Route generation system, route generation method, route generation device, and program

Abstract

The present invention provides a route generation system that generates a route for improving the efficiency of the movement of a moving body. Provided is a route generation system (10) comprising: a calculation means (11) for calculating, for each region constituting a location where a moving body moves, points to be added to points corresponding to the distance the moving body moves to the region, in accordance with the frequency at which an obstacle appears in the region; and a route generation means (12) for generating a route on which the moving body moves, in accordance with the points added to the region. The calculation means calculates such that the greater the number of times there is a change as to whether or not the obstacle exists in the region, the more points are added.

Description

Technical Field

[0001] The present disclosure relates to a route generation system, a route generation method, , a route generation device , and program and the like.

Background Art

[0002] A method for controlling a moving body that generates a moving route of the moving body according to the movement of an obstacle and takes an avoidance action even when there is a dynamic obstacle is described in Patent Document 1. Patent Document 1 describes that an obstacle sensor attached to the ceiling surface sequentially detects the position of an obstacle and sends it to a control device. The control device described in Patent Document 1 generates a probability potential field representing the probability that an obstacle may exist based on the position information of the obstacle, and adds a gradient toward the target position to the probability potential field. Further, Patent Document 1 describes searching for a route toward the target position based on the inclination of the probability potential field with the gradient, and moving the moving body along the route.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Patent Document 1 generates a route of a moving body by predicting the position of an obstacle when evaluating a dynamic obstacle. However, if a moving route of the moving body is generated according to the detected obstacle every time the obstacle is detected, the efficiency of the movement of the moving body may not be improved. Therefore, an object of the present disclosure is to provide a route generation system that generates a route for improving the efficiency of the movement of a moving body.

Means for Solving the Problems

[0005] The route generation system of the present disclosure is A calculation means for calculating points to be added to a point corresponding to the distance the moving body travels to a given area, based on the frequency with which an obstacle was present in that area, for each area that constitutes the location where the moving body is moving. The path generation system includes a path generation means that generates a path for the moving object according to points added to the aforementioned region.

[0006] The path generation method disclosed herein is: For each region that constitutes the area where the moving object moves, a number of points to be added to the point corresponding to the distance the moving object travels to the region is calculated according to the frequency with which an obstacle was present in the region. This is a path generation method that generates a path for the moving object according to the points added to the aforementioned region.

[0007] The path generation device disclosed herein is A calculation means for calculating points to be added to a point corresponding to the distance the moving body travels to a given area, based on the frequency with which an obstacle was present in that area, for each area that constitutes the location where the moving body is moving. A path generation device comprising: a path generation means that generates a path for the moving body according to points added to the aforementioned region; and a path generation device. [Effects of the Invention]

[0008] This disclosure provides a route generation system that generates routes that improve the movement efficiency of a moving object. [Brief explanation of the drawing]

[0009] [Figure 1] This is a block diagram showing the configuration of the route generation system according to the embodiment. [Figure 2] This is a block diagram showing the configuration of the route generation device according to the embodiment. [Figure 3] This is a flowchart of the path generation method according to the embodiment. [Figure 4] This is a block diagram showing the configuration of the route generation system according to Embodiment 1. [Figure 5] This is a schematic diagram showing the configuration of the route generation system according to Embodiment 1. [Figure 6] This figure shows the entropy of the obstacle according to Embodiment 1. [Figure 7] This figure shows a route generated by the method related to Embodiment 1 and a route generated by the method of this disclosure. [Modes for carrying out the invention]

[0010] (Embodiment) Embodiments of the present invention will be described below with reference to the drawings. However, the invention claimed is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential for solving the problem. For clarity of explanation, the following descriptions and drawings have been omitted and simplified as appropriate. In each drawing, the same elements are denoted by the same reference numerals, and redundant explanations have been omitted where necessary.

[0011] (Description of the route generation system and route generation device according to the embodiment) Figure 1 is a block diagram showing the configuration of a route generation system according to an embodiment. Figure 2 is a block diagram showing the configuration of a route generation device according to an embodiment. The route generation system and route generation device according to the embodiment will be described with reference to Figures 1 and 2.

[0012] As shown in Figure 1, the route generation system 10 according to this embodiment comprises a calculation unit 11 and a route generation unit 12. The calculation unit 11 and the route generation unit 12 can also be read as calculation means and route generation means. The route generation system 10 is a system that generates a route for a moving object.

[0013] The calculation unit 11 calculates points to be added to points corresponding to the distance that the moving body 410 moves to each area constituting the location where the moving body 410 moves, according to the frequency of obstacles existing in the area. The "frequency of obstacles existing in the area" may be the number of times obstacles exist in the area among the number of times it is detected whether obstacles exist in the area, or may be the ratio of the number of times it is detected whether obstacles exist in the area to the number of times obstacles exist in the area. Also, the "frequency of obstacles existing in the area" may be the ratio of a predetermined period to the time when obstacles exist in the area.

[0014] An area refers to a section obtained by dividing the location where the moving body moves. For example, when a single room where the moving body moves is divided into a grid, it is one section constituting the divided single room. The location where the moving body moves is not particularly limited, and for example, it is a factory, a restaurant, a warehouse, or a construction site.

[0015] Points corresponding to the distance that the moving body 410 moves to an area take into account, for example, the distance. Points corresponding to the distance that the moving body 410 moves to an area may, in addition to or in addition to the distance, take into account gradients, turns, the time required for the moving body to move, the presence or absence of obstacles, etc. The moving body 410 is, for example, a moving body 410 such as a transport robot, an AGV, an AMR, a forklift, a heavy machine, or a drone. The calculation unit 11 calculates points corresponding to the distance that the moving body 410 moves to a certain location.

[0016] The obstacles in the "frequency of obstacles existing in the area" are not limited to specific obstacles. The obstacles may be a person, or may be a moving robot such as an AGV or an AMR, an animal, a load, a shelf, a wall, or a pillar. Also, when a person passes through an area and then a moving robot passes through, it may be regarded that obstacles exist without distinguishing between the person and the moving robot.

[0017] In particular, the calculation unit 11 not only adds points when an obstacle is present in the area, but also calculates the number of points to add according to the frequency with which obstacles were present in the area. For example, the closer the ratio of the number of times an obstacle was detected to the number of times an obstacle was present in the area is close to 2:1, the larger the number of points to add may be. Also, for example, the closer the ratio of a predetermined period to the time an obstacle was present in the area is close to 2:1, the larger the number of points to add may be. Furthermore, for example, the closer the number of points to add is when an obstacle continued to be present in the area during the predetermined period for which an obstacle was detected, or when no obstacle was present in the area, the smaller the number of points to add may be.

[0018] If the points corresponding to the distance traveled to an area are changed depending on the presence or absence of obstacles, points may be added more frequently the more often obstacles are present in the area. In workplaces such as factories and warehouses, pedestrian walkways and other pathways are sometimes separated as a safety measure. From the perspective of a moving object, for example, pedestrian walkways are areas where obstacles are frequently present because people frequently pass through them.

[0019] The path generation unit 12 generates a path for the mobile body 410 to travel along, according to the points added to the region. Preferably, the path generation unit 12 generates a path such that the mobile body 410 travels along the path with the lowest total number of points in the region it passes through from the starting point to the ending point.

[0020] The route generation system consists of an information processing device. The information processing device includes a processor (e.g., a CPU (Central Processing Unit)) that executes programs to process information, and memory for storing programs. The information processing device may consist of a single device or be configured using multiple devices. When configured as a single information processing device, it is configured as a route generation device 20, comprising a calculation unit 21 and a route generation unit 22, as shown in Figure 2. The information processing device may also consist of a cloud server that processes some or all of its functions in a distributed manner.

[0021] Figure 3 is a flowchart of the path generation method according to the embodiment. For example, the path generation method according to the embodiment is performed by the path generation system in Figure 1. As shown in Figure 3, first, points are calculated (step S31). Specifically, for each region that constitutes the place where the mobile body 410 moves, points to be added to the points corresponding to the distance the mobile body 410 moves to the region are calculated according to the frequency with which obstacles exist in the region. Next, a path is generated (step S32). Specifically, a path for the movement of the mobile body 410 is generated according to the points added to the region.

[0022] As described above, the path generation system 10 according to this embodiment generates a path for a moving object according to the frequency with which obstacles are present. Therefore, the path generation system 10 can, for example, generate a path in an area where no obstacles are present at the time the path is generated, taking into account the risk of obstacles appearing. For example, in related technologies that perform a detour whenever an obstacle is detected, the distance and time the moving object travels may become longer than expected due to the detour caused by the detection of obstacles. However, in the case of the path generation system 10 according to this embodiment, for example, by generating a path that avoids areas where the appearance of obstacles is unstable, unexpected detours by the moving object can be reduced, and the efficiency of the moving object's movement can be improved.

[0023] Furthermore, for example, if the ratio of the number of times an obstacle is detected in a region to the number of times an obstacle is actually present, or the ratio of a predetermined period to the time an obstacle was present in a region, is close to 2:1, then the probability of an obstacle being present in that region over time is considered unstable. By setting many points in regions where the probability of an obstacle being present over time is unstable, it is possible to generate a path that avoids regions where changes are likely to occur. By generating a path that avoids regions where changes are likely to occur and moves through regions with little change, the moving object can be made to move stably. For example, during the movement of the moving object, a detour path can be generated to avoid obstacles that appear after the path has been generated, reducing the likelihood of sudden changes being needed in the movement of the moving object.

[0024] (Description of the route generation system according to Embodiment 1) The route generation system according to Embodiment 1 will be described with reference to Figures 4 to 7. Figure 4 is a block diagram showing the configuration of the route generation system according to Embodiment 1. Figure 5 is a schematic diagram showing the configuration of the route generation system according to Embodiment 1. Figure 6 is a diagram showing the entropy of obstacles according to Embodiment 1. Figure 7 is a diagram showing a route generated by the related method according to Embodiment 1 and a route generated by the method of this disclosure.

[0025] As shown in Figure 4, the route generation system 400 according to Embodiment 1 comprises a sensor device 401, a management device 404, and a mobile body 410. The sensor device 401 comprises an obstacle information acquisition unit 402 and a communication unit 403. The management device 404 comprises a communication unit 405, an obstacle information storage unit 406, an obstacle statistics calculation unit 407, a transport instruction generation unit 408, and a route generation unit 409. The mobile body 410 comprises a communication unit 411 and a control unit 412.

[0026] As shown in Figure 5, the obstacle information acquisition unit 402 is an imaging device such as a surveillance camera installed on the ceiling or pillars. The surveillance camera installed on the ceiling or pillars captures images from above of obstacles such as people 502, people 503, and objects 501 moving on the ground 504. The obstacle information acquisition unit may also detect objects 501, people 502, people 503, etc., using image recognition with AI (Artificial Intelligence).

[0027] As shown in Figure 4, the communication unit 403 is connected to the communication unit 405 of the management device 404. The connection method may be wired or wireless, but it is preferable to have it wired in the facility equipment. The communication unit 403 transmits the obstacle information acquired by the obstacle information acquisition unit 402 to the communication unit 405. The obstacle information is information about the detected obstacle and includes at least information about the location of the obstacle. The obstacle information may also be images or videos captured by the imaging device, or information about the position coordinates of the obstacle. Furthermore, the obstacle information may also include object information related to the obstacle.

[0028] As shown in Figure 4, the communication unit 405 transmits obstacle information to the obstacle information storage unit 406. The obstacle information storage unit 406 constitutes a cyber-physical system that constructs a digital twin and stores object information related to the obstacle. Object information related to the obstacle includes the type of obstacle, the probability of the obstacle's type, and the predictability of the obstacle. The type of obstacle is a classification of the obstacle, such as forklifts, people, and AGVs. The probability of the obstacle's type represents the reliability or probability of the obstacle's classification, for example, that there is a 70% probability that the detected obstacle is a forklift and a 30% probability that it is an AGV. The predictability of the obstacle is information such as the fact that AGVs move regularly in one direction, making their movement easy to predict, while people move randomly around the surroundings, making their movement difficult to predict. If the obstacle information is an image or video captured by an imaging device, the obstacle information storage unit 406 may perform image recognition or the like based on the captured image or video to acquire object information related to the obstacle. The obstacle information storage unit 406 stores at least the type of obstacle.

[0029] As shown in Figure 4, the obstacle information storage unit 406 transmits at least information regarding the location of the obstacle to the obstacle statistics calculation unit 407. In addition to information regarding the location of the obstacle, the obstacle information storage unit 406 may also transmit information about objects attached to the obstacle to the obstacle statistics calculation unit 407. As shown in Figure 5, the obstacle statistics calculation unit 407 defines the area where the obstacle is traveling as a grid-like region. Then, object 501 can be displayed as, for example, 9 squares, person 502 as 1 square, and person 503 as 1 square.

[0030] Obstacles such as pillars and equipment do not move, but obstacles such as people and transporting objects do. As shown in Figure 6, suppose there are four stationary objects and two single-unit objects moving in the direction of the arrows at time t0. At time t1, the single-unit moving object moves in the direction of the arrow. At time t2, the single-unit moving object moves in the direction of the arrow.

[0031] Here, the obstacle statistics calculation unit 407 calculates the entropy Hb, which is a statistic for each cell in the grid, according to the frequency with which obstacles were present in the region. The entropy function at time t in a given grid is expressed by the following equation (1).

number

[0032] probability p t This can be expressed by equation (2) using the presence or absence of obstacles α over a predetermined n steps. Here, α is 1 if there is an obstacle and 0 if there is no obstacle.

number

[0033] The region represented by the dotted line in Figure 6 always has obstacles, and its entropy is 0. The region represented by the dashed line in Figure 6 always has no obstacles, and its entropy is 0. The region represented by the grid-like dashed line in Figure 6 frequently changes the presence or absence of obstacles, and its entropy is the highest. The points corresponding to the distance the moving object 410 travels to the region represented by the dotted line are high, but no points are added. The points corresponding to the distance traveled to the region represented by the grid-like dashed line in Figure 6 are small, and no points are added. The region represented by the grid-like dashed line in Figure 6 has small points corresponding to the distance traveled to the region, but the number of points added is the highest.

[0034] By calculating this entropy, we can determine the points to be added to the points corresponding to the distance a moving object travels into the area, depending on how frequently obstacles were present. For example, the more times the presence or absence of obstacles in the area changes, the larger the points added can be.

[0035] Furthermore, the movement of obstacles changes depending on the time of day. For example, in a factory, the movement of obstacles changes between the morning when parts are delivered and the daytime when parts are assembled. Therefore, it is preferable to calculate entropy for each time period. Also, the time interval when calculating entropy is arbitrary. After calculating the entropy for a certain period in a certain time period, the entropy for a period three times longer may be calculated for a different time period.

[0036] Furthermore, the frequency of obstacles in the region is converted into frequencies using frequency analysis techniques such as the Fast Fourier Transform (FFT). The more high-frequency components present in the converted region's obstacle frequency, the larger the number of points added. When the movement of obstacles is converted into frequencies, higher frequency movements result in more high-frequency components.

[0037] When using the Fast Fourier Transform, either a high-pass or low-pass filter is used depending on the situation. Using a low-pass filter emphasizes slow-moving obstacles. If there is a lot of noise and the entropy is too high, use a low-pass filter. Conversely, if the situation is different, use a high-pass filter. Using a high-pass filter emphasizes fast-moving obstacles. After applying a low-pass filter, high-pass filter, or high-frequency enhancement filter, perform a Discrete Fourier Transform (DFT).

[0038] Using the Fast Fourier Transform, we can identify the periodicity of obstacle appearances in a given region. If the period of obstacle appearance is short, we may set a larger point size. This is because obstacles frequently appear in that region.

[0039] Even if not using entropy, a graph with the probability of existence on the horizontal axis and the change in existence over time on the vertical axis may follow a rectangular, triangular, or trapezoidal shape with the horizontal axis as the base, where the probability of existence is small around 0 or 1.

[0040] Furthermore, the obstacle statistics calculation unit 407 adds points according to information about the types of obstacles present in the area. The obstacle statistics calculation unit 407 can change the number of points added to the area according to the object information in the obstacle information storage unit 406. Points can be added to the area according to the type of obstacle, such as stationary obstacles like pillars, obstacles that move according to rules like other moving objects, and obstacles whose movement is difficult to predict, such as people.

[0041] The transport instruction generation unit 408 instructs the obstacle statistics calculation unit 407 on the transport destination. The obstacle statistics calculation unit 407 calculates points corresponding to the distance the moving object travels to the transport destination.

[0042] The route generation unit 409 generates a route for the moving body 410 according to the points calculated in this way. For example, the route generation unit 409 generates the route with the fewest points. In related route generation systems, as shown in the upper part of Figure 7, the shortest route was generated by avoiding obstacles in place without considering pedestrian walkways. In the route generation system of this disclosure, as shown in the lower part of Figure 7, it is possible to generate a route that avoids pedestrian walkways with heavy pedestrian traffic and has less variation.

[0043] The path generation unit 409 may generate a path for the moving object by adding points to adjacent regions adjacent to a given region, depending on whether the number of points to be added to that region is greater than a first threshold. Adjacent regions constitute the areas where the moving object moves. Regions with a high frequency of changes in obstacles are likely to have obstacles in their adjacent regions as well. Therefore, it is preferable to add points to adjacent regions when the number of points to be added is greater than a predetermined first threshold. Furthermore, points may be added to adjacent regions depending on the predictability of the obstacles detected in the given region. For example, if a predetermined proportion of the obstacles detected in a given region are people, the number of points added to adjacent regions may be greater than when a predetermined proportion of the obstacles detected in that region are AGVs.

[0044] Furthermore, the path generation unit 409 regenerates the path of the moving body 410 in response to a change in the frequency of obstacles present in the region, which was used to calculate the points to be added, exceeding a second threshold. If the frequency of obstacles present in the region, which was used to calculate the points to be added, changes, it is possible that the pattern of obstacles present in the region has changed. If the frequency of obstacles present changes beyond a predetermined second threshold, the path of the moving body 410 is regenerated, allowing the path to be readjusted in real time in response to changes in the pattern of obstacles present.

[0045] As shown in Figure 4, the communication unit 411 of the mobile unit 410 communicates wirelessly with the communication unit 405 of the management device 404. In this case, communication can be performed using wireless LAN such as Wi-Fi® and Bluetooth®.

[0046] As shown in Figure 4, the control unit 412 of the mobile body 410 controls and moves the mobile body 410 based on the path generated by the management device 404.

[0047] In this way, we can provide a route generation system that generates routes that improve the efficiency of movement of a mobile object.

[0048] Furthermore, some or all of the processing in the route generation systems 10, 400 and route generation device 20 described above can be implemented as computer programs. Such programs can be stored using various types of non-temporary computer-readable media and supplied to a computer. Non-temporary computer-readable media include various types of tangible recording media. Examples of non-temporary computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). Programs may also be supplied to a computer by various types of temporary computer-readable media. Examples of temporary computer-readable media include electrical signals, optical signals, and electromagnetic waves. Temporary computer-readable media can be supplied to a computer via wired communication channels such as electric wires and optical fibers, or via wireless communication channels.

[0049] It should be noted that the present invention is not limited to the embodiments described above, and can be modified as appropriate without departing from the spirit of the invention.

[0050] Some or all of the above embodiments may be described as follows, but are not limited to the following: (Note 1) A calculation means for calculating points to be added to a point corresponding to the distance the moving body travels to a given area, based on the frequency with which an obstacle was present in that area, for each area that constitutes the location where the moving body is moving. A path generation system comprising: a path generation means for generating a path for the moving object in accordance with points added to the aforementioned region. (Note 2) The path generation system described in Appendix 1, wherein the calculation means calculates to increase the number of points to be added as the number of times the presence or absence of an obstacle in the region changes increases. (Note 3) The calculation means calculates the additional points to be added for each time period according to the frequency with which obstacles were present in the region for each time period, as described in Appendix 1 or Appendix 2 of the route generation system. (Note 4) The path generation system according to any one of the appendices 1 to 3, wherein the calculation means converts the frequency at which the obstacle was present in the region into a frequency, and calculates that the number of points to be added should be larger the more high-frequency components are included in the converted frequency at which the obstacle was present in the region. (Note 5) The calculation means adds points based on information regarding the type of obstacle present in the region to the points to be added, according to any one of the appendices 1 to 4, for the path generation system. (Note 6) The path generation means generates a path for the moving body by adding points to adjacent regions adjacent to the region, depending on whether the points to be added in the region are greater than a first threshold. The adjacent region constitutes the location where the moving body moves, according to the route generation system described in any one of Appendix 1 to Appendix 5. (Note 7) The path generation means regenerates the path of the moving body in response to the frequency of the presence of obstacles in the region used to calculate the points to be added changing beyond a second threshold, as described in any one of the appendices 1 to 6. (Note 8) A path generation system according to any one of Appendix 1 to Appendix 7, wherein a surveillance camera monitors the obstacles in the area. (Note 9) For each region that constitutes the area where the moving object moves, a number of points to be added to the point corresponding to the distance the moving object travels to the region is calculated according to the frequency with which an obstacle was present in the region. A path generation method for generating a path for the moving object in accordance with points added to the aforementioned region. (Note 10) The calculation means calculates the number of points to be added to increase as the number of times the presence or absence of an obstacle in the region changes increases, as described in Appendix 9. (Note 11) The calculation means calculates the additional points to be added for each time period according to the frequency with which obstacles were present in the region for each time period, as described in Appendix 9 or Appendix 10. (Note 12) The calculation means converts the frequency at which the obstacle was present in the region into a frequency, and calculates that the number of points to be added should be larger the more high-frequency components are included in the converted frequency at which the obstacle was present in the region. This is the path generation method according to any one of the appendices 9 to 11. (Note 13) The calculation means adds points based on information regarding the type of obstacle present in the region to the points to be added, according to any one of the items in Appendix 9 to Appendix 12, for the path generation method. (Note 14) Depending on whether the number of points to be added in the aforementioned region is greater than the first threshold, points are added to adjacent regions adjacent to the aforementioned region to generate the path of the moving object. The adjacent region constitutes the location where the moving body moves, according to the path generation method described in any one of the appendices 9 to 13. (Note 15) A path generation method according to any one of the appendices 9 to 14, wherein the frequency of the presence of obstacles in the region used to calculate the points to be added changes beyond a second threshold, and the path of the moving body is generated again. (Note 16) A path generation method according to any one of the appendices 9 to 15, wherein a surveillance camera is used to monitor the obstacles in the area. (Note 17) A calculation means for calculating points to be added to a point corresponding to the distance the moving body travels to a given area, based on the frequency with which an obstacle was present in that area, for each area that constitutes the location where the moving body is moving. A path generation device comprising: a path generation means for generating a path for the moving body in accordance with points added to the aforementioned region. (Note 18) The path generation device according to Appendix 17, wherein the calculation means calculates that the number of points to be added increases as the number of times the presence or absence of an obstacle in the region changes increases. (Note 19) The calculation means calculates the additional points to be added for each time period according to the frequency with which obstacles were present in the region for each time period, as described in Appendix 17 or Appendix 18. (Note 20) The path generation device according to any one of Appendix 17 to Appendix 19, wherein the calculation means converts the frequency at which the obstacle was present in the region into a frequency, and calculates that the number of points to be added should be larger the more high-frequency components are included in the converted frequency at which the obstacle was present in the region. (Note 21) The calculation means adds points based on information regarding the type of obstacle present in the region to the points to be added, according to any one of the items in Appendix 17 to Appendix 20, to the path generation device. (Note 22) The path generation means generates a path for the moving body by adding points to adjacent regions adjacent to the region, depending on whether the points to be added in the region are greater than a first threshold. The adjacent region constitutes the location where the moving body moves, and is a path generation device according to any one of the appendices 17 to 21. (Note 23) The path generation means regenerates the path of the moving body in response to the frequency of the presence of obstacles in the region used to calculate the points to be added changing beyond a second threshold, as described in any one of Appendix 17 to Appendix 22. (Note 24) A path generation device according to any one of the appendices 17 to 23, which monitors the obstacles in the area using a surveillance camera. [Explanation of symbols]

[0051] 10 Route generation system, 11 Calculation unit, 12 Route generation unit, 20 Route generation device, 21 Calculation unit, 22 Route generation unit, 400 Route generation system, 401 Sensor device, 402 Obstacle information acquisition unit, 403 Communication unit, 404 Management device, 405 Communication unit, 406 Obstacle information storage unit, 407 Obstacle statistics calculation unit, 408 Transport instruction generation unit, 409 Route generation unit, 410 Moving object, 411 Communication unit, 412 Control unit, 501 Object, 502 Person, 503 Person, 504 Ground

Claims

1. A calculation means for calculating points to be added to a point corresponding to the distance the moving body travels to a given area, based on the frequency with which an obstacle was present in that area, for each area that constitutes the location where the moving body is moving. The system includes a path generation means that generates a path for the moving body in accordance with the points added to the aforementioned region, The calculation means is a path generation system that calculates to increase the size of the additional points as the number of times the presence or absence of obstacles in the region changes increases.

2. A calculation means for calculating points to be added to a point corresponding to the distance the moving body travels to a given area, based on the frequency with which an obstacle was present in that area, for each area that constitutes the location where the moving body is moving. The system includes a path generation means that generates a path for the moving body in accordance with the points added to the aforementioned region, The calculation means is a path generation system that converts the frequency at which the obstacle was present in the region into frequency, and calculates that the number of points to be added should be larger the more high-frequency components are included in the converted frequency at which the obstacle was present in the region.

3. The route generation system according to claim 1, wherein the calculation means calculates the number of points to be added for each time period according to the frequency with which obstacles were present in the region for each time period.

4. The path generation system according to claim 1, wherein the calculation means adds points based on information regarding the type of obstacle present in the region to the points to be added.

5. The path generation means generates a path for the moving body by adding points to adjacent regions adjacent to the region in accordance with whether the points to be added in the region are greater than a first threshold. The path generation system according to claim 1, wherein the adjacent region constitutes the location where the moving body moves.

6. The path generation means regenerates the path of the moving body in response to the frequency of the presence of obstacles in the region used to calculate the points to be added changing beyond a second threshold, as described in any one of claims 1 to 5.

7. For each region that constitutes the area where the moving object moves, a number of points to be added to the point corresponding to the distance the moving object travels to the region is calculated according to the frequency with which an obstacle was present in the region. A path generation method for generating a path for a moving object in accordance with points added to the aforementioned region, The calculation described above is a path generation method in which the number of times the presence or absence of an obstacle in the region changes increases is made to increase the size of the additional points.

8. For each region that constitutes the area where the moving object moves, a number of points to be added to the point corresponding to the distance the moving object travels to the region is calculated according to the frequency with which an obstacle was present in the region. A path generation method for generating a path for a moving object in accordance with points added to the aforementioned region, The above calculation is a path generation method which involves converting the frequency at which the obstacle was present in the region into frequency, and calculating that the number of points to be added should be larger the more high-frequency components are included in the converted frequency at which the obstacle was present in the region.

9. A calculation means for calculating points to be added to a point corresponding to the distance the moving body travels to a given area, based on the frequency with which an obstacle was present in that area, for each area that constitutes the location where the moving body is moving. The system includes a path generation means that generates a path for the moving body in accordance with the points added to the aforementioned region, The calculation means is a path generation device that calculates to increase the number of points to be added as the number of times the presence or absence of an obstacle in the area changes increases.

10. For each region that constitutes the area where the moving object moves, a number of points to be added to the point corresponding to the distance the moving object travels to the region is calculated according to the frequency with which an obstacle was present in the region. A program that causes an information processing device to generate a path for the moving object in accordance with the points added to the aforementioned region, The program calculates the amount of points to be added, with the amount increasing as the number of times the presence or absence of an obstacle in the area changes increases.

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