Movement control system, movement control device, and computer-implemented program for movement control

1. A movement control system comprising:

an environmental map storing unit;

one or more memories storing instructions;

one or more hardware processors executing the instructions to perform operations comprising:

generating first map information indicating a distribution of existence states related to a possibility of existence of a physical object on the basis of a position of the physical object measured by a measurement unit;

generating, based on the first map information, second map information classified in accordance with a duration time of the existence state;

storing the first and second map information in the environmental map storing unit;

maintaining clock time information indicating clock times at which existence states are updated for predetermined element spaces, when the existence state of the physical object remains unchanged;

updating the clock time information to clock time information indicating a clock time related to a change when the existence state of the physical object is changed;

determining a first movement path based on the first map information and the second map information; and

controlling movement of a robot based on the first movement path.

2. The movement control system according to claim 1 , wherein the second map information includes existence information indicating the existence state for each predetermined element space.

3. The movement control system according to claim 2 , wherein the existence information includes accuracy information indicating accuracy of presence or absence of the physical object.

4. The movement control system according to claim 1 , wherein, when stored map information indicating the existence state of the physical object for each of N (N is an integer greater than or equal to 2) duration times during which the existence state is maintained is generated, the operations further comprise generating stored map information of an (n+1)th duration time (n is an integer of 1 to N−1), which is a next duration time longer than an nth duration time, on the basis of stored map information of the nth duration time.

5. The movement control system according to claim 1 , wherein the first movement path comprises a path from a departure spot to a target spot with reference to the second map information.

6. The movement control system according to claim 5 , wherein the operations further comprise:

generating long-period map information indicating the existence state of a physical object whose duration time is greater than or equal to a first period, and

generating a second movement path with reference to the long-period map information.

7. The movement control system according to claim 6 , wherein the operations further comprise:

generating medium-period map information indicating the existence state of a physical object whose duration time is greater than or equal to a second period and is less than the first period, and

determining presence or absence of an interference section, which is a section in which a physical object of the first movement path exists, with reference to the medium-period map information; and

generating a third movement path for avoiding the interference section with reference to the medium-period map information when the interference section occurs.

8. The movement control system according to claim 7 , wherein the operations further comprise:

generating short-period map information indicating the existence state of a physical object whose duration time is less than the second period;

determining presence or absence of an interference section, which is a section in which a physical object exists in the first movement path, with reference to the short-period map information; and

degrading a movement speed in the interference section of the first movement path when the interference section occurs.

9. The movement control system according to claim 1 , comprising:

a movement environment map information acquiring unit configured to acquire movement environment map information indicating a distribution of movement environments of the robot.

10. The movement control system according to claim 9 , wherein the movement environment map information includes anisotropic information indicating anisotropy related to the movement environment of the robot.

11. The movement control system according to claim 9 , wherein the movement environment map information includes change information indicating a change situation of the existence state of the physical object for each predetermined element space.

12. The movement control system according to claim 11 , wherein:

the operations further comprise generating stored map information indicating the existence state for a predetermined duration time during which the existence state remains unchanged; and

the movement environment map information acquiring unit generates the change information for each predetermined element space on the basis of the stored map information.

13. A movement control system comprising:

a movement environment map information acquiring unit configured to acquire movement environment map information indicating a distribution of movement environments of a robot;

an environmental map storing unit;

one or more memories storing instructions; and

one or more hardware processors executing the instructions to perform operations comprising:

generating map information indicating a distribution of existence states related to a possibility of existence of a physical object on the basis of a position of the physical object measured by a measurement unit;

storing the map information in the environmental map storing unit;

maintaining clock time information indicating clock times at which the existence states are updated for predetermined element spaces, when the existence state of the physical object remains unchanged;

updating the clock time information to clock time information indicating a clock time related to a change when the existence state of the physical object is changed;

determining a movement path based on the map information; and

controlling movement of a robot based on the movement path.

14. The movement control system according to claim 13 , wherein the movement environment map information includes anisotropic information indicating anisotropy related to the movement environment of the robot.

15. The movement control system according to claim 13 , wherein the movement environment map information includes change information indicating a change situation of the existence state of the physical object for each predetermined element space.

16. The movement control system according to claim 15 , wherein the movement environment map information acquiring unit generates the change information for each predetermined element space on the basis of stored map information indicating the existence state for a predetermined duration time during which the existence state is maintained.

17. A non-transitory computer-readable storage medium that stores instructions which, when executed by a computer, cause the computer to perform operations comprising:

generating first map information indicating a distribution of existence states related to a possibility of existence of a physical object on the basis of a position of the physical object measured by a measurement unit;

generating second map information classified in accordance with a duration time of the existence state on the basis of the first map information;

storing the first and second map information;

maintaining clock time information indicating clock times at which existence states are updated for predetermined element spaces, when the existence state of the physical object remains unchanged;

updating the clock time information to clock time information indicating a clock time related to a change when the existence state of the physical object is changed;

determining a movement path based on the first and second map information; and

controlling movement of a robot based on the movement path.

18. A non-transitory computer-readable storage medium storing instructions which, when executed by a computer, cause the computer to perform operations comprising:

generating map information indicating a distribution of existence states related to a possibility of existence of a physical object on the basis of a position of the physical object measured by a measurement unit;

storing the map information;

maintaining clock time information indicating clock times at which existence states are updated for predetermined element spaces, when the existence state of the physical object remains unchanged;

updating the clock information to clock time information indicating a clock time related to a change when the existence state of the physical object is changed;

determining a movement path based on the map information;

controlling movement of a robot based on the movement path; and

acquiring movement environment map information indicating a distribution of movement environments of the robot.