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Title:
TRAVELING ROUTE CREATION METHOD, AUTONOMOUS TRAVELING DEVICE, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2018/043180
Kind Code:
A1
Abstract:
A traveling route that allows an autonomous traveling device 100 to travel evenly in a specific area is easily and accurately created. A traveling route creation method according to the present invention comprises: a step S41 for creating an environmental map as an aggregate of a plurality of cells; a step S42 for defining a travel area TA on the environmental map; a step S43 for dividing the travel area TA into rectangular areas RA; a step S44 for determining a starting cell SC of an intra-rectangular-area path; a step S45 for combining a straight travel path and a direction change path with each other and generating the intra-rectangular-area path in the rectangular area RA such that the autonomous traveling device passes through all of the cells included in the rectangular area RA; and steps S46-S48 for generating the intra-travel-area path by connecting, by a connection path, an end-point cell EC of the intra-rectangular-area path with the starting cell SC of the rectangular area RA to be subsequently traveled.

Inventors:
SHITAMOTO, Hideo (136, Takeda Mukaishiro-cho, Fushimi-ku, Kyoto-sh, Kyoto 86, 〒6128686, JP)
NAKANO, Tsuyoshi (136, Takeda Mukaishiro-cho, Fushimi-ku, Kyoto-sh, Kyoto 86, 〒6128686, JP)
Application Number:
JP2017/029788
Publication Date:
March 08, 2018
Filing Date:
August 21, 2017
Export Citation:
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Assignee:
MURATA MACHINERY, LTD. (3 Minami Ochiai-cho, Kisshoin Minami-ku, Kyoto-sh, Kyoto 26, 〒6018326, JP)
International Classes:
A47L11/40; A47L9/28; A47L11/162; A47L11/283; A47L11/30; G05D1/02
Domestic Patent References:
WO2003040846A12003-05-15
Foreign References:
JPH0816241A1996-01-19
JP2009165823A2009-07-30
Attorney, Agent or Firm:
SHINJYU GLOBAL IP (South Forest Bldg, 1-4-19 Minamimori-machi, Kita-ku, Osaka-sh, Osaka 54, 〒5300054, JP)
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