Information processing device, information processing method, computer program, and storage medium

Abstract

To provide an information processing device which can take prompt and appropriate action when an obstacle is detected.SOLUTION: An information processing device is characterized by comprising: an acquisition unit that acquires information regarding a first route for a moving object to move through a first division area of a working area including a plurality of division areas; a control unit that controls a movement of the moving object based on the information acquired by the acquisition unit; and an output unit that outputs object information relating to a predetermined object to an external device when the predetermined object is detected in a second division area different from the first division area by a sensor disposed on the moving object, while the moving object is moving based on the first route.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to an information processing device, an information processing method, a computer program, a storage medium, and the like. [Background technology]

[0002] Among autonomously moving service robots, there are types that perform set tasks in a specified area in the real space. For example, a cleaning robot can autonomously move around the target floor area while performing cleaning operations when a user sets the floor area to be cleaned in advance and issues a command to start the work.

[0003] Generally, when an autonomous driving system travels to perform a set task in a specified area, it generates a travel route using environmental map data prepared in advance and grasps the real space using various sensors mounted on the robot.Then, by comparing the environmental map data with the real space grasped by the sensors to derive the self-position, it becomes possible to reliably track the route.

[0004] The environmental map data may be created using a known SLAM (Simultaneous Localization and Mapping) technique.

[0005] By the way, cleaning robots may work in spaces where people are present, such as ordinary homes, commercial facilities, and public facilities. In such cases, they need to deal with obstacles that are not represented in the environmental map data.

[0006] For example, this may occur when a person is standing in front of the cleaning robot, when there is an obstacle that hinders the movement of the cleaning robot, etc. Conventionally, for example, Patent Document 1 describes a technology in which an image of the obstacle is acquired by a camera mounted on the cleaning robot and an instruction to avoid the obstacle is given from a user input device.

[0007] In this case, for example, if a person is standing in front of the cleaning robot, there is a possibility that the person will leave after some time has passed, allowing the cleaning robot to clean the area by detouring around it.

[0008] On the other hand, for example, if a dropped object is detected as an obstacle, the cleaning robot may not be able to deal with it, and in that case the user must go and pick it up. Also, for example, if liquid is spilled, the user or the cleaning robot must go and wipe it up later. For places where cleaning work has not been completed like this, Patent Document 2 describes a technology for re-cleaning places where a large amount of garbage has been left behind. [Prior art documents] [Patent documents]

[0009] [Patent Document 1] Special Publication No. 2022-549572 [Patent Document 2] JP 2017-29249 A Summary of the Invention [Problem to be solved by the invention]

[0010] However, conventional cleaning robots, for example when traveling near the boundary of a given area and performing cleaning work, are unable to quickly respond even if they detect an obstacle in an adjacent area.

[0011] An example of an object of the present invention is to provide an information processing device that can take a prompt and appropriate action when an obstacle is detected. [Means for solving the problem]

[0012] The information processing device of the present invention comprises: an acquisition unit that acquires information regarding a first route for a moving object to move through a first divided area among a working area including a plurality of divided areas; A control unit that controls movement of the moving object based on the information acquired by the acquisition unit; an output unit that outputs object information about a predetermined object to an external device when a predetermined object is detected in a second divided area different from the first divided area by a sensor disposed on the moving body while the moving body is moving based on the first route; The present invention is characterized by comprising: Effect of the Invention

[0013] As described above, according to the present invention, it is possible to provide an information processing device that can take prompt action when an obstacle is detected. [Brief description of the drawings]

[0014] [Figure 1] FIG. 1 is a functional block diagram illustrating a robot 1 equipped with an information processing device 101 according to an embodiment. [Diagram 2] FIG. 1 is a diagram illustrating an example of a real space in which a robot 1 is placed. [Diagram 3] 3A and 3B are diagrams showing examples of map data representing the real space of FIG. 2. [Figure 4] 4A and 4B are diagrams illustrating an example of the operation of the robot 1 according to the present embodiment. [Diagram 5] 13A and 13B are diagrams illustrating an example of the operation of the robot 1 in section A. [Figure 6] 5A is a diagram showing an example of a displayed work report displayed on the display unit of the external device 301 when work in section A is completed, and (B) is a diagram showing an example of a work report displayed on the display unit of the external device 301 after a person has been detoured in the state of Fig. 5A. (C) is a diagram showing an example of a displayed work report on the external device 301 when an obstacle is detected on the route in section C. [Figure 7] 7(A) is a diagram illustrating a case where a customer at a commercial facility has lost something in section C near section B, and (B) is a diagram illustrating an example of changing the route 209 of section C in the state shown in FIG. 7(A). [Figure 8]13A is a diagram for explaining a case where liquid 219, such as drinking water, has been spilled on floor surface 201 in section D, and FIG. 13B is a diagram for explaining the operation when liquid is detected. [Figure 9] 9(A) is a diagram for explaining the path change in the case of FIG. 8(A), and FIG. 9(B) is a diagram showing an example of control of the robot 1 after FIG. 9(A). [Figure 10] FIG. 10 is a diagram showing an example of control of the robot 1 after FIG. 9(B). [Figure 11] 11(A) and 11(B) are diagrams showing examples of images of the sensor 119 mounted on the robot in the state shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Hereinafter, an embodiment of 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 numerals, and duplicated descriptions are omitted or simplified.

[0016] Fig. 1 is a functional block diagram for explaining a robot 1 equipped with an information processing device 101 according to an embodiment. Some of the functional blocks shown in Fig. 1 are realized by causing a CPU or the like serving as a computer (not shown) included in the information processing device or the like to execute a computer program stored in a memory serving as a storage medium (not shown).

[0017] However, some or all of these functions may be realized by hardware. For the hardware, a dedicated circuit (ASIC) or a processor (reconfigurable processor, DSP) may be used. Furthermore, the functional blocks shown in Fig. 1 do not have to be built into the same housing, and may be configured by separate devices connected to each other via signal paths.

[0018] The robot 1 as a moving object has an autonomous travel function and is a cleaning robot that targets a floor surface 201. A user 3 manages the robot 1 and gives it instructions for work. Powered wheels 102 and a cleaning unit 103 are arranged on the bottom surface of the robot 1. The cleaning unit 103 has a suction unit 106 that sucks up dust 202 on the floor surface 201, and a wiping unit 107 that is equipped with a mop and wipes off dirt.

[0019] The robot 1 has an input unit 108 through which the user 3 gives instructions to the robot 1, a cleaning control unit 109, and an information processing device 101 that acquires information about the surrounding environment of the robot 1 and controls the driving of the wheels 102. The robot 1 also has a management system 111 that manages the cleaning control unit 109, the information processing device 101, and the input unit 108, a sensor 112 that acquires information about the surrounding environment, and a sensor 119 that detects objects 203 in the surrounding environment.

[0020] The cleaning control unit 109 controls the operation of the cleaning unit 103, such as switching the suction operation of the suction unit 106 and switching the height of the wiping unit 107. The information processing device 101 has a function of estimating the position of the robot 1 and a function of detecting, recognizing and dealing with obstacles.

[0021] The information processing device 101 also has a memory unit 114 that stores map data 113 created in advance, a position estimation unit 115 that estimates the position of the robot 1, and a route planning unit 116 that acquires information regarding the route along which the robot 1 will travel.

[0022] Here, the route planning unit 116 functions as an acquisition unit that acquires information about a route. The route planning unit 116 may acquire information about a route searched by an external device through communication, or the route planning unit 116 may search for a route and generate route information.

[0023] Moreover, the information processing device 101 has a drive control unit 117 that controls the wheels 102, a data transmission unit 118, an obstacle recognition unit 120 that recognizes and classifies the object 203 as an obstacle, and an action determination unit 122 that determines an action according to the recognition result of the obstacle recognition unit 120. Furthermore, the information processing device 101 can transmit data via the data transmission unit 118 to an external device 301 such as a mobile terminal carried by a user 3, for example.

[0024] The sensor 112 in this embodiment includes a known LiDAR (Light Detection And Ranging) sensor, etc. The map data 113 represents the real space in which the robot 1 is placed as a virtual map space. Note that some of the wiring is omitted in FIG.

[0025] Fig. 2 is a diagram showing an example of the real space in which the robot 1 is placed. Also, Figs. 3(A) and (B) are diagrams showing an example of map data showing the real space of Fig. 2. The map data 113 shown in Fig. 3 corresponds to the real space as shown in Fig. 2 in which the robot 1 is currently placed, and the position of the robot 1 on the map data 113 calculated by the position estimation unit 115 coincides with the position in the real space.

[0026] 1 uses a known SLAM technique to compare the acquired information on the surrounding environment with the map data 113, and calculates the position and orientation of the robot 1 on the map data 113. Then, as shown in Fig. 3(A), the path planning unit 116 generates a path 204 along which the robot 1 will travel, based on the map data 113. The drive control unit 117 issues instructions to the wheels 102 so that the robot 1 travels along the path.

[0027] The sensor 119 in this embodiment is a known ToF (Time of Flight) camera or the like, which generates distance measurement data and RGB image data. The obstacle recognition unit 120 recognizes the object 203 as an obstacle from the data sent from the sensor 119.

[0028] In this embodiment, the obstacle recognition unit 120 identifies the type of obstacle, such as "person," "liquid," or "other," using machine learning data created in advance. The operation determination unit 122 transmits the recognition result of the obstacle recognition unit 120 to the data transmission unit 118, and instructs the route planning unit 116 to perform a detour operation. The route planning unit 116 receives the instruction for the detour operation from the operation determination unit 122, and changes the route 204 to a route 205 as shown in FIG. 3(B).

[0029] 4A and 4B are diagrams illustrating an example of the operation of the robot 1 according to this embodiment. Note that, in this embodiment, a cleaning operation is described as an example of the predetermined work operation, but the predetermined work operation is not limited to cleaning operation.

[0030] 4A shows a room 2 to be cleaned. In this embodiment, the room 2 is, for example, a commercial facility. In a commercial facility, in addition to efficiently and comprehensively covering the floor surface of a common space, it is necessary to avoid pedestrians and find and deal with lost items.

[0031] In this embodiment, an example will be described in which the robot encounters a person such as a pedestrian and detects dropped objects and liquid on the floor. When the user 3 issues an instruction to clean the room 2 using the GUI of the external device 301 at the waiting point 206 in Fig. 4(A), the information processing device 101 virtually divides the floor surface 201 to be cleaned into a plurality of sections (divided regions) on the map data 113 as shown in Fig. 4(B).

[0032] The division operation may be performed by the information processing device 101 based on a predetermined rule, or the user may define the sections. In this embodiment, the floor surface 201 is divided into sections A, B, C, and D, and these sections are cleaned in order. It is preferable to divide the sections so that the travel distance, travel time, work time, etc. in each section are approximately the same.

[0033] Also, as shown in FIG. 4B, the path planning unit 116 generates paths 207, 208, 209, and 210 for sections A, B, C, and D, respectively, in order to cover the entire floor surface.

[0034] Next, the position estimation unit 115 estimates an initial position 211 of the robot 1 indoors 2, and the robot 1 starts autonomous traveling while continuing the self-position estimation by the position estimation unit 115. Here, the position estimation unit 115 functions as a control unit, and executes a control step for controlling the movement of the robot as a moving body, based on information acquired by the path planning unit 116 as an acquisition unit.

[0035] 5(A) and (B) are diagrams for explaining an example of the operation of the robot 1 in section A. As shown in Fig. 5(A), the robot 1 autonomously travels along a route 207 from a start point 212 in section A. As the robot 1 autonomously travels along the route 207 and performs cleaning work, screens such as those shown in Fig. 6(A) and (B) are displayed on the display unit of an external device 301 serving as an external apparatus.

[0036] Fig. 6(A) is a diagram showing an example of a displayed work report displayed on the display unit of the external device 301 when work in section A is completed. The information processing device 101 transmits a work report to the external device 301 each time each divided section is completed, which enables the external device 301 to perform the display shown in Fig. 6(A). Therefore, the user 3 can grasp the progress of the work of the robot 1.

[0037] 5(A), when a person 213 stands in front of the robot 1 on the path 207, the sensor 119 detects the person 213, and the obstacle recognition unit 120 recognizes the person as a "person." The action determination unit 122 transmits a message to the external device 301 indicating that the person has been encountered, and causes the external device 301 to display the message.

[0038] 5B, the operation determination unit 122 instructs the route planning unit 116 to change the route. As a result, the route planning unit 116 changes the route 207 to a route 215 that once avoids the position 214 of the person 213 and completes the section A, and then revisits the position 214 where the cleaning work could not be performed due to the presence of the person 213, as shown by the arrow.

[0039] The drive control unit 117 receives the change to the route 215 and first performs an operation to detour around the person 213. At this time, the information processing device 101 transmits an operation report indicating that the recognized person has been detoured to the external device 301. In response to this, the external device 301 displays the display shown in FIG. 6(B).

[0040] Fig. 6(B) is a diagram showing an example of a work report displayed on the display unit of the external device 301 after detouring around the person in the state of Fig. 5(A). After completing section A, the robot 1 revisits position 214 and performs cleaning work by autonomously moving along the shortest route from the position where section A was completed, for example, as indicated by the arrow.

[0041] Next, an example will be described with reference to Fig. 7(A) where a customer of a commercial facility has left something in section C near section B. When the robot 1 detects the lost item, a quick response is required, for example, for the user to go and pick it up and remove it.

[0042] In this embodiment, the path planning unit 116 as an acquisition unit executes an acquisition step of acquiring information regarding a first path (path 208) for the robot 1 as a moving body to move through a first divided area (section B) of a working area including a plurality of divided areas.

[0043] In addition, while traveling along route 208 (first route) in section B (first divided area), when sensor 119 detects a specified object 216 in section C (second divided area) different from section B (adjacent to section B), obstacle recognition unit 120 recognizes, for example, an "other" obstacle.

[0044] Here, the predetermined object 216 is an object that may hinder a predetermined task performed by the robot 1, which is a moving body, in association with the movement based on the second path. Here, the operation determination unit 122 functions as an output unit, and executes an output step of transmitting the recognition result to the path planning unit 116 and the external device 301, which is an external device.

[0045] That is, when a predetermined object 216 is detected in a second divided area different from the first divided area by a sensor 119 arranged on the moving object while the moving object is moving based on a first route, the operation determination unit 122 outputs object information on the predetermined object 216 to an external device. Here, the object information on the predetermined object 216 includes at least one of the type, position, and size of the object 216.

[0046] 6(C) is a diagram showing an example of a display of a work report on the external device 301 when an obstacle is detected on the route in section C. In this way, in this embodiment, when the robot 1 detects an obstacle or the like in adjacent section C where the next cleaning work is scheduled to be performed while traveling in section B, the robot 1 promptly notifies the external device 301 of the detection. In addition, the planned traveling route for section C may be changed accordingly.

[0047] Fig. 7(B) is a diagram illustrating an example of changing the route 209 in section C in the state shown in Fig. 7(A). As shown in Fig. 7(B), the route planning unit 116 modifies the route 209 in section C to a route 217.

[0048] That is, the route planning unit 116 as an acquisition unit acquires a second route (route 209) for the moving object to move through the second divided area (section C), and further acquires a route 217 (third route) that has been changed based on the object information.

[0049] After completing the route 208 in section B, the robot 1 travels along route 217 in section C, and according to this embodiment, the user can receive a report of the object 216 in section C while the robot 1 is traveling in section B. This enables the user to take action such as moving the object 216 in section C while the robot 1 is working / traveling in section B.

[0050] 8(A) is a diagram illustrating a case where liquid 219, such as drinking water, has spilled on floor surface 201 in section D. In order to clean up liquid 219, robot 1 needs to attach a mop to wiping part 107.

[0051] Fig. 8(B) is an enlarged view of section D, and is a view for explaining the operation when liquid is detected by the robot 1. When the sensor 119 detects liquid 219 and the obstacle recognition unit 120 recognizes it as "liquid," as shown in Fig. 8(B), the information processing device 101 moves the robot 1 to a position 221 where the sensor 119 can detect the entire area 220 where the liquid 219 is spilled.

[0052] 7(A), the robot 1 may detect the liquid 219 present in section D while working or moving in section C. That is, the robot 1 may detect the liquid 219 present in a second divided area (section D) different from the first divided area, where work is planned to be performed next, while moving in the first divided area (section C) in Fig. 8 based on the first route. In this case, the robot 1 notifies the external device 301 at the point in time when the robot 1 detects the liquid 219.

[0053] In addition, a third path (222) that is a modification of a second path (210) for the robot 1 to move through the second divided area (section D) may be searched for or obtained based on information about a liquid 219 that impedes movement.

[0054] In this case, the third route may be searched for or acquired by changing the second route so as to bypass the liquid 219. After completing the work or movement based on the third route in section D, the robot 1 may be moved to a position where the entire liquid 219 can be detected by the sensor 119.

[0055] Fig. 9(A) is a diagram for explaining the path change in the case of Fig. 8(A). As shown in Fig. 9(A), the robot 1 changes the path 210 to a path 222. That is, when the predetermined object is liquid, the path planning unit 116 as an acquisition unit acquires the path 222 as a third path that can avoid the area where the liquid exists. Then, after avoiding the liquid 219, the robot completes the path 222 and returns to the initial position 211 once.

[0056] Then, at the initial position 211, the user 3 manually attaches the mop to the wiping unit 107. Fig. 9(B) is a diagram showing an example of control of the robot 1 after Fig. 9(A), and as shown in Fig. 9(B), an instruction is given to the robot 1 to wipe the area 220 on which the liquid 219 is attached.

[0057] The liquid 219 may expand or change in its adhesion area over time. That is, if the obstacle is liquid, the state of the obstacle may change when revisited. For example, the liquid may have spread since the time of detection.

[0058] However, cleaning robots using conventional technology were unable to adapt to changes in obstacles when the robots returned to the area, and would only deal with areas where liquid had spilled at the time of detection, resulting in areas being left unwiped.

[0059] In contrast, in this embodiment, when revisiting the entire region 223 to which liquid is attached, the sensor 119 detects it as an image, thereby solving the above-mentioned problems of the conventional technology. That is, after the movement based on the third path (path 222) is completed, the moving body is moved to a position where the sensor 119 can detect the entire predetermined object.

[0060] FIG. 10 is a diagram showing an example of control of the robot 1 after FIG. 9(B), and FIGS. 11(A) and (B) are diagrams showing example images of the sensor 119 mounted on the robot in the state of FIG. 10.

[0061] In this embodiment, it is assumed that the liquid expands or changes from an area 220 to an area 223 as shown in Fig. 10. As shown in Fig. 10 and Fig. 11(A), the information processing device 101 sets a position 221 as an initial target point, and the sensor 119 detects the entire area 223 to which the liquid is attached as an image.

[0062] 11(B), the robot 1 is caused to travel autonomously while correcting the target point of the robot 1 so that the target point becomes position 224 where the area of ​​region 220 in the image acquired by sensor 119 is maximized. This enables the robot 1 to accurately grasp area 223 of the expanded liquid 219, and to sufficiently wipe off the liquid 219.

[0063] In this way, the information processing device of this embodiment can quickly and appropriately change the route, etc., in response to obstacles in the target area, so that the specified task can be performed efficiently and quickly.

[0064] Although the present invention has been described in detail based on the preferred embodiments, the present invention is not limited to these specific embodiments, and various forms within the scope of the gist of the present invention are also included in the present invention. Parts of the above-mentioned embodiments may be appropriately combined, including the following combinations.

[0065] (Configuration 1) An information processing device comprising: an acquisition unit that acquires information regarding a first route for a moving body to move through a first divided area among a working area including a plurality of divided areas; a control unit that controls the movement of the moving body based on the information acquired by the acquisition unit; and an output unit that outputs object information regarding a specified object to an external device when a specified object is detected in a second divided area different from the first divided area by a sensor arranged on the moving body while the moving body is moving along the first route.

[0066] (Configuration 2) The information processing device described in Configuration 1, characterized in that the acquisition unit further acquires a second path for the moving body to move through the second divided area, and the specified object is an object that may interfere with a specified task performed by the moving body as it moves based on the second path.

[0067] (Configuration 3) The information processing device according to configuration 1 or 2, wherein the acquisition unit acquires a third route obtained by changing the second route based on the object information.

[0068] (Configuration 4) The information processing device according to configuration 3, wherein the acquisition unit acquires the third path that can avoid an area where the liquid exists when the specified object is a liquid.

[0069] (Configuration 5) The information processing device described in Configuration 3, characterized in that after movement based on the third route is completed, the control unit moves the moving body to a position where the entirety of the specified object can be detected by the sensor.

[0070] (Configuration 6) The information processing device according to any one of configurations 1 to 5, wherein the object information includes at least one of the type, position, and size of the object.

[0071] (Method) An information processing method comprising: an acquisition step of acquiring information regarding a first route for a moving body to move through a first divided area among a working area including a plurality of divided areas; a control step of controlling the movement of the moving body based on the information acquired in the acquisition step; and an output step of outputting object information regarding the specified object to an external device when a specified object is detected in a second divided area different from the first divided area by a sensor arranged on the moving body while the moving body is moving along the first route.

[0072] (Program) A computer program for causing a computer to control the following steps: an acquisition step of acquiring information regarding a first path for a moving body to move through a first divided area among a working area including a plurality of divided areas; a control step of controlling the movement of the moving body based on the information acquired in the acquisition step; and an output step of outputting object information regarding the specified object to an external device when a specified object is detected in a second divided area different from the first divided area by a sensor disposed on the moving body while the moving body is moving along the first path.

[0073] (Medium) A storage medium storing a computer program for causing a computer to control the following steps: an acquisition step of acquiring information regarding a first path for a moving body to move through a first divided area among a working area including a plurality of divided areas; a control step of controlling the movement of the moving body based on the information acquired in the acquisition step; and an output step of outputting object information regarding the specified object to an external device when a specified object is detected in a second divided area different from the first divided area by a sensor disposed on the moving body while the moving body is moving along the first path.

[0074] 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.

[0075] In the above embodiment, an example in which the present invention is applied to the robot 1, which is an autonomous moving body, has been described. However, the moving body of the present embodiment is not limited to an autonomous moving body such as an AGV (Automated Guided Vehicle) or an AMR (Autonomous Mobile Robot).

[0076] In addition, the mobile object may not move completely autonomously, but may be used as a driving assistance device. In addition, the mobile object may be any mobile device that moves, such as an automobile or a drone. In addition, at least a part of the information processing device of the embodiment may or may not be mounted on the mobile object. In addition, the present invention can be applied to a case where the mobile object is remotely controlled.

[0077] In addition, in the embodiment, cleaning is given as an example of the specified work, but the specified work may be other work such as painting work, lawn mowing work, surveillance patrol work, farm work, and search work. [Explanation of symbols]

[0078] 1. Robot 101...Information processing device 102...Wheel 103…Cleaning department 106...Suction part 107…wiping part 108...Input section 109...Cleaning control section 111...Management system 112…Sensor 113…Map data 114...Storage section 115...Position estimation section 116…Route planning section 117...Drive control unit 118...Data transmission unit 119…Sensor 120…Obstacle recognition unit 122...Motion decision unit 2…Indoors 201...Floor surface 202...Dust 203…object 204…Route 205…Route 206…Waiting point 207…Route 208…Route 209…Route 210…Route 211…Initial position 212…Start point of Section A 213…people 214...Person's position 215…Route 216…object 217…Route 218…Location of lost property 219…Liquid 220…Attachment area 221…Position 222…Route 223…Attachment area 224…Position 3. User 301...External device

Claims

1. an acquisition unit that acquires information regarding a first route for a moving object to move through a first divided area among a working area including a plurality of divided areas; A control unit that controls movement of the moving object based on the information acquired by the acquisition unit; an output unit that outputs object information related to a predetermined object to an external device when a predetermined object is detected in a second divided area different from the first divided area by a sensor disposed on the moving body while the moving body is moving based on the first route; An information processing device comprising:

2. The acquisition unit further acquires a second path for the moving object to move through the second divided area, the predetermined object is an object that may obstruct a predetermined task performed by the moving body in association with the movement based on the second path; 2. The information processing apparatus according to claim 1,

3. The information processing apparatus according to claim 1 , wherein the acquisition unit acquires a third route obtained by changing the second route based on the object information.

4. The information processing apparatus according to claim 3 , wherein, when the predetermined object is a liquid, the acquisition unit acquires the third path that can avoid an area where the liquid exists.

5. 4 . The information processing apparatus according to claim 3 , wherein the control unit, after the movement based on the third route is completed, moves the moving body to a position where the entirety of the predetermined object can be detected by the sensor.

6. The information processing apparatus according to claim 1 , wherein the object information includes at least one of a type, a position, and a size of the object.

7. an acquisition step of acquiring information regarding a first route for a moving object to move through a first divided area among a working area including a plurality of divided areas; a control step of controlling movement of the moving object based on the information acquired in the acquisition step; an output step of outputting object information relating to a predetermined object to an external device when a predetermined object is detected in a second divided area different from the first divided area by a sensor disposed on the moving body while the moving body is moving based on the first route; An information processing method comprising:

8. an acquisition step of acquiring information regarding a first route for a moving object to move through a first divided area among a working area including a plurality of divided areas; a control step of controlling movement of the moving object based on the information acquired in the acquisition step; an output step of outputting object information relating to a predetermined object to an external device when a predetermined object is detected in a second divided area different from the first divided area by a sensor disposed on the moving body while the moving body is moving based on the first route; A computer program for controlling the above by a computer.

9. an acquisition step of acquiring information regarding a first route for a moving object to move through a first divided area among a working area including a plurality of divided areas; a control step of controlling movement of the moving object based on the information acquired in the acquisition step; an output step of outputting object information relating to a predetermined object to an external device when a predetermined object is detected in a second divided area different from the first divided area by a sensor disposed on the moving body while the moving body is moving based on the first route; A storage medium storing a computer program for controlling the above by a computer.

Images