Movement route information generation device and program

Abstract

In one embodiment of the present invention, environment map information that includes information indicating a geographical state in a movement target area of a mobile body and information relating to obstacles is acquired, and the movement target area is divided into a plurality of small areas on the basis of the acquired environment map information. For each of the divided small areas, fragmentary first movement paths covering the small area while avoiding obstacles are generated first, then second movement paths for connecting the first movement paths while avoiding the obstacles are generated, and then a third movement path of the entire movement target area is generated by integrating the first and second movement paths that were generated in each small area. Then, it is determined whether the coverage of the movement target area by the third movement path and the path length of the third movement path satisfy a preset condition, and when the coverage and the path length satisfy the condition, the third movement path is output as information indicating the movement route of the mobile body.

Description

Travel route information generating device and program

[0001] One aspect of the present invention relates to a movement path information generating device and a program that generate path information for moving a robot in, for example, a complex work environment.

[0002] In recent years, autonomous indoor robots, such as household cleaning robots, have become popular. The conditions for determining the movement route (hereinafter referred to as the driving path) of an indoor robot can be roughly divided into the following two types: Condition 1: Cover the entire area as much as possible while avoiding obstacles. Condition 2: Reach the destination in the shortest distance possible.

[0003] Conventionally, the Flood Fill method has been proposed as a travel path generation method that satisfies the above condition 1, and the RRT (Rapidly Exploring Random Tree) method has been proposed as a travel path generation method that satisfies condition 2.

[0004] The flood fill method, as described in, for example, Non-Patent Document 1, is a technique used to fill a target shape without gaps using computer graphics (CG). Its rendering algorithm, for example, first selects any uncolored pixel within the target shape and colors that pixel. Next, uncolored pixels adjacent to the colored pixel are sequentially selected and colored, until all pixels within the target area have been colored. While various related or derivative algorithms have been proposed in the CG field, the basic concept is the same as the flood fill method. Applying the flood fill coloring algorithm to generating a robot's travel path enables the automatic generation of a travel path that satisfies the above condition 1.

[0005] On the other hand, the RRT method, as described in Non-Patent Document 2, is an algorithm that sets either the start point or the goal point, or both, as the initial node, randomly adds nodes within a range a certain distance (step size) from this initial node, and searches for the shortest path to reach it from the node connections. Since then, as described in Non-Patent Document 3, for example, many algorithms that improve the RRT method more efficiently and their derivative algorithms have been proposed, but the basic concept is the same as the RRT method. By applying the RRT method to generate a robot's traveling path, it is possible to automatically generate a traveling path that travels the shortest distance.

[0006] Alvy Ray Smith. “Tint fill”. In Proceedings of the 6th Annual Conference on Computer Graphics and Interactive Techniques, SIGGRAPH 79, pp. 276-283, New York, NY, USA, 1979. Association for Computing Machinery.Steven M LaValle, et al. “Rapidly-exploring random trees: A new tool for path planning”. 1998.Sertac Karaman and Emilio Frazzoli. “Incremental sampling-based algorithms for optimal motion planning”. CoRR, Vol. abs / 1005.0416, 2010.

[0007] However, while the method of generating a robot's driving path using the Flood Fill method can increase the coverage rate of the target area, in environments where obstacles are scattered within the target area, the driving path will zigzag, making it difficult to achieve straight-line driving, which presents a problem in that the driving path will be long in distance.

[0008] On the other hand, the method of generating a robot's driving path using the RRT method can generate a straight driving path, but there is a problem in that the coverage rate of the target area is low depending on the shape of the target area and the scattering of obstacles.

[0009] The present invention has been made in light of the above circumstances, and aims to provide a technology that can generate a travel path with a short travel route length while maintaining a high coverage rate for a target area.

[0010] To solve the above problem, one aspect of a travel path information generating device according to the present invention acquires environmental map information including information representing the geographical state of a target area for a moving object and information regarding obstacles, and divides the target area into a plurality of small areas based on the acquired environmental map information. Then, for each of the divided small areas, a fragmented first travel path is generated that covers the small area while avoiding the obstacles, and a second travel path is generated that connects the first travel path while avoiding the obstacles. The first travel path and the second travel path generated for each small area are integrated to generate a third travel path for the entire target area. Then, the device determines whether a coverage rate of the target area by the third travel path and a path length of the third travel path satisfy predetermined conditions, and if the coverage rate and the path length satisfy the conditions, outputs the third travel path as information representing the travel path of the moving object.

[0011] According to one aspect of the present invention, for each small area divided based on environmental map information and taking into account at least the placement of obstacles, a fragmented first movement path is first generated that covers the small area while avoiding the obstacles, then a second movement path is generated that connects the first movement path in a straight line while avoiding the obstacles, and finally a third movement path for the entire target movement area is generated by integrally connecting the first and second movement paths of each small area.

[0012] Therefore, by covering the target area of ​​travel with fragmented paths at a high area coverage rate and then connecting the fragmented paths in a straight line with connecting paths, it is possible to generate a travel path with a short travel distance with as few direction changes as possible.

[0013] That is, according to one aspect of the present invention, it is possible to provide a technology that can generate a travel path with a short travel route length while maintaining a high coverage rate for a target area.

[0014] FIG. 1 is a diagram illustrating an example of a robot movement control system equipped with a travel path information generating device according to an embodiment of the present invention. FIG. 2 is a block diagram illustrating an example of a hardware configuration of a travel path information generating device according to an embodiment of the present invention. FIG. 3 is a block diagram illustrating an example of a software configuration of a travel path information generating device according to an embodiment of the present invention. FIG. 4A is a flowchart illustrating the first half of a processing procedure and processing content of a travel path generation process executed by a control unit of the travel path information generating device shown in FIG. 3. FIG. 4B is a flowchart illustrating the second half of a processing procedure and processing content of a travel path generation process executed by a control unit of the travel path information generating device shown in FIG. 3. FIG. 5 is a diagram illustrating an example of environment map information. FIG. 6 is a diagram illustrating an example of a segmentation result of the target travel area represented by the environment map information shown in FIG. 5. FIG. 7 is a diagram illustrating an example of a result of generating fragmented paths for each small area shown in FIG. 6 using the Flood Fill method. FIG. 8 is a diagram illustrating an example of a result of connecting the fragmented paths shown in FIG. 7 using the RRT method. FIG. 9 is a diagram illustrating an example of a result of generating a travel path for the entire target travel area represented by the environment map information shown in FIG. 5 using the Flood Fill method.

[0015] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0016] [One Embodiment] (Configuration Example) (1) System FIG. 1 is a diagram showing an example of the configuration of a robot movement control system according to one embodiment of the present invention.

[0017] A robot movement control system according to one embodiment includes a movement path information generating device SV, which enables data transmission via a network NW between this movement path information generating device SV and a robot RB, and between this movement path information generating device SV and a management terminal TM used by a system administrator.

[0018] The robot RB is an autonomous robot that travels around an outdoor work area, for example, and performs predetermined tasks within the area using various sensors and robotic hands. Possible tasks include guarding the work area, obtaining disaster information, and collecting samples, but any type and content of tasks may be performed. The type and shape of the robot may also be any, including those that resemble humans or animals, or vehicle-like.

[0019] The management terminal TM is, for example, a personal computer, and is used to transmit environmental map information and various control information created by the system administrator to the travel route information generating device SV via the network NW.

[0020] The network NW is composed of a wide area network such as the Internet and an access network for accessing this wide area network. The access network may be a wired or wireless local area network (LAN), an optical transmission network, or a mobile communication network that adopts the 5G standard.

[0021] (2) Travel Route Information Generating Device SV FIGS. 2 and 3 are block diagrams showing an example of the hardware configuration and software configuration of the travel route information generating device SV, respectively.

[0022] The travel route information generation device SV is composed of a server computer located on the web or cloud, for example. The travel route information generation device SV includes a control unit 1 having a hardware processor, and a storage unit including a program storage unit 2 and a data storage unit 3, and a communication I / F unit 4, which are connected to the control unit 1 via a bus 5.

[0023] The communication I / F unit 4 transmits and receives information data to and from the robot RB to be controlled and the management terminal TM in accordance with a communication protocol defined by the network NW.

[0024] The program storage unit 2 is, for example, a combination of a non-volatile memory such as a HDD (Hard Disk Drive) or SSD (Solid State Drive) as a storage medium that can be written to and read from at any time, and a non-volatile memory such as a ROM (Read Only Memory), and stores application programs necessary to execute various processes related to one embodiment of the present invention, in addition to middleware such as an OS (Operating System).

[0025] The data storage unit 3 is a combination of a non-volatile memory such as an HDD or SSD that can be written to and read from at any time, and a volatile memory such as a RAM (Random Access Memory), and its storage area includes an environment map information storage unit 31, a divided area information storage unit 32, a fragmented path information storage unit 33, a connection path information storage unit 34, an integrated path information storage unit 35, and an evaluation condition storage unit 36. The storage area also includes a buffer area for temporarily storing data when the control unit 1 executes various processes.

[0026] The environment map information storage unit 31 is used to store environment map information acquired from, for example, the management terminal TM. The environment map information includes, for example, information representing the geographical state of the work area and information relating to obstacles. The information representing the geographical state includes, for example, map information representing the shape of the work area and the gradient distribution of the terrain using contour lines. The information relating to obstacles includes, for example, information representing the position and size of objects that may obstruct the movement of the robot RB, such as buildings, rocks, and trees.

[0027] The divided area information storage unit 32 stores information representing a plurality of small areas generated by dividing the work area.

[0028] The fragment path information storage unit 33 stores information representing the fragment paths generated for each of the small areas using the flood fill method.

[0029] The connection path information storage unit 34 stores, for each of the small areas, information indicating the connection paths that connect the fragmented paths using the RRT method.

[0030] The integrated path information storage unit 35 stores information representing an integrated path of the work target area, which is generated by integrating the fragment paths and connection paths of each of the small areas.

[0031] The evaluation condition storage unit 36 ​​stores evaluation conditions for evaluating the area coverage rate and path length of the integrated path.

[0032] The control unit 1 has the processing functions necessary to realize one embodiment of the present invention, including an environmental map information acquisition processing unit 11, a driving condition analysis processing unit 12, an area division processing unit 13, a fragmented path generation processing unit 14, a connection path generation processing unit 15, a path integration processing unit 16, an integrated path evaluation processing unit 17, and a driving path information output processing unit 18.

[0033] Each of the processing units 11 to 18 is realized by causing a hardware processor in the control unit 1 to execute an application program stored in the program storage unit 2. Note that some or all of the processing units 11 to 18 may be realized using hardware such as an LSI (Large Scale Integration) or an ASIC (Application Specific Integrated Circuit).

[0034] The environmental map information acquisition processing unit 11 acquires environmental map information for the work area, for example, created by a system administrator, from the management terminal TM via the network NW, and stores the acquired environmental map information in the environmental map information storage unit 31.

[0035] The driving condition analysis processing unit 12 analyzes the driving conditions that need to be taken into consideration when driving the robot RB in the target driving area based on the information representing the geographical state and information regarding obstacles contained in the environmental map information stored in the environmental map information storage unit 31.

[0036] The area division processing unit 13 divides the target travel area into a plurality of small areas based on the analysis results of the travel conditions, and stores information representing the divided small areas in the divided area information storage unit 32. An example of the area division processing will be described in the operation example.

[0037] The fragment path generation processing unit 14 generates, for each small area, a fragment path that covers the small area while avoiding obstacles using the Flood Fill method, and stores information representing the generated fragment path in the fragment path information storage unit 33.

[0038] The connection path generation processing unit 15 generates a connection path for each of the small areas that connects the fragmented paths while avoiding obstacles using the RRT method, and stores information representing the generated connection path in the connection path information storage unit 34.

[0039] The path integration processing unit 16 integrates the fragment paths and connection paths generated in each of the small areas to generate an integrated path for the entire work area, and stores information representing the generated integrated path in the integrated path information storage unit 35.

[0040] The integrated path evaluation processing unit 17 evaluates the coverage rate of the work area and the path length of the integrated paths stored in the integrated path information storage unit 35 based on the evaluation conditions stored in the evaluation condition storage unit 36.

[0041] If the integrated path evaluation processing unit 17 determines that the area coverage rate and path length of the integrated path satisfy the evaluation conditions as a result of the evaluation, it outputs information representing the integrated path to the travel path information output processing unit 18.

[0042] Furthermore, if the integrated path evaluation processing unit 17 determines that either the area coverage rate of the integrated path or the path length of the integrated path does not satisfy the evaluation conditions, it causes the area division processing unit 13 to re-divide the work area R0 under different conditions, and then causes each of the re-divided small areas to undergo the series of processes from the generation of the fragmented paths to the evaluation processing of the integrated path, as described above.

[0043] When the integrated path evaluation processing unit 17 determines that the area coverage rate and path length of the integrated path satisfy the evaluation conditions, the travel path information output processing unit 18 sets the integrated path as the travel path of the robot RB and transmits information representing this travel path from the communication I / F unit 4 to the robot RB.

[0044] (Example of Operation) Next, an example of operation of the travel route information generating device SV configured as above will be described.

[0045] 4A and 4B are flowcharts showing an example of the processing procedure and processing content of the travel path generation processing executed by the control unit 1 of the travel route information generation device SV.

[0046] (1) Acquisition of Environmental Map Information: Prior to operation of the system, for example, a system administrator creates environmental map information regarding the target work area in which the robot RB will travel. For example, the system administrator creates map information that displays the positions of obstacles on a map that represents the topography and gradient distribution of the target work area, and the created map information serves as the environmental map information. The map information can be acquired by, for example, photographing or measuring the target work area using a drone, but any acquisition method is possible, such as by referencing existing map data.

[0047] The system administrator transmits the above-mentioned environmental map information from the management terminal TM to the travel route information generating device SV together with a travel path generation request.

[0048] In response to this, when the control unit 1 of the travel route information generation device SV receives the above-mentioned travel path generation request in step S10, it receives the above-mentioned environmental map information via the communication I / F unit 4 in step S11 and stores the received environmental map information in the environmental map information storage unit 31.

[0049] The environmental map information may be acquired from the website of a map production company or a surveying company, for example.

[0050] (2) Dividing the Work Area First, in step S12, the control unit 1 of the movement path information generating device SV reads out the environmental map information from the environmental map information storage unit 31 under the control of the driving condition analysis processing unit 12, and analyzes the driving conditions that need to be taken into consideration when driving the robot RB based on the read-out environmental map information. For example, based on the information representing the geographical state of the work area and the information about obstacles contained in the environmental map information, the control unit 1 analyzes the gradient distribution and obstacle distribution within the work area.

[0051] Next, in step S13, the control unit 1 of the travel route information generation device SV, under the control of the area division processing unit 13, divides the target travel area into multiple small areas based on the analysis results of the travel conditions, and stores information representing the divided small areas in the divided area information storage unit 32.

[0052] For example, the area division processing unit 13 focuses on the distribution of obstacles, rotates the map image representing the work area by a certain angle, and searches for a state in which multiple obstacles scattered throughout the work area are arranged as linearly as possible in the horizontal scanning direction or vertical scanning direction of the map image.

[0053] 5 and 6 are diagrams illustrating an example of the area division process. For example, if the map image of the work area E0 is as shown in Fig. 5, the area division processing unit 13 rotates the map image of the work area E0 and searches for a state in which multiple obstacles OB, indicated by black dots, are lined up in a line in the vertical scanning direction or horizontal scanning direction, as shown in Fig. 6.

[0054] Furthermore, for example, the area division processing unit 13 focuses on the gradient distribution and searches for areas where the change in the spacing between contour lines is less than a predetermined value based on the contour lines representing the gradient distribution, i.e., flat or gently sloping areas, and then divides the work area R0 into these flat or gently sloping areas.

[0055] Then, the area division processing unit 13 divides the map image of the work area E0 after the rotation processing at regular intervals in the vertical scanning direction, for example as shown in FIG. 6, to generate a plurality of rectangular small areas E1 to En.

[0056] When searching for flat or gently sloping areas from the work area, the area division processing unit 13 may take into account the climbing ability of the robot RB, search for areas with a gradient within an inclination angle that the robot RB can climb, and divide the work area into each of the searched areas.

[0057] Furthermore, in the example shown in FIG. 6, the area division was performed taking into consideration only the distribution of obstacles. However, it is also possible to search for areas that satisfy predetermined conditions by taking into consideration both the obstacle distribution and the gradient distribution, and then divide the work area based on the search results.

[0058] (3) Generation of Fragmented Paths Next, under the control of the fragmented path generation processing unit 14, the control unit 1 of the travel path information generation device SV selects one of the small areas E1 to En in step S14, and generates fragmented paths for the selected small area using the Flood Fill method in step S15. At this time, because obstacles in the small area are lined up in a straight line in the vertical scanning direction, the path that the robot RB can travel will naturally also be straight. Furthermore, because the Flood Fill method has the property of prioritizing search in the scanning direction of the image, direction changes are less likely to occur when searching for fragmented paths, making it possible to generate fragmented paths that are close to straight lines.

[0059] The fragment path generation processing unit 14 stores information representing the position coordinates of the generated fragment paths in the fragment path information storage unit 33 .

[0060] When the fragment path generation process for one small area is completed, the fragment path generation processor 14 determines in step S16 whether or not selection of all small areas has been completed. If the result of this determination is that an unselected small area remains, the fragment path generation processor 14 returns to step S14, selects the next small area, and executes the fragment path generation process described above for the selected small area in step S15. Thereafter, the fragment path generation process is similarly repeated for all small areas.

[0061] Figure 7 shows an example of a fragmented path generated using the Flood Fill method for each of the small areas E1 to En shown in Figure 6. In Figure 7, Ns1, Ns2, ... indicate start points, Ne1, Ne2, ... indicate goal points, and PA1, PA2, ... indicate fragmented paths. In Figure 7, the thin line PB1 connecting fragmented paths PA1 indicates the route in the algorithm when using the Flood Fill method to avoid obstacle OB and find the start point of the next fragmented path.

[0062] (4) Generation of Connection Paths Next, under the control of the connection path generation processing unit 15, the control unit 1 of the travel route information generation device SV selects one of the small areas E1 to En in step S17, and in step S18 generates a connection path for the selected small area using the RRT method to connect the fragmented paths while avoiding the obstacle OB.

[0063] The left side of Figure 8 shows an enlarged view of a portion of the small area E1. In Figure 8, PA1 indicates a fragmented path, and PC1 indicates the start and goal when connecting the fragmented path PA1 using the RRT method.

[0064] 8 shows the search space using the RRT method, with PD11, PD12, and PD13 indicating the results of generating connected paths by connecting the fragmented paths PA1 using the RRT algorithm. Note that the circular area F formed around the obstacle OB is an area set taking into account the widthwise size of the robot RB.

[0065] The connection path generation processing unit 15 stores information representing the position coordinates of the connection paths PD11, PD12, and PD13 generated as described above in the connection path information storage unit .

[0066] When the connection path generation process for one small area is completed as described above, the connection path generation processing unit 15 determines in step S19 whether or not selection of all small areas has been completed. If the result of this determination is that an unselected small area remains, the connection path generation processing unit 15 returns to step S17 to select the next small area, and executes the connection path generation process using the RRT method described above for the selected small area in step S18. Thereafter, the connection path generation process is repeated in the same manner for all small areas.

[0067] (5) Generation of Integrated Path Next, in step S20, under the control of the path integration processing unit 16, the control unit 1 of the travel route information generation device SV integrates the fragment paths of each of the small areas E1, E2, ... stored in the fragment path information storage unit 33 with the connection paths of each of the small areas E1, E2, ... stored in the connection path information storage unit 34, to generate an integrated path that covers the entire work target area E0. The generation of an integrated path is performed, for example, between small areas R1, R2, ... by connecting the finish point of one small area with the start point of another adjacent small area.

[0068] The path integration processing unit 16 then stores information representing the position coordinates of the generated integrated path in the integrated path information storage unit 35 .

[0069] (6) Evaluation of Integrated Path Finally, under the control of the integrated path evaluation processing unit 17, the control unit 1 of the travel route information generation device SV reads out the integrated path from the integrated path information storage unit 35, and executes the process of evaluating the area coverage rate and path length of the read integrated path as follows.

[0070] That is, the integrated path evaluation processor 17 first calculates the area coverage rate of the work area E0 by the integrated path in step S21. This area coverage rate can be calculated, for example, by calculating the total area of ​​the travel path when the robot RB travels along the integrated path, and then calculating it as the ratio of the total area of ​​the travel path to the total area of ​​the work area E0. At the same time, the integrated path evaluation processor 17 calculates the path length of the integrated path in step S22.

[0071] Next, in step S23, the integrated path evaluation processor 17 compares the calculated area cover ratio with a first threshold value stored in advance in the evaluation condition storage unit 36, and determines whether the area cover ratio is equal to or greater than the first threshold value. If the result of this determination is that the area cover ratio is equal to or greater than the first threshold value, the integrated path evaluation processor 17 compares the calculated path length of the integrated path with a second threshold value stored in the evaluation condition storage unit 36, and determines whether the path length of the integrated path is less than the second threshold value.

[0072] As a result of the above determinations, if the area coverage rate is less than the first threshold or the total length of the integrated path is equal to or greater than the second threshold, the integrated path evaluation processor 17 instructs the area division processor 13 to change the conditions and re-divide the work area E0. For example, the integrated path evaluation processor 17 instructs the area division processor 13 to further rotate the map image of the work area R0 by a certain angle and then divide the work area R0.

[0073] As a result, the area division processing unit 13 re-divides the work area E0 under different conditions, and for each small area generated by the re-division, steps S13 to S24 are performed again, from generating fragmented paths using the Flood Fill method to generating connecting paths using the RRT method, integrating the paths, and evaluating the integrated paths.

[0074] Thereafter, a series of processes from the subdivision of the small areas to the evaluation of the integrated path are repeated in the same manner until the area coverage rate of the generated integrated path becomes equal to or greater than the first threshold value and the total length of the integrated path becomes less than the second threshold value.

[0075] (7) Transmission of Travel Path Information Meanwhile, suppose that the integrated path evaluation processing unit 17 determines that the area coverage rate of the integrated path is equal to or greater than the first threshold value and that the total length of the integrated path is less than the second threshold value. In this case, the integrated path evaluation processing unit 17 determines the integrated path as the travel path to be provided to the robot RB. Then, under the control of the travel path information output processing unit 18, in step S25, the travel path information is transmitted from the communication I / F unit 4 to the robot RB.

[0076] When the robot RB receives the travel path information transmitted from the movement path information generating device SV, it travels through the work area R0 according to the received travel path information and performs a predetermined task.

[0077] It is assumed that even if the series of travel path generation processes in steps S13 to S24 described above are repeated a predetermined number of times, the area coverage rate of the integrated path and the total length of the integrated path do not satisfy the conditions specified by the threshold value. In this case, the control unit 1 of the travel route information generation device SV ends the process of generating travel path information at this point, generates a message to the effect that the travel path generation could not be performed, and transmits the generated message from the communication I / F unit 4 to, for example, the management terminal TM.

[0078] (Effects) As described above, in one embodiment, environmental map information including information representing the geographical state of a work area R0 for the robot RB and information regarding obstacles OB is acquired, the gradient distribution and the distribution of obstacles OB in the work area R0 are analyzed based on the acquired environmental map information, and the work area R0 is divided into a plurality of small areas R1, R2, ... based on the analysis results. Then, for each of the divided small areas R1, R2, ..., a Flood Fill method is used to generate fragmented paths that cover the small areas R1, R2, ... while avoiding the obstacles OB, followed by the RRT method to generate connecting paths that connect the fragmented paths while avoiding the obstacles OB, and finally the fragmented paths and connecting paths for each of the small areas R1, R2, ... are integrated to generate an integrated path that covers the entire work area R0. Then, it is determined whether the area coverage rate of the work area R0 by the integrated path and the path length of the integrated path each satisfy the conditions specified by a threshold value, and if the conditions are satisfied, information representing the integrated path is sent to the robot RB.

[0079] Therefore, for each of the small areas R1, R2, ... into which the work area R0 is divided, taking into account its gradient distribution and obstacle distribution, a comprehensive fragmented path is first generated using the Flood Fill method, taking into account obstacles OB, and then these fragmented paths are connected in a straight line by connecting paths.This makes it possible to generate a travel path that covers the work area R0 with a high area coverage rate, minimizes direction changes as much as possible, and has a short travel distance.

[0080] Furthermore, the area coverage rate and path length of the integrated path are evaluated, and the process of dividing the work area again while changing the conditions and generating an integrated path is repeatedly executed until the area coverage rate and path length satisfy the conditions specified by the threshold value. As a result, it is possible to generate a travel path whose area coverage rate and path length satisfy the conditions according to the gradient distribution and obstacle distribution in the work area.

[0081] Fig. 9 shows an example of a travel path PA that is generated when a path search process is performed using the Flood Fill method on the map image of the work area shown in Fig. 5. As shown in Fig. 9, the travel path PA has many direction changes, so the path length of the travel path PA is very long.

[0082] [Other embodiments] (1) In addition to information representing the geographical state and information relating to obstacles, the environmental map information may also include information representing, for example, weather conditions. When dividing the work area, areas with strong winds, flooded areas, high temperature areas, etc. may be identified based on the weather conditions, and the area may be divided while avoiding the identified areas.

[0083] (2) In the embodiment, the functions of the travel route information generation device are provided on a server computer on the Web or the cloud, but they may be provided on a management terminal TM used by a system administrator or a user terminal used by a user of the robot RB. Furthermore, the functions of the travel route information generation device may be distributed across multiple server computers or personal computers.

[0084] (3) In addition, various modifications can be made to the functional configuration of the travel route information generation device, the processing procedure and processing content of the travel path generation process, the type of target area for travel (including disaster-stricken areas as well as the surface of the moon), the number of divisions of the target area for travel and the shape and size of the divided areas, the algorithm for generating fragmented paths and connecting paths, and the evaluation conditions for the integrated path, all of which can be implemented without departing from the spirit of this invention.

[0085] Although the embodiments of the present invention have been described in detail above, the above description is merely an example of the present invention in every respect. It goes without saying that various improvements and modifications can be made without departing from the scope of the present invention. In other words, when implementing the present invention, specific configurations according to the embodiments may be appropriately adopted.

[0086] In short, this invention is not limited to the above-described embodiments, and in the implementation stage, the components can be modified and embodied without departing from the spirit of the invention. Furthermore, various inventions can be formed by appropriately combining multiple components disclosed in the above-described embodiments. For example, some components may be omitted from all the components shown in the embodiments. Furthermore, components from different embodiments may be appropriately combined.

[0087] SV...travel route information generating device RB...robot TM...management terminal NW...network 1...control unit 2...program storage unit 3...data storage unit 4...communication I / F unit 5...bus 11...environment map information acquisition processing unit 12...travel condition analysis processing unit 13...area division processing unit 14...fragment path generation processing unit 15...connection path generation processing unit 16...path integration processing unit 17...integrated path evaluation processing unit 18...travel path information output processing unit 31...environment map information storage unit 32...divided area information storage unit 33...fragment path information storage unit 34...connection path information storage unit 35...integrated path information storage unit 36...evaluation condition storage unit

Claims

1. A movement path information generation device comprising: a first processing unit that acquires environmental map information including information representing the geographical state of a target area for movement of a moving object and information regarding obstacles; a second processing unit that divides the target area for movement into a plurality of small areas based on the environmental map information; a third processing unit that generates, in each of the divided small areas, a fragmented first movement path that avoids the obstacles and covers the small area; a fourth processing unit that generates, in each of the divided small areas, a second movement path that connects the first movement paths while avoiding the obstacles; a fifth processing unit that integrates the first movement paths and the second movement paths generated in each of the small areas to generate a third movement path in the target area for movement; and a sixth processing unit that determines whether the coverage rate of the target area by the third movement path and the path length of the third movement path satisfy predetermined conditions, and if the coverage rate and the path length satisfy the conditions, outputs the third movement path as information representing the movement path of the moving object.

2. The travel route information generating device of claim 1, further comprising a seventh processing unit that, if the coverage rate and the path length do not satisfy the conditions, causes the second processing unit to re-divide the travel target area and executes a series of processes from the third processing unit to the sixth processing unit at least once for each of the re-divided small areas.

3. The travel path information generating device of claim 1, wherein the second processing unit rotates a map image showing the target travel area on a two-dimensional plane, searches for a state in which multiple obstacles included in the environmental map information are lined up in a straight line in the horizontal scanning direction or the vertical scanning direction, and divides the map image after the search in the horizontal scanning direction or the vertical scanning direction to generate multiple rectangular small areas.

4. A program that causes a processor included in a travel route information generation device to execute at least one of the processes executed by a processing unit included in the travel route information generation device according to any one of claims 1 to 3.

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