Route generation device, moving body, and program
AssigneesMicware Co., Ltd., Imics. Inc.
InventorHiroaki Sekiyama
Life of this patent
Estimating the term…
Abstract
A route generation device includes: an acquisition portion configured to acquire object data; and a controller configured to set a travel route of a moving body. The controller is configured to define a virtual space corresponding to a predetermined real space including a moving range for the moving body, manage a plurality of regions that the virtual space is divided into, the plurality of divided regions each having a predetermined three-dimensional shape, place the object in the virtual space, set a region that overlaps the object among the plurality of divided regions as a no-go zone where the moving body is not allowed to pass, and set a region that does not overlap the object among the plurality of divided regions as an available zone where the moving body is allowed to move.
Claims8
A route generation device for generating a travel route of a moving body, the route generation device comprising:
- an acquisition portion configured to acquire object data indicating a shape of an object;
- and
- a controller configured to set the travel route of the moving body based on the object data, wherein
- the controller is configured to
- define a virtual space corresponding to a predetermined real space including a moving range for the moving body,
- divide the virtual space into a plurality of regions, the plurality of divided regions each having a predetermined three-dimensional shape,
- place the object in the virtual space by associating a three-dimensional coordinate system of the object with a three-dimensional coordinate system of the virtual space,
- set a region out of the plurality of divided regions in the virtual space that overlaps the object among the plurality of divided regions as a no-go zone where the moving body is not allowed to pass, and
- set a region out of the plurality of divided regions in the virtual space that does not overlap the object among the plurality of divided regions as an available zone where the moving body is allowed to move,
- wherein each of the plurality of divided regions in the virtual space is set to have a size equal to or larger than a size of the moving body and smaller than a size of the object.
A moving body that moves along a travel route, the moving body comprising:
- a position detector configured to detect a current location of the moving body;
- a driver configured to move the moving body;
- and
- a controller configured to control the driver based on the current location and the travel route, wherein
- the travel route is set by specifying a divided region in an available zone in a virtual space defined corresponding to a predetermined real space including a moving range for the moving body, the virtual space being divided into a plurality of regions each having a predetermined three-dimensional shape, and having an object placed therein by associating a three-dimensional coordinate system of the object with a three-dimensional coordinate system of the virtual space, each of the plurality of divided regions being set as a no-go zone where the moving body is not allowed to pass or as the available zone where the moving body is allowed to pass,
- wherein each of the plurality of divided regions in the virtual space is set to have a size equal to or larger than a size of the moving body and smaller than a size of the object.
A non-transitory computer-readable recording medium storing a program for generating a travel route of a moving body, the program causing a computer to execute:
- defining a virtual space corresponding to a predetermined real space including a moving range for the moving body;
- dividing the virtual space into a plurality of regions, the plurality of divided regions each having a predetermined three-dimensional shape;
- placing an object in the virtual space by associating a three-dimensional coordinate system of the object with a three-dimensional coordinate system of the virtual space;
- setting a region out of the plurality of divided regions in the virtual space that overlaps the object among the plurality of divided regions as a no-go zone where the moving body is not allowed to move;
- setting a region out of the plurality of divided regions in the virtual space that does not overlap the object among the plurality of divided regions as an available zone where the moving body is allowed to move;
- and
- setting the travel route by specifying the divided region in the available zone,
- wherein each of the plurality of divided regions in the virtual space is set to have a size equal to or larger than a size of the moving body and smaller than a size of the object.
Dependencies are inferred from the claim text.