JP7414764B2 - Route information generation device, route information generation method, and program - Google Patents

Description

The present invention relates to a route information generation device, a route information generation method, and a program.

BACKGROUND ART Conventionally, when a mobile object such as a work vehicle is caused to travel autonomously, a system for generating a traveling route for the mobile object by operating a wireless communication terminal is described in, for example, Patent Document 1.

JP2017-211733A

In the above-mentioned conventional technology, there are cases where a user (for example, an operator) operates to trace the screen of a wireless communication terminal, and sets the trajectory traced on the screen as the movement route of the mobile object. According to this movement route setting method, the amount of route information becomes relatively large, so it is required to reduce the amount of route information.
However, if the amount of information is reduced too much, the precision of the route will be impaired, so it has been difficult to determine the degree of compression of the amount of information. That is, the above-described conventional technology has a problem in that it is difficult to achieve both reduction in the amount of route information and accuracy of the route.

The present invention has been made in consideration of such circumstances, and its purpose is to generate route information that achieves both reduction in the amount of information and precision of the route.

(1) One aspect of the present invention is that a route for moving from a first point to a second point according to constraint conditions for avoiding obstacles connects coordinate information of each point on the route in the order along the route. a route information acquisition unit that acquires route information expressed by a route information compression unit that generates compressed route information by compressing the information amount of the route information by excluding the coordinate information; and a plurality of points included in the compressed route information generated by the route information compression unit. a determination unit that determines whether a route sequentially connected satisfies the constraint condition; and a compression control that changes the degree of compression and regenerates the compressed route information based on the determination result by the determination unit. and an output unit that outputs the compressed route information when it is determined that the route indicated by the compressed route information satisfies the constraint condition.
(2) In one aspect of the present invention, in the above-mentioned route information generation device, an initial value of the degree of compression is higher than a degree of compression of the route information determined to satisfy the constraint condition, and the compression control unit The method lowers the degree of compression from the initial value and regenerates the compressed route information.
(3) In one aspect of the present invention, in the route information generation device described above, the determination unit determines the constraint condition for each section into which the route is divided based on the number of points included in the compressed route information. After determining whether or not the constraint is satisfied, the compression control unit changes the degree of compression for the section for which the determination unit has determined that the constraint is not satisfied, and regenerates the post-compression route information.
(4) In one aspect of the present invention, in the above route information generation device, the constraint condition is a condition based on the position and size of the obstacle.
(5) According to an aspect of the present invention, in the above route information generation device, the constraint condition is a condition based on the position of the obstacle and the permissible width of the route.
(6) In one aspect of the present invention, in the route information generation device described above, an obstacle information acquisition unit that acquires information on the position of an obstacle obtained as a result of movement of a moving object based on the route information; The image forming apparatus further includes a map information updating section that updates the constraint condition based on the information on the position of the obstacle obtained by the obstacle information obtaining section.
(7) One aspect of the present invention is that a computer determines that a route for moving from a first point to a second point according to constraint conditions for avoiding obstacles is determined based on coordinate information of each point on the route. The computer acquires route information expressed by sequentially connecting the coordinate information of a plurality of points included in the acquired route information, and calculates the coordinate information of some of the points by a predetermined degree of compression. Compressed route information is generated by compressing the information amount of the route information by excluding coordinate information, and a computer generates a route sequentially connecting a plurality of points included in the generated compressed route information. , determining whether or not the constraint condition is satisfied; the computer changing the degree of compression based on the result of the determination and regenerating the post-compression route information; This route information generation method includes outputting the compressed route information when it is determined that the route indicated by the compressed route information satisfies the constraint conditions.
(8) One aspect of the present invention is to provide a computer with coordinate information of each point on the route for determining a route to move from a first point to a second point according to constraint conditions for avoiding obstacles. The coordinate information of some of the points included in the acquired route information is compressed by a predetermined degree of compression. By excluding, compressed route information is generated by compressing the information amount of the route information, and a route that sequentially connects a plurality of points included in the generated compressed route information satisfies the constraint condition. determining whether or not the compressed route information is regenerated by changing the degree of compression based on the result of the determination; and determining whether the route indicated by the compressed route information satisfies the constraint condition. This is a program for outputting the compressed route information when it is determined that the conditions are satisfied.

According to the present invention, it is possible to generate route information that achieves both reduction in the amount of information and precision of the route.

FIG. 2 is a diagram illustrating an example of an outline of a terminal device and a mobile object according to the present embodiment. FIG. 2 is a diagram showing an example of a functional configuration of a terminal device according to the present embodiment. It is a figure showing an example of a map image of this embodiment. It is a figure showing an example of route designation operation of this embodiment. FIG. 3 is a diagram illustrating an example of the functional configuration of a route information processing unit according to the present embodiment. FIG. 3 is a diagram illustrating an example of route information compression by the route information compression unit of the present embodiment. It is a figure showing an example of operation of the terminal device of this embodiment. FIG. 3 is a diagram illustrating an example of a compression operation by the route information processing unit of the present embodiment. FIG. 7 is a diagram illustrating an example of a route image when the degree of compression in this embodiment is sufficiently large. FIG. 6 is a diagram illustrating an example of collision determination between a route indicated by compressed route information of the present embodiment and an obstacle; FIG. 7 is a diagram illustrating an example of a route image based on compressed route information with a reduced degree of compression according to the present embodiment. FIG. 7 is a diagram illustrating an example of a route image based on compressed route information in which the degree of compression of the present embodiment is further reduced. It is a figure which shows the 1st modification of the constraint condition of the route of this embodiment. It is a figure which shows the 2nd modification of the constraint condition of the route of this embodiment.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a diagram showing an example of an outline of a terminal device 1 and a mobile object 2 according to the present embodiment. The terminal device 1 is, for example, a smartphone, a tablet, a personal computer, etc., and is a device used by a user. The terminal device 1 instructs the moving route of the mobile object 2 through a user's operation.
The mobile object 2 is, for example, a car, a ship, an aircraft, a drone, an automatic guided vehicle, etc., and is a device that moves according to instructions from the terminal device 1. The mobile body 2 may be an unmanned mobile body capable of autonomous movement.

FIG. 2 is a diagram showing an example of the functional configuration of the terminal device 1 of this embodiment. The terminal device 1 includes a route information generation device 10 , a display section 11 , a reception section 12 , a map information storage section 13 , and an operation detection section 14 .
The display unit 11 includes, for example, a liquid crystal display, and displays the image output by the route information generation device 10.
The receiving unit 12 includes, for example, a wireless antenna, and receives information transmitted from the mobile body 2.
The map information storage unit 13 includes, for example, a semiconductor memory or a hard disk drive, and stores map information of the area where the mobile object 2 moves. This map information includes information indicating the position of an obstacle to be avoided when the mobile body 2 moves (for example, the coordinates 303 of the obstacle).
The operation detection unit 14 is connected to an operation device such as a touch panel, a mouse, or a keyboard, and detects an operation on the display unit 11 by a user. This operation by the user on the display unit 11 includes an operation in which the user specifies the travel route of the mobile object 2 on the map image displayed on the display unit 11 (route designation operation), This includes an operation for the user to confirm the displayed route (route confirmation operation).

The route information generation device 10 has a calculation function using, for example, a CPU (central processing unit). The route information generation device 10 includes a map image output unit 101, a route designation operation reception unit 102, a route information processing unit 103, a route image output unit 104, a moving object information acquisition unit 106, and a map information acquisition unit 107 as calculation function units. Be prepared.

The mobile object information acquisition unit 106 acquires mobile object information. Mobile object information is information that the receiving unit 12 receives from the mobile object 2. The moving object information includes the position, moving direction (progressing direction), and moving speed of the moving object 2. The mobile object information acquisition section 106 supplies the acquired mobile object information to the map image output section 101.

The map information acquisition unit 107 acquires map information from the map information storage unit 13. The map information acquisition unit 107 supplies the acquired map information to the map image output unit 101.

The map image output unit 101 indicates the position and traveling direction of the mobile body 2 on a map based on the mobile body information supplied from the mobile body information acquisition unit 106 and the map information supplied from the map information acquisition unit 107. A map image showing the moving object image 201 is generated. The map image output unit 101 outputs the generated map image to the display unit 11. As a result, a map image is displayed on the display unit 11.

FIG. 3 is a diagram showing an example of a map image according to this embodiment. The map image includes a moving object image 201, a direction display 202, an image of an obstacle 203, and a map or satellite photograph showing the topography around the moving object 2.
In the example shown in the figure, the obstacles 203 include an obstacle 203a, an obstacle 203b, and an obstacle 203c. In the following description, if these obstacles 203a, 203b, and 203c are not distinguished from each other, they will also be collectively referred to as obstacles 203.

Note that the mobile body 2 sequentially transmits the mobile body information at predetermined time intervals. The mobile body information acquisition unit 106 sequentially supplies the mobile body information sequentially received from the mobile bodies 2 to the map image output unit 101. The map image output unit 101 updates the map image displayed on the display unit 11 every time new mobile body information is supplied from the mobile body information acquisition unit 106.
Thereby, information indicating the current position, traveling direction, and moving speed of the moving body 2 is displayed on the display unit 11.

Furthermore, the moving object information acquisition unit 106 may store the moving object information sequentially received from the moving objects 2 in a moving object information storage unit (not shown). Thereby, the terminal device 1 can perform processing based on the moving route of the moving body 2 stored in the moving body information storage unit (for example, moving route management of the moving body 2, etc.).

Returning to FIG. 2, the route designation operation reception unit 102 receives the route designation operation detected by the operation detection unit 14.

FIG. 4 is a diagram illustrating an example of a route designation operation according to this embodiment. The route designation operation refers to the user referring to the map image displayed on the display unit 11, while avoiding obstacles 203 included in the map image, and navigating the mobile object 2 from the first point Ps (for example, the current position). This is an operation for specifying a route to move to a second point Pg (for example, a destination).

In this example, three obstacles 203, obstacles 203a to 203c, are shown in the map image. In this example, the obstacles 203a to 203c are, for example, marine obstacles such as aquaculture cages, fixed nets, and light buoys.
When the display unit 11 includes a touch panel, the user traces the trajectory of the moving body 2 while avoiding the three obstacles 203 by tracing the display unit 11 with the finger 204.
Note that instead of tracing the display unit 11 with the finger 204, the user may draw a trajectory for moving the moving object 2 while avoiding the three obstacles 203 using an operation device such as a mouse or a keyboard. Below, a case will be described in which the display section 11 includes a touch panel.

The operation detection unit 14 samples the coordinates on the display unit 11 touched by the finger 204 at predetermined time intervals. The operation detection unit 14 outputs the coordinates obtained by sampling to the route designation operation reception unit 102 in the order of acquisition (for example, in chronological order).

Returning to FIG. 2, the route designation operation reception unit 102 acquires the coordinates output by the operation detection unit 14 (that is, the coordinates traced by the user's route designation operation). The route designation operation reception unit 102 supplies information in which a group of coordinates obtained by a series of route designation operations are arranged in chronological order to the route image output unit 104 as route information 20.

The route information 20 is trajectory information composed of a group of points (also referred to as waypoints) obtained by the user tracing the display unit 11. That is, the route information 20 means that a route to move from the first point Ps to the second point Pg according to the constraint condition of avoiding the obstacles 203 connects the coordinate information of each point on the route in the order along the route. This is the information expressed by .

Here, the constraint conditions for avoiding the obstacle 203 include the topography on the map, the position and size of the obstacle, the width of the route (for example, the route) determined based on the size of the moving object 2, etc. .
That is, the constraint conditions include conditions based on the position of the obstacle and the permissible width of the route.

Note that the coordinate system of the map information and the coordinate system of the coordinate group obtained by the route designation operation may be different coordinate systems from each other. For example, the coordinate system of the map information is a global coordinate system (for example, the world geodetic system) that indicates the position on the earth, and the coordinate system of the coordinate group obtained by the route designation operation indicates the position on the display unit 11. This is the display unit coordinate system shown.
When the coordinate systems are different from each other in this way, the route designation operation reception unit 102 converts the coordinate system of the coordinate group obtained by the route designation operation into a coordinate system of map information.

Route information 20 may be managed in various formats. For example, the route information 20 may be in a format in which coordinate information (for example, latitude and longitude) of each point on the route is managed in a list format.

The route image output unit 104 can cause the display unit 11 to display two types of route images: a route image before information amount compression and a route image after information amount compression.
Here, the route image before information amount compression is an image of a trajectory based on the route information 20 generated by the route designation operation reception unit 102. In other words, the route image before the amount of information is compressed is a trajectory obtained by tracing the display unit 11 by the user. As described above, the route information 20 is information obtained by sampling the coordinates of the user's finger 204 on the display unit 11 at predetermined time intervals. Therefore, depending on the sampling time interval, the route information 20 may have an excessive amount of information as coordinate information for indicating the moving route of the mobile object 2.
The route image after information amount compression is an image of a trajectory based on the compressed route information 21 after the information amount of the route information 20 has been compressed.

(1) Display of route image before information amount compression The route image output unit 104 causes the display unit 11 to display a trajectory based on the route information 20 generated by the route designation operation reception unit 102. Thereby, the user can confirm the locus that he or she traced on the display section 11 (that is, the moving route of the mobile object 2) using the image displayed on the display section 11.

Here, the route designation operation reception unit 102 may determine whether the trajectory indicated by the route information 20 (that is, the movement route of the moving object 2) contacts or overlaps the obstacle 203. In this case, if the route designation operation reception unit 102 determines that the trajectory indicated by the route information 20 will come into contact with or overlap the obstacle 203, the route designation operation reception unit 102 may display a message on the display unit 11 to notify the user. may be requested to redo the routing operation.

(2) Display of route image after information content compression The route designation operation reception unit 102 supplies the generated route information 20 to the route information processing unit 103.
The route information processing unit 103 generates compressed route information 21 in which the amount of information is compressed for the route information 20 output by the route designation operation reception unit 102. The route information processing unit 103 supplies the generated compressed route information 21 to the route image output unit 104.

The route image output unit 104 causes the display unit 11 to display a route image indicated by the compressed route information 21 generated by the route information processing unit 103.

[Modified example (when map information is updated by user operation)]
The operation detection unit 14 may detect a map information update operation by a user. The map information update operation is an operation that registers a new obstacle 203 that is not included in the map information or changes the position or size of the obstacle 203 that is included in the map information.

In this case, the route information generation device 10 may include a map information update section 108. The map information update unit 108 updates the map information stored in the map information storage unit 13 based on the map information update operation detected by the operation detection unit 14.

[Modification (when updating map information based on information provided via network)]
Note that the latest map information may be provided via a network (eg, the Internet). In this case, the route information generation device 10 may include a network communication section (not shown). The map information update unit 108 updates the map information stored in the map information storage unit 13 based on the latest map information received by the network communication unit.

[Details of the function of the route information processing unit]
FIG. 5 is a diagram showing an example of the functional configuration of the route information processing unit 103 of this embodiment. The route information processing unit 103 includes a route information acquisition unit 1031, a route information compression unit 1032, a determination unit 1033, an output unit 1034, and a compression control unit 1035 as its functional units.

The compression control section 1035 controls each section of the route information acquisition section 1031, the route information compression section 1032, the determination section 1033, and the output section 1034.

The route information acquisition unit 1031 acquires the route information 20 supplied by the route designation operation reception unit 102.
The route information compression unit 1032 compresses the information amount of the route information 20 to generate compressed route information 21.
More specifically, the route information compression unit 1032 excludes the coordinate information of some points from among the coordinate information of a plurality of points included in the route information 20 acquired by the route information acquisition unit 1031 according to a predetermined degree of compression. By doing so, compressed route information 21 is generated by compressing the amount of information of route information 20.

FIG. 6 is a diagram showing an example of route information compression by the route information compression unit 1032 of this embodiment. The route information compression unit 1032 of this embodiment compresses the route information 20 using a predetermined compression algorithm (for example, the Douglas Peucker method). The Dougla Peucker method is a known route compression algorithm that uses an information amount compression threshold as a solo parameter, and is an example of a predetermined compression algorithm employed by the route information compression unit 1032.

By changing this compression threshold, the information amount of the compressed route information 21 and the precision of the route indicated by the compressed route information 21 can be changed. For example, when the compression threshold is relatively high, the amount of information in the compressed route information 21 decreases, and the precision of the route indicated by the compressed route information 21 decreases. Furthermore, when the compression threshold is relatively low, the amount of information in the compressed route information 21 increases, and the precision of the route indicated by the compressed route information 21 increases.
Note that the precision of the route refers to, for example, the degree of coincidence between the route set by the user (the route indicated by the route information 20 before compression) and the route indicated by the route information 21 after compression.

[A] in the same figure shows an example of the route information 20 before compression. In this example, the route information 20 indicates a route sequentially connecting intermediate points P1 to P10 as a route from the first point Ps to the second point Pg. The route information 20 includes coordinate information of 10 points indicating the coordinates of intermediate points P1 to P10, respectively. In this example, the route information 20 includes coordinate information of a total of 12 points: coordinate information of the first point Ps, coordinate information of the second point Pg, and coordinate information of 10 intermediate points Pn. ing.

Here, the compression method of the compression algorithm adopted by the route information compression unit 1032 of this embodiment will be explained.
(1) As shown in [A] of the same figure, regarding the given route information 20, the straight line connecting the starting point (first point Ps) and ending point (second point Pg) is set as the reference line Lb. .
(2) Find the distance Dt of the waypoint Pn with respect to the reference line Lb for each waypoint Pn. For example, the distance Dt1 is calculated for the waypoint P1. A distance Dt10 is calculated for the intermediate point P10.
(3) Find the intermediate point Pn with the largest distance Dt among the intermediate points Pn. In the example shown in [A] of the same figure, the distance Dt4 of the intermediate point P4 is the largest.
(4) Compare the magnitude of the distance Dt and the allowable distance ε for the intermediate point Pn (for example, the intermediate point P4) having the largest distance Dt. If the distance Dt is larger than the allowable distance ε, the intermediate point Pn (for example, the intermediate point P4) is left. In this example, the distance Dt4 of the intermediate point P4 is assumed to be greater than the allowable distance ε, and the intermediate point P4 is left as is.
Note that if the distance Dt is less than or equal to the allowable distance ε, the intermediate point Pn is deleted.
(5) Using the remaining intermediate point P4 as a dividing point, the area between the first point Ps and the intermediate point P4 is defined as the first section Sc1, and the area between the intermediate point P4 and the second point Pg is defined as the second section Sc2. do. A reference line Lb is set for each section Sc. For example, regarding the second section Sc2 between the intermediate point P4 and the second point Pg, a straight line connecting the intermediate point P4 and the second point Pg is set as the reference line Lb2 ([C] in the figure).
(6) Repeat (2) to (5) recursively until there is no intermediate point Pn for which the distance Dt is greater than the allowable distance ε for each section Sc.

According to the above-mentioned compression algorithm, if the allowable distance ε is made extremely large (that is, the degree of compression is made extremely high), the compressed route information 21 includes a starting point (first point Ps) and an ending point (first point Ps). Only the 2nd point Pg) remains. If the allowable distance ε is made small (that is, the degree of compression is made low), the number of intermediate points Pn corresponding to the allowable distance ε remains in the compressed route information 21.
That is, according to the above-described compression algorithm, the number of waypoints Pn remaining in the post-compression route information 21 can be changed by changing the degree of compression (eg, permissible distance ε).

[B] in the same figure shows an example of the compressed route information 21 when the compression threshold is set to the highest value. As a result of compressing the amount of information, this compressed route information 21 abstracts all of the coordinate information of intermediate points P1 to P10, and only contains coordinate information of two points, the first point Ps and the second point Pg. left behind.
In this example, the compressed route information 21 indicates a route connecting the first point Ps and the second point Pg with a straight line.

[C] in the figure shows an example of the post-compression route information 21 when the compression threshold is set lower than the compression threshold in [B] in the figure. In this compressed route information 21, as a result of compressing the amount of information, among the coordinate information of the intermediate points P1 to P10, the coordinate information of the intermediate point P4 is left and the others are abstracted, and the first point Ps, the second point Only the coordinate information of three points, point Pg and intermediate point P4, is left.
In this example, the compressed route information 21 includes a first section Sc1 that connects the first point Ps and the intermediate point P4 with a straight line, and a second section Sc2 that connects the intermediate point P4 and the second point Pg with a straight line. The route is indicated by

[D] in the figure shows an example of the post-compression route information 21 when the compression threshold is set even lower than the compression threshold in [C] in the figure. In this compressed route information 21, as a result of compressing the amount of information, among the coordinate information of intermediate points P1 to P10, coordinate information of intermediate point P4 and intermediate point P8 is left, the others are abstracted, and the first point Only the coordinate information of four points, Ps, second point Pg, intermediate point P4, and intermediate point P8, is left.
In this example, the compressed route information 21 includes a first section Sc11 that connects the first point Ps and the intermediate point P4 with a straight line, and a 21st section Sc21 that connects the intermediate point P4 and the intermediate point P8 with a straight line. , the route is indicated by a 22nd section Sc22 connecting the intermediate point P8 and the second point Pg with a straight line.

Returning to FIG. 5, the determining unit 1033 determines whether a route sequentially connecting a plurality of points included in the compressed route information 21 generated by the route information compressing unit 1032 satisfies the constraint condition.
The constraint condition here is a condition that the route indicated by the compressed route information 21 can avoid the obstacle 203.

The compression control unit 1035 changes the degree of compression based on the determination result by the determination unit 1033 and regenerates the post-compression route information 21.

The output unit 1034 outputs the compressed route information 21 when it is determined that the route indicated by the compressed route information 21 satisfies the constraint conditions.
As a result, the display unit 11 displays a route image of the travel route that satisfies the constraint conditions.

[Operation of terminal device 1]
Next, an example of the operation of the terminal device 1 will be described with reference to FIG. 7.
FIG. 7 is a diagram showing an example of the operation of the terminal device 1 of this embodiment.

(Step S110) The terminal device 1 causes the display unit 11 to display a map image (see FIG. 3).
(Step S120) The terminal device 1 accepts a route designation operation by the user (see FIG. 4).

(Step S130) The terminal device 1 generates route information 20 based on the route designation operation received in step S120 (see FIG. 6A). This route information 20 indicates a route from the first point Ps to the second point Pg while avoiding obstacles.
Note that the terminal device 1 may be configured to prompt the user to perform the route designation operation in step S120 again if the route indicated by the route information 20 does not avoid obstacles.

(Step S140) The terminal device 1 compresses the information amount of the route information 20 generated in step S130 to generate compressed route information 21.

FIG. 8 is a diagram showing an example of a compression operation by the route information processing unit 103 of this embodiment.
(Step S141) The route information acquisition unit 1031 acquires the route information 20, and supplies the acquired route information 20 to the route information compression unit 1032. The compression control unit 1035 sets the degree of compression (compression threshold) by the route information compression unit 1032 to a sufficiently large value.
(Step S142) The route information compression unit 1032 compresses the information amount of the route information 20 using the set compression threshold. As a result, as shown in FIG. 6B, coordinate information of only two points, the first point Ps and the second point Pg, remains in the compressed route information 21.
Note that here, the route image output unit 104 may display the route image indicated by the compressed route information 21 on the display unit 11.

FIG. 9 is a diagram showing an example of a route image when the degree of compression of this embodiment is sufficiently large. In the compressed route information 21, coordinate information of only two points, the first point Ps and the second point Pg, remains. In this case, as shown in the figure, the route indicated by the compressed route information 21 is a route 205b that connects the first point Ps and the second point Pg in a straight line.

(Step S143) The determination unit 1033 determines whether a route sequentially connecting a plurality of points included in the compressed route information 21 generated by the route information compression unit 1032 satisfies the constraint condition.
If the determining unit 1033 determines that the route collides with an obstacle (that is, the constraint is not satisfied) (step S143; YES), the process proceeds to step S144. If the determining unit 1033 determines that the route does not collide with an obstacle (that is, the constraint is satisfied) (step S143; NO), the process proceeds to step S145.

In the example shown in FIG. 9, the determination unit 1033 determines that the route 205b collides with the obstacles 203b and 203c, and therefore does not satisfy the constraint conditions. In this case, the compression control unit 1035 advances the process to step S144.

As described above, the constraint condition is a condition based on the position and size of the obstacle 203. The determination unit 1033 determines whether the route indicated by the compressed route information 21 collides with (interferences with) the obstacle 203 based on the position and size of the obstacle 203 .

Note that in determining the collision between the route and the obstacle 203, a margin (margin) may be given to the size of the obstacle.

FIG. 10 is a diagram illustrating an example of collision determination between a route indicated by the compressed route information 21 of this embodiment and an obstacle. Regarding the size of the obstacle 203, a margin m is given to the actual size of the obstacle. By giving the margin m to the size of the obstacle 203 in this way, when the moving object 2 actually moves based on the compressed route information 21, the actual moving route indicated by the compressed route information 21 can be changed. Even if there is a deviation from the moving route, collisions with obstacles can be avoided.

(Step S144) Returning to FIG. 8, the compression control unit 1035 changes the degree of compression based on the determination result by the determination unit 1033, returns the process to step S142, and regenerates the post-compression route information 21.

FIG. 11 is a diagram showing an example of a route image based on the compressed route information 21 in which the degree of compression of this embodiment is reduced. When the compression control unit 1035 lowers the compression threshold by a predetermined update width, as shown in FIG. , the first point Ps, the second point Pg, and the intermediate point P4.
In the example shown in FIG. 11, the route indicated by the compressed route information 21 includes a first section Sc1 connecting the first point Ps and the intermediate point P4, and a second section Sc2 connecting the intermediate point P4 and the second point Pg. A route 205c has the following.
Although the route 205c shown in the figure is able to avoid the obstacle 203c, it collides with the obstacle 203b. In this case, the determination unit 1033 determines that the route 205c does not satisfy the constraint conditions. In this case, the compression control unit 1035 further lowers and resets the compression threshold, and returns the process to step S142.

That is, the initial value of the degree of compression is set higher than the degree of compression of the route information 20 that is determined to satisfy the constraint conditions. The compression control unit 1035 lowers the degree of compression from the initial value and regenerates the post-compression route information 21.

Note that the initial value of the degree of compression may be set lower than the degree of compression of the route information 20 that is determined to satisfy the constraint conditions. In this case, the compression control unit 1035 increases the degree of compression from the initial value and regenerates the post-compression route information 21.

Note that in the example shown in FIG. 11, the obstacle can be avoided in the first section Sc1 of the route 205c, and the obstacle cannot be avoided in the second section Sc2.
In this way, whether or not the route is able to avoid obstacles may differ depending on the section Sc. The determination unit 1033 determines whether the constraint condition is satisfied for each section Sc.
Here, the section Sc refers to a part of the route into which the route is divided based on the number of points included in the compressed route information 21.
In this case, the compression control unit 1035 changes the degree of compression for the section for which the determination unit 1033 has determined that the constraint is not satisfied, and regenerates the post-compression route information 21.
For example, in the example shown in FIG. 11, the compression control unit 1035 changes the degree of compression for the second section Sc2 and regenerates the post-compression route information 21.

In other words, the determining unit 1033 determines whether the constraint condition is satisfied for each section into which the route is divided based on the number of points included in the compressed route information 21. Furthermore, the compression control unit 1035 changes the degree of compression for the section for which the determination unit 1033 has determined that the constraint condition is not satisfied, and regenerates the post-compression route information 21.

FIG. 12 is a diagram showing an example of a route image based on the compressed route information 21 in which the degree of compression of this embodiment is further reduced. When the compression control unit 1035 further lowers the compression threshold by a predetermined update width, the coordinate information of the intermediate point P4, intermediate point P6, and intermediate point P8 among the intermediate points Pn shown in FIG. The other points are abstracted, and only the coordinate information of five points, namely, the first point Ps, the second point Pg, the intermediate point P4, the intermediate point P6, and the intermediate point P8, is left in the compressed route information 21.
The route 205d shown in the figure can avoid all the obstacles 203 included in the map image. In this case, the determining unit 1033 determines that the route 205d does not satisfy the constraint conditions. In this case, the compression control unit 1035 determines the post-compression route information 21 and outputs the determined post-compression route information 21 from the output unit 1034.
As a result, the display unit 11 displays a route based on the determined compressed route information 21 (that is, a route in which the amount of information is compressed and can avoid obstacles).

It has been described that the compression control unit 1035 changes the degree of compression and regenerates the compressed route information 21 for the section for which the determination unit 1033 determines that the constraint condition is not satisfied, but the present invention is not limited to this. If there is a section for which the determining section 1033 has determined that the constraint condition is not satisfied, the compression control section 1035 changes the degree of compression for the plurality of sections (or all sections) and regenerates the compressed route information 21. You may let them.

Note that the compression control unit 1035 may display the route confirmation button 31 on the display unit 11. In this case, the compression control unit 1035 determines the compressed route information 21 when the user operates the route determination button 31.
Further, the terminal device 1 may transmit the determined compressed route information 21 to the mobile body 2 via a transmitter (not shown).

Further, the initial value of the compression threshold and the update width of the compression threshold depend on the actual field situation, the size of the unmanned mobile device, and the like. The compression control unit 1035 may acquire the accuracy of the map information, the weather conditions/sea conditions of the area indicated by the map information, the size of the moving body 2, etc., and set the initial value and update width of the compression threshold.

As described above, the initial value of the degree of compression (compression threshold) set by the compression control unit 1035 is set higher than the degree of compression of the route information 20 that is determined to satisfy the constraint conditions.
With this configuration, the compression control unit 1035 sets the compression threshold relatively high to relatively reduce the amount of information of the compressed route information 21, while improving the precision of the route indicated by the compressed route information 21. The compression threshold can be set so that it does not fall too low.

[Modified example]
FIG. 13 is a diagram showing a first modification of the route constraint according to this embodiment.
As shown in the figure, although information on the position of the obstacle 203 is provided, information on the size of the obstacle 203 may not be provided. In such a case, the compression control unit 1035 may set the compression threshold (permissible distance ε) based on the radius r depending on the size of the moving body 2.
With this configuration, the route information generation device 10 can generate the compressed route information 21 indicating a route that is unlikely to collide with the obstacle 203 even if information on the size of the obstacle 203 is not provided. can be generated. In other words, the route information generation device 10 can generate the compressed route information 21 that achieves both reduction in the amount of information and precision of the route.

[Modified example (when updating map information based on obstacle information received from a moving object)]
FIG. 14 is a diagram showing a second modification of the route constraint according to this embodiment.
The position and size of the obstacle indicated by the route information given to the moving object 2 may differ from the actual position and size of the obstacle 403. In this case, if the moving object 2 moves based on the given route information, there is a risk that it will collide with an actual obstacle 403. Therefore, the moving object 2 detects the obstacle 403 using a device such as a radar, lidar, sensor, or camera, and autonomously takes actions such as changing the route to avoid the obstacle 403, reducing the moving speed, or stopping the object. It may have the ability to control.

In such a case, the mobile object 2 may transmit the obstacle information to the terminal device 1. Obstacle information is information indicating the position and size of the actual obstacle 403 observed by the mobile object 2. In this case, the receiving unit 12 of the mobile body 2 receives obstacle information from the mobile body 2 in addition to the mobile body information.

In the case of a configuration in which the mobile body 2 transmits obstacle information, the route information generation device 10 may include an obstacle information acquisition unit 105.
Obstacle information acquisition section 105 acquires obstacle information transmitted by mobile object 2 . The obstacle information includes information indicating the position and size of the obstacle observed by the mobile object 2.
The map information update unit 108 updates the map information based on the information on the position of the obstacle 203 indicated by the obstacle information acquired by the obstacle information acquisition unit 105.

Furthermore, the map information updating unit 108 may update the map information based on the result of movement of the mobile object 2. The moving body 2 moves while avoiding actual obstacles 403. Therefore, information on the route traveled by the mobile object 2 includes information on the amount of deviation d between the given travel route and the route traveled autonomously (that is, information indicating the actual position and size of the obstacle 403). )It is included.
The obstacle information acquisition unit 105 acquires information on the position of the obstacle 203 obtained as a result of the movement of the moving object based on the route information 20.
The obstacle information acquisition unit 105 supplies the acquired obstacle information to the map information update unit 108.
The map information update unit 108 updates the map information based on the information on the position of the obstacle 203 acquired by the obstacle information acquisition unit 105.
According to the route information generation device 10 configured in this way, the accuracy and freshness of map information can be automatically improved.

Furthermore, as this can reduce the amount of route information, for example, it will help achieve Goal 9 of the Sustainable Development Goals (SDGs) led by the United Nations: Build resilient infrastructure, promote sustainable industrialization, and promote innovation. It will be possible to contribute to the expansion of the

Although the embodiment of the present invention has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes and the like may be made without departing from the gist of the present invention.

A computer program for realizing the functions of each device described above may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read and executed by a computer system. Note that the "computer system" here may include hardware such as an OS and peripheral devices.
Furthermore, "computer-readable recording media" refers to flexible disks, magneto-optical disks, ROMs, writable non-volatile memories such as flash memory, portable media such as DVDs (Digital Versatile Discs), and media built into computer systems. A storage device such as a hard disk.

Furthermore, "computer-readable recording medium" refers to volatile memory (for example, DRAM (Dynamic It also includes those that retain programs for a certain period of time, such as Random Access Memory).
Further, the program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in a transmission medium. Here, the "transmission medium" that transmits the program refers to a medium that has 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.
Moreover, the above program may be for realizing a part of the above-mentioned functions. Furthermore, 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... Terminal device, 2... Mobile object, 10... Route information generation device, 11... Display unit, 12... Receiving unit, 13... Map information storage unit, 14... Operation detection unit, 101... Map image output unit, 102... Route Specification operation reception unit, 103... Route information processing unit, 1031... Route information acquisition unit, 1032... Route information compression unit, 1033... Determination unit, 1034... Output unit, 1035... Compression control unit, 104... Route image output unit, 105 ... Obstacle information acquisition unit, 106... Moving object information acquisition unit, 107... Map information acquisition unit, 108... Map information update unit

Claims (8)

Obtain route information in which a route to move from a first point to a second point according to constraints for avoiding obstacles is expressed by connecting coordinate information of each point on the route in the order along the route. A route information acquisition unit;
Among the coordinate information of a plurality of points included in the route information acquired by the route information acquisition unit, the amount of information of the route information is reduced by excluding the coordinate information of some points by a predetermined degree of compression. a route information compression unit that generates compressed route information;
a determination unit that determines whether a route sequentially connecting a plurality of points included in the compressed route information generated by the route information compression unit satisfies the constraint condition;
a compression control unit that changes the degree of compression and regenerates the post-compression route information based on a determination result by the determination unit;
an output unit that outputs the compressed route information when it is determined that the route indicated by the compressed route information satisfies the constraint condition;
A route information generation device comprising: The initial value of the degree of compression is higher than the degree of compression of the route information that is determined to satisfy the constraint condition,
The route information generation device according to claim 1, wherein the compression control unit lowers the degree of compression than the initial value and regenerates the compressed route information. The determination unit determines whether the constraint condition is satisfied for each section into which the route is divided based on the number of points included in the compressed route information;
The compression control unit changes the degree of compression for the section for which the determination unit determines that the constraint condition is not satisfied, and regenerates the post-compression route information. Route information generation device. The route information generation device according to any one of claims 1 to 3, wherein the constraint condition is a condition based on the position and size of the obstacle. The route information generation device according to any one of claims 1 to 4, wherein the constraint condition is a condition based on a position of the obstacle and an allowable width of the route. an obstacle information acquisition unit that acquires information on the position of an obstacle obtained as a result of the movement of the moving object based on the route information;
a map information update unit that updates the constraint condition based on information on the position of the obstacle acquired by the obstacle information acquisition unit;
The route information generation device according to any one of claims 1 to 5. Route information in which a route along which a computer moves from a first point to a second point according to constraints for avoiding obstacles is expressed by connecting coordinate information of each point on the route in the order along the route. and
The computer compresses the information amount of the route information by excluding the coordinate information of some points from the coordinate information of a plurality of points included in the acquired route information according to a predetermined degree of compression. generating compressed route information;
a computer determining whether a route sequentially connecting a plurality of points included in the generated compressed route information satisfies the constraint condition;
The computer changes the degree of compression based on the result of the determination and regenerates the post-compression route information;
outputting the compressed route information when the computer determines that the route indicated by the compressed route information satisfies the constraint;
A route information generation method having the following. to the computer,
Obtain route information in which a route to move from a first point to a second point according to constraints for avoiding obstacles is expressed by connecting coordinate information of each point on the route in the order along the route. And,
After compression, the amount of information of the route information is compressed by excluding the coordinate information of some points according to a predetermined degree of compression among the coordinate information of a plurality of points included in the acquired route information. generating route information;
determining whether a route sequentially connecting a plurality of points included in the generated compressed route information satisfies the constraint;
changing the degree of compression based on the result of the determination and regenerating the post-compression route information;
outputting the compressed route information when it is determined that the route indicated by the compressed route information satisfies the constraint condition;
A program to run.

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