3D TRANSPORTATION ROUTE SEARCH DEVICE AND 3D TRANSPORTATION ROUTE SEARCH METHOD

To provide a 3D transportation route search device capable of performing route search with high accuracy.SOLUTION: A 3D transportation route search device includes: a database 102 for storing extended transportation route information 207 on an extended movement route obtained by giving a first width based on a position error of a moving object to a transportation route of the moving object and information on a 3D map 204 including information on a size of an obstacle; and a transportation route search unit for generating a 3D transportation route in which the moving object and a transportation object do not collide with the obstacle based on the extended transportation route information 207 and the information of the 3D map 204 stored in the database 102.SELECTED DRAWING: Figure 2 【課題】精度の高い経路探索を行うことができる３次元搬送経路探索装置の提供。【解決手段】３次元搬送経路探索装置は、移動物の移動経路に該移動物の位置誤差に基づく第１の幅を付与して得られる拡張移動経路に関する拡張搬送経路情報２０７、および、障害物の大きさの情報を含む３次元地図２０４の情報を記憶するデータベース１０２と、データベース１０２に記憶された拡張搬送経路情報２０７および３次元地図２０４の情報に基づいて、移動物および搬送物が障害物と衝突しない３次元搬送経路を生成する搬送経路探索部と、を備える。【選択図】図２