Information processing device, information processing method, and computer program

Abstract

To provide an information processing device capable of performing route setting with a simple operation using an environment map.SOLUTION: An information processing device acquires an environment map, acquires a selected point selected as a waypoint of a route on the environment map, and determines route setting coordinate points used for route setting on the basis of a positional relationship between a plurality of coordinate points in the vicinity of the selection point in the environment map.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an information processing device, an information processing method, a computer program, and the like that perform route setting. [Background technology]

[0002] For example, there are moving bodies such as automated guided vehicles (AGVs) and autonomous mobile robots (AMRs).

[0003] In addition, self-location estimation and environmental map creation technologies such as SLAM (Simultaneous Localization and Mapping) and VSLAM (Visual SLAM) are being used to enable these mobile objects to navigate autonomously within environments such as factories and logistics warehouses.

[0004] The VSLAM technology described in Patent Document 1 uses point cloud data as an environmental map, and adds coordinate points to a map created in response to changes in feature points obtained from an image, and the map is made up of a continuous group of coordinate points obtained in this way. A mobile object uses the map created in this way to estimate its own position and perform automatic or autonomous driving. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2014-222550 A [Patent Document 2] JP 2010-198433 A Summary of the Invention [Problem to be solved by the invention]

[0006] Many coordinate points are included on the environmental map, and the larger the environmental map, the more difficult it becomes to see each point. Therefore, when setting a route for automatic driving by user operations such as clicking or tapping on the environmental map, it is necessary to repeatedly change the scale of the map until the target point becomes visible, which causes a problem that the operation of setting the route is time-consuming. There are some techniques such as the technology shown in Patent Document 2 that select a target object according to a user operation, but it is difficult to apply when the target is a point.

[0007] The present invention has been made in consideration of the above problems, and has an object to provide an information processing device that allows route setting with a simple operation using an environmental map. [Means for solving the problem]

[0008] The information processing device according to the present invention comprises: An environmental map acquisition means for acquiring an environmental map; An acquisition means for acquiring a selection point selected as a route via point on the environmental map; and determining means for determining a route setting coordinate point to be used in route setting based on the positional relationship of a plurality of coordinate points in the vicinity of the selected point on the environmental map. Effect of the Invention

[0009] According to the present invention, it is possible to realize an information processing device that allows route setting with a simple operation using an environmental map. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing a system configuration according to an embodiment of the present invention. [Diagram 2] 1 is a functional block diagram showing an example of the configuration of an information processing device according to a first embodiment of the present invention. [Diagram 3] 4 is a flowchart showing an example of a processing flow of the information processing device according to the first embodiment. [Figure 4]FIG. 2 is a diagram showing an example of an environmental map. [Diagram 5] FIG. 11 is a diagram for explaining an example of a user operation. [Figure 6] FIG. 13 is a diagram showing an example of coordinate points extracted by processing. [Figure 7] FIG. 13 is a diagram showing processing for each extracted coordinate point. [Figure 8] FIG. 13 is a diagram showing an example of a line segment using extracted coordinate points. [Figure 9] FIG. 11 is a diagram showing an example of an environment map according to the second embodiment. [Figure 10] 11 is a flowchart showing an example of a processing flow of an information processing device according to a second embodiment. [Figure 11] FIG. 11 is a diagram showing an example of coordinate points selected by steps S1001 to S1005. [Figure 12] 12 shows an example of a point group 1201 before and a point group 1202 after the coordinate point 1101 selected in S1005. [Figure 13] FIG. 13 is a diagram showing examples of approximation lines and their intersection points. [Figure 14] FIG. 13 is a diagram showing an example of coordinates selected in step S1007. [Figure 15] FIG. 13 is a diagram showing an example of an environmental map having a route that turns around a dead end. [Figure 16] 13 is a flowchart showing an example of a processing flow of an information processing device according to a third embodiment. [Figure 17] FIG. 13 is a diagram showing an example of an approximation line calculated from an extracted group of coordinate points. [Figure 18] FIG. 2 is a block diagram illustrating an example of a hardware configuration of an information processing device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiment. In each drawing, the same members or elements are given the same reference numbers, and duplicated descriptions are omitted or simplified.

[0012] In this embodiment, a method for controlling the movement of a moving body such as an automated guided vehicle (AGV) or an autonomous mobile robot (AMR), particularly a route setting method for automatic driving, will be described. In the following, an AGV will be described as an example of a moving body, but the moving body may be an AMR or a service mobile robot (SMR).

[0013] 1 is a diagram showing a system configuration according to an embodiment of the present invention. An information management system 100 in this embodiment is composed of a plurality of moving objects 101 (101-1, 101-2, ...), a process management system 103, a moving object management system 102, etc. The information management system 100 is a logistics system, a production system, etc.

[0014] A plurality of moving bodies 101 (101-1, 101-2, . . . ) are guided vehicles (AGVs) that transport objects according to a process schedule determined by a process management system 103. A plurality of moving bodies are moving (traveling) within the environment.

[0015] The process control system 103 manages the processes executed by the information control system 100. For example, it is a Manufacturing Execution System (MES) that manages processes in a factory or a logistics warehouse. The process control system 103 communicates with the mobile object control system 102.

[0016] The mobile object management system 102 is a system for managing mobile objects, and communicates with a process management system 103. It also communicates with the mobile object 101 (for example, Wi-Fi communication) to transmit and receive operation information in both directions.

[0017] <Embodiment 1> Fig. 2 is a functional block diagram showing a configuration example of an information processing device according to the first embodiment of the present invention. Note that some of the functional blocks shown in Fig. 2 are realized by causing a CPU or the like as a computer included in the information processing device to execute a computer program stored in a memory as a storage medium.

[0018] However, some or all of these may be realized by hardware. For the hardware, a dedicated circuit (ASIC) or a processor (reconfigurable processor, DSP) may be used. Furthermore, each functional block shown in Fig. 2 does not have to be built in the same housing, and may be configured by separate devices connected to each other via signal paths.

[0019] The information processing device 200 has an environmental map acquisition unit 201 that acquires an image from the outside and creates an environmental map, and an acquisition unit 202 that acquires a selection point selected as a route via point on the environmental map. The information processing device 200 also has a determination unit 203 that selects a route setting coordinate point to be used for route setting from an operation given by a user in route setting.

[0020] Also connected to the information processing device 200 are an image capturing device 204 such as a camera or a PC that has a function of capturing an image, and an input device 205 such as a mouse or a touch panel that transmits user operations to the information processing device 200. Also connected to the information processing device 200 is an external device 206 that displays and receives the results of processing by the information processing device 200.

[0021] 2 is an example and is not limited thereto. The information processing device 200 can be mounted on the mobile object 101. The information processing device 200 can also be a device that communicates with the mobile object 101 via Wi-Fi or the like using a network I / F 2303. When the information processing device 200 receives data from the outside, it is physically connected to the outside via a bus or the like, or uses the network I / F 2303.

[0022] In the first embodiment, when a user selects a certain coordinate on an environmental map as a route via point in setting a route for automatic driving, the coordinate point desired by the user is determined from a group of coordinate points in the vicinity of the selected coordinate. In this case, in the first embodiment, a coordinate point of a position where a moving object needs to turn is selected as a coordinate point that is likely to be used in setting a route for automatic driving. Note that the coordinate points described in this embodiment correspond to key frames created by SLAM processing.

[0023] Fig. 3 is a flowchart showing an example of a processing flow of the information processing device according to embodiment 1. Note that the operation of each step of the flowchart in Fig. 3 is performed by a CPU or the like as a computer in the information processing device 200 executing a computer program stored in a memory.

[0024] In step S301, an environmental map is acquired. Here, step S301 functions as an environmental map acquisition step for acquiring an environmental map. Note that the process of step S301 is not essential for the process of the information processing device, and a map created by another device can be acquired and used.

[0025] Fig. 4 is a diagram showing an example of an environment map. Fig. 4 shows a coordinate point 401, which is one of the coordinate point groups registered by VSLAM processing, a display frame 402 showing an area on the environment map, and an enlarged display frame 403 which shows an enlarged display of the display frame 402. Note that although the environment map is shown as a point cloud, it is also possible to connect these point clouds with lines and show the environment map as lines. The same can be said for all figures from Fig. 4 onwards.

[0026] Coordinate points registered in the environmental map include information on the position on the environmental map, such as (x, y, z). They may also include orientation information that indicates the orientation of the moving object. In this way, the environmental map is composed of a point cloud of multiple detailed coordinate points.

[0027] In this embodiment, the environmental map is created using VSLAM, but it may be created using any method that allows the environmental map to be represented as a point cloud as shown in Fig. 4. Also, an already created environmental map may be downloaded from a server, etc.

[0028] In step S302, coordinates on the environmental map are acquired and specified by a user operation. Step S302 functions as an acquisition step for acquiring a selection point selected as a route via point on the environmental map. The user performs a touch operation on a touch panel of the input device 205 or the external device 206, for example. The user can also perform a mouse operation while looking at a monitor of the input device 205 or the external device.

[0029] Fig. 5 is a diagram for explaining an example of a user operation. Fig. 5 shows a mouse cursor 501 and a selected point 502 on an environmental map selected by a mouse click. In this way, the user selects a point near a target coordinate point. Although a mouse click is presented here as a user operation, this is not limiting. For example, an operation of selecting one point by tapping the screen may also be used.

[0030] In step S303, coordinate points near the selected point selected by the user are extracted as candidates for via points to be used in route setting. The extraction is performed using the distance between the selected point and the coordinate point, and the three points with the shortest distance are extracted. Fig. 6 is a diagram showing an example of coordinate points extracted by the process. Fig. 6 shows a selected point 601 and extracted coordinate points 602, 603, and 604.

[0031] In this manner, in this embodiment, a plurality of coordinate points corresponding to a point selected by the user are extracted as candidates for via points in route setting. Although an example has been described in which the distance between the selected point and a coordinate point is used to extract candidate points, the extraction method is not limited as long as coordinate points in the vicinity of the selected point can be extracted. For example, a frame may be set around the selected point, and all coordinate points within the frame may be extracted as candidates.

[0032] In step S304, for each of the coordinate points extracted as candidates for coordinate points to be used as via points in route setting, angles with points before and after the coordinate points are calculated. This will be described with reference to Fig. 7 and Fig. 8. Fig. 7 is a diagram showing the process for each extracted coordinate point.

[0033] 7, 701, 702, and 703 indicate the extracted coordinate point 602 and its adjacent coordinate points. The coordinate point 702 corresponds to the coordinate point 602. 704, 705, and 706 indicate the extracted coordinate point 603 and its adjacent coordinate points. The coordinate point 705 corresponds to the coordinate point 603. 707, 708, and 709 indicate the extracted coordinate point 604 and its adjacent coordinate points. The coordinate point 708 corresponds to the coordinate point 604.

[0034] Since the point cloud of the environmental map has continuity, this is utilized. In this explanation, the previous and next coordinate points are simply used, but the interval of the coordinates used can be changed as desired. For example, every other coordinate point or every two coordinate points can be used. Also, it is not necessary to use three coordinate points, and more coordinate points, such as five, can be used.

[0035] Fig. 8 is a diagram showing an example of a line segment using the extracted coordinate points, and shows the line segments formed by connecting these coordinate points. Also, in Fig. 8, 801 is a line segment consisting of a line segment connecting coordinate point 701 and coordinate point 702, and a line segment connecting coordinate point 702 and coordinate point 703.

[0036] Furthermore, a line segment 802 is made up of a line segment connecting the coordinate point 704 and the coordinate point 705, and a line segment connecting the coordinate point 705 and the coordinate point 706. Furthermore, a line segment 803 is made up of a line segment connecting the coordinate point 707 and the coordinate point 708, and a line segment connecting the coordinate point 708 and the coordinate point 709.

[0037] In step S304, the angles formed by the line segments thus created are calculated. The angles are calculated using, for example, a commonly used relational expression for the inner product of vectors. For example, it is calculated that 801 forms an angle of 180 degrees, 802 forms an angle of 145 degrees, and 803 forms an angle of 90 degrees.

[0038] In step S305, coordinate points to be used for route setting are selected based on the angle values ​​obtained in step S304. In Fig. 8, it can be determined that line segments 801 and 802 have little angle and are close to straight lines, while line segment 803 has an angle (approximately 90 degrees) less than a predetermined angle (for example, 120 degrees).

[0039] Therefore, among the three coordinate points forming the line segment 803, the central coordinate point 603 is selected as the coordinate point that is likely to be used in route planning. This is because important intermediate points in route planning are often so-called corners, and it can be presumed that the user who selected the selection point 502 wanted to select a point equivalent to a corner.

[0040] In the example of FIG. 8, a point that forms an angle of 90 degrees is selected, but in step S305, any coordinate point that forms an angle of a predetermined angle or less with its own coordinate as the center may be selected.

[0041] The above-mentioned predetermined angle is a preset angle, and for example, 120 degrees may be set as the predetermined angle as described above. Here, steps S303 to S305 function as a determination process for determining a route setting coordinate point to be used for route setting based on the positional relationship of a plurality of coordinate points in the vicinity of the selected point on the environmental map.

[0042] In step S306, it is determined whether the route setting is complete. If it is determined that the route setting is complete, the route setting is confirmed, and if not, the process returns to step S302 to select the next coordinate point. Note that instead of selecting a coordinate point that forms an angle equal to or smaller than the above-mentioned predetermined angle in step S305, it is also possible to select a coordinate point that forms the smallest angle from the center of the plurality of angles calculated in step S304.

[0043] In this way, in the first embodiment, the determination unit 203 determines the coordinate points for route setting based on the angles formed by a plurality of coordinate points. Therefore, even if the environmental map is large and the target coordinate points are difficult to see, the user can select appropriate coordinate points for route setting with a simple operation, and can smoothly set an appropriate route.

[0044] <Embodiment 2> In the first embodiment, an example was described in which a point where a moving object turns, that is, a coordinate point where a line segment connecting consecutive coordinate points forms an angle of a predetermined angle or less, is selected as a coordinate point used as a route via point. However, an environmental map is not necessarily composed of only curves.

[0045] For example, an environmental map including a T-shaped intersection or a cross is conceivable. In such a case, a point closer to the junction of the T-shaped intersection or the cross is a coordinate point suitable for route setting. Therefore, in the second embodiment, a coordinate point closer to such a junction is selected.

[0046] Fig. 9 is a diagram showing an example of an environmental map according to embodiment 2. Fig. 9 shows a state in which an environmental map shown by points is generated as a result of a moving object equipped with a stereo camera, a depth camera, etc. moving along routes 901 and 902 and measuring the environment using sensor data.

[0047] Shown are examples of routes 901 and 902 used to create the environmental map, coordinate point groups 903 and 904 on the registered environmental map, and a selected point 905 selected by the user. Here, the coordinate points registered by creating the environmental map of the route 901 are designated as coordinate point group 903, and the coordinate point group registered by creating the environmental map of the route 902 is designated as 904. As in the first embodiment, the environmental map may be created by another information processing device, and may be acquired and used. The same applies to the other embodiments hereinafter.

[0048] Although the representation on the image is simplified for ease of explanation, it is assumed that at locations where the routes 901 and 902 overlap, coordinate points belonging to coordinate point group 903 and coordinate points belonging to coordinate point group 904 are registered separately. In other words, additional coordinate points can be registered in positions near locations where coordinate points already exist on the environmental map.

[0049] Fig. 10 is a flowchart showing an example of a processing flow of the information processing device according to embodiment 2. Note that the operation of each step of the flowchart in Fig. 10 is performed by a CPU or the like as a computer in the information processing device 200 executing a computer program stored in a memory.

[0050] 10 is similar to the processing of S301 to S305 in FIG 3 described in the first embodiment, and therefore will not be described again. By performing the same processing as S301 to S305 in steps S1001 to S1005, a coordinate point 1101 is selected as shown in FIG 11.

[0051] FIG. 11 is a diagram showing an example of coordinate points selected in steps S1001 to S1005, and shows a state in which a coordinate point 1101 that forms an angle of a predetermined angle or less with itself as the center has been selected in step S1005.

[0052] In this embodiment, in step S1006, approximate lines are obtained for the point groups before and after the selected coordinate point 1101, and their intersections are derived. Fig. 12 is a diagram showing an example of a point group 1201 before the coordinate point 1101 selected in S1005 and a point group 1202 after the coordinate point 1101.

[0053] Furthermore, in step S1006, an approximation line is obtained for each of the point group 1201 and the point group 1202. Fig. 13 is a diagram showing examples of approximation lines and their intersection points, and shows an example of an approximation line 1301 obtained from the point group 1201, an approximation line 1302 obtained from the point group 1202, and an intersection point 1303 of these approximation lines.

[0054] In step S1007, a coordinate point closest to the derived intersection point 1303 is determined. Fig. 14 is a diagram showing an example of coordinates selected in step S1007, and in Fig. 14, a coordinate point 1401 is determined as the coordinate point closest to the intersection point 1303.

[0055] As described above, in the second embodiment, the determination unit 203 determines the coordinate point on the environmental map that is closest to the intersection of the multiple approximation lines calculated based on the multiple coordinate points as the coordinate point for route setting. Therefore, even in a complex environmental map that includes shapes such as a T-shape or a cross, the user can select a coordinate point suitable for route setting with a simple operation.

[0056] <Embodiment 3> In addition to a simple circular route, a route that turns around at a dead end may be possible as the shape of the environmental map. In this case, the coordinate point at the innermost part of the dead end may be used for route setting. In the third embodiment, an example of selecting such an innermost coordinate point will be described.

[0057] Fig. 15 is a diagram showing an example of an environmental map having a route that turns around a dead end. Fig. 16 is a flowchart showing an example of a processing flow of the information processing device according to the third embodiment. Note that the operation of each step of the flowchart in Fig. 16 is performed by a CPU or the like as a computer in the information processing device 200 executing a computer program stored in a memory.

[0058] 3 described in the first embodiment, a description thereof will be omitted. By performing the same processes as S301 to S303 in steps S1601 to S1603, a coordinate point group 1502 in the vicinity of the selected coordinate 1501 is extracted as shown in FIG.

[0059] In step S1604, an approximation line is calculated from the extracted coordinate points. Fig. 17 is a diagram showing an example of an approximation line calculated from the extracted coordinate points. As shown in Fig. 17, in step S1604, an approximation line 1701 is calculated from the extracted coordinate points 1502.

[0060] In step S1605, coordinate points that are end points on the approximation line are selected. That is, as shown in Fig. 17, coordinate point 1702 that is at the end among the coordinate points near approximation line 1701 is determined as the coordinate point to be used for route setting.

[0061] As described above, in the third embodiment, the determination unit 203 determines the coordinate point located at the edge among a plurality of coordinate points on the environmental map near the approximation line as the coordinate point for route setting. Therefore, even in a complicated environmental map including a route that turns around at a dead end, the user can select a coordinate point suitable for route setting with a simple operation.

[0062] Furthermore, by further combining embodiments 1 to 3, the user can select coordinate points suitable for route setting with simple operations, whether at a corner as shown in FIG. 8, at a T-shape or cross as shown in FIG. 14, or at a dead end as shown in FIG. 17.

[0063] 18 is a block diagram showing an example of the hardware configuration of an information processing device, and as shown in Fig. 18, the information processing device 200 includes a CPU 2300, a main memory device 2301, an auxiliary memory device 2302, and a network I / F 2303. In addition, an image capturing device 204 and an input device 205 are connected to, for example, a bus of the information processing device.

[0064] The CPU 2300 of the information processing device 200 executes processing using computer programs and data stored in the main memory device 212. As a result, the CPU 2300 controls the overall operation of the information processing device 200, and also executes or controls each of the above-mentioned processes executed by the information processing device.

[0065] For example, the CPU 2300 executes processes using computer programs and data stored in the main memory device 2301 to realize the operations of the flowcharts shown in FIGS.

[0066] The main memory device 2301 is a memory device such as a RAM (Random Access Memory). The main memory device 2301 stores computer programs and data loaded from the auxiliary memory device 2302. The main memory device 2301 also has an area for storing captured images acquired by the video acquisition device 204 and various data received from the external device 206 via the network I / F 2303.

[0067] Furthermore, the main memory 2301 has a work area that is used when the CPU 2300 executes various processes. In this manner, the main memory 2301 can provide various areas as appropriate.

[0068] The auxiliary storage device 2302 is a large-capacity information storage device such as a hard disk drive (HDD), a read only memory (ROM), or a solid state drive (SSD).

[0069] The auxiliary storage device 2302 stores an OS (operating system) and computer programs and data for causing the CPU 2300 to execute or control each of the processes described above as being performed by the information processing device. The auxiliary storage device 2302 also stores data (e.g., the above-mentioned imaging parameters) received from the external device 206 via the network I / F 2303.

[0070] The computer programs and data stored in the auxiliary storage device 2302 are loaded into the main storage device 2301 as appropriate under the control of the CPU 2300, and become the subject of processing by the CPU 2300. The network I / F 2303 is an interface that the information processing device 200 uses to perform data communication with the external device 206 via a network.

[0071] Although the present invention has been described in detail based on the preferred embodiment, the present invention is not limited to the above embodiment, and various modifications are possible based on the spirit of the present invention, and are not excluded from the scope of the present invention. The above embodiment includes the following combinations.

[0072] (Configuration 1) An information processing device comprising: an environmental map acquisition means for acquiring an environmental map; an acquisition means for acquiring a selection point selected as a route intermediate point on the environmental map; and a determination means for determining a route setting coordinate point to be used for route setting based on the positional relationship of multiple coordinate points in the vicinity of the selection point on the environmental map.

[0073] (Configuration 2) The information processing device according to configuration 1, wherein the determining means determines the coordinate points for route planning based on angles formed by the plurality of coordinate points.

[0074] (Configuration 3) The information processing device according to configuration 1 or 2, wherein the determination means determines, as the route setting coordinate point, a coordinate point on the environmental map that is closest to an intersection of a plurality of approximation lines calculated based on the plurality of coordinate points.

[0075] (Configuration 4) The information processing device described in any one of configurations 1 to 3, characterized in that the determination means determines, as the route setting coordinate point, the coordinate point located at the extreme end among the plurality of coordinate points on the environmental map that is in the vicinity of an approximation line calculated based on the plurality of coordinate points.

[0076] (Method) An information processing method comprising: an environmental map acquisition step for creating an environmental map; an acquisition step for acquiring a selection point selected as a route intermediate point on the environmental map; and a determination step for determining a route setting coordinate point to be used for route setting based on the positional relationship of multiple coordinate points near the selection point on the environmental map.

[0077] (Program) A computer program for controlling each means of the information processing device according to any one of configurations 1 to 4 by a computer.

[0078] In order to realize a part or all of the control in the above-mentioned embodiment, a computer program that realizes the functions of the above-mentioned embodiment may be supplied to an information processing device or the like via a network or various storage media. Then, a computer (or a CPU, MPU, or the like) in the information processing device or the like may read and execute the program. In this case, the program and the storage medium storing the program constitute the present invention. [Explanation of symbols]

[0079] 100: Information processing systems 101: Mobile 102: Mobile management system 103: Process control system 200: Information processing device 201: Environmental map acquisition section 202: Acquisition Department 203: Decision section 204: Image acquisition device 205: Input device 206: External device

Claims

1. An environmental map acquisition means for acquiring an environmental map consisting of a plurality of coordinate points; an acquisition means for acquiring a selection point selected by a user as a route via point on the environmental map; an extraction means for extracting a predetermined number of coordinate points from the plurality of coordinate points included in the environmental map based on the distance between the selected point and the coordinate points in ascending order of distance; a calculation means for calculating angles of the predetermined number of coordinate points based on a line segment connecting the coordinate point and a preceding coordinate point and a line segment connecting the coordinate point and a succeeding coordinate point; a determining means for determining a coordinate point having an angle equal to or smaller than a predetermined angle from among the calculated angles as a route setting coordinate point to be used for route setting; An information processing device comprising:

2. 2. The information processing apparatus according to claim 1, wherein said determining means determines said coordinate points for route setting based on angles formed by said plurality of coordinate points.

3. 2. The information processing device according to claim 1, wherein the determining means determines, as the route setting coordinate point, a coordinate point on the environmental map that is closest to an intersection of a plurality of approximation lines calculated based on the plurality of coordinate points.

4. The information processing device according to claim 1, characterized in that the determination means determines, as the route setting coordinate point, the coordinate point located at the farthest end of the plurality of coordinate points on the environmental map that are in the vicinity of the approximation line calculated based on the plurality of coordinate points.

5. An environmental map acquisition step of acquiring an environmental map consisting of a plurality of coordinate points; an acquisition step of acquiring a selection point selected by a user as a route via point on the environmental map; an extraction step of extracting a predetermined number of coordinate points from the plurality of coordinate points included in the environmental map based on the distance between the selected point and the coordinate points in ascending order of distance; a calculation step of calculating angles of the predetermined number of coordinate points based on a line segment connecting the coordinate point and a preceding coordinate point and a line segment connecting the coordinate point and a subsequent coordinate point; a determining step of determining a coordinate point having an angle equal to or smaller than a predetermined angle from among the calculated angles as a route setting coordinate point to be used for route setting; An information processing method comprising:

6. A computer program for causing a computer to function as each of the means of an information processing device described in any one of claims 1 to 4.

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