and a compressed path creation process for creating, when the number of partial paths among the one or more partial paths created by the partial path creation process, for which the path cost value calculated by the path cost calculation process is less than a specified threshold, is one, a compressed path obtained by deleting one or more third passing landmark locations existing between the first passing landmark location and the second passing landmark location from the shortest path.

[0010] According to the present disclosure, a path creation device creates a shortest path from a starting location to a destination location and selects a first landmark location and a second landmark location included in the shortest path. When the path creation device determines that the number of partial paths between the first passing landmark location and the second passing landmark location is one based on the path cost value, it creates a compressed path obtained by deleting one or more third passing landmark locations between the first landmark location and the second landmark location from the shortest path. Therefore, the amount of information representing the path can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a schematic diagram of the path management system in Embodiment 1.

[0012] Figure 2 is a diagram showing the shortest path and the compressed path created by the path management system in Embodiment 1.

[0013] Figure 3 is a block diagram of the path management system in Embodiment 1.

[0014] Figure 4 This is a flowchart for explaining the outline of the operation of the path creation device in Embodiment 1.

[0015] Figure 5 This is a flowchart for explaining the outline of the operation of the path creation device in Embodiment 1.

[0016] Figure 6 This is a flowchart for explaining the outline of the operation of the path creation device in Embodiment 1.

[0017] Figure 7 This is a hardware structure diagram of the path creation device in Embodiment 1.

[0018] Figure 8 This is a hardware structure diagram of another example of the path creation device in Embodiment 1.

[0019] Reference Numeral Explanation

[0020] 1: Building; 2: Landmark; 3: Path management system; 4: Building management server; 5: Robot; 6: Robot management server; 7: Instruction terminal; 7a: Input device; 8: Communication device; 9: First storage device; 10: Path creation device; 11: Path cost calculation unit; 12: Overall path creation unit; 13: Shortest path creation unit; 14: Partial path creation unit; 15: Compressed path creation unit; 20: Movement control device; 21: Second storage unit; 22: Communication unit; 23: Restored path cost calculation unit; 24: Restored partial path creation unit; 25: Restored path creation unit; 26: Movement control unit; 30: Integrated communication unit; 31: Information management unit; 100: Processing circuit; 100a: Processor; 100b: Memory; 200: Hardware. Detailed Embodiment

[0021] The embodiments for implementing the present disclosure will be described with reference to the drawings. In addition, in each figure, the same or corresponding parts are labeled with the same reference numerals. The repeated description of such parts will be appropriately simplified or omitted.

[0022] Embodiment 1

[0023] Figure 1 This is a schematic diagram of the path management system in Embodiment 1.

[0024] In Figure 1 Building 1 as a building is shown. A plurality of landmarks 2 are provided in Building 1. Specifically, the plurality of landmarks 2 are building facilities such as doors, columns, elevators, and security doors.

[0025] The path management system 3 is applied to the building 1. The path management system 3 includes a building management server 4, a robot 5, and a robot management server 6. In addition, the path management system 3 may also include multiple robots 5.

[0026] For example, the building management server 4 is set as a cloud server in a building different from the building 1. The building management server 4 stores the first map information of the building 1. The first map information is an internal environment map of the building 1 that includes the IDs and locations of multiple landmarks 2. For example, the first map information is created based on the detailed design drawing of the building 1 such as BIM (Building Information Modeling).

[0027] For example, the robot 5 is a delivery robot, a security robot, etc. The robot 5 is a robot that moves autonomously inside the building 1. The robot 5 has an identification sensor and a driving device. The identification sensor is a sensor that observes the surrounding conditions. Specifically, the identification sensor is a camera, a LiDAR (Light Detection and Ranging) sensor, a radio communication device, etc. When the robot 5 approaches the landmark 2, it uses the identification sensor to identify the ID and location of the landmark 2. At this time, the robot 5 uses the identification sensor in a form corresponding to the building equipment serving as the landmark 2 to identify the ID and location of the landmark 2. Table 1 below shows an example of the form of identification corresponding to the building equipment. In addition, the building equipment set as the landmark 2 and the form of identification are not limited to the examples shown in Table 1.

[0028]

Table 1

[0029] Building equipment Recognition form Elevator Image, LiDAR Security door Image, LiDAR Electronic lock Image, LiDAR, Radio wave Room Image, LiDAR Wireless LAN access point (AP) Radio wave QR code Image

[0030] As shown in Table 1, for example, when the robot 5 approaches an electronic lock serving as the landmark 2, it identifies the ID and location of the electronic lock based on the information of the image obtained by the camera photographing the electronic lock, the information of the distance measured by the LiDAR sensor from the electronic lock, and the information of the radio wave when the radio communication device communicates with the electronic lock. For example, the robot 5 identifies the ID and location of the building equipment based on the information of the image obtained by the camera photographing the QR code (registered trademark) set on a certain building equipment.

[0031] The robot 5 can use map creation technologies such as SLAM (Simultaneous Localization And Mapping) to create the second map information while estimating its own position relative to the landmark 2 recognized by the recognition sensor. The robot 5 can move inside the building 1 through the driving device while creating the second map information. The landmark 2 included in the second map corresponds to the landmark 2 included in the first map.

[0032] The robot management server 6 is set inside the building 1. The robot management server 6 can communicate with the building management server 4 and the robot 5 via the network. The robot management server 6 manages the position information of the robot 5.

[0033] When the robot 5 moves towards the destination inside the building 1, it requests the information of the movement path from the building management server 4 via the robot management server 6. At this time, the robot 5 sends the information corresponding the departure point and the destination point in the second map information together with this request to the building management server 4.

[0034] In addition, the information corresponding the departure point and the destination point can be created by any device such as the building management server 4, the robot 5, and the robot management server 6. For example, instead of the robot 5, the robot management server 6 can send the information corresponding the departure point and the destination point in the second map information together with this request to the building management server 4. Additionally, the information corresponding the departure point and the destination point of the robot 5 can be sent to the building management server 4 together with this request by an external device.

[0035] When the building management server 4 receives the information request of the movement path, it searches for the shortest path from the departure point to the destination point based on the first map information and creates the information of the shortest path. The information of the shortest path is the information arranged in the order of the path searched for the multiple passing points which are multiple landmarks 2. Then, the building management server 4 creates the information of the compressed path obtained by compressing the shortest path by deleting one or more passing points included in the shortest path. The building management server 4 sends the information of the compressed path and the instruction of movement to the robot 5 via the robot management server 6.

[0036] When the robot 5 receives the information of the compressed path, it restores the shortest path based on the compressed path by estimating one or more waypoints deleted from the shortest path. While referring to the second map information, the robot 5 moves to the destination by sequentially tracking the landmarks 2 shown in the shortest path. At this time, the robot 5 autonomously determines the specific path for moving between the two landmarks 2. For example, in the case where there are obstacles in the middle of the path, the path is crowded in the middle, etc., the robot 5 can also move while avoiding the obstacles. The robot 5 can also move inside the building 1 while creating the second map information.

[0037] Next, use Figure 2 to explain the compressed path and the restored path after the compressed path is restored.

[0038] Figure 2 is a diagram showing the shortest path and the compressed path created by the path management system in Embodiment 1.

[0039] Generally, the first map and the second map each contain inherent errors. Since the second map is a map created by techniques such as SLAM, the accuracy of the second map is sometimes lower than the accuracy of the first map. Between the first map and the second map, there are sometimes differences such as offsets caused by rotation and offsets caused by deformation. Therefore, the first map used by the building management server 4 does not necessarily match the second map used by the robot 5. Figure 1 As a result, the position coordinates of the locations in the first map do not necessarily match the position coordinates of those locations in the second map.

[0040] On the other hand, as Figure 2 shows, the building management server 4 instructs the robot 5 to move along a path in the form of a set of multiple landmarks 2 with an order.

[0041] Specifically, the building management server 4 creates information on the shortest path in which multiple landmarks 2 in the first map are arranged in sequence as multiple waypoints. The building management server 4 creates a compressed path in the shortest path that excludes the waypoints required for restoring the shortest path. The compressed path only includes the landmarks 2 required for restoration in the shortest path. The building management server 4 shares only the landmarks 2 required for restoration with the robot 5.

[0042] The robot 5 restores the information of the compressed path based on the information of the IDs and positions of the multiple landmarks 2 in the second map, and creates information on the restored path as the information of the shortest path after restoration. The robot 5 moves among the multiple landmarks 2 in the second map in the order shown in the information of the restored path.

[0043] Next, use Figure 3 to explain the path management system 3.

[0044] Figure 3 This is a block diagram of the route management system in the first embodiment.

[0045] exist Figure 3 In FIG. 1 , a landing door of an elevator as a building facility is shown as a landmark 2. The route management system 3 further includes an indication terminal 7.

[0046] For example, the terminal 7 is set to Figure 3 The instruction terminal 7 receives input of information from the user via the input device 7a. The instruction terminal 7 receives input of information from an external device that is not included in the path management system 3. For example, the instruction terminal 7 receives input of information that associates the current location of the robot 5 with the destination point and an instruction to move the robot 5 to the destination. In this case, the instruction terminal 7 sends the received information and instruction to the building management server 4.

[0047] The building management server 4 includes a first storage device 9 , a communication device 8 , and a path creation device 10 .

[0048] The communication device 8 can communicate with the robot management server 6 and the instruction terminal 7 .

[0049] The first storage device 9 stores information. When the communication device 8 receives information that associates the departure point and the destination point of the robot 5, the first storage device 9 stores the information. Table 2 below shows an example of information that associates the departure point and the destination point of the robot 5.

[0050]

Table 2

[0051] Robot ID Location category x coordinate y coordinate Floor R1 Departure location X11 Y11 F11 R1 Destination X12 Y12 F12 R2 Departure location X21 Y21 F21 R2 Destination X22 Y22 F22 ： ： ： ： ：

[0052] As shown in Table 2, the first storage device 9 stores information that corresponds to "robot ID", "location category", "x coordinate", "y coordinate" and "floor". "Robot ID" is information for identifying the robot 5. "Location category" is information indicating whether the corresponding location is a departure point or a destination point. The position of the departure point and the position of the destination point are represented by a tuple of "x coordinate", "y coordinate" and "floor". In addition, as another example, the position of the departure point and the position of the destination point can also be represented by a tuple of "x coordinate", "y coordinate" and "z coordinate". The "x coordinate", "y coordinate" and "z coordinate" at the position of the departure point and the position of the destination point can also correspond to any one of the first map and the second map.

[0053] For example, the second row of Table 2 indicates that the “x coordinate”, “y coordinate”, and “floor” of the starting point of the robot 5 with ID “ R1 ” are X11, Y11, and F11, respectively.

[0054] The first storage device 9 pre-stores first map information. Table 3 below shows information corresponding the IDs of the multiple landmarks 2 included in the first map information to their positions.

[0055]

Table 3

[0056] Landmark ID x coordinate y coordinate Floor L1 X1 Y1 F1 L2 X2 Y2 F2 ： ： ： ：

[0057] In Table 3, the "landmark ID" is information for identifying each of the multiple landmarks 2. The position of the landmark 2 is represented by a tuple of "x coordinate", "y coordinate", and "floor". Additionally, as another example, the position of the landmark 2 can also be represented by a tuple of "x coordinate", "y coordinate", and "z coordinate". The "x coordinate", "y coordinate", and "z coordinate" at the position of the landmark 2 correspond to the first map.

[0058] The first storage device 9 stores information on the path cost values set for paths between any two of the multiple landmarks 2. The first storage device 9 stores information on the path cost values related to paths of combinations of multiple landmarks among the multiple landmarks 2. Table 4 below shows an example of the information on the path cost values.

[0059]

Table 4

[0060] First landmark ID Second landmark ID Path cost value L1 L2 C12 ： ： ： L1 L4 C14 ： ： ：

[0061] As shown in Table 4, the information on the path cost values is information corresponding "the first landmark ID", "the second landmark ID", and "the path cost value". The "first landmark ID" and "the second landmark ID" represent a combination of two landmarks 2. The "path cost value" is a value representing the cost incurred when moving between the first landmark 2 and the second landmark 2. For example, the second row of Table 4 indicates that the path cost value between the landmark 2 with ID "L1" and the landmark 2 with ID "L2" is "C12". There can be multiple methods for determining the path cost value.

[0062] As a first example, the path cost value is equal to the Euclidean distance between two landmarks 2. In the case where the floors where two landmarks 2 are set are different, the Euclidean distance of the path required for moving between floors is considered.

[0063] Additionally, as a second example, the path cost value can also be the sum of the value representing the Euclidean distance between two landmarks 2 and the value representing the degree of congestion between two landmarks 2.

[0064] In addition, as a third example, the path cost value can also be the sum of the value representing the Euclidean distance between two landmarks 2 and the value representing the difficulty of movement between the two landmarks 2. Specifically, when the ground between the two landmarks 2 is made of a material that is prone to slipping, the path cost value becomes a larger value.

[0065] In addition, as a fourth example, the path cost value can also be a value derived by a path cost function g(x1, y1, z1, x2, y2, z2). In this path cost function, x1, y1, z1 are the position coordinates of the first landmark. x2, y2, z2 are the position coordinates of the second landmark.

[0066] The path creation device 10 creates information on the path indicated to the robot 5. The path creation device 10 includes a path cost calculation unit 11, an overall path creation unit 12, a shortest path creation unit 13, a partial path creation unit 14, and a compressed path creation unit 15.

[0067] The path cost calculation unit 11 calculates the path cost value of the path connecting two locations. When it is a path passing through other landmarks 2 between two landmarks 2, the path cost calculation unit 11 uses the value obtained by summing the path cost values between the two landmarks 2 as the path cost value of this path. Specifically, the path cost calculation unit 11 adds the path cost values between the two landmarks 2 set for the path to be calculated based on the information on the path cost values stored in the first storage device 9, thereby calculating the path cost value of the path to be calculated.

[0068] When the path cost value of the path connecting two locations is not included in the information on the path cost values stored in the first storage device 9, the path cost calculation unit 11 calculates the path cost value of the path connecting these two locations. At this time, for example, the path cost calculation unit 11 calculates the path cost value based on any one of the first to fourth examples of the method for creating path cost information. In addition, when the path connecting two locations is similar to the path between two landmarks 2 included in the information on the path cost values, the path cost calculation unit 11 can also apply the path cost value of the similar path as the path cost value of the path connecting two locations.

[0069] The overall path creation unit 12 creates an overall path, which is a set of multiple paths from the departure location to the destination location passing through any of the multiple landmarks 2, based on the information stored in the first storage device 9 that associates the departure location with the destination location and the first map information.

[0070] Specifically, the overall path creation unit 12 causes the path cost calculation unit 11 to calculate the path cost values between each of the plurality of landmarks 2 and the departure location based on the information of the departure location stored in the first storage device 9 and the first map information. The overall path creation unit 12 sets the landmark 2 with the minimum path cost value from the departure location among the plurality of landmarks 2 as the first landmark location that the robot 5 passes through after the departure location. The overall path creation unit 12 causes the path cost calculation unit 11 to calculate the path cost values between each of the plurality of landmarks 2 and the destination location based on the information of the destination location stored in the first storage device 9 and the first map information. The overall path creation unit 12 sets the landmark 2 with the minimum path cost value leading to the destination location among the plurality of landmarks 2 as the second landmark location that the robot 5 passes through immediately before the destination location.

[0071] Then, the overall path creation unit 12 sets each of the plurality of landmarks 2 obtained by removing the second landmark location from the first landmark location as a plurality of landmark locations. The overall path creation unit 12 searches for a plurality of paths that start from the first landmark location and pass through one or more of the plurality of landmark locations to reach the second landmark location. The overall path creation unit 12 connects the path from the departure location to the first landmark location, the plurality of paths that pass through one or more of the plurality of landmark locations from the first landmark location to reach the second landmark location, and the path from the second landmark location to the destination location, thereby creating an overall path, which is the union of a plurality of paths that start from the departure location, pass through the first landmark location, one or more landmark locations, and the second landmark location to reach the destination location.

[0072] The shortest path creation unit 13 determines the path with the minimum path cost value among the plurality of paths included in the overall path created by the overall path creation unit 12 as the shortest path. At this time, the shortest path creation unit 13 sets each of the plurality of landmark locations existing between the departure location and the destination location in the shortest path as a landmark location to be passed through.

[0073] When there are three or more landmark locations to be passed through in the shortest path, the partial path creation unit 14 selects a group (i, j) of landmark locations to be passed through among the three or more landmark locations to be passed through. The group (i, j) of landmark locations to be passed through is the i-th landmark location to be passed through as the first landmark location to be passed through and the j-th landmark location to be passed through as the second landmark location to be passed through in the shortest path. The integer j can select an integer greater than the integer i + 1. That is, the j-th landmark location to be passed through is a landmark location to be passed through after the i-th landmark location to be passed through and not adjacent to the i-th landmark location to be passed through.

[0074] When creating a partial path, the partial path creation unit 14 determines whether the group (i, j) of landmark locations to be passed through has been selected. When the partial path creation unit 14 determines that the group (i, j) of landmark locations to be passed through has not been selected, it creates one or more partial paths from the i-th landmark location to be passed through to the j-th landmark location to be passed through. At this time, the partial path creation unit 14 creates the partial path so as not to form a cyclic path.

[0075] Specifically, when creating a partial path, the partial path creation unit 14 determines, based on the first map information stored in the first storage device 9, a plurality of landmark locations existing between the i-th landmark location to be passed through and the j-th landmark location to be passed through. Then, the partial path creation unit 14 creates one or more partial paths that start from the i-th landmark location to be passed through and pass through one or more of the determined landmark locations and reach the j-th landmark location to be passed through.

[0076] The partial path creation unit 14 creates partial paths until it selects the group (i, j) of landmark locations that can obtain all combinations of landmark locations to be passed through included in the shortest path and that have three or more landmark locations to be passed through.

[0077] The compressed path creation unit 15 determines whether the information of the partial path from the i-th landmark location to be passed through to the j-th landmark location can be compressed. Specifically, the compressed path creation unit 15 counts the number of partial paths among one or more partial paths from the i-th landmark location to be passed through to the j-th landmark location whose corresponding path cost value is equal to or less than a specified threshold value. When the number of partial paths whose path cost value is equal to or less than the specified threshold value is 1, the compressed path creation unit 15 determines that the information of the partial path from the i-th landmark location to be passed through to the j-th landmark location can be compressed. When the compressed path creation unit 15 determines that the information of the partial path from the i-th landmark location to be passed through to the j-th landmark location can be compressed, it sets the path obtained by deleting one or more third landmark locations existing between the i-th landmark location and the j-th landmark location in the shortest path from the shortest path as the latest shortest path.

[0078] The specified threshold value used in the compressed path creation unit 15 is set in consideration of the possibility that the path can be accurately restored, the compression rate of the path, and the like.

[0079] As a first example, the specified threshold value is set to the same value as the path cost value that is the smallest among the path cost values corresponding to one or more partial paths from the i-th landmark location to be passed through to the j-th landmark location.

[0080] As a second example, the specified threshold is set to the value obtained by adding the adjustment value ε to the path cost value that is the smallest among the path cost values corresponding to one or more partial paths from the i-th via landmark location to the j-th via landmark location.

[0081] When the compressed path creation unit 15 determines whether a partial path can be compressed for all the desirable combinations of the groups of via landmark locations (i, j), it determines the latest shortest path as the compressed path and creates information on the compressed path.

[0082] The robot 5 has a movement control device 20. The movement control device 20 controls the movement of the robot 5. The movement control device 20 has a second storage unit 21, a communication unit 22, a restored path cost calculation unit 23, a restored partial path creation unit 24, a restored path creation unit 25, and a movement control unit 26.

[0083] The second storage unit 21 stores second map information. The second storage unit 21 stores information on path cost values.

[0084] The communication unit 22 transmits and receives information to and from the robot management server 6.

[0085] When the communication unit 22 receives information on the compressed path from the building management server 4 via the robot management server 6, the restored partial path creation unit 24 uses the information on the compressed path and the second map information stored in the second storage unit 21, and creates one or more restored partial paths by the same method as the partial path creation unit 14. Specifically, the restored partial path creation unit 24 selects the group of via landmark locations (i, j) included in the compressed path. The restored partial path creation unit 24 determines a plurality of landmark locations shown in the second map information that exist between the i-th via landmark location and the j-th via landmark location. Then, the restored partial path creation unit 24 creates one or more restored partial paths that start from the i-th via landmark location and reach the j-th via landmark location by passing through one or more of the determined plurality of landmark locations.

[0086] The restored partial path creation unit 24 creates restored partial paths until it selects all the combinations of the groups of via landmark locations (i, j) that can be obtained through three or more via landmark locations included in the shortest path.

[0087] The restored path cost calculation unit 23 calculates the path cost value of the path connecting two locations by the same method as the path cost calculation unit 11. For example, the path cost calculation unit 11 adds the path cost values between two landmarks 2 set for the path to be calculated based on the information of the path cost values stored in the second storage unit 21, thereby calculating the path cost value of the path to be calculated. The restored path cost calculation unit 23 calculates the path cost value of the restored partial path when the restored partial path creation unit 24 creates one or more restored partial paths.

[0088] The restored path creation unit 25 determines the restored partial path with the minimum path cost value among the one or more restored partial paths created by the restored partial path creation unit 24.

[0089] The restored path creation unit 25 creates information on the restored path including the restored partial path with the minimum path cost value among the one or more restored partial paths corresponding to the group (i, j) of landmark locations passed through and the compressed path. Specifically, when the compressed path does not include one or more landmark locations included in the restored partial path with the minimum path cost value between the group (i, j) of landmark locations passed through, the restored path creation unit 25 adds the one or more landmark locations to the compressed path. The restored path creation unit 25 connects the one or more landmark locations added to the compressed path and the landmark locations passed through included in the compressed path in the same order as the restored partial path with the minimum path cost value, and sets it as the latest compressed path. The restored path creation unit 25 performs the same operation for all combinations of the group (i, j) of landmark locations that can be obtained for the multiple landmark locations passed through included in the compressed path. Then, the restored path creation unit 25 creates information on the restored path with the latest compressed path as the restored path.

[0090] The movement control unit 26 controls the movement action of the robot 5 by controlling the drive device of the robot 5. For example, the movement control unit 26 moves the robot 5 to the destination based on the second map information stored in the second storage unit 21, the information recognized by the recognition sensor, and the information on the path created by the restored path creation unit 25.

[0091] The robot management server 6 has an integrated communication unit 30 and an information management unit 31.

[0092] The integrated communication unit 30 can perform information communication with the communication device 8 of the building management server 4 and the communication unit 22 of the robot 5.

[0093] The information management unit 31 manages the position of the robot 5 based on the position information of the robot 5 received from the robot 5.

[0094] Next, use Figure 4, the operations of the path creation device 10 until it sends a compressed path to the robot 5 will be described.

[0095] Figure 4 It is a flowchart for explaining the outline of the operations of the path creation device in Embodiment 1.

[0096] As Figure 4 shown, in step S101, the path creation device 10 receives information that associates the departure location and the destination location of the robot 5 from the robot 5 or an external device.

[0097] Then, the operation of step S102 is performed. In step S102, the path creation device 10 determines the shortest path from the departure location to the destination location.

[0098] Then, the operation of step S103 is performed. In step S103, the path creation device 10 creates a compressed path based on the shortest path.

[0099] Then, the operation of step S104 is performed. In step S104, the path creation device 10 sends information on the compressed path to the robot 5.

[0100] Then, the path creation device 10 ends the operation.

[0101] Next, Figure 5 will be used to explain the operation of the path creation device 10 to determine the shortest path, which is the operation of step S102 as Figure 4 .

[0102] Figure 5 It is a flowchart for explaining the outline of the operations of the path creation device in Embodiment 1.

[0103] When the path creation device 10 receives information that associates the departure location and the destination location, it starts the operations of the flowchart shown in Figure 5 .

[0104] In step S201, the path cost calculation unit 11 calculates the path cost values between each of the multiple landmarks 2 and the departure location respectively.

[0105] Then, the operation of step S202 is performed. In step S202, the overall path creation unit 12 sets the landmark 2 with the smallest path cost value from the departure location among the multiple landmarks 2 as the first landmark location next to the departure location. The overall path creation unit 12 sets the path cost value between the first landmark location and the departure location as the path cost value A.

[0106] Then, the operation of step S203 is performed. In step S203, the path cost calculation unit 11 calculates the path cost values between each of the multiple landmarks 2 and the destination location respectively.

[0107] Then, the operation of step S204 is performed. In step S204, the overall path creation unit 12 sets the landmark 2 with the minimum path cost value among the multiple landmarks 2 leading to the destination as the second landmark location preceding the destination. The overall path creation unit 12 sets the path cost value between the second landmark location and the destination as path cost value B.

[0108] Then, the operation of step S205 is performed. In step S205, the overall path creation unit 12 sets the multiple landmarks 2 existing between the first landmark location and the second landmark location as the multiple landmark locations respectively. The overall path creation unit 12 creates an overall path, which is the union of multiple paths that start from the departure location, pass through the first landmark location, one or more landmark locations among the multiple landmark locations, and the second landmark location, and then reach the destination.

[0109] Then, the operation of step S206 is performed. In step S206, the path cost calculation unit 11 calculates the path cost values corresponding to the multiple paths included in the set of overall paths. At this time, the path cost calculation unit 11 calculates the path cost values C of the multiple paths that pass through one or more landmark locations from the first landmark location and reach the second landmark location respectively. The path cost calculation unit 11 calculates the path cost values corresponding to the multiple paths included in the set of overall paths by adding path cost value A, path cost value B, and the multiple path cost values C.

[0110] Then, the operation of step S207 is performed. In step S207, the shortest path creation unit 13 determines the path with the minimum path cost value among the multiple paths included in the overall path. The shortest path creation unit 13 determines the path with the minimum path cost value as the shortest path.

[0111] Then, the path creation device 10 ends the operation of determining the shortest path.

[0112] Next, use Figure 6 , to illustrate the operation of the path creation device 10 for determining the compressed path, which is the operation of step S103 in Figure 4 .

[0113] Figure 6 is a flowchart for explaining the outline of the operation of the path creation device in Embodiment 1.

[0114] When the path creation device 10 has determined the shortest path, it starts the operation of the flowchart shown in Figure 6 .

[0115] In step S301, the partial path creation unit 14 selects a group (i, j) of two via landmark locations included in the shortest path.

[0116] Then, in step S302, the partial path creation unit 14 determines whether the group (i, j) of landmark locations to be passed through is a group that has not been selected yet.

[0117] When it is determined in step S302 that the group (i, j) of landmark locations to be passed through is a selected group, the path creation device 10 performs the operations after step S301.

[0118] When it is determined in step S302 that the group (i, j) of landmark locations to be passed through is a group that has not been selected yet, the operation of step S303 is performed. In step S303, the partial path creation unit 14 creates a set of combinations of one or more partial paths that can be taken from the i-th landmark location to be passed through as the first landmark location to the j-th landmark location to be passed through as the second landmark location.

[0119] Then, the operation of step S304 is performed. In step S304, the path cost calculation unit 11 calculates the path cost value of each of the one or more partial paths extracted by the partial path creation unit 14 in step S303.

[0120] Then, the operation of step S305 is performed. In step S305, the compressed path creation unit 15 determines whether the information of the path from the i-th landmark location to the j-th landmark location can be compressed. Specifically, when the number of partial paths in the combination of one or more partial paths extracted by the partial path creation unit 14 in step S303, for which the path cost value calculated by the path cost calculation unit 11 in step S304 is below a specified threshold, is 1, the compressed path creation unit 15 determines that the information of the path from the i-th landmark location to the j-th landmark location can be compressed.

[0121] When the compressed path creation unit 15 determines in step S305 that the path information cannot be compressed, the operations after step S301 are performed.

[0122] When the compressed path creation unit 15 determines in step S305 that the path information can be compressed, the operation of step S306 is performed. In step S306, the compressed path creation unit 15 deletes one or more third landmark locations existing between the i-th landmark location to be passed through and the j-th landmark location to be passed through from the latest shortest path. The compressed path creation unit 15 sets the shortest path obtained by deleting one or more third landmark locations as the latest shortest path.

[0123] Then, the operation of step S307 is performed. In step S307, the partial path creation unit 14 determines whether all the groups (i, j) of landmark locations to be passed through that are available have been selected so far for the group (i, j) of landmark locations to be passed through included in the shortest path.

[0124] When there is an unselected group (i, j) of waypoint landmarks among all the groups (i, j) of waypoint landmarks determined by the partial path creation unit 14 in step S307 to be acceptable, the operations after step S301 are performed.

[0125] When the partial path creation unit 14 in step S307 determines that all the selected groups (i, j) of waypoint landmarks so far are acceptable, the operation of step S308 is performed. In step S308, the compressed path creation unit 15 determines the latest shortest path as the compressed path and creates information on the compressed path.

[0126] Then, the path creation device 10 ends the operation of creating the compressed path.

[0127] According to the first embodiment described above, the path creation device 10 includes a path cost calculation unit 11, an overall path creation unit 12, a shortest path creation unit 13, a partial path creation unit 14, and a compressed path creation unit 15. The path creation device 10 creates the shortest path from the starting point to the destination point and selects the first waypoint landmark and the second waypoint landmark included in the shortest path. When the path creation device 10 determines that there is one partial path between the first waypoint landmark via which and the second waypoint landmark via which based on the path cost value, the path creation device 10 creates a compressed path obtained by deleting one or more third waypoint landmarks between the first waypoint landmark and the second waypoint landmark from the shortest path. Therefore, the path creation device 10 can reduce the amount of information representing the path. In addition, the path creation device 10 can not only compress the path between two points connected by a straight line, but also compress the path that cannot be represented by a straight line.

[0128] In addition, the compressed path creation unit 15 sets the same value as the minimum path cost value among the path cost values of the partial paths as a prescribed threshold value. Therefore, the amount of information representing the path can be more reliably reduced.

[0129] In addition, the compression path creation unit 15 sets, as a specified threshold value, a value obtained by adding an adjustment value ε to a value equal to the minimum path cost value among the path cost values of partial paths. In this case, when there is a partial path having a path cost value close to the minimum path cost value, the compression path creation unit 15 does not compress the path. Therefore, when the compressed path is restored, the possibility of restoring the compressed path can be increased. In particular, when the coordinate difference between the first map information and the second map information is large, it is possible to create an unwanted partial path during the restoration of the partial path when creating the compressed path. Or, when the coordinate difference between the first map information and the second map information is large, the path cost value of the partial path created based on the first map information and the path cost value of the restored partial path created based on the second map information may be different. Compared with the case where the specified threshold value is set to the minimum path cost value, by providing a buffer such as the adjustment value ε for the specified threshold value, compression of the path can be suppressed when an unwanted restored partial path is likely to be found.

[0130] In addition, the path cost calculation unit 11 calculates the value of the Euclidean distance between two locations as the path cost value. Therefore, the path cost value can be easily set.

[0131] In addition, the path cost calculation unit 11 calculates the total value of the Euclidean distance value between two locations and the value representing the difficulty of movement as the path cost value. Therefore, the path cost value corresponding to the surrounding conditions of landmark 2 can be set.

[0132] In addition, the path cost calculation unit 11 considers the degree of congestion and the ground state as the value representing the difficulty of movement. Therefore, the path cost value that more accurately reflects the cost required for the movement of the robot 5 can be set.

[0133] In addition, the overall path creation unit 12 sets the landmark location with the minimum path cost value from the starting location as the landmark location to be passed through next after the starting location. Therefore, a path can be created that corresponds the landmark locations shown in the first map to the coordinates of the starting location not set in the first map.

[0134] In addition, the overall path creation unit 12 sets the landmark location with the minimum path cost value to the destination as the landmark location to be passed through immediately before the destination. Therefore, a path can be created that corresponds the landmark locations shown in the first map to the coordinates of the destination not set in the first map.

[0135] In addition, the path creation device 10 may also have a first storage unit equivalent to the first storage device 9 and storing the same information as the first storage device 9. The first map information stored in the first storage device 9 or the first storage unit is created based on the BIM of Building 1. Therefore, the first map information that more accurately reflects the interior of Building 1 can be utilized.

[0136] In addition, the first storage device 9 or the first storage unit stores information on path cost values. When calculating the path cost value, the path cost calculation unit 11 uses the information on path cost values stored in the first storage device 9 or the first storage unit. Therefore, the computational amount required for the path cost calculation unit 11 to calculate the path cost value can be reduced.

[0137] In addition, when the calculated path cost value is not stored in the information on path cost values in the first storage device 9 or the first storage unit, the path cost calculation unit 11 updates the information on path cost values in the first storage device 9 or the first storage unit based on the calculated path cost value. Therefore, the computational amount required to calculate the path cost value can be reduced.

[0138] In addition, the path management system 3 includes a movement control device 20 and a building management server 4. The building management server 4 has a path creation device 10. The path creation device 10 sends information on the compressed path to the movement control device 20. The movement control device 20 restores the information on the compressed path and creates information on the restored path. The movement control device 20 moves the robot 5 based on the information on the restored path. Therefore, the communication amount required to exchange information on the movement path instructed to the robot 5 can be reduced.

[0139] Furthermore, the path creation device 10 creates a compressed path by means of a path creation method having a path cost calculation process, an overall path creation process, a shortest path creation process, a partial path creation process, and a compressed path creation process. The actions performed in the path cost calculation process, the overall path creation process, the shortest path creation process, the partial path creation process, and the compressed path creation process are the same as the actions performed by the path cost calculation unit 11, the overall path creation unit 12, the shortest path creation unit 13, the partial path creation unit 14, and the compressed path creation unit 15, respectively.

[0140] Furthermore, the robot management server 6 may be set as a cloud server in a building other than Building 1.

[0141] Furthermore, the building management server 4 may communicate directly with the robot 5 without going through the robot management server 6. In this case, the robot management server 6 may not be provided in the path management system 3.

[0142] In addition, the building management server 4 may also be installed in the building 1. For example, the building management server 4 may also be a personal computer or a server computer installed inside the building 1.

[0143] In addition, the building management server 4 may also be a physical device in which the first storage device 9, the communication device 8, and the path creation device 10 are integrated, i.e., the building management device. In this case, the building management device may have a first storage unit, a first communication unit, and a path creation unit that respectively have the same functions as the first storage device 9, the communication device 8, and the path creation device 10.

[0144] In addition, the first map information stored in the first storage device 9 may also be obtained in advance from the robot management server 6. Additionally, the first map information stored in the first storage device 9 may also be obtained from outside the path management system 3. Moreover, the building management server 4 may also create and store the first map information based on the BIM of the building 1.

[0145] In addition, when the path cost calculation unit 11 calculates the path cost value of a partial path, it may also store the path cost value in the first storage device 9. By storing the path cost value calculated once, the path management system 3 can reduce the amount of calculation of the path cost value related to the same path.

[0146] In addition, when setting the first landmark location, the overall path creation unit 12 may also set the landmark 2 closest to the departure location among the multiple landmarks 2 as the first landmark location. In this case, the path cost calculation unit 11 may also calculate the path cost value A between the departure location and the first landmark location after setting the first landmark location. Therefore, the path creation device 10 can determine the first landmark location with less calculation.

[0147] In addition, when setting the second landmark location, the overall path creation unit 12 may also set the landmark 2 closest to the destination location among the multiple landmarks 2 as the second landmark location. In this case, the path cost calculation unit 11 may also calculate the path cost value B between the destination location and the second landmark location after setting the second landmark location. Therefore, the path creation device 10 can determine the second landmark location with less calculation.

[0148] In addition, the movement control device 20 may also be installed in the robot management server 6. In this case, the movement control device 20 may also restore the information of the compressed path received from the building management server 4 to control the movement of the robot 5.

[0149] In addition, the movement control device 20 may also not restore the compression path, but cause the robot 5 to move along the path including the landmark locations included in the compression path. At this time, when moving from a certain landmark location, the movement control device 20 may also set the landmark location that minimizes the path cost value as the next destination. By setting the landmark location with the minimum path cost value all the time and moving, the movement control device 20 can move in the shortest path.

[0150] Next, use Figure 7 and Figure 8 to illustrate a hardware example of the path creation device 10.

[0151] Figure 7 is a hardware structure diagram of the path creation device in Embodiment 1. Figure 8 is a hardware structure diagram of another example of the path creation device in Embodiment 1.

[0152] As Figure 7 shown, each function of the path creation device 10 can be implemented by a processing circuit. For example, the processing circuit 100 has at least one processor 100a and at least one memory 100b.

[0153] When the processing circuit 100 has at least one processor 100a and at least one memory 100b, each function of the path creation device 10 is implemented by software, firmware, or a combination of software and firmware. At least one of software and firmware is denoted as a program. At least one of software and firmware is stored in at least one memory 100b. By reading and executing the program stored in at least one memory 100b, at least one processor 100a implements each function of the path creation device 10. At least one processor 100a is also called a central processing unit, a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP. For example, at least one memory 100b is a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM, a magnetic disk, a floppy disk, an optical disk, a high-density disk, a mini disk, or a DVD.

[0154] As Figure 8 shown, in another example of the path creation device 10, the processing circuit 100 further has at least one dedicated hardware 200. When the processing circuit 100 has at least one dedicated hardware 200, the processing circuit 100 is implemented, for example, by a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. For example, each function of the path creation device 10 is implemented by the processing circuit 100 respectively. For example, each function of the path creation device 10 is implemented uniformly by the processing circuit 100.

[0155] Regarding each function of the path creation device 10, a part of it can also be implemented by dedicated hardware 200, and the other part can be implemented by software or firmware. For example, regarding the function of calculating the path cost value, it can be implemented by the processing circuit 100 which is the dedicated hardware 200, and regarding functions other than the function of calculating the path cost value, it can be implemented by at least one processor 100a reading and executing a program stored in at least one memory 100b.

[0156] In this way, the processing circuit 100 implements each function of the path creation device 10 through hardware 200, software, firmware, or a combination thereof.

[0157] Although not shown, each function of the robot 5 can also be implemented by a processing circuit equivalent to the processing circuit 100 that implements each function of the path creation device 10. Although not shown, each function of the robot management server 6 can also be implemented by a processing circuit equivalent to the processing circuit 100 that implements each function of the path creation device 10. Although not shown, each function of the building management server 4 can also be implemented by a processing circuit equivalent to the processing circuit 100 that implements each function of the path creation device 10.

Claims

1. A path creation device, wherein, The path creation device has: a path cost calculation unit that calculates a path cost value, which represents the cost required for a robot moving autonomously to move on a path between two locations; an overall path creation unit that creates information on an overall path based on first map information showing the positions of a plurality of landmark locations, the overall path being the union of a plurality of paths that start from the starting location of the robot, pass through three or more intermediate landmark locations among the plurality of landmark locations, and reach the destination location; a shortest path creation unit that determines, as the shortest path, the path with the smallest path cost value calculated by the path cost calculation unit among the plurality of paths included in the overall path created by the overall path creation unit; a partial path creation unit that selects a first intermediate landmark location among the three or more intermediate landmark locations included in the shortest path determined by the shortest path creation unit, and a second intermediate landmark location that passes after the first intermediate landmark location among the three or more intermediate landmark locations and is not adjacent to the first intermediate landmark location, and creates one or more partial paths that start from the first intermediate landmark location, pass through at least one landmark location among the plurality of landmark locations shown in the first map information, and reach the second intermediate landmark location; and a compressed path creation unit that, when the number of partial paths among the one or more partial paths created by the partial path creation unit, for which the path cost value calculated by the path cost calculation unit is equal to or less than a specified threshold value, is one, creates a compressed path obtained by deleting, from the shortest path, one or more third intermediate landmark locations that are present between the first intermediate landmark location and the second intermediate landmark location among the three or more intermediate landmark locations included in the shortest path.

2. The path creation device according to claim 1, wherein the compressed path creation unit uses the same value as the smallest path cost value among the path cost values of the one or more partial paths created by the partial path creation unit, as the specified threshold value.

3. The path creation device according to claim 1, wherein the compressed path creation unit uses a value obtained by adding an adjustment value to the smallest path cost value among the path cost values of the one or more partial paths created by the partial path creation unit, as the specified threshold value.

4. The path creation device according to any one of claims 1 to 3, wherein the path cost calculation unit calculates the value of the Euclidean distance between two locations as the path cost value.

5. The path creation device according to any one of claims 1 to 3, wherein the path cost calculation unit calculates the sum of the value representing the Euclidean distance between two locations and the value representing the difficulty of movement between two locations, as the path cost value.

6. The path creation device according to claim 5, wherein the path cost calculation unit uses the sum of the value representing the degree of congestion between two locations and the value representing the ground state between two locations, as the value representing the difficulty of movement.

7. The path creation device according to any one of claims 1 to 6, wherein the overall path creation unit sets, as the transit landmark location that is next passed after the departure location among the three or more transit landmark locations, the landmark location with the minimum path cost value from the departure location among the multiple landmark locations shown in the first map information.

8. The path creation device according to any one of claims 1 to 7, wherein the overall path creation unit sets, as the transit landmark location that is passed immediately before the destination location among the three or more transit landmark locations, the landmark location with the minimum path cost value leading to the destination location among the multiple landmark locations shown in the first map information.

9. The path creation device according to any one of claims 1 to 8, wherein the path creation device further includes a storage unit that stores, as the first map information, map information in which the IDs of the multiple landmark locations are associated with position coordinates, obtained based on a BIM transformation of a building, where BIM refers to Building Information Modeling.

10. The path creation device according to claim 9, wherein the storage unit stores information on path cost values corresponding the IDs of two landmark locations among the multiple landmark locations shown in the first map information and the path cost values set for the combination of the two landmark locations, and the path cost calculation unit calculates the path cost value of an arbitrary path based on the information on the path cost values stored in the storage unit.

11. The path creation device according to claim 10, wherein when the path cost calculation unit calculates the path cost value corresponding to the path between two landmark locations among the multiple landmark locations, and the information on the path cost values stored in the storage unit does not include the calculated path cost value, the storage unit stores the information on the calculated path cost value.

12. A path management system, the path management system having: a movement control device that controls the movement of a robot; And a management server that, when receiving information on the departure location and the target location of the robot, sends information on the movement path from the departure location to the destination location to the movement control device. In the path management system, the management server includes: a first storage device that stores first map information showing the positions of multiple landmark locations; the path creation device according to any one of claims 1 to 8; and a communication device that sends the information on the compressed path created by the path creation device to the movement control device as the information on the movement path, the movement control device includes: a communication unit that receives the information on the compressed path created by the path creation device; a second storage unit that stores second map information indicating the positions of the multiple landmark locations included in the first map information; a restored path cost calculation unit that calculates a path cost value representing the cost required for the robot to move on the path between two locations. A restored partial path creation unit that, when the communication unit receives the information of the compressed path, creates one or more restored partial paths that start from the first landmark location included in the compressed path, pass through at least one landmark location among the multiple landmark locations included in the second map information stored in the second storage unit, and reach the second landmark location included in the compressed path; A restored path creation unit that creates information of a restored path, the restored path including the restored partial path with the smallest path cost value calculated by the restored path cost calculation unit among the one or more restored partial paths created by the restored partial path creation unit and the compressed path; And A movement control unit that moves the robot based on the information of the restored path created by the restored path creation unit.

13. A computer-readable storage medium storing a computer program, which, when executed by a processor, performs the following steps: A path cost calculation step of calculating a path cost value that represents the cost required for a robot moving autonomously to move on a path between two locations; An overall path creation step of creating information of an overall path based on first map information showing the positions of multiple landmark locations, the overall path being the union of multiple paths that start from the starting location of the robot, pass through three or more landmark locations among the multiple landmark locations, and reach the destination location; A shortest path creation step of determining, as the shortest path, the path with the smallest path cost value calculated by the path cost calculation step among the multiple paths included in the overall path created by the overall path creation step; A partial path creation step of selecting a first landmark location among the three or more landmark locations included in the shortest path determined by the shortest path creation step and a second landmark location that passes after the first landmark location among the three or more landmark locations and is not adjacent to the first landmark location, and creating one or more partial paths that start from the first landmark location, pass through at least one landmark location among the multiple landmark locations shown in the first map information, and reach the second landmark location; And A compressed path creation step of creating a compressed path obtained by deleting, from the shortest path, one or more third landmark locations that exist between the first landmark location and the second landmark location among the three or more landmark locations included in the shortest path when the number of partial paths with a path cost value calculated by the path cost calculation step that is less than a specified threshold among the one or more partial paths created by the partial path creation step is one.

14. A path creation method, wherein, This path creation method includes: A path cost calculation process of calculating a path cost value that represents the cost required for a robot moving autonomously to move on a path between two locations; Overall path creation process: Based on the first map information showing the positions of multiple landmark locations, create information on the overall path, which is the union of multiple paths starting from the starting location of the robot and reaching the destination location via three or more intermediate landmark locations among the multiple landmark locations; Shortest path creation process: Determine the path with the minimum path cost value calculated by the path cost calculation process among the multiple paths included in the overall path created by the overall path creation process as the shortest path; Partial path creation process: Select the first intermediate landmark location among the three or more intermediate landmark locations included in the shortest path determined by the shortest path creation process, and the second intermediate landmark location that passes after the first intermediate landmark location and is not adjacent to the first intermediate landmark location among the three or more intermediate landmark locations, and create one or more partial paths starting from the first intermediate landmark location and reaching the second intermediate landmark location via at least one landmark location shown in the first map information; And Compressed path creation process: In the case where the number of partial paths with a path cost value calculated by the path cost calculation process less than a specified threshold among the one or more partial paths created by the partial path creation process is one, create a compressed path obtained by deleting one or more third intermediate landmark locations existing between the first intermediate landmark location and the second intermediate landmark location from the shortest path.

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