JP2017211398A - Map information generator and map information generation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique capable of accurately identifying a relative relation between a narrow area map and a wide area map.SOLUTION: The map information generator includes: a narrow area map creation part that creates a narrow area map using a piece of distance information in plural directions, which is obtained by using a distance sensor; a wide area map acquisition part that acquires a wide area map which is an area map wider than the range of the narrow area map; a collation section that collates a position and a rotation angle of the narrow area map on the wide area map acquired by the wide area map acquisition part; and a narrow area map storage part that stores a piece of information of the position and the rotation angle collated by the collation section while associating with each narrow area map.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technology of a map information generation device and a map information generation method.

  As a background art in this technical field, there is JP 2009-128454 A (Patent Document 1). This gazette includes a “partial map data storage means for storing data in a storage device for each partial map, a first position information detection means for detecting position information of the area of the partial map displayed on the display, a display Second position information detecting means for detecting position information of the region area of the background screen of the container, and a screen portion occupied in the background screen by the partial map relating to the data read from the storage device, the first and second A map management apparatus comprising map display means for pasting and displaying at a position calculated based on position information detected by the position information detection means. "

JP 2009-128454 A

  In the above technique, when the position information is not included in the partial map, the position on the background screen cannot be accurately grasped, and it is necessary to manually edit and have the position information.

  An object of the present invention is to provide a technique for identifying the relative relationship between a narrow area map and a wide area map with higher accuracy.

  The present application includes a plurality of means for solving at least a part of the above-described problems. Examples of such means are as follows. In order to solve the above problems, a map information generating apparatus according to the present invention includes a narrow area map creating unit that creates a narrow area map using distance information in a plurality of directions obtained using a distance sensor, and A wide area map acquisition unit that acquires a wide area map that is a map of a wider area than a range; a verification unit that collates the position and rotation angle of the narrow map on the wide area map acquired by the wide area map acquisition unit; and the verification unit And a narrow area map storage unit that stores information on the position and rotation angle collated with each other in association with each narrow area map.

  According to the present invention, it is possible to identify the relative relationship between a narrow area map and a wide area map with higher accuracy. Problems, configurations, and effects other than those described above will be clarified by the following description of embodiments.

It is a figure which shows the structural example of the map information generation apparatus which concerns on embodiment of this invention. It is a figure which shows the data structure of a narrow map storage part. It is a figure which shows the hardware structural example of a map information generation apparatus. It is a figure which shows the example of creation of a narrow map. It is a figure which shows the example of creation of a narrow map. It is a figure which shows the flow of a collation process. It is a figure which shows the process example of a collation process. It is a figure which shows the example of calculation of a detailed position and a rotation angle. It is a figure which shows the flow of a map display change process.

  FIG. 1 is a configuration example of a map information generating apparatus 1 according to an embodiment of the present invention. The map information generation device 1 can create a planar map using distance information obtained from a measuring instrument by a distance sensor. Moreover, the map information generation apparatus 1 can specify the position and direction (direction or rotation angle) corresponding to the narrow area map on the wide area map. Further, the map information generating apparatus 1 can display a narrow area map superimposed on a corresponding position on the wide area map using the specified position and orientation.

  The map information generation device 1 includes a collation unit 4, a narrow area map creation unit 5, a narrow area map storage unit 6, a wide area map position calculation unit 7, and a display processing unit 8. The collation unit 4 implements a narrow area map creation function, a position identification function, and a wide area map position detection function that the map information generation device 1 has.

  In the present embodiment, the map information generating apparatus 1 uses a laser distance sensor 2 as a distance sensor. The map information generation device 1 acquires distance information from a distance sensor in a plurality of directions (for example, a full angle, a half circle, or a predetermined angle related to a predetermined range of about 180 degrees to 270 degrees by the 360 degree method). The laser distance sensor 2 measures the distance to surrounding objects by laser irradiation, but the distance sensor is not limited to this, and the distance to surrounding objects can be measured by various methods. Anything is acceptable.

  In the present embodiment, the map information generation device 1 acquires wide area map information from the wide area map providing device 3. The map information generation device 1 is, for example, a server that provides map information in a predetermined range to an external device, a device that provides a website that presents map information, or the like.

  As shown in FIG. 1, the map information generating apparatus 1 receives as input the distance information measured by the laser distance sensor 2 and the wide area map information output from the wide area map providing apparatus 3.

  The collation unit 4 uses distance data as an input, and associates distances in a predetermined direction acquired at a plurality of positions, and acquires the information as information for creating a narrow map. The narrow area map creation unit 5 receives the information from the collation unit 4 and plots the narrow area map by plotting it at the distance position. The information on the drawn narrow area map is stored in the narrow area map storage section 6 by the narrow area map creating section 5. Moreover, the collation part 4 serves as the wide area map acquisition part which acquires the wide area map which is a wide area map rather than the range of a narrow area map.

  FIG. 2 is a diagram illustrating a data structure of the narrow map storage unit 6. The narrow area map storage unit 6 includes a reference map 6a, a large area 6b, a middle area 6c, a small area 6d, a latitude / longitude 6e, a rotation angle 6f, and a narrow area map identifier 6g.

  The reference map 6 a is information that identifies the origin of the wide area map provided by the wide area map providing device 3. For example, it is information that specifies the URL (Uniform Resource Locator) of the reference map 6a map providing website, the version information of the map database, and the like.

  The large area 6b is information for specifying a predetermined area. For example, the large area 6b is information for specifying a country, continent, or island level area.

  The middle region 6c is information for specifying a predetermined region obtained by subdividing the region included in the large region. For example, the middle area 6c is information for specifying an area managed by a local government such as a local area, state, or prefecture.

  The small area 6d is information for specifying a predetermined area obtained by subdividing the area included in the middle area. For example, the small area 6d is information for specifying an area managed by a local government such as a municipality.

  The latitude / longitude 6e is coordinate information for specifying a point. In this embodiment, it is the coordinate information of the representative point about the position where a building exists especially.

  The rotation angle 6f is information for specifying a rotation angle with respect to the reference map 6a. In the present embodiment, in particular, the information indicates the rotation angle of the narrow map matched at the position where the building exists.

  The narrow area map identifier 6 g is information for identifying the narrow area map information created by the narrow area map creating unit 5.

  In this manner, the narrow area map storage unit 6 can store information on the position and rotation angle on the corresponding wide area map in association with each narrow area map.

  The wide area map position calculation unit 7 changes the coordinate position and the rotation angle of the building indicated in the narrow area map and the building included in the wide area map using the information of the narrow area map and the wide area map. Compare. If they are similar as a result of the comparison, the wide area map position calculation unit 7 specifies the position and rotation angle information as the wide area map position, and stores the information in association with the narrow area map.

  The display processing unit 8 displays the narrow area map created by the narrow area map creating unit 5 or the narrow area map stored in the narrow area map storage unit 6 superimposed on the wide area map provided from the wide area map providing device 3. Control the processing to be performed. The display processing unit 8 performs screen output using the output data.

  FIG. 3 is a diagram illustrating a hardware configuration example of the map information generation device 1. The map information generation device 1 is typically a personal computer device, but is not limited thereto, and may be an electronic information terminal such as a server device, a mobile phone terminal, a tablet terminal, or a PDA (Personal Digital Assistant). Further, the map information generating device 1 does not directly access the wide area map providing device 3 on the network, but accesses it via a communication network by circuit switching such as a mobile phone carrier or a wireless communication network for data transmission. You may do.

  The map information generating apparatus 1 includes a display device 201, an input device 202, an auxiliary storage device 203, a CPU (Central Processing Unit) 204, a ROM (Read Only Memory) 205, a RAM (Random Access Memory) 206, The communication apparatus 207 is configured to include a bus connecting them.

  The CPU 204 is a unit that executes various calculations. The CPU 204 executes various processes by executing a predetermined program loaded into the RAM 206 from the auxiliary storage device 203 or the like.

  The RAM 206 stores a program executed by the CPU 204, data necessary for executing the program, and the like.

  The auxiliary storage device 203 is a non-volatile storage device such as a so-called hard disk drive (Shard Disk Drive), SSD (Solid State Drive), or flash memory that can store digital information.

  The display device 201 is a device that generates output information including a display, a printer, or a speaker that is an audio output device. The display includes, for example, a CRT display, an LCD (Liquid Crystal Display), an organic EL (Electro-Luminescence) display, and the like.

  The input device 202 is a device that receives input information including a pointing device such as a keyboard and a mouse, or a microphone that is a voice input device.

  The ROM 205 stores a program executed by the CPU 204 and data necessary for executing the program in a readable manner. For example, the ROM 205 is a device that reads information from a portable storage medium having portability such as a CD-ROM.

  The communication device 207 is a NIC (Network Interface Card) for connecting to a network or the like.

  The collation unit 4, the narrow area map creation unit 5, and the wide area map position calculation unit 7 are realized by a program that causes the CPU 204 to perform processing. This program is stored in the auxiliary storage device 203, the RAM 206, or a portable storage medium read by the ROMs 2 and 05, loaded onto the RAM 206 for execution, and executed by the CPU 204.

  The narrow map storage unit 6 is realized by the RAM 206 and the auxiliary storage device 203. Alternatively, the created narrow area map may be stored in the ROM 205 to constitute a part of the narrow area map storage unit 6.

  The above is the hardware configuration example of the map information generation device 1 in the present embodiment. However, the configuration is not limited to this, and other hardware may be used. For example, it is connected to a network such as the Internet, LAN, WAN, etc., and receives and integrates the information of the laser distance sensor 2 and the narrow area map, etc. inputted in a plurality of devices, and expands the display area of the narrow area map. There may be.

  In addition, each narrow area map information stored in the narrow area map storage unit 6 is obtained by collecting information stored in other server devices connected to the network or an external storage device and integrating the information. Alternatively, it may be updated by receiving data transmission from a related party at a predetermined timing.

  [Explanation of Operation] Next, the mechanism of the operation of the map information generation apparatus 1 according to this embodiment by the narrow area map creation process will be described with reference to FIGS.

  4 and 5 are diagrams showing an example of creating a narrow map. More specifically, FIG. 4 (a) is a top view of a target area for creating a narrow area map as viewed from above. Here, it is assumed that there are a plurality of obstacles in the outer wall of the building 10, and the points where the map information generating device 1 performs measurement include different points a, b, and c, respectively. FIG. 4B shows the measurement result at the start of measurement (point a). In FIG. 4 (b), the map information generating device 1 is arranged at a point a, and lasers in a plurality of directions measured radially by a laser distance sensor 2 connected to the map information generating device 1 in a range of 270 degrees around. The point of the distance obtained from the measurement result is shown. The narrow area map creation unit 5 records the point in the narrow area map storage unit 6 assuming that there is an obstacle at the point. When this is visualized on the geometric drawing, a part of the outline of the obstacle indicated by a thick solid line is obtained on the drawing.

  FIG. 4C illustrates the distance measurement result by the laser distance sensor 2 at the point b. When the map information generating device 1 moves to the point b shown in FIG. 4A, the laser distance sensor 2 again measures the distance to surrounding objects. As shown in FIG. 4C, distance data in a plurality of directions indicated by arrows radially from the point b can be obtained. The collation unit 4 compares the distance data with the narrow area map including the obstacle information at the point a recorded in FIG. 4B and stored in the narrow area map storage unit 6. At this time, the exact position of the point b cannot be specified.

  In the comparison processing by the collation unit 4, the collation unit 4 specifies a position and an angle at which the distance data of the arrow and the map data of the solid line partially overlap as shown in FIG. The collation unit 4 overlaps the distance data based on the position and angle obtained as a result, and as shown by a thick broken line shown in FIG. 4C, the obstacle not specified in FIG. Is added as obstacle information to the narrow map using the distance data. FIG. 5D is a diagram showing a narrow area map obtained by combining the distance data at the points a and b.

  Similarly, FIG. 5 (e) is an extension of the geographic range included in the narrow map using the distance data measured at the point c in FIG. 4 (a). Thus, the narrow area map creating unit 5 creates a narrow area map by extending the geographical range using the distance data measured at a plurality of points.

  The narrow area map created by measuring so as to cover the entire measurement target area using the laser distance sensor 2 is stored in the narrow area map storage section 6 by the narrow area map creating section 5. The

  The above is the mechanism of the operation by the narrow area map creation process of the map information generation device 1 in the present embodiment. In addition, the collation unit 4 may perform processing such as noise removal and clarification on the narrow area map drawn by the stippling. For example, the boundary line may be clarified by performing a sharpening process after performing a Gaussian blur process and leveling.

  Next, the mechanism of the operation by the position identification process of the map information generation device 1 in this embodiment will be described. In the position identification process, the collation unit 4 collates one of the narrow area maps stored in the narrow area map storage unit 6 with the distance data acquired by the laser distance sensor 2, and the position and angle at which the distance information substantially matches. Is a process for identifying the position and rotation angle of the laser distance sensor 2 in the narrow map. By the position identification process, it is possible to specify an accurate measurement position in the narrow area map creating process, and as a result, it can be said that the narrow area map can be accurately created. Although the position identification process is expressed as a function for identifying the position and angle of the distance sensor, it is a matter of course to identify the position and angle of a vehicle, a mobile robot, etc. equipped with the distance sensor. There may be.

  Next, the mechanism of the operation | movement by the collation process of the map information generation apparatus 1 in this embodiment is demonstrated using FIG.

  FIG. 6 is a diagram illustrating a flow of the collation process. The collation process is a process in which the wide area map position calculation unit 7 identifies and associates the position and rotation angle with respect to the wide area map provided by the wide area map providing device 3 for one of the narrow area maps stored in the narrow area map storage unit 6. It is.

  First, the wide area map position calculation part 7 specifies the wide area map of the area linked | related with the narrow area map (step S001). Specifically, the wide area map position calculation unit 7 specifies the narrow area map identifier 6g related to the target narrow area map from the narrow area map storage unit 6, and selects the wide area map specified by the associated small area 6d. Obtained from the wide area map providing device 3.

  And the wide area map position calculation part 7 reads the outline of the building on a wide area map (step S002). Specifically, the wide area map position calculation unit 7 reads a figure considered as the outline of a building together with the position on the map from the wide area map specified and acquired in step S001. For example, a closed rectangle or polygon in the wide area map is extracted, and information such as a position in a coordinate system (for example, latitude and longitude) included in the meta information on the map is read and associated. If the position in the coordinate system included in the meta information on the map cannot be read or is not appropriate, information such as the pixel position on the map figure (for example, XY biaxial pixel information) is read and associated. It may be.

  And the wide area map position calculation part 7 specifies the building which has the outline similar to the outer periphery shape of a narrow area map among the outlines of the building read from the wide area map (step S003). Specifically, the wide area map position calculation unit 7 specifies the degree of similarity with the outer shape of the narrow area map for each of the contours read in step S002. The wide area map position calculation unit 7 matches the scale and the rotation angle after adjusting the scales of the outline of the building on the wide area map and the outer shape of the narrow area map. In this process, the wide-area map position calculation unit 7 adjusts the position in the XY direction so that the feature points (refracted points and curvature) of the contour and the outer periphery shape approximate when aligning the positions. . Further, in the process of matching the rotation angle, the wide area map position calculation unit 7 changes the rotation angle of the outer periphery in various ways and specifies the rotation angle that approximates the contour. The approximate rotation angle is specified because the narrow area map is not limited to accurately identifying even the shape of the outer wall of the building, and absorbs the difference.

  Then, the wide area map position calculation unit 7 determines whether there is a building outline that is more than a predetermined similarity (step S004). Specifically, the wide-area map position calculation unit 7 specifies, for example, the most similar building among the buildings that are determined to have similar outlines in step S003. And if the degree of similarity with the said building is more than a predetermined threshold value, the wide area map position calculation part 7 will determine with there being the outline of a building more similar than predetermined. In addition, when there are a plurality of buildings whose degree of similarity with the building is equal to or greater than a predetermined threshold, the wide area map position calculation unit 7 may set any one of the buildings having a contour that is more than a predetermined similarity.

  If there is an outline of a building that is more than a predetermined similarity (“Yes” in step S004), the wide area map position calculation unit 7 specifies the representative coordinates of the building, the latitude / longitude offset amount, and the rotation angle, and narrows it. It associates with the area map (step S005). Then, the wide area map position calculation unit 7 ends the matching process.

  If there is no outline of the building that is more than a predetermined similarity (“No” in step S004), the wide area map position calculation unit 7 widens the geographical range of the wide area map (step S006). Specifically, when the wide area map refers to the small area 6d of the narrow area map storage section 6, the wide area map position calculation section 7 converts the wide area map into the middle area 6c of the narrow area map storage section 6. Change to something that references Alternatively, when the wide area map refers to the middle area 6 c of the narrow area map storage unit 6, the wide area map position calculation unit 7 refers to the large area 6 b of the narrow area map storage unit 6. Change to something. Alternatively, if the wide area map refers to the large area 6 b of the narrow area map storage unit 6, the wide area map position calculation unit 7 converts the wide area map into the entire area of the reference map 6 a of the narrow area map storage unit 6. Change to something that references And the wide area map position calculation part 7 returns control to step S002.

  The above is the mechanism of the operation | movement in the collation process of the map information generation apparatus 1 in this embodiment. According to the collation processing, it is possible to collate with which building the narrow area map corresponds to the wide area map. That is, it can be said that the relative relationship between the narrow area map and the wide area map can be identified with higher accuracy.

  Next, an example of the operation by the collation process of the map information generation device 1 in the present embodiment will be described with reference to FIGS.

  FIG. 7 is a diagram illustrating a processing example of the collation processing. The wide area map 11 includes information on latitude and longitude in association with each other, so that it is possible to specify which place on the earth is located. For example, the latitude is represented by north latitude Ny0, Ny1, and the longitude is represented by east longitude Ex0, Ex1, Ex2. Further, the building 12 included in the geographical range of the wide area map 11 is the geographical area targeted by the created narrow area map 10x. In FIG. 7, a map obtained by reducing the narrow area map 10 x to the same scale as the wide area map 11 is used.

  The wide area map position calculation unit 7 delegates the processing to the matching unit 4, and the narrow area map 10 x matches the outline of the building 12 included in the wide area map 11 using the narrow area map 10 x and the wide area map 11. Whether the horizontal axis x (longitude) direction, the vertical axis y (latitude) direction, and the angle θ (theta) are gradually changed. As a result, as shown in FIG. 7, the narrow area map 10 x can be matched with the building 12 of the wide area map 11. For convenience of explanation, the narrow area map 10x and the building 12 are slightly shifted in order to make the notation on the drawing easier to understand. If it matches in this way, collation part 4 can acquire the position information (latitude, longitude, angle) in wide area map 11 of narrow area map 10x.

  In addition to this, in order to identify the position with higher accuracy, as shown in FIG. 8, the wide area map position calculation unit 7 further includes a wide area map 11 a with an enlarged scale and a narrow area map matched with the reduced scale. 10b is transferred to the collation unit 4, and the latitude, longitude, and angle at which the narrow area map 10b matches the wide area map 11a are searched.

  FIG. 8 is a diagram illustrating an example of calculating the detailed position and rotation angle. As a result of the search, it can be found that the narrow area map 10b matches the outline of the building 12, as shown in FIG. For convenience of explanation, FIG. 8 also shows the narrow area map 10b slightly shifted from the building 12 in the drawing.

  As shown in FIG. 8, the longitude Ex1a in the horizontal axis x direction, the latitude Ny1a in the vertical axis y direction, and the angle θ that is the inclination of the narrow map 10b with respect to the wide area map 11 coincide with the outline of the building 12 from the collating unit 4. Is output. In this example, these values are shown based on the coordinates of the center of the narrow area map 10b as shown in FIG. In this process, information indicating the position and angle of the narrow map with respect to the wide map may be specified. For example, even if the latitude and longitude offset amount is specified, the absolute coordinates are specified. It is not necessarily limited to specifying the coordinates of the center of the narrow map. Here, the coordinates of the center of the narrow area map 10b are acquired from the wide area map and stored, and the specific values calculated by the wide area map position calculation unit 7 are longitude Ex1a, latitude Ny1a, angle θ (Theta). These values are output from the wide area map position calculation unit 7 and stored in the narrow area map storage unit 6 in association with the narrow area map as information on the narrow area map.

  As described above, according to the matching process, the best matching state between the wide area map and the narrow area map can be identified by utilizing the matching unit 4 for creating the narrow area map with high accuracy. The position (longitude, latitude) and angle of the narrow map in can be detected with high accuracy.

  Thereby, since the narrow area map provided with the position information of the wide area map can be created, the wide area map and the narrow area map can be integrated and utilized for various applications. For example, a display method using a wide area map and a narrow area map, an implementation method for performing control while smoothly switching the traveling of the mobile robot using both maps, and the like can be considered.

  Next, an embodiment in which a map information providing service is performed using a wide area map and a narrow area map will be described using the flowchart of FIG.

  FIG. 9 is a diagram showing a flow of map display change processing. The map display change process is a part of the map information providing service that presents map information, and an operation in which a user requests display of a map screen using an information processing device such as a personal computer or a smartphone through the Internet or the like. In response to this, processing is started.

  First, the display processing unit 8 accepts a map enlargement / reduction instruction (step S101). Specifically, an instruction to enlarge or reduce the map is received from the information processing apparatus used by the user.

  Next, the display processing unit 8 specifies whether the current display map is a wide area map or a narrow area map (step S102).

  If the display map is a wide area map (in the case of “wide area map” in step S102), it is determined whether the instruction is an enlargement instruction or a reduction instruction (step S103).

  If the instruction is a reduction instruction (“reduction” in step S103), the display processing unit 8 determines whether or not the reduction limit is reached (step S104).

  If the reduction limit has been reached (“Yes” in step S104), the display processing unit 8 ends the map display change process because the reduction process is impossible.

  If the reduction limit has not been reached (“No” in step S104), the display processing unit 8 performs wide area map reduction display (step S105). Specifically, a wide area map showing a wider area is reduced and displayed according to the instructed reduction amount. Then, the display processing unit 8 ends the map display change process.

  If the instruction is an enlargement instruction (in the case of “enlargement” in step S103), the display processing unit 8 determines whether the enlargement limit is reached (step S106).

  If the enlargement limit has not been reached (“No” in step S106), the display processing unit 8 performs wide area map enlargement display (step S107). Specifically, the wide area map is enlarged and displayed according to the instructed enlargement amount. Then, the display processing unit 8 ends the map display change process.

  If the enlargement limit has been reached (“Yes” in step S106), the display processing unit 8 determines whether there is a narrow area map associated with the displayed building (step S108). ). If there is no narrow map (“No” in step S108), the display processing unit 8 ends the map display change process because the enlargement process is impossible.

  If there is a narrow map (in the case of “Yes” in step S108), the display processing unit 8 determines whether or not there is permission to use the narrow map (step S109). In this processing, the display processing unit 8 displays the display target building from a permission information storage unit (not shown) that stores display permission information in which a user and a building permitted to be displayed are associated in advance. It is determined whether or not it is permitted. If there is no use permission (“No” in step S109), the display processing unit 8 ends the map display change process because the enlargement process is impossible.

  If there is usage permission (in the case of “Yes” in step S109), the display processing unit 8 rotates the narrow area map to the corresponding position of the wide area map at the minimum scale and the same scale as the wide area map. The image is superimposed and displayed at the corner (step S110). Then, the display processing unit 8 ends the map display change process.

  If the display map is a narrow map (in the case of “narrow map” in step S102), it is determined whether the instruction is an enlargement instruction or a reduction instruction (step S121).

  When the instruction is an enlargement instruction (in the case of “enlargement” in step S121), the display processing unit 8 determines whether or not the enlargement limit is reached (step S122).

  If the enlargement limit has been reached (“Yes” in step S122), the display processing unit 8 ends the map display change process because the enlargement process is impossible.

  When the enlargement limit has not been reached (in the case of “No” in step S122), the display processing unit 8 performs narrow area map enlargement display (step S123). Specifically, a narrow area map indicating a narrow area is enlarged and displayed according to the instructed enlargement amount. Then, the display processing unit 8 ends the map display change process.

  If the instruction is a reduction instruction (“reduction” in step S121), the display processing unit 8 determines whether the reduction limit is reached (step S124).

  When the reduction limit has not been reached (in the case of “No” in step S124), the display processing unit 8 performs narrow area map reduction display (step S125). Specifically, a narrow area map indicating a narrow area is reduced and displayed according to the instructed reduction amount. Then, the display processing unit 8 ends the map display change process.

  When the reduction limit has been reached (in the case of “Yes” in step S124), the display processing unit 8 displays the wide area map associated with the displayed building at the maximum scale and the same scale as the narrow area map, While displaying a wide area map, the superimposition of a narrow area map is canceled and a narrow area map is excluded (step S126). Then, the display processing unit 8 ends the map display change process.

  The above is the flow of the map display change process. When the map display change process is performed, the scale of the map can be changed. In addition, when changing the scale, users who have permission to use a narrow map can be displayed seamlessly from a wide area map to a narrow area map, or vice versa. Only the wide area map can be displayed to the user who has not obtained it. In addition, for example, when providing a scale change bar that allows a scale to be visually specified in an operation for giving an instruction to enlarge or reduce, or when displaying a wide area map including an area where a narrow area map can be displayed May extend the bar to the enlargement side to indicate that the scale expansion limit is increasing.

  By performing the map display change process, a general-purpose wide area map and a narrow area map created using a distance sensor can be linked.

  The embodiment according to the present invention has been described above. By applying the embodiment according to the present invention, it is possible to associate a predetermined area of the narrow area map using the coordinates of the wide area map, and therefore, there is an effect that the map can be utilized in conjunction with it. In particular, it can be said that it can be used together with more general-purpose wide-area maps by recording latitude and longitude in association with narrow-area maps created by distance sensors.

  Further, the present invention is not limited to the above-described embodiment. For example, when the wide area map is a photograph taken from the sky, the range of the building on which the narrow area map is superimposed is overcoated with the background color so that the narrow area map is superimposed. May be. In this way, it is easy to use a service on the Internet that provides geographical information by a photograph of a wide area as a wide area map, and a building having a complex structure on the roof is also a structural object. Even if the boundary map is superimposed while the image is captured, the readability can be maintained.

  In addition, the present invention is not limited to the above embodiment, and depending on whether the position when the user refers to the map is inside or outside the building, when entering the building from the outside, the direction at the time of entry is set to the initial front. It is also possible to switch to the map inside the building by taking over as the direction, and to switch to the wide area map by taking the rotation angle on the narrow map as the initial front direction when going out from the building. In some cases, the GPS mechanism for specifying the position does not operate properly inside the building, or the GPS scan result may not be obtained immediately. Even in such a case, seamless map display can be performed.

  Further, the present invention is not limited to the above-described embodiment, and a wide area map and a narrow area map may be superimposed and displayed near the entrance of a building (for example, within 5 m from a door). In this way, the geographical range of the wide area map and the geographical area of the narrow area map can be complemented, and a sudden display change can be suppressed to reduce the confusion given to the user.

  In addition, each of the above-described configurations, functions, processing units, processing means, and the like may be realized by software by causing a processor to interpret and execute a program that realizes each function. Information such as programs, tables, and files that realize each function can be stored in a recording device such as a memory, a hard disk, and an SSD, or a storage medium such as an IC card, an SD card, and a DVD.

  Further, the control lines and information lines indicate what is considered necessary for the explanation, and not all the control lines and information lines on the product are necessarily shown. Actually, it may be considered that almost all the components are connected to each other.

  Each of the above-described configurations, functions, processing units, and the like may be realized by hardware, for example, by designing a part or all of them with an integrated circuit. Further, the technical elements of the above-described embodiments may be applied independently, or may be applied by being divided into a plurality of parts such as program parts and hardware parts.

  In addition, the present invention may be applied not only to the map information generating device 1 but also to mobile devices, navigation devices, portable devices, heavy equipment, and the like. In the above, this invention was demonstrated centering on embodiment.

DESCRIPTION OF SYMBOLS 1 ... Map information generation apparatus, 2 ... Laser distance sensor, 3 ... Wide area map provision apparatus, 4 ... Collation part, 5 ... Narrow area map creation part, 6 ... Narrow area map Storage unit, 7 ... wide area map position calculation unit, 8 ... display processing unit

Claims (9)

A narrow area map creation unit that creates a narrow area map using distance information in a plurality of directions obtained using a distance sensor;
A wide area map acquisition unit that acquires a wide area map that is a wide area map than the range of the narrow area map;
A collation unit that collates the position and rotation angle of the narrow area map on the wide area map acquired by the wide area map acquisition unit;
A narrow area map storage section that stores the information of the position and rotation angle collated by the collation section in association with each narrow area map;
A map information generating device comprising: The map information generating device according to claim 1,
The narrow area map creating unit expands a geographical range included in the narrow area map using the position and rotation angle obtained by the distance information by the matching unit,
A map information generating device characterized by that. The map information generating device according to claim 1,
The collation unit
Using the latitude and longitude information belonging to the wide area map, the position and rotation angle of the narrow area map are obtained as a matching result.
A map information generating device characterized by that. The map information generating device according to claim 1,
A display processing unit that generates a screen for superimposing the narrow area map created by the narrow area map creating unit on the wide area map at the same scale according to the corresponding position and rotation angle of the wide area map;
A map information generating device comprising: The map information generating device according to claim 4,
The display processing unit generates a screen to be superimposed and displayed at the same scale when the scale of a map to be displayed as a result of receiving an instruction to enlarge the scale is equal to or larger than a predetermined scale.
A map information generating device characterized by that. The map information generating device according to claim 4,
The display processing unit does not superimpose the narrow area map on the wide area map when the scale of the map to be displayed as a result of receiving an instruction to reduce the scale is less than a predetermined value.
A map information generating device characterized by that. The map information generating device according to claim 4,
A permission information storage unit that stores display permission information that associates a user with a building permitted to be displayed;
The display processing unit causes the narrow area map to be superimposed and displayed for a building that the user is allowed to display.
A map information generating device characterized by that. The map information generating device according to claim 4,
The display processing unit, when the wide area map is a photograph taken from the sky, overlays the narrow area map by overcoating the range of the building on which the narrow area map is superimposed with a background color,
A map information generating device characterized by that. A map information generation method using a map information generation device,
The map information generation device includes a storage unit and a control unit,
The controller is
A narrow area map creating step for creating a narrow area map using distance information in a plurality of directions obtained using a distance sensor;
A wide area map acquisition step of acquiring a wide area map that is a wide area map than the range of the narrow area map;
A collation step for collating the position and rotation angle of the narrow area map on the wide area map obtained by the wide area map obtaining step;
A narrow area map storage step of storing the information of the position and the rotation angle collated in the collation step in the storage unit in association with each narrow area map;
The map information generation method characterized by implementing.

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