JP3967343B2 - Moving path setting device, moving path setting program - Google Patents

Description

  The present invention relates to a moving route setting device and a moving route setting program, for example, to a device that supports an automatic walk-through in a building using computer graphics.

When building a building such as a house at the request of the customer, the business operator presents the design drawing to the customer before construction, and confirms the internal configuration and changes the design.
However, in the confirmation using a plan view or the like, the customer needs to supplement the image of the completed building by imagination, so the customer's image does not necessarily match the completed building.
For this reason, services have been provided in which the interior of a building is displayed using a computer in three-dimensional graphics, and the state of the completed building is visually presented to the customer.

The customer can walk through (move) the house using the forward button and the rotation button displayed on the computer screen, and can virtually experience the interior of the completed building.
In addition, an apparatus that automatically moves inside a building using three-dimensional graphics has been proposed.
As such an automatic walk-through inside the building, there is the following building reform support device.

JP 09-317206 A

  In this technology, a plurality of viewpoint change symbols representing the position, line-of-sight direction, viewing angle, etc., for 3D display in a building are provided in advance, and the customer follows a flow line (walk-through path) connecting them with splines. Move. Then, with the movement, display is performed one after another based on the information of the viewpoint change symbol.

In such a method, it is necessary to set a large number of viewpoint change symbols in the building in advance, which is a laborious operation.
When the design is changed according to the customer's request, it is necessary to reset the viewpoint change symbol.

Further, when the flow line is automatically set from the floor plan of the building without using the viewpoint changing symbol, there is a problem of how to set the flow line without touching an obstacle such as a wall.
That is, in the case of a building, since the internal structure is complicated, it is difficult to automatically set a route that a person normally moves.

  Therefore, an object of the present invention is to automatically set a flow line that walks through the building from the floor plan.

In order to achieve the above object, according to the first aspect of the present invention, in the invention described in claim 1, a floor plan storage means for storing a floor plan composed of a plurality of sections connected by at least one adjacent section and an opening; In the stored floor plan, a position acquisition means for acquiring a start point position and an end point position of movement, and a shortest movement path from the acquired start point position to the end point position through the section through the opening. A movement path acquisition means, and the movement path acquisition means includes a straight line connecting an opening serving as an entrance and an opening serving as an exit in a section on the movement path, and a partition line constituting the section If, when the distance there is a portion which becomes less than a predetermined value, divides the compartment into a plurality of sections, provides a movement path setting apparatus characterized by obtaining path dividing line that the divided as opening That.
According to a second aspect of the present invention, there is provided the movement path setting device according to the first aspect , wherein the movement path acquisition means acquires a path that passes through the center of the opening of the divided dividing line. To do.
In a third aspect of the present invention, in the planar shape of the section, when there is a corner portion having an inner angle greater than 180 degrees, the movement path acquisition means divides the section into a plurality of sections having an inner angle of 180 degrees or less. The moving path setting device according to claim 1 or 2 , wherein the moving path is acquired by dividing the line and using the divided dividing line as an opening.
In the invention according to claim 4 , the floor plan storage means which memorize | stored the floor plan comprised from the at least 1 block and adjacent several division which were connected by the opening part, and the starting point position and end point of movement in the memorize | stored floor plan A position acquisition means for acquiring a position; and a movement path acquisition means for acquiring a shortest movement path from the acquired start point position to the end point position through the section through the opening, and the movement The route acquisition means has a section where the distance between the straight line connecting the opening serving as the entrance and the opening serving as the exit and the partition line constituting the section in the section on the moving path is equal to or less than a predetermined value. In some cases, there is provided a movement route setting device characterized in that a route is acquired via the barycentric point of the section .
The invention according to claim 5, each compartment are pre-weighted, the moving route acquisition means constituting the floor plan, the movement of the shortest with the length of the movement path with a weighting of the compartment to pass A route is acquired, and the moving route setting device according to any one of claims 1 to 4 is provided.
In the invention according to claim 6, when the acquired start point position and end point position are on different floors, the movement route acquisition unit moves from the start point floor where the start point position exists to the end point floor where the end point position exists. The movement route passing through the moving floor movement section, the movement path from the start point position to the floor movement section, and the movement path from the movement section to the end point position are individually acquired, and each of the acquired movements The movement path setting device according to any one of claims 1 to 5 , wherein a movement path from the start point position to the end point position is acquired by connecting paths. I will provide a.
The invention according to claim 7, along a movement path which the acquired, claims 1 to 6, characterized by comprising a display means for sequentially displaying in 3D graphics interior of the floor plan The movement path setting device according to any one of the claims is provided.
According to an eighth aspect of the present invention, there is provided viewpoint height acquisition means for acquiring the height of the viewpoint of a moving person who moves on the acquired movement route, and the display means is adapted to the height of the acquired viewpoint. The moving path setting device according to claim 7 is provided.
In the invention according to claim 9, when the mobile person uses a wheelchair, an interference detection means for detecting an interference between the shape of the moving path and the wheelchair, and the mobile person's response according to the detected interference. The movement path setting device according to claim 8 , further comprising a control unit that controls movement.
In the invention according to claim 10 , a floor plan storage function for storing a floor plan composed of a plurality of sections connected to each other by at least one adjacent section and an opening, and a start point position and an end point of movement in the stored floor plan Movement realized by a computer with a position acquisition function for acquiring a position and a movement path acquisition function for acquiring the shortest movement path from the acquired start point position to the end point position via the section through the opening In the route setting program, the movement route acquisition function includes a straight line connecting an opening serving as an entrance and an opening serving as an exit in a partition on the travel route, and a partition line configuring the partition. If the distance there is a portion which becomes less than a predetermined value, divides the compartment into a plurality of compartments, the movement path settings and acquires the route dividing line that the divided as opening To provide a program.
In the invention according to claim 11 , a floor plan storage function for storing a floor plan composed of a plurality of sections connected by at least one adjacent section and an opening, and a starting point position and an end point of movement in the stored floor plan Movement realized by a computer with a position acquisition function for acquiring a position and a movement path acquisition function for acquiring the shortest movement path from the acquired start point position to the end point position via the section through the opening In the route setting program, the movement route acquisition function includes a straight line connecting an opening serving as an entrance and an opening serving as an exit in a partition on the travel route, and a partition line configuring the partition. When there is a place where the distance is equal to or less than a predetermined value , a moving route setting program is provided that acquires a route via the center of gravity of the section .

  According to the present invention, a flow line can be automatically set from a floor plan of a building.

(1) Outline of Embodiment [Partition Connection Relationship]
In this embodiment, the section link information is used to support the automation of the flow line setting.
Here, the section link information is information representing the connection relation of sections constituting the floor plan, and is used to set a section that passes from the current position to the target position.
The section is an area partitioned by walls such as a room such as a living room, a kitchen, a bathroom, and a toilet, and an area through which an entrance, a hallway, a hall, a staircase, an elevator and the like pass.

If there is an opening between two adjacent sections, the two sections are considered to be connected at the opening.
Here, the opening is an entrance / exit provided to pass through the section, and includes both those provided with a fitting such as a door and those provided with no fitting. Hereinafter, the opening is referred to as a portal.

For example, assume that there is a floor plan as shown in FIG. That is, the section A and the section B are adjacent to each other and are arranged to be able to pass through the portal 1. Further, the section B and the section C are adjacent to each other and are arranged to be able to pass through the portal 2.
When this floor plan is represented by the partition link information, the logical configuration is as shown in FIG. That is, the section A and the section B are connected by the portal 1, and the section B and the section C are connected by the portal 2.

As described above, the section link information represents a connection relation between sections in the floor plan in relation to the section and the portal.
Therefore, by using the section link information, the portal connected to the section is referred to, and the section connected to the portal is further referred to. It is possible to search for a section and a portal through which the position is reached (that is, a permutation of the section and the portal).
Hereinafter, the permutation of the section from the current position to the target position and the portal is referred to as a section route.

For example, in the example of FIG. 1B, when searching for a block route from the block A that is the current position to the block C that is the target position, first, a portal connected to the block A is searched to obtain the portal 1. . Furthermore, a section connected to the portal 1 is searched, and a section B is obtained. Similarly, portal 2 and section C are obtained.
Therefore, section A → portal 1 → section B → portal 2 → section C is obtained as a section route from section A to section C.

[Set the flow line in the section]
After searching for a section route from the current position to the target position, a flow line is set in the searched section.
Here, the flow line is a movement route on which the user virtually moves when walking through the building.
When the set flow lines are connected across the section route, a walk-through flow line from the current position to the target position can be obtained.

In the present embodiment, basically, the center of the portal is sequentially connected by a straight line from the current position to the target position, thereby setting a flow line.
For example, consider a case in which a flow line from the current position 10 to the target position 11 is obtained in the floor plan shown in FIG.

In this case, the section route is section A (current position 10) → portal 1 → section B → portal 2 → section C (target position 11).
Then, as indicated by the arrow in the figure, the flow line is a straight line connecting the current position and the center of the portal 1, a straight line connecting the portal 1 and the center of the portal 2, and the center of the portal 2 and the target position 11. A straight line connecting

By the way, in general, sections in buildings have various shapes, and depending on the section shape and the position of the portal, if the center of the portal is connected by a straight line, the flow line approaches the lane lines (walls, etc.) that form the section. Sometimes
When the walkthrough is displayed in 3D graphics in such a state, the user may collide with the wall, for example, when the user passes through the wall or a part of the body sinks into the wall.

In such a case, the interior angle formed by the partition line may be larger than 180 degrees, for example, the partition is L-shaped.
For example, it is assumed that there is a floor plan composed of a rectangular section A and an L-shaped section B as shown in FIG. The section B has portals 1 and 2 at both ends of the L shape.
In this case, when setting a flow line that passes through the section B via the portal 2 from the current position 13 in the section A, when the portal 1 and the portal 2 are connected by a straight line, the flow line becomes a section line (inner corner) of the section B. 270 degrees).

For this reason, when setting a flow line in a section having a section line with an inner angle greater than 180 degrees, such as section B, the section link information is manipulated to make the section a polygonal shape such as a rectangle or a triangle. Is divided into a plurality of sections. Then, the dividing line of the divided section is regarded as a new portal, and a flow line is set in the divided section.
This method is particularly effective when the section has an L-shape, a U-shape, a concave shape, a convex shape, or the like.

  Also, even if the portal cannot be connected with a straight line because there is an obstacle such as a table placed in the center of the compartment, if the area between the compartment and the obstacle is divided into multiple compartments, It is possible to set a flow line that bypasses.

For example, as shown in FIG. 3B, the section B is divided into a section B1 and a section B2 having a rectangular shape, and the dividing lines (shown by wavy lines in the drawing) of these new sections are Consider.
The flow line from the portal 1 to the portal 2 can be composed of a flow line from the portal 1 to the portal 3 (section B1) and a flow line from the portal 3 to the portal 2 (section B2). Line collisions can be avoided.

  Alternatively, as shown in FIG. 3C, the section B is divided into a section B3 and a section B4, these dividing lines are regarded as the portal 4, and the flow line from the portal 1 to the portal 4 (the section B3) and the portal 4 A flow line can also be set by a flow line (section B4) leading to the portal 2.

In general, when a certain section is divided into a plurality of sections, there are a plurality of division methods. However, any method may be adopted as long as the flow line and the section line do not approach or intersect.
For example, when a certain section is divided but the collision between the flow line and the section line cannot be avoided, it is possible to search for a dividing method such as dividing the section again by another method.

Furthermore, as an example in which a flow line and a lane line approach or intersect, there are cases where a plurality of portals are on substantially the same lane line.
For example, as shown in FIG. 4A, when portals 1 and 2 of section A are on the same partition line, or when a partition line with portals 1 and 2 is close to a straight line, portal 1 and portal 2 are straight lines. If a flow line is set by connecting with, the division line and the flow line approach or touch each other.
In this case, as shown in FIG. 4B, the center of gravity 15 (the center of the area) of the section A is obtained, and the flow line is set by connecting each portal and the center of gravity 15 with a straight line.

  Here, the center of gravity is adopted as the relay point of the flow line because the calculation is easy and the movement line through which the user naturally walks is close to the flow line through the center of gravity. This is because even if a walk-through is performed, the user is not given an unnatural impression.

Note that this does not limit the relay point of the flow line to the center of gravity, but in a range where the user does not collide with the wall during the walk-through (that is, the flow line and the division line do not fall below a predetermined distance). Can be set.
For example, if the division is sufficiently wide, a more natural flow line can be set by taking a relay point closer to the division line where the portal exists than the center of gravity (such as the center of gravity and the middle point of the division line). .

  Further, while confirming whether or not a straight line can be drawn on the portal 2 without approaching the lane marking line, the portal proceeds from the portal 1 toward the center of the section A (center of gravity 15) and when it is determined that the straight line can be drawn, the direction of the portal It can also be configured to be directed to 2.

  The above is a case where a relay point is set in a section. In addition, as shown in FIG. 4C, the section A is divided into a section A1 and a section A2, and the dividing line is regarded as a portal. It is also possible to avoid the approach between the flow line and the lane marking.

That is, the flow line can be set by the flow line from the portal 1 to the portal 3 and the flow line from the portal 3 to the portal 2.
Thus, the same effect as setting a relay point can be obtained by dividing into new sections.

Further, as a case where the flow line and the lane marking approach, there are cases where the lane is extremely long and the flow line is set in the diagonal direction, as in the section A of FIG.
In the case of FIG. 5A, if the current position 17 and the portal 1 are connected by a straight line, the flow line and the division line approach in the region 18.
Therefore, as shown in FIG. 5B, even if the barycentric point 19 of the section A is obtained and the flow line passing through the barycentric point 19 is set, the moving line and the dividing line approach in the region 18.

In such a case, as shown in FIG. 5C, the section A is divided into the sections A1 to A3, and the respective dividing lines are regarded as the portals 2 and 3.
And if portal 2, 3, 1 is connected with a straight line and a flow line is set, the approach of a flow line and a division line can be avoided.

  In general, connecting a portal with a straight line through the center of gravity of a section will reduce the possibility of the flow line and the section line approaching each other. In the case of approaching a distance that collides with each other, it is possible to avoid the approach by dividing the section into a plurality of sections and adding a portal between the sections.

  As described above, in the present embodiment, the distance between the straight line connecting the opening serving as the entrance and the opening serving as the exit in the section on the movement path and the section line constituting the section is equal to or less than a predetermined value. If there is a location, a route set via a point provided at a predetermined location in the section can be acquired.

  In this embodiment, in order to simplify the calculation, the portals or between the portal and the center of gravity are connected by straight lines. However, the present invention is not limited to this, and each point is connected by a smooth curve (spline). It can also be configured.

By searching for the segment route in the manner as described above and setting the flow line in the segment on the segment route, the flow line from the current position to the target position can be set.
When there are a plurality of flow lines that reach the target position from the current position, the one having the shortest length is selected from these.

By the way, when selecting the flow line according to the length, if the actual length on the floor plan is adopted as it is, for example, from the living room to the entrance, the user does not go through the hall but through the bathroom. A flow line different from the intention may be selected.
For this reason, in this embodiment, each section is weighted, and a flow line is selected using a weighted length obtained by extending or shortening the length of the flow line by the section weight.

  Thus, for example, the weight of the hall is reduced, the weight of the bathroom is increased, the length of the flow line in the hall is shorter than the actual length, and the length of the flow line in the bathroom is longer than the actual length. In addition, the flow line passing through the hall can be selected more easily than the flow line passing through the bathroom.

That is, due to the weighting length, the length of the flow line in a section such as a bathroom that is supposed to avoid traffic is relatively longer than the length of the flow line in a section that is supposed to pass such as a hall. Set.
Then, the one with the shortest weighting length of the flow line from the current position to the target position is selected and walk-through is performed.

For example, as shown in FIG. 6A, it is assumed that there is a floor plan composed of the sections A to E.
As shown in FIG. 6A, each section is weighted with a weight of 1.5 for the section A, a weight of 1.0 for the section B, a weight of 1.0 for the section C, and the like.

FIG. 6B shows a logical configuration of the layout partition link information. FIG. 6B also shows the flow line length (unit: [mm]) and the weighting length (shown in parentheses) in each section. However, the flow line is not shown.
For example, the length of the flow line in the section A is 3000 [mm], but since the section A is weighted to 1.5, the weighting length is 3000 × 1.5 = 4500 [mm]. It becomes.

Consider a case in which a flow line from a section A to a section D is set with the section link information in FIG.
In this case, as the flow line from the division B to the division D, the division A → the division B → the division C → the division D (first flow line) and the division A → the division E → the division D (second flow line) There are two.

The weighting lengths of these two flow lines are as follows. However, in order to simplify the explanation, the length of the flow line in the sections A and D is not considered here.
The weighting length of the first flow line is 3000 (section B) +5000 (section C) = 8000 [mm], and the weighting length of the second flow line is 4000 (section E) [mm]. . Therefore, in this case, the second flow line is shorter than the first flow line, and the second flow line is selected.

  In order to select more accurately, the weighting length from the current position in the section A to the portals 1 and 5 and the weighting length from the target position in the section D to the portals 3 and 4 are considered. .

In the above flow line setting process, the process of floor plan information → partition link information generation → particular flow line setting → flow line selection may be performed at each walkthrough, but the load on the computer is reduced. In order to reduce and shorten the processing time, in this embodiment described below, section link information and a flow line in each section are set and stored in advance.
Then, when the target position of the current position is inputted, the section route information is searched using the section link information stored in advance, and the flow line stored in the searched section is selected from the current position. Set the flow line to reach the target position.

(2) Details of Embodiment FIG. 7 is a block diagram for explaining a functional configuration of the walk-through device of the present embodiment.
The walk-through device 20 includes a flow line data generation unit 21 and a walk-through unit 22.

The flow line data generation unit 21 has a life through item creation, section link information generation, flow line data generation, and other functions.
Hereinafter, each of these functions will be described.

(Create life-through items)
The life-through item is, for example, data in which daily action words such as “eating” and “going to the tray” are associated with positions in the floor plan.
For example, “going to the toilet” is associated with the position where the toilet is present, and when the user inputs the action word “going to the toilet” to the walk-through device 20, the position of the toilet is set as the target position.

  The walk-through device 20 stores a life-through master composed of general-purpose life-through items in accordance with various buildings and the family structure of the user in the database 31, and the flow line data generation unit 21 stores the user's building. The life-through item used for the walk-through is selected from the life-through master and stored in the database 25.

FIG. 8 shows an example of a logical configuration of the life through master.
The life through master is composed of items of “action word”, “corresponding player”, “floor”, “room name”, and “parts”.

  “Action language” is information for specifying a position in the floor plan. For example, words indicating daily living behavior such as going to a tray, cooking, washing dishes, eating, etc. are set. ing.

These “behavior words” are preset by default, but can be edited by the life through master maintenance unit 30.
Thereby, for example, the action language can be replaced with a dialect used by the user, or can be replaced with a foreign language.

The “corresponding player” is an item for registering a user who walks through, that is, a player.
For example, when each user consisting of a family of four, father, mother, child A, and child B, walks through, each member is registered in the walk-through device 20 as a player.

Thus, by setting a plurality of players in the “action word”, it is possible to set the target position for each player even with the same action word.
For example, when an action word of listening to music is input, if the player is a child A, the child room A is the target position, and if the player is the child B, the child room B is the target position. If the player is a father or mother, the bedroom is the target position.
On the other hand, the “corresponding player” is set for all the action words “go to the toilet”, and the target position is the toilet regardless of who the player is.

  “Floor” is an item for specifying a floor to be searched. For example, when the toilets are on the first floor and the second floor, they can be used to distinguish the two. If you do not need to distinguish between them, you can set them on all floors.

The “room name” is an item for specifying a section. As the “room name”, words that are used on a daily basis are set for the compartments, such as a toilet, a kitchen, a dining room, a bathroom, a bathroom, and so on.
However, the present invention is not limited to this. For example, identification information such as an ID number may be assigned to each section, and these sections may be identified by the identification information.

In addition, a plurality of “rooms” can be registered for one action word. For example, although dining is registered in FIG. 8 for the action word of eating, LD and LDK can also be registered in the dining.
This is because, depending on the design of the building, there may be a plurality of designations even in a section having the same function (for example, a bathroom and a bathroom), and these are to be dealt with.

“Parts” are fixtures and the like provided in the compartment, such as a toilet bowl, a refrigerator, a unit bath, and a system kitchen.
The installation positions of these parts are defined in the floor plan, and the target position to be reached in the section can be specified by the parts. That is, when the user goes to the toilet, the toilet, which is a part, can be set as the target position.

The “part” is further composed of items from a major classification to a minor classification, such as “part classification”, “part classification”, “part group”, and “part”.
For example, if the part is a toilet bowl, “Parts classification” is set to sanitary equipment and “Parts type” is set to the toilet. If the parts are desks, “Parts classification” is set to furniture, and “Parts type” is set to the study. And “part group” is set on the desk.
In this way, by subdividing the classification from the large classification to the small classification, it is possible to finely set the parts as necessary.

FIG. 9 is a diagram illustrating an example of a logical configuration of the life through item.
In this case, the operator of the walk-through device 20 extracts items necessary for the walk-through from the life-through master and stores them in the database 25.

Alternatively, the flow line data generation unit 21 may be configured to automatically extract necessary life through items by comparing later-described building model data with a life through master.
For example, if there is a toilet in the floor plan of the building model data, the toilet is searched by the item “room name” of the life through master and extracted as a life through item used for the walk-through.

(Generation of section link information)
The flow line data generation unit 21 (FIG. 7) generates section link information from the building model data and stores it in the database 27.
The building model data is data created by the building model construction unit 32 and constitutes a three-dimensional model inside the building.
The building model data defines the floor plan of the building (two-dimensional coordinate values of the shape and arrangement of each section), as well as three-dimensional information such as the ceiling height, interior, and component arrangement of each section.

The building model construction unit 32 includes a display device such as a display and an input device such as a keyboard and a mouse. The user edits the interior by changing the color of the wall or arranging furniture (parts), for example. can do.
When the user sets the interior, the type of equipment and the position of the equipment in the floor plan are determined.
The building model data generated by the building model construction unit 32 is stored in the database 26. Here, the database 26 constitutes floor plan storage means for storing the floor plan.

The flow line data generation unit 21 first associates each life through item with a floor plan.
For example, the “toilet” of the life-through item is associated with a toilet placed in the floor plan, or the “living room” of the life-through item is associated with the “living room” of the floor plan.
This association may be performed automatically or manually by an operator.

When the association between the life-through item and the floor plan is automatically performed, for example, the name given in the building model data is matched with the name used in the life-through item.
For example, in the floor plan of the building model data, the names of the sections such as “living room” and “kitchen” are assigned to each section, and “commode” and “system kitchen” are also provided for the parts arranged in each section. The name is given.
These names are matched with life-through items, and floor plans are associated with life-through items.

Next, the floor plan in the building is grasped from the flow line data generation unit 21 and the building model data. Then, the connection relationship between the section and the portal is extracted, and section link information is generated.
At this time, if it is necessary to divide the section, the section is divided, the section after the division is set as a new section, and the section line is registered in the section link information as a portal.

Here, a generation example of section link information will be described using the floor plan of FIG.
This floor plan consists of the living room, entrance, hall, kitchen, washroom and dressing room, bathroom, toilet, and stairs. Located in the room and toilet.

First, the flow line data generation unit 21 divides a section where the angle formed by the section line is larger than 180 degrees. The same applies when there is a sleeve wall.
In the floor plan of FIG. 10, since the hole has a concave shape, and this condition is met, the flow line data generation unit 21 sets partition lines 41 and 42 in the hole as shown in FIG. ~ Divide into holes 3.

The flow line data generation unit 21 divides the hole, and then generates partition link information of this floor plan.
For example, the living room has portals 40a and 40e, and is connected to the kitchen via the portal 40a and connected to the hall 2 via the portal 40e. Set for the partition.
In the case of the floor plan of FIG. 11, portals 40a to 40g exist as illustrated.
Moreover, the lane markings 41 and 42 of the halls 1 to 3 are also portals.

(Generation of flow line data)
The flow line data generation unit 21 sets a flow line using the floor plan defined by the building model data and the arrangement of parts.
Thus, in this embodiment, possible flow lines are set in advance in each section and stored as flow line data.

  The flow line data generation unit 21 generates flow line data by: (1) a process of connecting the portals with straight lines; (2) a process of connecting the portal and the center of gravity of the sections with straight lines; (3) parts and barycentric points; And the portal are connected in a straight line.

(1) Processing for connecting portals with straight lines In this processing, as shown in FIG. 12, the centers of adjacent portals (indicated by black circles in the figure, hereinafter referred to as central points) are connected with straight lines, and this is moved. A line. In the following description, the same reference numerals are assigned to the center point and the portal (FIG. 11).

Each center point is given identification information for identification from other center points, and each set flow line has a center point at both ends and a distance between the center points (length of the flow line). It is stored in the database 27 as flow line data.
For example, in the case of the flow line 45a, both ends are the center points 40a and 40b, and the length is stored as 800 [mm].

Similarly, in the case of the flow line 41a, both ends are the center points 41 and 42, the length is stored as 2000 [mm], and the other flow lines are the same.
This length may be a weighted length or an actual length.
In the case of the actual length, when the flow line is selected, it is converted into a weighted length by using the weight of the section. The same applies to the length of the flow line in the following (2) and (3).

(2) Processing for connecting the center of gravity of the portal and the section with a straight line In this process, the flow line data generation unit 21 obtains the center of gravity of each section as shown in FIG. The center of gravity of each section and the center point of the portal of the section are connected by a straight line to be a movement line. Thereby, for example, the flow lines 46a and 46b are set from the center of gravity point 47a to the center points 40a and 40b, respectively.
Here, the center-of-gravity points 47b, 47c, and 47d are set for the holes 1, 2, and 3, respectively, and are connected to the portal by straight lines.
In this way, the flow line data generation unit 21 sets the barycentric point also in the newly generated section.

Each barycentric point is given identification information for identification from other barycentric points, and each set flow line has a barycentric point and a central point at both ends, and a distance between the barycentric point and the central point ( The length of the flow line) is stored in the database 27 as flow line data.
For example, in the case of the flow line 46a, one end is the center of gravity point 47a, the other end is the center point 40a, and the length is stored as 1000 [mm].

(3) Process of connecting parts and barycentric points and parts and portals with straight lines In this process, as shown in FIG. The center is indicated by a black triangle, hereinafter referred to as a component point), and the center of gravity of the section and the center of the portal are connected by a straight line as a moving line. Thereby, for example, flow lines 49b, 49a, and 49c are set from the component point 48a to the center of gravity point 47a and the center points 40a and 40b of the portal, respectively.

Each component point is given identification information for identification from other component points, and each set flow line includes a component point at one end, a centroid or center point at the other end, and a flow line. Along with the length, it is stored in the database 27 as flow line data.
For example, in the case of the flow line 49a, one end is the component point 48a and the other end is the center point 40a, and the length is stored as 1500 mm.

FIG. 15 shows an example of the logical configuration of the flow line data. The flow line data is composed of information about flow lines and information about end points of flow lines.
As shown in FIG. 15 (a), the data related to the flow line is composed of identification information and lengths of both end points (middle point, barycentric point, part point) of each flow line.
For example, the flow line with flow line number 1 has end points at midpoint 1 and midpoint 2, and the flow line with flow line number 2 has end points at midpoint 2 and barycentric point 1.

Further, as shown in FIG. 15B, the information regarding the end point of the flow line is recorded as a two-dimensional coordinate value in the layout of each end point (middle point, barycentric point, part point).
By using the information of FIGS. 15A and 15B, the coordinate values of both ends of the flow line in the floor plan are determined, and the position of the flow line in the floor plan can be specified.
Since the length of the flow line can be calculated from the coordinate values at both ends, it is not always necessary to store the length of each flow line in the flow line data. Can be reduced.

Further, by using the information shown in FIG. 15A, it is possible to know the connection relationship between the flow lines, and to trace the connected flow lines.
For example, the flow line of the flow line number 1 is connected to the flow lines of the flow line numbers 2 and 3 at the middle point 2, and the flow line of the flow line number 2 is the flow line of the flow line number 4 at the center of gravity point 1. Connected.
Therefore, the flow line can be traced as follows: flow line of flow line number 1 → flow line of flow line number 2 → flow line of flow line number 4.

As described above, the flow line data generation unit 21 generates partition link information and flow line data and stores them in the database 27.
The life through item, building model data, section link information, and flow line data stored in the flow line data generation unit 21 are passed to the walk through unit 22 and used for execution of the walk through.

Next, the walk-through unit 22 will be described.
The walk-through unit 22 has various functions such as player selection, life-through item selection, current position search, target position search, flow line selection, and walk-through execution.

  In addition, the walk-through unit 22 includes a display device 35 as display means for displaying the walk-through in the building with three-dimensional computer graphics, and voice for the user to input the target position and the like by voice. A recognition device 36 and an input device such as a keyboard, a mouse, or a joystick (not shown) are also provided.

Hereinafter, each of these functions will be described.
[Player selection]
Prior to executing the walkthrough, the walkthrough unit 22 allows the user to select a player to perform the walkthrough.
This is performed by, for example, displaying a player such as a father, mother, child A, and child B on the display device 35 and allowing the user to select them by operating the mouse.

Players can also set physical attributes such as height and use of wheelchairs, and can display the inside of the building from the height of the viewpoint according to the physical characteristics input when walking through .
Thus, the walk-through unit 22 includes viewpoint height acquisition means for acquiring the height of the viewpoint of the moving person.

[Selecting a life-through item]
After selecting the player, the walk-through unit 22 displays the life-through items that can be selected by the player (that is, matches the “corresponding player” (FIG. 9)) on the display device 35.

The life through items displayed in a list can be selected by voice. For example, when the user speaks “going to the toilet”, the voice recognition device 36 recognizes this voice, converts it into text, and inputs it to the walk-through unit 22.
The walk-through unit 22 matches “going to the toilet” input from the voice recognition device 36 with the item “behavioral words” of the life-through item (FIG. 9), and identifies which item the user has selected. To do.

As described above, in the present embodiment, the user can select the life-through item only by uttering daily action words, so even a user unfamiliar with the computer can easily operate the walk-through device 20. it can.
The life-through item may be selected manually using an input device such as a keyboard or a mouse.

[Current position search]
When the user selects a life-through item, the walk-through unit 22 searches for the current position that is the starting point of the walk-through.
The current position is set to a default value, for example, in front of the television in the living room, and the walk-through unit 22 sets this position as the current position. The default value can be changed, for example, at the entrance.

Further, when the next walkthrough is subsequently performed after the walkthrough, the arrival position (target position) in the previous walkthrough is acquired as the current position of the next walkthrough.
For example, if you walk through from the living room to the system kitchen and then enter “go to the toilet”, the system kitchen is set to the current position and the system kitchen to the toilet is walked through.

If the point specified as the current position of the walkthrough is not a point specified in the flow line data, such as the center point, part point, or center of gravity point of the portal, select the nearest point from these points and select the current point Position.
Alternatively, the robot can be configured to walk linearly from a specified point to the nearest point and move along the flow line after reaching the nearest point.

[Destination search]
When the walk-through unit 22 acquires the current position, the walk-through unit 22 searches for the target position using the life-thru item selected previously.
The target position is specified by the room name and part of the life through item (FIG. 9).
The walk-through unit 22 confirms whether or not data is input in the order of part → part group → part type → part classification for each small item constituting the large part “part” for the “action word” selected as the life through item. If there is input data, the target position is specified by the data.

  For example, when “go to the toilet” is selected as the “action word”, the walk-through unit 22 confirms the “component” of the small item. Since no data is input for this item, the walk-through unit 22 further confirms the item “part group”. In this item, “toilet bowl” is input, and the walk-through unit 22 thereby acquires the part point of “toilet bowl” as the target position.

Further, when all the data of the large item “part” is not input, the item “room name” is further confirmed, and the center of gravity of the room is set as the target position.
For example, when “take a bath” is selected in the item “behavior word”, each of the small items constituting the large item “parts” is all blank, so the “bathroom” defined in the item “room name” The center of gravity point is the target position.

[Flow line selection]
When the walk-through unit 22 acquires the current position as the start point and the target position as the end point of the walk-through as described above, it acquires the flow line from the current position to the target position using the section link information and the flow line data. To do.

First, the walk-through unit 22 specifies a division route from the current position to the target position using the division link information.
For example, in the example of FIG. 11, from the TV in the living room to the toilet toilet, the part point 50 → the portal 40a → the kitchen → the portal 40b → the bathroom undressing room → the portal 40d → the hall 2 → the portal 40g → the part point 51 (first 1) and part point 50 → portal 40e → hole 2 → portal 40g → part point 51 (second section route).

After the walk-through unit 22 searches for the section route in this way, the walk-through unit 22 selects a flow line in each section using the flow line data.
The selection method selects this flow line if there is a flow line directly connected from the portal serving as the entrance to the portal serving as the exit, and if there is no direct connection, the flow line extending from the portal serving as the entrance to the center of gravity point, and Select the flow line from the center of gravity to the exit portal.

When a flow line is selected in the first division route and the second division route by such a method, it becomes as shown in FIG.
That is, the flow line passing through the first division route is a connection of flow lines A, B, C, D, E, and F (referred to as route 1), and the flow line passing through the second division route is , Flow lines G, H, E, and F are connected (referred to as path 2).
In FIG. 16, the weight of each section and the sign and length of each flow line are shown in parentheses.

Next, the walk-through unit 22 multiplies the length of the flow line by the weight of the section through which the flow line passes, and then adds these from the current position to the target position, and the weighted flow line Calculate the length of.
The weight of each section is 1.0 in the living room and kitchen, 0.5 in the hall and toilet, and 1.5 in the washroom, so the length of each path is as follows.

Path 1: 2000 × 1.0 + 800 × 1.0 + 2000 × 1.5 + (500 + 700) × 0.5 + 800 × 0.5 = 6800
Path 2: 3000 × 1.0 + (1000 + 700) × 0.5 + 800 × 0.5 = 4250

Then, the walk-through unit 22 selects the route with the shorter weight as the flow line for performing the walk-through.
In the example of FIG. 16, the route 2 is selected, and therefore, the flow line for performing the walk-through is the connection of the flow lines G, H, E, and F as shown in FIG.

[Walkthrough execution]
When the walk-through unit 22 determines the flow line for performing the walk-through in this way, the player's viewpoint or family item (character representing the user's appearance as an image) is moved along the flow line. Along with this, the inside of the building visible from the player is displayed on the display device 35 by three-dimensional computer graphics.

Each diagram in FIG. 18 is a diagram schematically illustrating an example of three-dimensional computer graphics displayed on the display device 35.
These figures represent a case where a building having a kitchen adjacent to a dining hall walks automatically toward the kitchen.

FIG. 18A shows that the player is moving toward the dining hall, and the kitchen is located at the left back of the dining hall.
FIG. 18B shows the player entering the dining room.
FIG. 18C shows the player entering the dining hall changing the direction of travel toward the kitchen and proceeding.

This walk-through toward the kitchen is automatically performed by the walk-through unit 22 according to the flow line.
When the walk-through is performed manually (the user performs operations such as advancing and changing directions while viewing the 3D graphics by operating the mouse), the operation is quite difficult for a user unfamiliar with the computer. Since the walk-through unit 22 automatically walks through according to the flow line, the user does not need to operate the walk-through unit 22.

As described above, the walk-through unit 22 searches for a route from the current position to the target position, and automatically walks along the route.
When the current position and the target position are on different floors, the walk-through unit 22 searches for a route on each floor individually and joins them together.

For example, it is assumed that the current position is on the first floor and the target position is on the second floor. In this case, the walk-through unit 22 first searches for a route from the target position to the entrance of the floor moving section on the first floor.
Here, the moving route is a section for moving to an adjacent floor such as a staircase, an elevator, an escalator, or the like.

Then, the walk-through unit 22 searches for a route from the exit of the floor moving section on the second floor to the target position.
In addition, when there are a plurality of floor moving sections, it is assumed that the player selects which floor moving section to use.
In this way, the walk-through unit 22 obtains a route from the current position to the entrance of the floor moving section, a route in the floor moving section, and a route from the exit of the floor moving section to the destination position, and connects them. Set the route from the current position to the target position.

Further, when the player uses a wheelchair, the walk-through unit 22 detects a collision between the wheelchair and a structure (a wall, a staircase, a step, etc.) and restricts the movement of the player.
For example, when a wheelchair is prevented from climbing stairs or when a wheelchair is rotated in a hall, it detects contact between the wheelchair and the wall (contact between the circumscribed circle centered on the wheelchair and the wall) and notifies the player. Or

  Thus, when the user uses a wheelchair, the walk-through unit 22 detects interference between the shape of the moving path in which a flow line is set and the wheelchair (for example, a step or contact with a wall). Means and control means for controlling the movement of the moving person according to the detected interference (for example, stopping before the stairs).

FIG. 19 is a flowchart for explaining a procedure by which the flow line data generation unit 21 generates flow line data.
The flow line data generation unit 21 first acquires a floor plan of the building from the building model data, and grasps each section constituting the floor plan.
Then, it is determined whether or not there is a section having a section where the inner angle of the section line is larger than 180 degrees for each section (step 5).

  The flow line data generation unit 21 divides the section so that each section line is 180 degrees or less when there is a section whose interior angle formed by the section line is larger than 180 degrees (step 5; Y). (Step 10).

The flow line data generation unit 21 determines that the center of the portal is straight in each section when there is no section whose interior angle formed by the section line is greater than 180 degrees (step 5; N) or after the section is divided (step 10). To establish a flow line in the section.
Then, the flow line data generation unit 21 stores the flow line data in the database 27 together with the length of each flow line and the identification information of the portals at both ends (step 15).

Next, the flow line data generation part 21 calculates | requires the gravity center point of each division. In each section, the center of gravity and the center point of the portal are connected by a straight line, and this is used as a flow line.
Then, the flow line data generation unit 21 stores the flow line data in the database 27 together with the length of each flow line, the identification information of the center of gravity at one end, and the identification information of the portal at the other end (step 20).

Next, the flow line data generation unit 21 connects a part point set on the part and a point of the section where the part is installed (portal center point or center of gravity point) with a straight line, and moves this. A line.
Then, the flow line data generation unit 21 stores in the database 27 as flow line data together with the length of each flow line, the identification information of the component point at one end, and the point at the other end (portal center point or barycentric point). (Step 25).

  As described above, the walk-through unit 22 can set a possible flow line in a section in advance and store it as flow line data.

FIG. 20 is a flowchart for explaining a procedure in which the walk-through unit 22 sets a flow line.
First, the walk-through unit 22 causes the user to set a player. Then, in the floor plan, the current position that is the start point of the walkthrough is acquired (step 50).

  This may be obtained as a position set as a default, or the arrival point of the previous walkthrough may be set as the current position, or may be set by the user.

Next, the walk-through unit 22 analyzes the action words spoken by the user with the voice recognition device 36. And this is collated with a life through item, and a target position is acquired (step 55). If multiple players are set in the life-through item, this is also checked.
Since there is a correspondence between the life-through item and the position in the floor plan (two-dimensional coordinate values such as the part point or the center of gravity of the section), specifying the life-through item may identify the target position in the floor plan. it can.

  Thus, the walk-through unit 22 includes position acquisition means for acquiring the current position (movement start point position) and the target position (movement end point position).

Next, the walk-through unit 22 acquires a section route from the section having the current position to the section having the target position using the section link information (step 60).
Next, the walk-through unit 22 follows the flow line along the division route, and acquires a flow line from the current position to the target position (step 65).
If there are a plurality of acquired flow lines, the flow line with the shortest weighted flow line is selected (step 70).

  As described above, the walk-through unit 22 includes a movement path acquisition unit that acquires the shortest movement path from the current position to the target position.

Then, the interior is displayed in three-dimensional graphics, and the display of the interior is sequentially changed while moving the selected flow line (step 75).
When the walkthrough reaches the target position, the interior display is stopped and the walkthrough is terminated.

FIG. 21 is a block diagram showing a hardware configuration of the walk-through device 20.
The walk-through device 20 includes a CPU (Central Processing Unit) 60, a ROM (Read Only Memory) 62, a RAM (Random Access Memory) 61, an input unit 64, an output unit 66, a storage medium driving unit 72, a storage unit 68, and the like. The computer is connected by a line 70.

The CPU 60 is a central processing unit, and performs various types of information processing according to programs stored in the ROM 62, the storage unit 68, and the like.
Information processing performed by the CPU 60 includes creation of a life through item, creation of section link information, generation of flow line data (flow line data generation unit 21), selection of a player, selection of a life through item, search for a current position, destination position Selection, flow line selection, walk-through execution (walk-through unit 22), life-through master maintenance processing (life-through master maintenance unit 30), building model data creation (building model construction unit 32), speech recognition Processing (voice recognition device 36) and the like.

The ROM 62 is a read-only memory that stores basic programs, data, parameters, and the like for the operation of the walk-through device 20.
The RAM 61 is a memory that the CPU 60 can read and write. The RAM 61 provides a working area when the CPU 60 performs the above functions.

The storage unit 68 is configured by a large-capacity storage device such as a hard disk, for example, and a program storage unit 74 and a data storage unit 76 are formed.
The program storage unit 74 stores programs such as a walk-through program, a life-through master maintenance program, a building model construction program, and a voice recognition program.

When the CPU 60 executes the walk-through program, the flow line data generation unit 21 and the walk-through unit 22 are configured.
When the life through master maintenance program and the building model construction program are executed by the CPU 60, a life through master maintenance unit 30 and a building model construction unit 32 are configured, respectively.
When the voice recognition program is executed by the CPU 60, the voice recognition device 36 is configured.

  Databases 31, 25, 26, and 27 are formed in the data storage unit 76, and store life through masters, life through items, building model data, flow line data, and section link information, respectively.

  The input unit 64 includes input devices such as a microphone, a keyboard, and a mouse, for example, and the user can input voice from the microphone, and can input various information by operating the keyboard and mouse. it can.

The output unit 66 includes an output device such as a display device 35 (FIG. 7) configured with a display or a printer, for example.
The display displays the three-dimensional graphics generated by the walk-through unit 22, and the user can automatically walk through the building using the three-dimensional graphics.

The storage medium drive unit 72 drives, for example, a removable storage medium such as a magnetic disk, a magneto-optical disk, or a semiconductor storage device, reads information stored in these storage media, and the storage medium supports writing. If so, information is written to these storage media.
By accessing the storage medium storing the program and data from the storage medium drive unit 72, various programs can be installed in the program storage unit 74, or the database can be installed in the data storage unit 76.

The following effects can be obtained by the present embodiment described above.
(1) The user can automatically walk through from the current position to the target position by simply speaking the destination of the walk through with everyday words.
(2) The flow line from the current position to the target position can be automatically set from the floor plan.
(3) By using the weighting length of the flow line by weighting the sections, it is possible to select a route that the user seems to normally select.
(4) The life-through master can be edited, such as dialect action words.

As described above, an example of the method for setting the flow line from the current position to the target position in the floor plan has been described. However, this does not limit the method for setting the flow line, and various modifications are possible.
For example, it is possible to set a flow line from the flow line data to the target position without using the section link information. That is, it is possible to search for a path that follows the flow line from the current position and reaches the target position.

Further, for example, a series of actions such as “going to the toilet” → “washing face” → “mealing” → “changing clothes” → “going out” can be performed as a continuous walk-through.
This is possible, for example, by connecting the target position of the flow line in each action as the current position of the flow line of the next action.

  Furthermore, the walk-through device 20 can be used as a simulation at the planned design stage, such as automatic search / plotting of evacuation routes, plan flow line comparison by automatic flow line measurement, in addition to building design confirmation. Is also possible.

Further, in this embodiment, a walk-through is virtually performed in a house composed of three-dimensional graphics. However, the present invention is applied to a case where a moving body such as a robot or a vehicle walks through an actual structure. It is also possible.
In this case, the moving body is provided with a module for automatically setting a flow line as described in the present embodiment.

Then, the floor plan of the structure is input to the moving body, and the flow line from the current position to the target position is automatically set.
The moving body is provided with a sensor for detecting the position in the structure, and is walked through from the current position to the target position.
Thereby, for example, it becomes possible to send a robot or a vehicle unattended to a place where it is difficult to dispatch an operator to perform work.

It is a figure for demonstrating division link information. It is a figure for demonstrating the setting method of a flow line in a division. It is a figure for demonstrating the setting method of a flow line in a division. It is a figure for demonstrating the setting method of a flow line in a division. It is a figure for demonstrating the setting method of a flow line in a division. It is a figure for demonstrating the example which selects a flow line using weighting length. It is a block diagram for demonstrating the functional structure of a walk through apparatus. It is the figure which showed an example of the logical structure of a life through master. It is the figure which showed an example of the logical structure of the life through item. It is the figure which showed an example of floor plan. It is the figure which showed the place which divided | segmented the hole in the floor plan which concerns on an example. It is a figure for demonstrating the process which sets a flow line in the floor plan which concerns on an example. It is a figure for demonstrating the process which sets a flow line in the floor plan which concerns on an example. It is a figure for demonstrating the process which sets a flow line in the floor plan which concerns on an example. It is the figure which showed an example of the logical structure of flow line data. It is the figure which showed the flow line from the present position to the target position in the floor plan concerning an example. It is the figure which showed the flow line used for a walk through in the floor plan which concerns on an example. It is the figure which showed an example of the three-dimensional computer graphics displayed at the time of walk through. It is a flowchart for demonstrating the procedure in which a flow line data production | generation part produces | generates flow line data. It is a flowchart for demonstrating the procedure in which a walk through part sets a flow line. It is a block diagram showing the hardware configuration of the walk-through device.

Explanation of symbols

DESCRIPTION OF SYMBOLS 20 Walk through apparatus 21 Flow line data production | generation part 22 Walk through part 25 Database 26 Database 27 Database 30 Life through master maintenance part 31 Database 32 Building model construction part 35 Display apparatus 36 Voice recognition apparatus

Claims (11)

A floor plan storage means for storing a floor plan composed of a plurality of sections connected by at least one adjacent section and an opening;
In the stored floor plan, position acquisition means for acquiring a start point position and an end point position of movement;
A movement path acquisition means for acquiring the shortest movement path from the acquired start point position to the end point position through the section through the opening;
Comprising
In the section on the moving path, the movement path acquisition means has a distance between a straight line connecting the opening serving as the entrance and the opening serving as the exit and the section line constituting the section being a predetermined value or less. When there is a place, the movement route setting device is characterized in that the division is divided into a plurality of divisions, and the route is acquired using the divided division lines as openings . The movement path setting device according to claim 1, wherein the movement path acquisition unit acquires a path that passes through a center of an opening of the divided dividing line. In the planar shape of the section, when there is a corner having an inner angle larger than 180 degrees, the movement path acquisition unit divides the section into a plurality of sections having an inner angle of 180 degrees or less, and the divided dividing lines are divided. The movement path setting device according to claim 1, wherein the movement path is acquired as an opening. A floor plan storage means for storing a floor plan composed of a plurality of sections connected by at least one adjacent section and an opening;
In the stored floor plan, position acquisition means for acquiring a start point position and an end point position of movement;
A movement path acquisition means for acquiring the shortest movement path from the acquired start point position to the end point position through the section through the opening;
Comprising
In the section on the moving path, the movement path acquisition means has a distance between a straight line connecting the opening serving as the entrance and the opening serving as the exit and the section line constituting the section being a predetermined value or less. When there is a place, the movement route setting device is characterized in that a route is acquired via the barycentric point of the section . The floor plan for each compartment constituting a is pre-weighted, the moving route acquiring unit, and acquires the shortest movement route by using the length of the movement path with a weighting of the compartment to pass The movement path setting device according to any one of claims 1 to 4 . When the acquired start point position and end point position are on different floors, the movement path acquisition means moves through a floor moving section that moves from the start point floor where the start point position exists to the end point floor where the end point position exists. By individually acquiring a route, a movement route from the start point position to the floor movement section, and a movement route from the movement section to the end point position, and connecting the acquired movement paths, the start point The movement path setting device according to any one of claims 1 to 5, wherein a movement path from a position to the end position is acquired. The display apparatus according to any one of claims 1 to 6 , further comprising display means for sequentially displaying the interior of the floor plan with three-dimensional graphics along the acquired movement route. The travel route setting device according to 1. Comprising viewpoint height acquisition means for acquiring the height of the viewpoint of the moving person moving along the acquired movement route;
The movement path setting device according to claim 7 , wherein the display unit displays an interior according to the acquired height of the viewpoint. Interference detection means for detecting interference between the shape of the moving path and the wheelchair when the mobile person uses a wheelchair;
Control means for controlling movement of the mobile person according to the detected interference;
The movement path setting device according to claim 8 , comprising: A floor plan storage function for storing a floor plan composed of at least one adjacent section and a plurality of sections connected by an opening;
In the stored floor plan, a position acquisition function for acquiring a start point position and an end point position of movement;
A movement path acquisition function that acquires the shortest movement path from the acquired start point position to the end point position through the section through the opening,
Is a travel route setting program for realizing
In the movement path acquisition function, in a section on the movement path, a distance between a straight line connecting an opening serving as an entrance and an opening serving as an exit and a section line constituting the section is a predetermined value or less. When there is a place, a movement route setting program that divides the division into a plurality of divisions and acquires a route using the divided division lines as openings . A floor plan storage function for storing a floor plan composed of at least one adjacent section and a plurality of sections connected by an opening;
In the stored floor plan, a position acquisition function for acquiring a start point position and an end point position of movement;
A movement path acquisition function that acquires the shortest movement path from the acquired start point position to the end point position through the section through the opening,
Is a travel route setting program for realizing
In the movement path acquisition function, in a section on the movement path, a distance between a straight line connecting an opening serving as an entrance and an opening serving as an exit and a section line constituting the section is a predetermined value or less. When there is a place , a movement route setting program for acquiring a route via the center of gravity of the section .

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