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 apparatus that performs route setting, an information processing method, a computer program, and the like.

Background Art

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

[0003] Further, as a method for causing these moving bodies to travel autonomously in an environment such as a factory or a distribution warehouse, technologies for self-localization and environment map creation such as SLAM (Simultaneous Localization and Mapping) and VSLAM (Visual SLAM) are used.

[0004] In the VSLAM technology described in Patent Document 1, point cloud data is used as an environment map, coordinate points are added to the map created according to changes in feature points obtained from images, and the continuous coordinate point cloud obtained in this way is used as the map. The moving body performs self-localization using the map generated in this way, and performs automatic traveling and autonomous traveling.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

Problem to be Solved by the Invention

[0006] Environmental maps contain many coordinate points, and the larger the environmental map, the harder it becomes to see each individual point. Therefore, when setting an automated driving route using user operations such as clicking or tapping on the environmental map, it is necessary to repeatedly change the map scale until the target point becomes visible, which presents a challenge in terms of the time and effort required for route setting. While some technologies, such as the one shown in Patent Document 2, select the target object in response to user operations, they are difficult to apply when the target is a point.

[0007] This invention has been made in view of the above-mentioned problems, and aims to provide an information processing device that enables route setting with simple operations using an environmental map. [Means for solving the problem]

[0008] The information processing apparatus according to the present invention is Consists of multiple coordinate points An environmental map acquisition method for acquiring an environmental map, On the aforementioned environmental map, as waypoints for the route By the user A means of obtaining the selected selection point, An extraction means for extracting a predetermined number of coordinate points from the plurality of coordinate points included in the environmental map, in order of increasing distance based on the distance between the selected point and the coordinate points, A calculation means for calculating the angles of a 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 determination means for determining coordinate points having an angle less than or equal to a predetermined angle among the calculated angles as coordinate points for route setting, It is characterized by having the following features. [Effects of the Invention]

[0009] According to the present invention, an information processing device can be realized that allows route setting to be performed with simple operations using an environmental map. [Brief explanation of the drawing]

[0010] [Figure 1] This figure shows a system configuration diagram according to an embodiment of the present invention. [Figure 2] This is a functional block diagram showing an example configuration of an information processing device according to Embodiment 1 of the present invention. [Figure 3]It is a flowchart illustrating an example of a processing flow of an information processing apparatus according to Embodiment 1. [Figure 4] It is a diagram illustrating an example of an environment map. [Figure 5] It is a diagram for explaining an example of a user operation. [Figure 6] It is a diagram illustrating an example of coordinate points extracted by processing. [Figure 7] It is a diagram illustrating processing for each extracted coordinate point. [Figure 8] It is a diagram illustrating an example of a line segment using extracted coordinate points. [Figure 9] It is a diagram illustrating an example of an environment map according to Embodiment 2. [Figure 10] It is a flowchart illustrating an example of a processing flow of an information processing apparatus according to Embodiment 2. [Figure 11] It is a diagram illustrating an example of coordinate points selected in steps S1001 to S1005. [Figure 12] It is a diagram illustrating an example of a point group 1201 before a coordinate point 1101 selected in S1005 and a point group 1202 after the coordinate point 1101. [Figure 13] It is a diagram illustrating an example of approximate straight lines and their intersection points. [Figure 14] It is a diagram illustrating an example of coordinates selected in step S1007. [Figure 15] It is a diagram illustrating an example of an environment map having a route that turns around at a dead end. [Figure 16] It is a flowchart illustrating an example of a processing flow of an information processing apparatus according to Embodiment 3. [Figure 17] It is a diagram illustrating an example of an approximate line calculated from an extracted coordinate point group. [Figure 18] It is a block diagram illustrating a hardware configuration example of an information processing apparatus. Mode for Carrying Out the Invention

[0011] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiments. In each drawing, the same reference numeral is used for the same member or element, and redundant explanations are omitted or simplified.

[0012] This embodiment describes the control of movement of mobile objects such as automated guided vehicles (AGVs) and autonomous mobile robots (AMRs), particularly methods for setting routes during automatic driving. While AGVs will be used as an example below, AMRs and service mobile robots (SMRs) may also be used.

[0013] Figure 1 is a diagram showing a system configuration according to an embodiment of the present invention. The information management system 100 in this embodiment consists of a plurality of mobile bodies 101 (101-1, 101-2, ...), a process management system 103, a mobile body management system 102, etc. The information management system 100 is a logistics system, a production system, etc.

[0014] Multiple mobile units 101 (101-1, 101-2, ...) are automated guided vehicles (AGVs) that transport objects according to the process schedule determined by the process management system 103. Multiple mobile units are moving (traveling) within the environment.

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

[0016] The mobile vehicle management system 102 is a system for managing mobile vehicles and communicates with the process management system 103. It also communicates with the mobile vehicle 101 (for example, via Wi-Fi) and sends and receives operational information bidirectionally.

[0017] <Embodiment 1> Figure 2 is a functional block diagram showing an example configuration of an information processing device according to Embodiment 1 of the present invention. Note that some of the functional blocks shown in Figure 2 are realized by having the CPU, which acts as a computer within the information processing device, execute a computer program stored in memory, which acts as a storage medium.

[0018] However, some or all of these may be implemented in hardware. Hardware options include dedicated circuits (ASICs) and processors (reconfigurable processors, DSPs). Furthermore, each functional block shown in Figure 2 does not necessarily have to be housed in the same enclosure; they may be composed of separate devices connected to each other via signal paths.

[0019] The information processing device 200 includes an environmental map acquisition unit 201 that acquires video from an external source and creates an environmental map, and an acquisition unit 202 that acquires selected points on the environmental map that are chosen as waypoints for the route. The information processing device 200 also includes a determination unit 203 that selects route setting coordinate points to be used for route setting based on operations given by the user through route setting.

[0020] Furthermore, the information processing device 200 is connected to an image acquisition device 204 that has the function of acquiring images from a camera or PC, and an input device 205 that transmits user operations such as a mouse or touch panel to the information processing device 200. In addition, an external device 206 that displays and receives the processing results of the information processing device 200 is connected to the information processing device 200.

[0021] However, the configuration shown in Figure 2 is just one example and is not limited thereto. The information processing device 200 can be mounted on the mobile device 101. The information processing device 200 can also be a device that communicates with the mobile device 101 via Wi-Fi or the like using the network interface 2303. When the information processing device 200 receives data from an external source, it is either physically connected to the outside via a bus or the like, or it uses the network interface 2303.

[0022] In Embodiment 1, when a user selects a coordinate on the environmental map as a waypoint for the automated driving route, the system determines the coordinate point requested by the user from a cluster of coordinate points near the selected coordinate. In this case, Embodiment 1 selects the coordinate point at a location where the moving object needs to turn as a coordinate point that is likely to be used for automated driving route setting. The coordinate points described in this embodiment correspond to keyframes created by SLAM processing.

[0023] Figure 3 is a flowchart showing an example of the processing flow of an information processing device according to Embodiment 1. The CPU and other components within the information processing device 200 execute computer programs stored in memory, thereby performing each step in the flowchart shown in Figure 3.

[0024] Step S301 involves acquiring an environmental map. Here, step S301 functions as an environmental map acquisition process. Note that the processing in step S301 is not mandatory for the information processing device; maps created by other devices can also be acquired and used.

[0025] Figure 4 shows an example of an environmental map. In Figure 4, coordinate point 401, which is one of the coordinate point clouds registered by VSLAM processing, a display frame 402 indicating a certain area on the environmental map, and an enlarged display frame 403 which is an enlarged view of display frame 402. Although the environmental map is shown as a point cloud, it is also possible to connect these point clouds with lines and represent the environmental map with lines. The same applies to all Figures from 4 onward.

[0026] The coordinate points registered in the environmental map contain information about their position on the environmental map, such as (x, y, z). They may also contain attitude information indicating the orientation of a moving object. Thus, the environmental map is composed of a point cluster of multiple detailed coordinate points.

[0027] In this embodiment, the environment map is created using VSLAM, but as shown in Figure 4, it can be created using any method that allows the environment map to be represented as a point cloud. Alternatively, an already created environment map may be downloaded from a server or the like.

[0028] In step S302, the user obtains and specifies coordinates on the environment map through user operation. Step S302 functions as an acquisition process to obtain selected points on the environment map that have been selected as waypoints for the route. The user can, for example, perform touch operations on the touch panel of the input device 205 or the external device 206. The user can also perform mouse operations while viewing the monitor of the input device 205 or the external device.

[0029] Figure 5 illustrates an example of user operation. Figure 5 shows the mouse cursor 501 and the selected point 502 on the environment map, which is selected by a mouse click. The user is expected to select a point near the desired coordinate point. While a mouse click is presented here as the user operation, it is not limited to this. For example, selecting a point by tapping the screen is also acceptable.

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

[0031] In this embodiment, multiple coordinate points corresponding to a point selected by the user are extracted as candidates for waypoints in route setting. Although the example described uses the distance between the selected point and the coordinate points to extract candidate points, the extraction method is not limited as long as coordinate points near the selected point can be extracted. For example, a frame could be set near the selected point, and all coordinate points within the frame could be extracted as candidates.

[0032] In step S304, the angle between each of the coordinate points extracted as candidates for use as waypoints in route setting and the points before and after it is calculated. This will be explained using Figures 7 and 8. Figure 7 is a diagram showing the processing for each extracted coordinate point.

[0033] In Figure 7, 701, 702, and 703 show the extracted coordinate point 602 and the coordinate points before and after it. Note that coordinate point 702 corresponds to coordinate point 602. 704, 705, and 706 show the extracted coordinate point 603 and the coordinate points before and after it. Note that coordinate point 705 corresponds to coordinate point 603. 707, 708, and 709 show the extracted coordinate point 604 and the coordinate points before and after it. Note that coordinate point 708 corresponds to coordinate point 604.

[0034] Since the point cloud of the environmental map has continuity, we will utilize that. In this explanation, we simply used consecutive coordinate points, but the interval between coordinates used can be changed as desired. For example, you can use coordinate points that are one or two points apart. Also, you do not need to use three coordinate points; you can use five or more coordinate points.

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

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

[0037] In step S304, the angles formed by the line segments created in this way are calculated. The angles are calculated using, for example, the commonly used dot product formula for 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 Figure 8, it can be determined that line segments 801 and 802 have small angles and are close to straight lines, while line segment 803 has an angle (approximately 90 degrees) that is less than or equal to a predetermined angle (e.g., 120 degrees).

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

[0040] In the example in Figure 8, a point forming a 90-degree angle is selected, but in step S305, it is sufficient to select a coordinate point that forms an angle less than or equal to a predetermined angle with respect to its own coordinate center.

[0041] The predetermined angle mentioned above is a pre-set angle; for example, it can be set to 120 degrees as the predetermined angle as described above. Here, steps S303 to S305 function as a determination process to determine the coordinate points for route setting to be used for route setting, based on the positional relationship of multiple coordinate points near the selected point in the environmental map.

[0042] In step S306, it is determined whether the route setting is complete. If it is determined to be complete, the route setting is confirmed; otherwise, the process returns to step S302 to select the next coordinate point. Alternatively, instead of selecting a coordinate point that forms an angle less than or equal to the predetermined angle in step S305, the coordinate point with the smallest angle relative to itself may be selected from among the multiple angles calculated in step S304.

[0043] Thus, in Embodiment 1, the determination unit 203 determines the coordinate points for route setting based on the angles formed by multiple coordinate points. Therefore, even when 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 simple operations, enabling smooth and appropriate route setting.

[0044] <Embodiment 2> Embodiment 1 described an example in which coordinate points used as waypoints in a route are selected where the moving object makes a turn, i.e., where the line segment connecting consecutive coordinate points forms an angle less than or equal to a predetermined angle. However, environmental maps are not always composed solely of curves.

[0045] For example, consider an environmental map that includes T-junctions or crosses. In such cases, the coordinate points closest to the junctions of the T-junctions or crosses are suitable for route setting. Therefore, in Embodiment 2, coordinate points close to such junctions are selected.

[0046] Figure 9 shows an example of an environmental map according to Embodiment 2. In Figure 9, a mobile body equipped with a stereo camera, a depth camera, etc., moves along paths 901 and 902, and the environment is measured using sensor data, resulting in the generation of an environmental map represented by points.

[0047] Examples of routes 901 and 902 used to create the environmental map, coordinate point clusters 903 and 904 on the registered environmental map, and a user-selected point 905 are shown. Here, the coordinate points registered by creating the environmental map for route 901 are referred to as coordinate point cluster 903, and the coordinate point cluster registered by creating the environmental map for route 902 are referred to as 904. Similar to Embodiment 1, the environmental map can also be created by another information processing device and retrieved for use. The same applies to other embodiments thereafter.

[0048] For the sake of clarity, the visual representation has been simplified, but where there is an overlap between route 901 and route 902, the coordinate points belonging to coordinate point group 903 and the coordinate points belonging to coordinate point group 904 are registered separately. In other words, additional coordinate points can be registered even in the vicinity of locations where coordinate points already exist on the environmental map.

[0049] Figure 10 is a flowchart showing an example of the processing flow of an information processing device according to Embodiment 2. The CPU and other components within the information processing device 200 execute computer programs stored in memory, thereby performing each step in the flowchart of Figure 10.

[0050] The processes in steps S1001 to S1005 in Figure 10 are the same as the processes in steps S301 to S305 in Figure 3 described in Embodiment 1, so their explanation is omitted. By performing the same processes in steps S1001 to S1005 as in steps S301 to S305, the coordinate point 1101 is selected as shown in Figure 11.

[0051] Figure 11 shows an example of coordinate points selected by steps S1001 to S1005, and in step S1005, it shows the state in which coordinate point 1101 that forms an angle less than or equal to a predetermined angle with itself as the center is selected.

[0052] In this embodiment, in step S1006, an approximate straight line is found for the point clouds before and after the selected coordinate point 1101, and the intersection point is derived. Figure 12 shows an example of the point cloud 1201 before the coordinate point 1101 selected in S1005 and the point cloud 1202 after it.

[0053] Furthermore, in step S1006, approximate lines are found for each of the point groups 1201 and 1202. Figure 13 shows an example of approximate lines and their intersection point, illustrating the approximate line 1301 obtained from point group 1201, the approximate line 1302 obtained from point group 1202, and the intersection point 1303 of these approximate lines.

[0054] In step S1007, the coordinate point closest to the derived intersection point 1303 is determined. Figure 14 shows an example of the coordinates selected in step S1007, where coordinate point 1401 is determined as the coordinate point closest to intersection point 1303.

[0055] As described above, in Embodiment 2, the determination unit 203 determines the coordinate point on the environment map that is closest to the intersection of multiple approximation lines calculated based on multiple coordinate points as the coordinate point for route setting. Therefore, even in complex environment maps that include shapes such as T-shapes and crosses, the user can select a coordinate point suitable for route setting with simple operations.

[0056] <Embodiment 3> Furthermore, the environmental map shape can include not only simple circular routes but also routes that turn back at dead ends. In such cases, the coordinate point at the very end of the dead end may be used for route setting. Embodiment 3 describes an example of selecting such a furthest coordinate point.

[0057] Figure 15 shows an example of an environmental map with a route that turns back at a dead end. Figure 16 is a flowchart showing an example of the processing flow of the information processing device according to Embodiment 3. The CPU and other components of the information processing device 200 execute a computer program stored in memory, thereby performing the operation of each step in the flowchart of Figure 16.

[0058] The processing in steps S1601 to S1603 is the same as the processing in steps S301 to S303 in Figure 3 described in Embodiment 1, so the explanation is omitted. By performing the same processing in steps S1601 to S1603 as in steps S301 to S303, the cluster of coordinate points 1502 in the vicinity of the selected coordinate 1501 is extracted, as shown in Figure 15.

[0059] In step S1604, an approximation line is calculated from the extracted coordinate point cloud. Figure 17 shows an example of an approximation line calculated from the extracted coordinate point cloud. As shown in Figure 17, in step S1604, an approximation line 1701 is calculated from the extracted coordinate point cloud 1502.

[0060] In step S1605, a coordinate point that will be an endpoint on the approximation line is selected. That is, as shown in Figure 17, the coordinate point 1702, which is the closest endpoint among the coordinate points in the vicinity of the approximation line 1701, is determined to be the coordinate point used for setting the path.

[0061] As described above, in Embodiment 3, the determination unit 203 determines the coordinate point located at the very edge from among multiple coordinate points on the environment map near the approximation line as the coordinate point for route setting. Therefore, even in complex environment maps that include routes that turn back at dead ends, the user can select a coordinate point suitable for route setting with simple operations.

[0062] Furthermore, by combining embodiments 1 to 3, users can easily select coordinate points suitable for route setting, even in corners as shown in Figure 8, T-junctions and crosses as shown in Figure 14, and dead ends as shown in Figure 17.

[0063] Figure 18 is a block diagram showing an example of the hardware configuration of the information processing device. As shown in Figure 18, the information processing device 200 includes a CPU 2300, a main memory 2301, an auxiliary memory 2302, and a network I / F 2303. In addition, a video acquisition device 204 and an input device 205 are connected to, for example, the 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 212. In this way, the CPU 2300 controls the overall operation of the information processing device 200, and also executes or controls the aforementioned processes performed by the information processing device.

[0065] For example, the CPU 2300 performs processing using computer programs and data stored in the main memory 2301, thereby realizing the operation of the flowcharts shown in Figures 3, 10, and 16.

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

[0067] Furthermore, the main memory 2301 has a work area used by the CPU 2300 when executing various processes. In this way, 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), ROM (Read Only Memory), or SSD (Solid State Drive).

[0069] The auxiliary storage device 2302 stores the OS (operating system) and computer programs and data that cause the CPU 2300 to execute or control the aforementioned processes performed by the information processing device. The auxiliary storage device 2302 also stores data received from the external device 206 via the network interface 2303 (for example, the imaging parameters mentioned above).

[0070] Computer programs and data stored in the auxiliary storage device 2302 are loaded into the main memory device 2301 as appropriate, according to the control of the CPU 2300, and become subject to processing by the CPU 2300. The network interface 2303 is an interface used by the information processing device 200 to communicate data with an external device 206 via the network.

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

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

[0073] (Configuration 2) The information processing apparatus according to Configuration 1, characterized in that the determination means determines the route setting coordinate points based on the angles formed by the plurality of coordinate points.

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

[0075] (Configuration 4) The information processing apparatus according to any one of Configurations 1 to 3, characterized in that the determination means determines the coordinate point located at the outermost edge from among 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 as the coordinate point for route setting.

[0076] (Method) An information processing method characterized by comprising: an environmental map acquisition step of creating an environmental map; an acquisition step of acquiring selected points on the environmental map that have been selected as waypoints for a route; and a determination step of determining coordinate points for route setting to be used for route setting based on the positional relationship of a plurality of coordinate points in the vicinity of the selected points on the environmental map.

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

[0078] Furthermore, in order to realize some or all of the control in the above embodiment, a computer program that realizes the functions of the above embodiment may be supplied to an information processing device, etc., via a network or various storage media. The computer (or CPU, MPU, etc.) in the information processing device, etc., may then read and execute the program. In that 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 Management System 200: Information Processing Device 201: Environmental Map Acquisition Department 202: Acquisition Department 203: Decision Section 204: Video acquisition device 205: Input device 206: External device

Claims

1. An environmental map acquisition means for acquiring an environmental map consisting of multiple coordinate points, An acquisition means for acquiring selected points on the aforementioned environmental map that have been selected by the user as waypoints along the route, An extraction means for extracting a predetermined number of coordinate points from the plurality of coordinate points included in the environmental map, in order of increasing distance based on the distance between the selected point and the coordinate points, A calculation means for calculating the angles of a 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 determination means for determining coordinate points having an angle less than or equal to a predetermined angle among the calculated angles as coordinate points for route setting, An information processing device characterized by having the following features.

2. The information processing apparatus according to claim 1, characterized in that the determination means determines the route setting coordinate points based on the angles formed by the plurality of coordinate points.

3. The information processing apparatus according to claim 1, characterized in that the determination means determines the coordinate point on the environmental map that is closest to the intersection of a plurality of approximation lines calculated based on the plurality of coordinate points as the coordinate point for route setting.

4. The information processing apparatus according to claim 1, characterized in that the determination means determines the coordinate point located at the outermost edge from among 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 as the coordinate point for route setting.

5. An environmental map acquisition step of acquiring an environmental map consisting of multiple coordinate points, The process of acquiring selected points on the aforementioned environmental map that have been selected by the user as waypoints along the route, An extraction step of extracting a predetermined number of coordinate points from the plurality of coordinate points included in the environmental map, in order of increasing distance based on the distance between the selected point and the coordinate points, A calculation step of calculating the angles of a predetermined number of coordinate points based on the line segment connecting the coordinate point and the preceding coordinate point and the line segment connecting the coordinate point and the succeeding coordinate point, A determination step of determining coordinate points having an angle less than or equal to a predetermined angle among the calculated angles to be used as coordinate points for route setting, An information processing method characterized by having the following features.

6. A computer program for causing a computer to function as one of the means of an information processing apparatus according to any one of claims 1 to 4.

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