JP2020118459A - Route determination device, computer program, and route determination method - Google Patents

Abstract

To allow a user to arbitrarily designate a route of a moving body.SOLUTION: A route determination unit is provided with: a map screen output unit that displays a map screen on a display screen; and a route coordinate acquisition unit that acquires display screen coordinates of a route designated on the display screen on which the map screen is displayed and that converts the display screen coordinates of the route into route geographical coordinates.SELECTED DRAWING: Figure 2

Description

The present invention relates to a route determination device, a computer program, and a route determination method.

Conventionally, a route determination technique for determining a route of an unmanned mobile device is described in Patent Document 1, for example. In the related art of Patent Document 1, the route of the unmanned mobile device is determined based on the index of each of the plurality of points and the cruising range of the unmanned mobile device.

JP, 2008-132958, A

However, in the above-described conventional route determination technique, the route of the unmanned mobile device is automatically calculated, and therefore the user cannot arbitrarily specify the route. For this reason, there is an inconvenience that the unmanned mobile device cannot be operated at an arbitrary point.

The present invention has been made in consideration of such circumstances, and an object thereof is to allow a user to arbitrarily specify a route of a mobile body.

(1) According to one aspect of the present invention, a map screen output unit that displays a map screen on a display screen and a display screen coordinate of a route specified on the display screen on which the map screen is displayed are acquired, and the route is displayed. And a route coordinate acquisition unit that converts the display screen coordinates of the above into route geographical coordinates.
(2) In one aspect of the present invention, the route coordinate acquisition unit acquires display screen coordinates of at least one route passing point designated on the display screen on which the map screen is displayed, (1) The route determination device described in 1.
(3) One aspect of the present invention obtains display screen coordinates of an operation position designated on the display screen on which the map screen is displayed, converts the display screen coordinates of the operation position into geographic coordinates, and The route determination device according to any one of (1) and (2) above, further including an operation coordinate acquisition unit that obtains operation position geographic coordinates on the route based on the converted geographic coordinates.
(4) One aspect of the present invention includes a mobile unit position information acquisition unit that acquires position information of a mobile unit that moves based on the route indicated by the route geographic coordinates, and a position of the mobile unit that is indicated by the position information. From the above (1), further comprising: a route resetting activation unit that prompts the user to reset the route of the moving body when a divergence of a certain amount or more between the route and the route indicated by the route geographic coordinates is detected. The route determination device according to any one of (3).

(5) According to one aspect of the present invention, a map screen output step of causing a computer to display a map screen on a display screen, and acquiring display screen coordinates of a route designated on the display screen on which the map screen is displayed. And a route coordinate acquisition step of converting the display screen coordinates of the route into route geographical coordinates.

(6) In one aspect of the present invention, a route determination device displays a map screen on a display screen in a map screen output step, and the route determination device is designated on the display screen on which the map screen is displayed. And a route coordinate acquisition step of obtaining display screen coordinates of the route and converting the display screen coordinates of the route into route geographical coordinates.

According to the present invention, it is possible to obtain the effect that the user can arbitrarily specify the route of the moving body.

It is a figure which shows the structural example of the mobile body system which concerns on one Embodiment. It is a block diagram showing an example of composition of an operating terminal concerning one embodiment. It is a block diagram showing an example of composition of an unmanned mobile unit concerning one embodiment. 6 is a flowchart showing an example of a route determination method according to an embodiment. It is an explanatory view for explaining a route deciding method concerning one embodiment. It is an explanatory view for explaining a route deciding method concerning one embodiment. It is an explanatory view for explaining a route deciding method concerning one embodiment. It is explanatory drawing of the modification 1 of the route determination method which concerns on one Embodiment. It is explanatory drawing of the modification 2 of the route determination method which concerns on one Embodiment. It is explanatory drawing of the modification 3 of the route determination method which concerns on one Embodiment. It is explanatory drawing of the modification 4 of the route determination method which concerns on one Embodiment.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a diagram showing a configuration example of a mobile body system according to an embodiment. The mobile system shown in FIG. 1 includes an operation terminal 1 and an unmanned mobile device 2. The unmanned mobile device 2 is an example of a mobile body. The unmanned mobile device 2 is a mobile body that can move on an arbitrary route, and examples thereof include an automobile, a flying body, and a ship. In FIG. 1, the operation terminal 1 and the unmanned mobile device 2 exchange data with each other by communication.

FIG. 2 is a block diagram showing a configuration example of the operation terminal according to the present embodiment. In FIG. 2, the operation terminal 1 includes a route determination unit 10 and a display screen 11. The operation terminal 1 has a drawing function for the user to draw a locus on the display screen 11. The display screen 11 may be, for example, a touch panel capable of both data input and data display. The user can draw a trace on the touch panel with a finger or the like. Alternatively, the operation terminal 1 includes an input device such as a mouse, and the user can operate the mouse to draw a trace on the display screen 11.

The route determination unit 10 includes a GPS information acquisition unit 101, a map screen output unit 102, a route coordinate acquisition unit 103, a motion coordinate acquisition unit 104, a route confirmation transmission unit 105, a moving standby unit 106, and a storage unit. Section 107. The storage unit 107 stores data.

The GPS information acquisition unit 101 uses the GPS information indicating the position (GPS coordinates) and the traveling direction (direction) of the unmanned mobile device 2 acquired by the unmanned mobile device 2 by using the GPS (Global Positioning System). Get from machine 2. The GPS information acquisition unit 101 stores the GPS information acquired from the unmanned mobile device 2 in the storage unit 107.

The map screen output unit 102 displays the map screen on the display screen 11. As an example of the present embodiment, the map screen is a map screen based on the position (GPS coordinates) and traveling direction (direction) of the unmanned mobile device 2.

The route coordinate acquisition unit 103 acquires the display screen coordinates of the designated route on the display screen 11 on which the map screen is displayed, and converts the display screen coordinates of the route into route geographical coordinates. The route coordinate acquisition unit 103 acquires the display screen coordinates of at least one route passing point designated on the display screen 11 on which the map screen is displayed. The route coordinate acquisition unit 103 stores the route geographical coordinates in the storage unit 107.

The user arbitrarily specifies the route between the departure position and the destination position on the display screen 11 on which the map screen is displayed. Either or both of the starting position and the destination position may be arbitrarily designated by the user, or may be preset. The user designates at least one route passing point between the departure position and the destination position as the designation of the route.

The motion coordinate acquisition unit 104 acquires the display screen coordinates of the motion position designated on the display screen 11 on which the map screen is displayed, converts the display screen coordinates of the motion position into geographic coordinates, and converts the converted geography. Based on the coordinates, the operation position geographical coordinates on the corresponding route are obtained. The movement coordinate acquisition unit 104 stores the movement position geographical coordinates in the storage unit 107.
The user arbitrarily specifies the operation position on the display screen 11 on which the map screen is displayed.

The route confirmation transmission unit 105 transmits the route operation position data indicating the determined route and operation position to the unmanned mobile device 2. The route operation position data is data including route geographical coordinates from the departure position to the destination position and operation position geographical coordinates. The route operation position data is data described in a format such as an array. The route operation position data may include a result obtained by appropriately thinning out the route geographical coordinates from the plurality of route geographical coordinates from the starting position to the destination position. As a result, the information amount of the route operation position data can be reduced, and the communication amount and the memory capacity of the unmanned mobile device 2 can be reduced. An example of a method of thinning out route geographic coordinates is to determine whether or not a route is a straight line based on a series of changes in the inclination of the route geographic coordinates, and to thin out the route geographic coordinates on the straight line route.

The moving standby unit 106 displays the movement status of the unmanned mobile device 2 on the display screen 11 on which the map screen is displayed when the unmanned mobile device 2 is moving. Further, the moving standby unit 106 receives an instruction to change the route of the unmanned mobile device 2 from the user when the unmanned mobile device 2 is moving.

The moving standby unit 106 acquires the position information of the unmanned mobile device 2 that moves based on the route indicated by the route geographical coordinates, and indicates the position of the unmanned mobile device 2 indicated by the position information and the route geographical coordinates. When a deviation of a certain amount or more from the route to be set is detected, a route resetting menu that prompts the user to reset the route of the unmanned mobile device 2 is displayed on the display screen 11. The user can reset the route of the unmanned mobile device 2 by using the route reset menu. In the present embodiment, the moving standby unit 106 includes the functions of the moving body position information acquisition unit and the route resetting activation unit.

The function of the route determination unit 10 is realized by the operation terminal 1 including computer hardware such as a CPU (Central Processing Unit) and a memory, and the CPU executing a computer program stored in the memory. .. As the operation terminal 1, a mobile communication terminal device such as a smartphone, a tablet computer device (tablet PC), or the like may be used. In the present embodiment, the route determination unit 10 and the display screen 11 are provided in the same operation terminal 1, but the route determination unit 10 and the display screen 11 may be configured as separate devices.

FIG. 3 is a block diagram showing a configuration example of the unmanned mobile device according to the present embodiment. In FIG. 3, the unmanned mobile device 2 includes a CPU 20, a memory 21, a battery 22, a communication unit 23, a GPS unit 24, a mobile unit 25, and an operation unit 26.

The CPU 20 controls each part of the unmanned mobile device 2. The memory 21 stores route operation position data, GPS information indicating the position (GPS coordinates) and traveling direction (direction) of the unmanned mobile unit 2, battery remaining amount information, and other data necessary when using each unit. As the battery 22, a battery or a storage battery capable of supplying sufficient power to the unmanned mobile device 2 is used. The communication unit 23 is hardware that communicates with the operation terminal 1 via a wireless or wired communication network. The GPS unit 24 receives a GPS signal from a satellite to calculate the GPS coordinates of the unmanned mobile unit 2 and outputs the traveling direction (direction) of the unmanned mobile unit 2 using a geomagnetic sensor. The mobile unit 25 includes a drive device for moving the unmanned mobile device 2. Examples of the drive device include a motor of an automobile, a screw of a ship, and a propeller of an air vehicle. The operation unit 26 is a device for the unmanned mobile device 2 to perform work at an operation position, and is, for example, various sensors, cameras, robot arms, or the like. The work performed by the unmanned mobile device 2 includes various work such as various measurements, sensing, shooting of still images and moving images, and feeding.

Next, the route determination method according to the present embodiment will be described with reference to FIGS. 4, 5, 6, and 7. FIG. 4 is a flowchart showing an example of the route determination method according to this embodiment. 5, 6 and 7 are explanatory diagrams for explaining the route determination method according to the present embodiment. An unmanned ship will be described below as a specific example of the unmanned mobile unit 2. A touch panel screen will be described as a specific example of the display screen 11.

(Step S1) The map screen output unit 102 of the route determination unit 10 displays the map screen 3 illustrated in FIG. 5 on the display screen 11. The route determination unit 10 displays the route determination menu shown in FIG. 5 on the map screen 3. The map screen 3 is a map screen based on the position (GPS coordinates) and traveling direction (direction) of an unmanned ship, which is a specific example of the unmanned mobile device 2. The position (GPS coordinates) and traveling direction (direction) of the unmanned ship are acquired by the GPS information acquisition unit 101 from the unmanned ship.

In FIG. 5, an unmanned ship image 301 showing an unmanned ship is arranged at the position of the unmanned ship on the water map on the map screen 3. The shape of the unmanned ship image 301 is a shape in which the traveling direction of the unmanned ship is easy to understand visually. The direction of the unmanned ship image 301 on the water map is aligned with the traveling direction of the unmanned ship. In addition, the display range of the map screen 3 is adjusted so that the position of the unmanned ship is located at the end of the center axis on the map screen 3 by a certain distance. The scale of the map display can be arbitrarily designated by the user with the scale button 302 for adjusting the scale of the map display.

On the map screen 3 shown in FIG. 5, three obstacles D1, D2, D3 are arranged on the water map. Here, as an example of the present embodiment, the obstacles D1, D2, D3 are “culture rafts” floating on the water, and the unmanned ship performs unmanned measurement work on the culture environment such as water quality and water temperature around the culture raft. To do. Further, the target position E is shown on the map screen 3. Further, the map screen 3 is provided with a movable distance display area 303 for displaying the movable distance calculated based on the battery remaining amount information of the unmanned ship.

(Step S2) As shown in FIG. 6, the user traces 308 from the display position of the unmanned ship image 301, which is the departure position of the unmanned ship, to the target position E on the display screen 11 on which the map screen 3 is displayed. Is arbitrarily drawn with the finger 307. The trajectory 308 is the route of the unmanned ship designated by the user. The route coordinate acquisition unit 103 displays the trajectory 308 drawn by the user on the map screen 3.

(Step S3) The route coordinate acquisition unit 103 converts the display screen coordinates of the trajectory 308 into route geographical coordinates based on the map data and the scale of map display. The route coordinate acquisition unit 103 stores the route geographical coordinates in the storage unit 107. As a result, the storage unit 107 stores the route geographical coordinates of the route designated by the trajectory 308. The route coordinate acquisition unit 103 calculates the planned moving distance of the unmanned ship based on the route geographical coordinates, and displays the calculated planned moving distance in the planned moving distance display area 304.

The user can cancel the locus 308 by using the cancel button 306 provided on the map screen 3. When the cancel button 306 is pressed, the route coordinate acquisition unit 103 deletes the route geographical coordinate based on the locus 308 from the storage unit 107.

(Step S4) When deciding a route by the trajectory 308, the user presses the route decision button 305 provided on the map screen 3. When the route determination button 305 is pressed, the route coordinate acquisition unit 103 determines that the designation of the route is completed, and proceeds to step S5. On the other hand, if the route designation is continued, the process returns to step S2.

(Step S5) The route determination unit 10 displays the operation position determination menu shown in FIG. 7 on the map screen 3. In the example of FIG. 7, the trajectory 308 drawn by the user is also displayed on the map screen 3. As shown in FIG. 7, the user arbitrarily specifies the operation position with the finger 307 on the display screen 11 on which the map screen 3 is displayed. As a method of designating an operation position by the user, tapping, double tapping, pushing, etc. at an arbitrary position on the trajectory 308 displayed on the map screen 3 can be mentioned. In the example of FIG. 7, two operation positions 313a and 313b are designated. The number and position of operating positions can be arbitrarily specified. Since the route of the unmanned ship is designated by the locus 308, the user designates the operation position on the locus 308. The movement coordinate acquisition unit 104 shows the movement positions 313a and 313b designated by the user on the map screen 3.

(Step S6) The motion coordinate acquisition unit 104 converts the display screen coordinates of the motion positions 313a and 313b into geographical coordinates. Next, the motion coordinate acquisition unit 104 uses the “route geographical coordinates of the route designated by the trajectory 308” stored in the storage unit 107 to obtain the motion position geographical coordinates of the respective motion positions 313a and 313b. Specifically, the motion coordinate acquisition unit 104 obtains the route geographic coordinate closest to the geographic coordinate converted from the display screen coordinate of the motion position 313a as the motion position geographic coordinate of the motion position 313a. Similarly, the motion coordinate acquisition unit 104 obtains the route geographic coordinate closest to the geographic coordinate converted from the display screen coordinate of the motion position 313b as the motion position geographic coordinate of the motion position 313b. The movement coordinate acquisition unit 104 stores the movement position geographical coordinates of the movement positions 313a and 313b in the storage unit 107. The motion coordinate acquisition unit 104 may invalidate the designation of the motion position when the motion position geographical coordinate of the motion position designated by the user is away from the route by a certain distance or more.

(Step S7) When ending the designation of the motion position, the user presses the motion position determination button 314 provided on the map screen 3. When the operation position determination button 314 is pressed, the operation coordinate acquisition unit 104 determines that the operation position designation is completed, and ends the processing in FIG. On the other hand, if the designation of the operation position is continued, the process returns to step S5.

Note that the motion coordinate acquisition unit 104 cancels the setting of the already set motion position in response to the user's motion position canceling operation in the series of motion position determination processes from step S5 to step S7. Good. As the operation position cancel operation, the user may specify the operation position to be canceled on the map screen 3 with a finger or the like.

The route confirmation transmission unit 105 transmits route operation position data indicating the route and operation position determined by the route determination method described above to the unmanned ship. The route operating position data is data including route geographical coordinates from the departure position of the unmanned ship to the destination position E and operating position geographical coordinates of the respective operating positions 313a and 313b.

The unmanned ship stores the route operation position data received from the operation terminal 1 in the memory 21. The unmanned ship moves (travels) by the mobile unit 25 based on the route (route) indicated by the route geographical coordinates of the route operation position data stored in the memory 21. As a result, the unmanned ship moves (passes) along the route (route). Then, the unmanned ship stops at the position of the operation position geographical coordinates of the operation position 313a of the route operation position data stored in the memory 21. Then, the unmanned ship carries out the measurement work of the aquaculture environment such as water quality and water temperature by the operation unit 26 at the position of the operation position geographical coordinates of the operation position 313a. Then, when the measurement work of the operation unit 26 is completed, the unmanned ship moves (travels) by the moving unit 25 again based on the path (route) indicated by the route geographical coordinates of the route operation position data stored in the memory 21. ) Do. Then, the unmanned ship stops at the position of the operation position geographical coordinates of the operation position 313b of the route operation position data stored in the memory 21. Then, the unmanned ship carries out the measurement work of the aquaculture environment such as the water quality and the water temperature by the operation unit 26 at the position of the operation position geographical coordinate of the operation position 313b. Then, when the measurement work of the operation unit 26 is completed, the unmanned ship again uses the mobile unit 25 to set the destination position E based on the route (route) indicated by the route geographical coordinates of the route operation position data stored in the memory 21. Move (navigate) to.

According to the above-described embodiment, the user can arbitrarily specify the route of the unmanned mobile device 2. As a result, it is possible to obtain the effect that the unmanned mobile device 2 can be made to work at an arbitrary operating position.

For example, in FIGS. 5 to 7, as route candidates from the departure position of the unmanned ship to the destination position E, a route candidate A passing on the left side of the obstacle D1 and a route candidate passing on the right side of the obstacle D1 in the traveling direction of the unmanned ship. There is B. Here, when the two operating positions 313a and 313b shown in FIG. 7 are desired as the operating positions of the unmanned ship, the route candidate passing on the left side of the obstacle D1 is more than the route candidate B passing on the right side of the obstacle D1. A is preferable. On the other hand, the route candidate A passing on the left side of the obstacle D1 is not selected by the automatic route determination by the conventional route determination technique because the obstacles D2 and D3 are obstructive until reaching the target position E. In the automatic route determination by the route determination technique of No. 2, there is a possibility that the route candidate B passing through the right side of the obstacle D1 that does not obstruct the obstacles D2 and D3 until reaching the target position E is selected. However, according to the present embodiment, it is possible to determine the route candidate A passing through the left side of the obstacle D1 by the trajectory 308 drawn by the user. As a result, it is possible to obtain the effect that the desired operating positions 313a and 313b can be determined as the operating positions of the unmanned ship.

Next, a modification of the route determination method according to this embodiment will be described.

FIG. 8 is an explanatory diagram of a modified example 1 of the route determination method according to the present embodiment. In the route determination menu shown in FIG. 8, the user arbitrarily draws the trajectory 308 from the position away from the display position of the unmanned ship image 301 which is the departure position of the unmanned ship to the target position E with the finger 307. In this case, the route coordinate acquisition unit 103 may invalidate the route 308 when the route geographic coordinate of the route 308 is away from the departure position of the unmanned ship by a certain distance or more. Alternatively, as shown in FIG. 8, the route coordinate acquisition unit 103 may validate the trajectory 308 by automatically adding the complementary route 309 from the departure position of the unmanned ship to the route of the trajectory 308. .. The route coordinate acquisition unit 103 stores the route geographic coordinates of the complementary route 309 and the route of the trajectory 308 in the storage unit 107.

FIG. 9 is an explanatory diagram of a modified example 2 of the route determination method according to the present embodiment. In the route determination menu shown in FIG. 9, the user draws a locus 308 from the display position of the unmanned ship image 301 which is the departure position of the unmanned ship, but the locus 308 does not reach the destination position E. Then, the user draws a locus 310 different from the locus 308 as a locus to reach the target position E. In this case, the route coordinate acquisition unit 103 may invalidate the trajectory 310 when the start position of the trajectory 310 is separated from the trajectory 308 by a certain distance or more. Alternatively, the route coordinate acquisition unit 103 may validate the trajectory 310 by automatically adding a complementary route 311 connecting the trajectory 308 and the trajectory 310, as shown in FIG. 8. The route coordinate acquisition unit 103 stores the route geographical coordinates of the route of the trajectory 308, the complementary route 311, and the trajectory 310 in the storage unit 107.

FIG. 10 is an explanatory diagram of a modified example 3 of the route determination method according to the present embodiment. In the route determination menu shown in FIG. 10, the user draws a locus 308 passing through the obstacle D4 displayed on the map screen 3. In this case, the route coordinate acquisition unit 103 may determine that the obstacle D4 exists on the trajectory 308 and invalidate the trajectory 308. Alternatively, the route coordinate acquisition unit 103 may automatically change the trajectory 308 so as to avoid the obstacle D4.

FIG. 11 is an explanatory diagram of a modified example 4 of the route determination method according to the present embodiment. In FIG. 11, the route change menu is displayed on the map screen 3 when the unmanned ship is moving (passing) based on the designated route. As shown in FIG. 11, the moving standby unit 106 displays the situation when the unmanned ship is moving (passing) on the map screen 3. On the map screen 3, an unmanned ship image 301 shows the current position and traveling direction of the unmanned ship. Further, on the map screen 3, a locus 315 of movement (navigation) results of the unmanned ship and an operation position 316 of work results are shown. Further, on the map screen 3, a route 317 scheduled to move (passage) the unmanned ship and an operation position 318 scheduled to work are shown. Further, on the map screen 3, the movement distance of the movement record from the departure position of the unmanned ship is displayed in the movement distance display area 319. Further, a route change button 320 is displayed on the map screen 3.

The moving standby unit 106 periodically acquires the GPS information of the unmanned ship by the GPS information acquisition unit 101 and updates the display position and orientation of the unmanned ship image 301 based on the acquired GPS information. When the user depresses the route change button 320, the movement standby unit 106 causes the route determination menu shown in FIG. 5 to be displayed on the map screen 3 and transmits a command to stop moving (passing) to the unmanned ship. .. This will stop the unmanned ship and allow the user to re-route the unmanned ship.

Note that the moving standby unit 106 periodically acquires, by the GPS information acquisition unit 101, position information of an unmanned ship moving (going) based on the route indicated by the route geographical coordinates, and the unmanned position indicated by the position information is displayed. When a deviation more than a certain amount is detected between the position of the ship and the route indicated by the geographical coordinates, a route resetting menu that prompts the user to reset the route of the unmanned ship is displayed on the display screen 11. Good. The route reset menu is similar to the route determination menu shown in FIG. 5, and the user can reset the route of the unmanned ship by drawing a trajectory on the map screen 3.

As a modified example 5 of the route determination method according to the present embodiment, "steps S2, S3, S4 relating to acquisition of route geographical coordinates" and "steps S5, S6, S7 relating to acquisition of motion position geographical coordinates" in FIG. 4 described above. Swap the order of. In this case, the route geographic coordinates are determined after determining the operating position geographic coordinates, and the operating position geographic coordinates are included in the route geographic coordinates. If the display screen coordinates of the operation position are near the coordinates of the display screen coordinates of the start point or end point of the path drawn by the user to specify the route, the display screen coordinates of the operation position and the start point of the path. Alternatively, a complementary route connecting the end points may be automatically generated. As a result, it is possible to easily realize the user designation of the route including the previously determined operation position geographical coordinates.

As a modified example 6 of the route determination method according to the present embodiment, "steps S2, S3, S4 relating to acquisition of route geographical coordinates" and "steps S5, S6, S7 relating to acquisition of motion position geographical coordinates" in FIG. 4 described above. Are integrated and executed. In this case, when the user specifies an arbitrary position on the display screen with a finger or the like, the specified position is set as the first operation position. Then, a linear complementary path from the starting position of the unmanned mobile device to the first operating position is automatically generated. Next, when the user designates the second position, the designated second position is set as the second motion position, and a straight line from the first motion position to the second motion position is set. Generate complementary paths automatically. In this way, the designation of the operation position and the automatic generation of the complementary route are sequentially repeated. The final target position may or may not have a function as an operating position.

Although the embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and includes design changes and the like within the scope not departing from the gist of the present invention.

For example, although the unmanned mobile device is taken as an example of the mobile device in the above-described embodiment, the mobile device may be a manned mobile device.

Further, the route may be a two-dimensional route or a three-dimensional route. The two-dimensional route is, for example, a route on the ground or on the water. The three-dimensional route is, for example, a route such as underground, underwater, or air. In the case of a two-dimensional route, the map screen is a two-dimensional map screen (ground or water map screen). In the case of a three-dimensional route, the map screen is a three-dimensional map screen (underground, underwater or aerial map screen).

Further, a computer program for realizing the functions of the above-described devices may be recorded in a computer-readable recording medium, and the program recorded in this recording medium may be read by a computer system and executed. The “computer system” may include an OS and hardware such as peripheral devices.
The "computer-readable recording medium" is a writable non-volatile memory such as a flexible disk, a magneto-optical disk, a ROM, a flash memory, a portable medium such as a DVD (Digital Versatile Disc), and a built-in computer system. A storage device such as a hard disk.

Further, the "computer-readable recording medium" means a volatile memory (for example, a DRAM (Dynamic) in a computer system that serves as a server or a client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. Random Access Memory)) that holds the program for a certain period of time.
The program may be transmitted from a computer system that stores the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the "transmission medium" for transmitting the program refers to a medium having a function of transmitting information such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
Further, the program may be a program for realizing some of the functions described above. Further, it may be a so-called difference file (difference program) that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

DESCRIPTION OF SYMBOLS 1... Operation terminal, 2... Unmanned mobile device (moving body), 10... Route determination unit (route determination device), 11... Display screen, 20... CPU, 21... Memory, 22... Battery, 23... Communication unit, 24... GPS unit, 25... Mobile unit, 26... Operation unit, 101... GPS information acquisition unit, 102... Map screen output unit, 103... Route coordinate acquisition unit, 104... Operation coordinate acquisition unit, 105... Route confirmation transmission unit, 106... Mobile standby unit, 107... storage unit

Claims (6)

A map screen output unit that displays the map screen on the display screen,
A route coordinate acquisition unit that acquires display screen coordinates of a route specified on the display screen on which the map screen is displayed, and converts the display screen coordinates of the route into route geographical coordinates.
A route determination device comprising. The route coordinate acquisition unit acquires display screen coordinates of at least one route passing point designated on the display screen on which the map screen is displayed,
The route determination device according to claim 1. The display screen coordinates of the operation position designated on the display screen on which the map screen is displayed are acquired, the display screen coordinates of the operation position are converted into geographic coordinates, and the route is based on the converted geographic coordinates. Motion coordinate acquisition unit for obtaining motion position geographic coordinates in
The route determination device according to claim 1, further comprising: A mobile unit position information acquisition unit that acquires position information of a mobile unit that moves based on the route indicated by the route geographic coordinates,
When a deviation of a certain amount or more is detected between the position of the moving body indicated by the position information and the route indicated by the route geographical coordinates, a route resetting activation prompting the user to reset the route of the moving body Department,
The route determination device according to any one of claims 1 to 3, further comprising: On the computer,
A map screen output step for displaying the map screen on the display screen,
A route coordinate acquisition step of obtaining display screen coordinates of a route specified on the display screen on which the map screen is displayed, and converting the display screen coordinates of the route into route geographical coordinates.
A computer program for executing. The route determination device, a map screen output step of displaying the map screen on the display screen,
The route determining device acquires a display screen coordinate of a route specified on the display screen on which the map screen is displayed, and a route coordinate acquisition step of converting the display screen coordinate of the route into a route geographical coordinate,
A route determination method including.

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