JP7288411B2 - 2D MAP DATA GENERATION DEVICE, 2D MAP DATA GENERATION METHOD, AND 2D MAP DATA GENERATION SYSTEM - Google Patents

Description

The present invention relates to a two-dimensional map data generation device, a two-dimensional map data generation method, and a two-dimensional map data generation system.

In recent years, three-dimensional architectural model design, including BIM (Building Information Modeling), is spreading. Based on the architectural model data created by architectural model design, when considering the position management of people and objects, including simulation, depending on the system configuration, the 3D architectural model data can be converted to a 2D map for each floor. It may be desirable to represent the data in a superposition. A method for converting 3D (three-dimensional) data into 2D (two-dimensional) map data is disclosed in, for example, Japanese Unexamined Patent Application Publication No. 2002-200016.

No. 6,100,000 discloses a computer-implemented method for generating a 2D drawing representing a mechanical part "providing a 3D modeled object representing the 3D shape of the mechanical part; determining a continuous 3D curve; , and projecting the determined continuous 3D curve onto a 2D plane."

JP 2019-75103 A

However, in existing two-dimensional map data generation methods such as Patent Document 1, overlapping of a plurality of paths in three-dimensional data is not taken into consideration. Therefore, for example, when there are a plurality of aisles with different heights at the same coordinates on the same floor, the information of the plurality of aisles overlaps. For this reason, for example, even if there is a space under the stairs where people can move, the simulator will judge that this space does not exist, so the passability of moving objects such as people and objects will be judged correctly. I couldn't.

SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and an object of the present invention is to generate two-dimensional map data that can determine the passability of a moving object.

The present invention provides two-dimensional map data for generating two-dimensional map data by projecting an object represented by three-dimensional data with attribute information representing the attributes of the object onto a projection plane represented by a two-dimensional plane from a fixed direction. generator. In this two-dimensional map data generation device, the objects include passable objects through which a moving body can pass, and a projection plane onto which the passable objects are projected and a second projection plane that overlaps the first passable objects in a certain direction. If the height between the first passable object exceeds the height threshold, an auxiliary projection plane parallel to the projection plane is generated at the height of the first passable object, and the projection plane is less than or equal to the height threshold and projecting the first passable object having a height exceeding the height threshold onto the auxiliary projection plane to generate two-dimensional map data.

According to the present invention, it is possible to generate, for example, two-dimensional map data that allows a simulator to determine the passability of a moving object from three-dimensional data that includes a plurality of passable objects.
Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.

1 is a block diagram showing a configuration example of a 2D map data generation device according to a first embodiment of the present invention; FIG. 1 is a block diagram showing a hardware configuration example of a computer according to the first embodiment of the present invention; FIG. FIG. 4 is a diagram showing a configuration example of 3D data with attribute information according to the first embodiment of the present invention; It is a figure which shows the structural example of the stair object which concerns on the 1st Embodiment of this invention. It is a figure which shows the structural example of the conventional 2D map data. 6 is a flowchart showing an example of processing for generating a projection plane by a projection plane generation unit according to the first embodiment of the present invention; It is a figure showing an example of a projection plane concerning a 1st embodiment of the present invention. FIG. 4 is a diagram showing how a projection plane is determined according to the first embodiment of the present invention; It is a figure which shows the example of the 2D map data produced|generated by the projection process which the projection part which concerns on the 1st Embodiment of this invention performs. It is a block diagram which shows the structural example of the 2D map data generation system based on the modification of the 1st Embodiment of this invention. FIG. 5 is a block diagram showing a configuration example of a 2D map data generation device according to a second embodiment of the present invention; FIG. FIG. 11 is a flow chart showing an example of data decomposition processing in which a data decomposition unit according to the second embodiment of the present invention decomposes a stair object; FIG. FIG. 11 is a flow chart showing an example of projection processing of a passable object according to the second embodiment of the present invention; FIG. FIG. 10 is a diagram showing an example of a case where there is no auxiliary projection plane and a case where there is an auxiliary projection plane according to the second embodiment of the present invention; FIG. 11 is a block diagram showing a configuration example of a 2D map data generation system according to a modification of the second embodiment of the present invention; FIG. It is a figure which shows the example of the slope object based on the modification of each embodiment of this invention.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings. In the present specification and drawings, constituent elements having substantially the same function or configuration are denoted by the same reference numerals, thereby omitting redundant description.

[First embodiment]
First, a configuration example and an operation example of the 2D map data generation device according to the first embodiment of the present invention will be described.

FIG. 1 is a block diagram showing a configuration example of a 2D map data generation device 100 according to the first embodiment. This 2D map data generation device 100 represents an object represented by 3D (three-dimensional) data 111 with attribute information attached with attribute information representing the attribute of the object on a two-dimensional plane from a certain direction above the object. 2D (two-dimensional) map data 112 projected onto a projection plane is generated.

<Description of data>
First, data used by the 2D map data generation device 100 according to the present embodiment will be described.
Data used by the 2D map data generation device 100 includes 3D data 111 with attribute information. Components such as floors and walls included in the 3D data with attribute information 111 are called objects. Objects related to buildings, such as floors, stairs, escalators, and slopes, on which moving bodies such as people and objects can pass are called passable objects. Also, an object related to a building, such as a wall or a pillar, on which a person cannot normally cross is called an obstacle object. The types of objects such as floors, stairs, escalators, slopes, walls, and pillars are called classes.

Each object may hold projection floor information (for example, information indicating on which floor the projection plane is generated) that indicates the projection destination when creating the 2D map data 112 .

<Configuration example of 2D map data generation device>
Next, the 2D map data generation device 100 will be described.
As shown in FIG. 1, the 2D map data generation device 100 includes a storage unit 110, a calculation unit 120, an input/output unit 130 and a bus 140.

The storage unit 110 holds therein 3D data 111 with attribute information and 2D map data 112 . As the 3D data 111 with attribute information, for example, there is BIM data. The 2D map data 112 is data held in a two-dimensional format in which components of a building are viewed from above, as shown in FIG. 5, which will be described later. Details of the 3D data 111 with attribute information and the 2D map data 112 will be described later.

The calculation unit 120 is mainly composed of a CPU (Central Processing Unit) and internally executes a plurality of processes. The processing executed by the calculation unit 120 can be roughly divided into a projection plane generation unit 121 and a projection unit 122 .

The projection plane generation unit 121 generates a projection plane based on a second passable object (for example, a floor object 201 shown in FIG. 7 to be described later) included in the 3D data with attribute information 111, and calculates the height from the projection plane. generates an auxiliary projection plane based on a part of the first passable object (for example, the treads f _i of the stair object 203 shown in FIG. 7, which will be described later) whose height exceeds the height threshold th. Details of the auxiliary projection plane will be described later with reference to FIG. 6 and subsequent figures.

The projection unit 122 generates 2D map data 112 by projecting each object of the 3D data 111 with attribute information onto a projection plane or an auxiliary projection plane.

The input/output unit 130 includes an input unit 131 through which a user inputs operations, and an output unit 132 through which operation results are output. The user uses the input unit 131 to perform a predetermined operation input for instructing the 2D map data generation device 100 to generate the 2D map data 112 . Further, the user can confirm the operation result and the instruction result by the 3D data 111 with attribute information or the 2D map data 112 output to the output unit 132 .

A bus 140 is a common circuit for data communication between devices.

In the 2D map data generation device 100 configured as described above, the height between the projection plane on which the passable object is projected and the second passable object overlapping the first passable object in a certain direction is high. and an auxiliary projection plane parallel to the projection plane at the height of the first passable object if the height threshold th is exceeded. Then, the 2D map data generation device 100 projects the first passable object having a height equal to or less than the height threshold th onto the projection plane, and projects the first passable object having a height exceeding the height threshold th onto the auxiliary projection plane. Objects are projected to generate 2D map data 112 .

A people flow simulation device 150 is also connected to the 2D map data generation device 100 . The people flow simulation device 150 is a device that acquires the 2D map data 112 generated by the 2D map data generation device 100 and simulates the flow of moving objects such as people and goods (people flow) on the 2D map. Instead of the people flow simulation device 150 , a people flow visualization device capable of visualizing and displaying the actual flow of people may be connected to the 2D map data generation device 100 . This people flow visualization device is a device that visualizes and displays the actual flow of people on a 2D map represented by the 2D map data 112 based on input data from sensors such as cameras installed in the actual building.

FIG. 2 is a block diagram showing a hardware configuration example of the computer 10. As shown in FIG. A computer 10 shown in FIG. 2 is an example of a computer that can operate as the 2D map data generation device 100 . The computer 10 includes a CPU 11 , a ROM (Read Only Memory) 12 , and a RAM (Random Access Memory) 13 which are connected to a bus 14 . Further, computer 10 includes output device 16 , input device 15 , non-volatile storage 17 and network interface 18 .

The functions of the calculation unit 120 are realized by the CPU 11 reading program codes of software for realizing each function according to the present embodiment from the ROM 12, loading them into the RAM 13, and executing them. Variables, parameters, etc. generated during the arithmetic processing of the CPU 11 are temporarily written in the RAM 13, and these variables, parameters, etc. are read by the CPU 11 as appropriate.

The storage unit 110 shown in FIG. 1 includes a main storage device such as a DRAM (Dynamic Random Access Memory) and an SRAM (Static Random Access Memory), and an auxiliary storage device such as a HDD (Hard Disk Drive) and a flash memory. Further, as the storage unit 110, even if a non-volatile storage 17 such as an SSD (Solid State Drive), flexible disk, optical disk, magneto-optical disk, CD-ROM, CD-R, magnetic tape, or non-volatile memory is used. good. The nonvolatile storage 17 stores an OS (Operating System), various parameters, and programs for making the computer 10 function. The ROM 12 and the non-volatile storage 17 record programs and data necessary for the operation of the CPU 11, and are examples of computer-readable non-transitory storage media storing programs executed by the computer 10. Used.

For example, a keyboard, a mouse, etc. are used as the input device 15, and the user can perform predetermined operation inputs and instructions. The output device 16 is, for example, a liquid crystal display monitor, a printer, etc., and outputs the results of processing performed by the computer 10 and the like. The input device 15 constitutes the input unit 131 shown in FIG. 1, and the output device 16 constitutes the output unit 132 . A touch panel display in which the input device 15 and the output device 16 are integrated may be used as the input/output unit 130 .

For the network interface 18, for example, a NIC (Network Interface Card) or the like is used, and various data are transmitted and received between devices via a LAN (Local Area Network), a dedicated line, or the like connected to the terminal of the NIC. Is possible.

Next, a configuration example of the 3D data with attribute information 111 and the stair object 203 will be described.
FIG. 3 is a diagram showing a configuration example of the 3D data 111 with attribute information.
FIG. 4 is a diagram showing a configuration example of the stair object 203. As shown in FIG.

The 3D data with attribute information 111 includes floor objects 201 and 202 , a stair object 203 and a wall object 204 .

The stair object 203 may have a data structure divided into stair sections 2031 and 2033 and a landing 2032 as shown in FIG. Also, the stair object 203 may have a single data structure in which the steps 2031 and 2033 and the landing 2032 are integrated.

Examples of attribute information added to each component of the 3D data with attribute information 111 include classes such as floors, stairs, walls, pillars, elevators, escalators, slopes, security gates, and doors. The 3D data with attribute information 111 may be generated by an architectural model data editing software program such as BIM data editing software.

In the following description, it is assumed that the 3D data holding method in the 3D data with attribute information 111 is the polygon format. However, even if the storage format of the 3D data is in another format such as the voxel format, the same processing can be performed by converting in advance to the polygon format. Also, the 3D data with attribute information 111 may be in a form of managing data representing an object for each floor.

FIG. 5 is a diagram showing a configuration example of conventional 2D map data 112. As shown in FIG.

The conventional 2D map data 112 is provided with "Floor 1" and "Floor 2". The 2D map data 112 of "Floor 1" includes floor objects 401 and 402, a stair object 404, a wall object 406, and an inter-floor link object 407. The 2D map data 112 of "Floor 2" includes a floor object 403, a stair object 405, and an inter-floor link object 408.

Here, the inter-floor link object is an object indicating a position where inter-floor movement is possible. For example, when inter-floor link objects 407 and 408 as shown in FIG. 5 are obtained, at each position of the inter-floor link objects 407 and 408, a person can move to the other inter-floor link object of the link destination. . If there are elements such as stairs, escalators, and slopes that allow inter-floor movement in the building, inter-floor link objects are installed in place of some of those elements.

The data format of the 2D map data 112 may be a format such as a polygon format that retains the vertex coordinates of the outline of each component, or a format such as a cell format that indicates the presence or absence and attributes of a component at each coordinate. It may be in the form of holding.

In addition, each object included in the 2D map data 112 may hold information on passability in a specific moving direction. For example, the stair objects 404 and 405 may contain information indicating that a person cannot enter from a direction perpendicular to the ascending/descending direction of the stairs.

By the way, the 2D map data 112 can show only one object at the same coordinates in the same plane due to its characteristics. Therefore, when another floor object 402 is placed on the floor object 401 as shown in FIG. 5, even if the 3D data with attribute information 111 is such that a person can pass under the landing as shown in FIG. Even if it were, the passability under the landing is lost when converted to 2D map data 112 . In other words, when the 2D map data 112 is read into the people flow simulator, it is recognized that people cannot move under the landing.

As described above, the 2D map data 112 is used to visualize the positions of people and objects and simulate their movements. Therefore, when considering conversion from 3D data 111 with attribute information to 2D map data 112, it is desirable to generate 2D map data 112 that preserves the passability of people and objects in the 3D data 111 with attribute information. In the following, the process of saving passability of people and objects will be described.

<Processing for generating projection plane>
Next, processing of the projection plane generation unit 121 will be described.
FIG. 6 is a flowchart showing an example of processing for generating a projection plane by the projection plane generation unit 121. FIG. The process of the projection plane generation unit 121 is composed of steps S1 to S8 as an example of a two-dimensional map data generation method.

First, the projection plane generation unit 121 adds a plane corresponding to each floor of the 3D data with attribute information 111 to the projection plane set S (S1). This processing means that the basic floors of the building, such as the first floor, the second floor, . . . , are treated as projection planes. If the 3D data with attribute information 111 does not include floor information, this process does not have to be performed.

Next, the projection plane generation unit 121 sorts the objects o included in the passable object group O in descending order of their highest points (S2). The highest point is the point with the highest height among the vertex coordinates of each object o that constitutes the object oεO. For example, the stair objects 203 (see FIG. 4) included in the passable object group O are sorted in the order of the stairs part 2031, the landing 2032, and the stairs part 2033, which are an example of each object o.

Next, the projection plane generation unit 121 executes the processes of steps S4 to S8 for each object oεO (S3). That is, the projection plane generation unit 121 executes the following processing for each object o in the passable object set O in the 3D data with attribute information 111 .

Next, the projection plane generator 121 sets the plane with the lowest height in the projection plane set S as the projection plane s (S4). The projection plane set S is a set of projection planes onto which each object is projected. If the 3D data 111 with attribute information contains floor information, the surface of the height of this floor may be initially generated as a set S of projection planes. For example, as shown in FIG. 7, which will be described later, the plane with the lowest height is the plane on which each object including the floor object 201 can be projected, and this plane is the projection plane s. Projection planes s provided at the height of each floor are defined as a projection plane set S. FIG. If the 3D data with attribute information 111 does not include floor information, for example, the projection plane of the height of the lowest footboard f _i may be set as the initial state of the projection plane set.

Projection plane s represents a plane onto which object o is tentatively projected, and may be updated in subsequent processing. If the object includes floor information representing the floor to which the object belongs (referred to as the "affiliation floor"), the processing in step S4 is to set the projection plane s to the projection plane corresponding to the floor to which the object belongs. can be replaced with

Next, the projection plane generator 121 executes the processing of steps S6 to S8 for each footboard f _i in the footboard set F within the object o (S5). For example, of the stair object 203 shown in FIG. 4, the upper surfaces of the stairway section 2031, the landing 2032, and the stairway section 2033 are called "treads". In the first embodiment, a plurality of footboards f _i are stored in the footboard assembly F. FIG.

Next, the projection plane generation unit 121 determines whether or not another object exists at a position away from the lower part of the footboard f _i by a height threshold th in the projection direction (S6). The height threshold th is usually set to the minimum height at which people and objects can pass. When another object exists at a position more than the height th from the bottom of the footboard f _i , for example, it is assumed that the floor object 201 exists at a position away from the bottom of the footboard f _i in a certain direction.

Therefore, if another object does not exist (NO in S6), the projection plane generator 121 terminates the processing for this footboard f _i and proceeds to the processing for the next footboard f _i . On the other hand, if another object exists, for example, if another object exists at a position away from the bottom of the footboard f _i in the projection direction by the height threshold th (YES in S6), the projection plane generation unit 121 compares the height from the treads f _i to the floor object 201 with the height threshold th from the treads for each treads f _i of the stair object 203 composed of a plurality of treads f _i .

Here, if another object exists at a position more than the height threshold th in the projection direction from the lower part of the footboard f _i , there is a space through which people can pass under the projected object. Therefore, the projection plane generation unit 121 determines whether or not there is a projection plane _sf in the projection plane set S, the relative height h of which is within a specified range from the footboard f _i (S7). The reference position of the relative height h is the lower part of the footboard _fi , but it may be the upper part of the footboard _fi . Also, the projection plane s _f is the auxiliary projection plane s _s generated by the projection plane generation unit 121 in the process of step S8 performed before this process.

The specified range is a range obtained by shifting the floors stored in the 3D data with attribute information 111 by a specified value in a certain direction. For this reason, the projection plane generation unit 121 may specify, as the specified range, a range that can be determined to be sufficiently close to the next floor, such as the height of several steps. Details of the specified range will be described later with reference to FIG.

For example, if there is a projection plane s _f whose relative height h to the footboard f _i is within the specified range (YES in S7), the projection plane generator 121 does not need to create a new projection plane. Therefore, the projection plane generation unit 121 proceeds to process the next footboard f _i in the footboard set F in the object o.

On the other hand, if there is no projection plane s _f whose height h relative to the footboard f _i is within the specified range (NO in S7), the projection plane generation unit 121 generates an auxiliary projection plane s having the same height as the footboard _{fi. s} is generated, and the auxiliary projective plane s _s is added to the projective plane set S (S8). The same height as the footboard f _i may be, for example, the height from the projection plane s of the assigned floor to the bottom of the footboard f _i .

After the process of adding the auxiliary projective plane s _s to the projective plane set S in step S8 is completed, the projective plane generator 121 proceeds to the processing of the next footboard f _i . The auxiliary projection plane s _s added to the projection plane set S is used as the projection plane s _f in the process of step S7 from the next time onward.

Here, the processing of steps S6 and S7 will be described with reference to FIG.
FIG. 7 is a diagram showing an example of projection planes s, _sf , and _ss . FIG. 7 shows the 3D data with attribute information 111 shown in FIG. 3 viewed from the lateral direction. However, in FIG. 7, description of the floor object 202 and the wall object 204 on the upper floor is omitted.

For example, assume that only one stair object 203 exists on one floor object 201 . In this case, each of the steps 2031 and 2033 included in the floor object 201 and the stair object 203 and the landing 2032 is projected onto the projection plane s. As described above, the stair object 203 overlaps the floor object 201 . Also, a height threshold th is set in advance as a height at which a person can pass comfortably. The human-shaped icon 20 shown in the figure represents a standard human size. In addition, in FIG. 7, the floor object 201 is shown floating from the projection plane s in order to make the relationship between the projection plane s and the floor object 201 easier to understand. The height of the object 201 is the same as the height of the projection plane s. Therefore, the height of the footboard f _i means the height from the projection plane s.

As shown in FIG. 7, another object (floor object 201) different from the footboard _fi exists in the projection direction from the bottom of the footboard f _i on the sixth step from the bottom. The height H from the bottom of the sixth step footboard f _i to the floor object 201 is longer than the height threshold th. However, when the processing shown in FIG. 6 is performed for the treadle f _i of the sixth stage, there is no auxiliary projection plane. Therefore, in step S8, the projection plane generator 121 generates an auxiliary projection plane s _s having the same height as the footboard f _i and adds the auxiliary projection plane s _s to the projection plane set S. The auxiliary projective plane _ss added to the projective plane set S as described above is treated as a projective plane _sf . (Projection plane s _f )

For the footboards f _i on and after the seventh step, the height H from the bottom of each footboard f _i to the floor object 201 in the projection direction is compared with the height threshold th. However, the height H of each of the footboards f _i of the seventh and subsequent steps is longer than the height threshold th. However, since the auxiliary projection plane s _s is generated for the treadplate f _i of the sixth step, the projection plane set S includes a projection plane s _f whose relative height h with respect to the treadplate f _i is within the specified range. . Therefore, no new auxiliary projection plane _ss is generated.

The above is the description of the processing performed by the projection plane generation unit 121 . With this process, the projection plane generation unit 121 can generate an auxiliary projection plane even in a situation where the passable object is below the passable object.

<Projection processing of passable objects>
Next, projection processing of passable objects will be described.
The projection unit 122 projects each footboard f _i included in the 3D data with attribute information 111 onto the projection plane generated by the projection plane generation unit 121 . At this time, the projection unit 122 sequentially directs the first passable object (tread f _i of the stair object 203) from the projection plane s to the projection plane so that the height from the projection plane s is the height Project the first passable object that is less than or equal to the threshold th. In addition, the projection unit 122 projects the projection plane s f toward the auxiliary projection plane s _s (projection plane s _f ) in order from the first passable object having the lowest height from the auxiliary projection plane s _s (projection plane s _f ). Project the first passable object whose height from is greater than the height threshold th.

The plane on which the projection unit 122 projects the footboard f _i is determined by the positional relationship between each projection plane and the footboard f _i . Here, how the projection unit 122 determines the projection plane for projecting the footboard f _i will be described.

FIG. 8 is a diagram showing how the projection plane is determined. In FIG. 8, the 3D data with attribute information 111 shown in FIG. 3 is also represented as a diagram visually simplistically viewed from the horizontal direction. However, the ascending/descending steps 2031 and 2033 and the landing 2032 are collectively represented in a stepped form.

In the drawing, a level line L1 representing the projection plane of the first floor and a level line L2 representing the projection plane of the second floor are shown. Level lines L1 and L2 each represent the height of the floor of each floor. The projection unit 122 defines a specified range corresponding to each floor. Therefore, the projection unit 122 can determine the projection plane depending on which designated range the footboard f _i belongs to. The specified range may match the actual range of floors, or may be a range shifted downward by a specified value in a certain direction from the actual range of floors. The right side of FIG. 8 shows an example of a specified range shifted downward by a specified value in a certain direction from the actual floor range. The notation of 1F projection indicates that an object at a height below the dashed line shown in the figure is projected onto the projection plane s on the first floor. Also, the notation of 2F projection indicates that an object above the dashed line is projected onto the projection plane s on the second floor.

Then, the projection unit 122 determines the projection plane based on, for example, in which designated range the lower portion of the footboard f _i is included. The first to fourth steps of the footboards f _i shown in FIG. 8 are projected onto the projection plane provided corresponding to the level line L1 because the lower portion of each footboard f _i is included in the specified range of the 1F projection. On the other hand, the fifth step of the footboard f _i is projected onto the projection plane provided corresponding to the level line L2 because the lower portion of the footboard f _i is included in the specified range of the 2F projection.

By determining the designated range in this way, for example, the projection unit 122 can project the footboard f _i that is actually at the height of the upper floor onto the upper floor. For this reason, it is expected that the generated 2D map data 112 will be less inconsistent in the sense of height when viewed by the user.

Further, when the projection planes of the footboards f _i change in the same object, the projection unit 122 may link the two footboards f _i sandwiching the part where the projection plane changes as inter-floor link objects. For example, when projecting a plurality of treads f _i included in the same stair object 203 onto different projection planes, the projecting unit 122 creates links indicating that the plurality of treads f _i projected onto different projection planes are passable. Processing is applied to generate 2D map data 112 .

<Projection processing of obstacle objects>
Next, projection processing of an obstacle object will be described.
As for the projection of the obstacle object, if the object contains information on the assigned floor, the projection unit 122 may project the obstacle object onto the projection plane corresponding to the assigned floor included in the information on the assigned floor. Moreover, when an object extends over a plurality of projection planes, the projection unit 122 may project the obstacle object onto each projection plane. In addition, by judging whether or not projection is necessary based on the height of the obstacle object, the obstacle object is projected so as to ensure the passability of the lower side of the passable object indicated by the 3D data with attribute information 111. may be implemented.

Here, an example of the 2D map data 112 generated by the above process will be described.
FIG. 9 is a diagram showing an example of the 2D map data 112 generated by the projection processing performed by the projection unit 122. As shown in FIG.

The 2D map data 112 shown in FIG. 9 differs from the 2D map data 112 shown in FIG. 5 in that "Support Floor 1-2" representing an auxiliary projection plane is provided between "Floor 1" and "Floor 2". . The 2D map data 112 also includes floor objects 401 , 402 , 403 , stair objects 404 , 405 , wall objects 406 , and interfloor link objects 407 , 408 .

A stair object 404 in “Floor 1” is separated from the floor object 402 . This floor object 402 is on the "Support Floor 1-2" connected to the inter-floor link objects 407,408. Therefore, it can be seen that people can pass through the location where the floor object 402 was located on "Floor 1". It is conventional to show that people can pass under the stair object 405 connected to the floor object 402 of "Support Floor 1-2" and the floor object 403 of "Floor 2".

In this way, the projection unit 122 projects the floor object 402 and the stair object 405, which overlap the floor object 401 and have a certain height or more, onto the auxiliary projection plane. Therefore, the 2D map data 112 generated by projecting the object by the projecting unit 122 is data that guarantees the passability under the landing of the stairs.

By performing the above processing and storing the obtained projection result data in the 2D map data 112, the processing of the projection unit 122 ends.
The above is the description of the processing in the first embodiment.

In the 2D map data generation device 100 according to the first embodiment described above, even if passable objects overlap, if there is a height at which a person can pass between the overlapping passable objects and the projection plane, Add an auxiliary projection plane. Then, the projection unit 122 projects subsequent objects onto the auxiliary projection plane. In this way, the projecting unit 122 does not project an object into a space that is high enough for people to pass through, so it is possible to generate the 2D map data 112 that guarantees the passability of people and objects.

Further, when the projection plane generation unit 121 generates an auxiliary projection plane, the projection unit 122 can project an object onto this auxiliary projection plane. When another object exists at a position that is more than the height threshold th as seen from the bottom of the footboard, and there is a projection plane within the projection plane set S in which the relative height h with respect to the footboard is within a specified range. , the auxiliary projection plane is not generated again. Therefore, many auxiliary projection planes are not generated on one floor, and the readability of the 2D map data 112 can be improved.

[Modification of First Embodiment]
The 2D map data generation device 100 according to the first embodiment was configured with one computer (device). However, the computers that constitute the 2D map data generation device 100 may be a plurality of computers that are communicably connected. For example, a system in which the storage unit 110, the arithmetic unit 120, and the input/output unit 130 are implemented by separate computers, and the bus 140 is used as communication means for connecting the computers may be used. Therefore, a 2D map data generation system divided into a management server and an information terminal will be described with reference to FIG.

FIG. 10 is a block diagram showing a configuration example of the 2D map data generation system 50. As shown in FIG.
A 2D map data generation system 50 includes a management server 30 and an information terminal 40 . The information terminal 40 can access the management server 30 via a network N such as the Internet. A plurality of information terminals 40 can also access the management server 30 .

The management server 30 includes a storage device 31 and a 2D map data generation device 32 connected by a bus 33 . 3D data with attribute information 111 and 2D map data 112 included in the storage device 31 are the same as those included in the storage unit 110 according to the first embodiment. The projection plane generation unit 121 and the projection unit 122 included in the 2D map data generation device 32 are the same as those included in the calculation unit 120 according to the first embodiment.

Therefore, the projection plane generator 121 reads the 3D data with attribute information 111 from the storage device 31 and generates a projection plane and an auxiliary projection plane. The projection unit 122 stores the 2D map data 112 generated by projecting the object onto the projection plane in the storage device 31 .

The information terminal 40 includes an input section 41 and an output section 42 . The input unit 41 and the output unit 42 included in the information terminal 40 are the same as the input unit 131 and the output unit 132 included in the input/output unit 130 according to the first embodiment. The input unit 41 included in the information terminal 40 instructs the 2D map data generation device 32 to generate the 2D map data 112, and the output unit 42 receives the 3D data with attribute information 111 received from the storage device 31 or the 2D Output map data 112 .

By configuring the 2D map data generation system 50 in this way, the management server 30 can collectively manage the 3D data with attribute information 111 and the 2D map data 112, which are enormous amounts of data. In addition, since the 2D map data generation device 32 is responsible for high-load processing, the information terminal 40 does not need to have high performance. Also, since the 3D data 111 with attribute information and the 2D map data 112 are not stored in the information terminal 40, the 3D data 111 with attribute information and the 2D map data 112 are not lost even if the information terminal 40 breaks down.

[Second embodiment]
Next, a configuration example and a processing example of the 2D map data generation device according to the second embodiment of the present invention will be described. The projection plane generation unit 121 of the 2D map data generation device 100 according to the first embodiment generates an auxiliary projection plane without distinguishing between the stairs 2031 and 2033 and the landing 2032 of the stair object 203. . On the other hand, in the 2D map data generation device 100A according to the second embodiment described below, the stair object 203 is decomposed into the steps 2031 and 2033 and the landing 2032, and then the auxiliary projection plane is generated. .

FIG. 11 is a block diagram showing a configuration example of a 2D map data generation device 100A according to the second embodiment. The 2D map data generation device 100A generates 2D map data 112 obtained by projecting an object represented by 3D data with attribute information 111 attached with attribute information representing the attribute of the object onto a projection plane represented by a two-dimensional plane from a certain direction. to generate

As shown in FIG. 11, the 2D map data generation device 100A includes a storage unit 110, a calculation unit 120A, an input/output unit 130 and a bus 140. Among these, the contents of the storage unit 110, the input/output unit 130, and the bus 140 are the same as in the first embodiment. In the following description, emphasis will be placed on differences from the 2D map data generation device 100 according to the first embodiment.

The calculation unit 120A is mainly composed of a CPU and executes a plurality of processes inside. The processing executed by the calculation unit 120A is roughly divided into a data decomposition unit 123 and a projection unit 124. FIG.

The data decomposing unit 123 decomposes the 3D data with attribute information 111 read from the storage unit 110 for each object. The 3D data with attribute information 111 is 3D data to which the types of building components are added as attribute information. For example, the data decomposition unit 123 decomposes the stair object 203 composed of a plurality of treads f _i for each tread f _i . Then, the data decomposing unit 123 regards the surfaces of the stair object 203 that are smaller than the specified area as objects of the class of the treads f _i of the stair sections 2031 and 2033, and the surfaces that are larger than the specified area threshold of the stair section 2031. Let it be an object of the class of the landing 2032 .

The projection unit 124 projects the decomposed object onto a projection plane representing a plane such as a floor to create the 2D map data 112 . For example, the projection unit 124 generates a projection plane and an auxiliary projection plane, and projects the treads f _i obtained by decomposing the stair object 203 onto the projection plane or the auxiliary projection plane to generate the 2D map data 112 . Note that the function of generating the 2D map data 112 by performing link processing indicating that the plurality of footboards f _i projected onto different projection planes by the projection unit 124 is passable is the function of the projection unit according to the first embodiment. Similar to 122.

<Description of data>
Since the data handled in this embodiment are the same as those in the first embodiment, detailed description thereof will be omitted.

<Description of data decomposition processing>
FIG. 12 is a flowchart showing an example of data decomposition processing in which the data decomposition unit 123 decomposes the stair object 203. As shown in FIG. The data decomposition process is composed of steps S11 to S14 as an example of a two-dimensional map data generation method. Also, the stair object 203 decomposed in this process is shown in FIG.

When the stair object 203 is not divided into the stair sections 2031 and 2033 and the landing 2032 as a data structure, the data decomposing section 123 performs a process of decomposing the data from the feature of the shape.

First, the data decomposing unit 123 extracts surfaces to be the footboards f _i from the surface data of the surfaces forming the stair object 203, and adds the extracted surfaces to the footboard set F (S11). As a method for the data decomposing unit 123 to extract the footboard f _i , for example, whether the normal vector of the surface faces upward in the vertical direction can be mentioned. Further, in step S11, among the surfaces of the surface data extracted by the data decomposition unit 123, two surfaces facing the same direction and adjacent to each other are combined and regarded as one footboard _fi . may be added.

Next, the data decomposition unit 123 performs processing for executing steps S13 and S14 for each footboard f _i in the footboard set F (S12).

Therefore, the data decomposition unit 123 determines whether or not the area of the footboard f _i is larger than the area threshold (S13). Here, the area threshold may be input in advance by the user through the input/output unit 130 or may be determined dynamically during the process of the data decomposition unit 123 . Further, for example, a constant multiple of the minimum area of the footboard assembly F may be determined as the area threshold.

When the data decomposing unit 123 determines that the area of the footboard f _i is larger than the area threshold (YES in S13), it adds landing attribute information (landing class) to the footboard f _i (S14). As a result, in the stair object, only surfaces having a certain size or larger are treated as landings, so it is possible to distinguish between the data of the stairs and the landings.

After step S14, or when it is determined in step S13 that the area of the footboard f _i is equal to or smaller than the area threshold (NO in S13), the data decomposition unit 123 determines the next element (footboard f _i ) in the footboard set F processing. Note _that when it is determined in step S13 that the area of the footboard f _i is equal to or less than the area threshold, the footboard attribute information (footboard class) may be added to the footboard fi.

The processing of the data decomposition unit 123 has been described above.
The processing shown in FIG. 12 enables the projection unit 124 to distinguish between the stairway section 2031 and the landing 2032 in the stair object 203 . Also, the projection unit 124 can distinguish between the ascending/descending steps 2031 and the landing 2032 even when the 2D map data 112 is generated. As a result, for example, it is possible to divide the movement algorithm for the movement simulation between the ascending/descending step section 2031 and the landing 2032 .

Next, the projection unit 124 will be described. The projection unit 124 generates 2D map data 112 by projecting each object of the 3D data 111 with attribute information onto a projection plane. The processing is divided into processing for projecting passable objects and processing for projecting obstacle objects. Which projection process is applied to an object may be determined by attribute information of each object.

<Projection processing of passable objects>
First, projection processing of passable objects will be described.
FIG. 13 is a flowchart illustrating an example of projection processing of passable objects. Projection processing of passable objects is composed of steps S21 to S31 as an example of a two-dimensional map data generation method.

First, the projection unit 124 sorts the objects o in the passable object group O in descending order of the highest points (S21).

Next, the projection unit 124 executes the processes of steps S23 to S31 for each object oεO (S22).

Next, the projection unit 124 sets the plane with the lowest height in the projection plane set S as the projection plane s (S23).

Next, the projection unit 124 executes the processing of steps S25 to S31 for each footboard f _i in the footboard set F within the object o (S24). Here, if the footboard set F includes the footboard f _i created by decomposing by the data decomposing unit 123, this footboard f _i is used for subsequent processing.

Next, the projection unit 124 determines whether or not the relative height h of the footboard f _i viewed from the projection plane s is equal to or greater than the height threshold th (S25). For example, the projection unit 124 compares the height from the floor object 201 to the stair object 203 with a height threshold th from the floor object 201 in a certain direction.

Then, if the relative height h of the footboard f _i is equal to or greater than the height threshold th (YES in S25), the projection unit 124 projects the footboard f _i onto the projection plane s to create a passable object on the projection plane s. (indicated as "passage overlap" in the figure) occurs (S26).

For example, if the 2D map data 112 is stored in polygon format, the projection unit 124 may determine that overlapping occurs based on the occurrence of overlapping of figures. Also, when the 2D map data 112 is held in a cell format, the projection unit 124 may determine whether or not there is a cell with the same coordinates.

When the footboard f _i is projected onto the projection plane s, if it overlaps with a passable object on the projection plane s (YES in S26), the projection unit 124 projects the relative height of the footboard f _i into the projection plane set S It is determined whether or not there is a projection plane s _f in which h is within the specified range (S27).

Here, the processing of step S27 will be described with reference to FIG.
FIG. 14 is a diagram showing an example of a case where there is no auxiliary projection plane (projection plane s _f ) and a case where there is an auxiliary projection plane (projection plane s _f ). In any case, the 3D data with attribute information 111 shown in FIG. 3 is represented as a diagram viewed from the horizontal direction. However, in FIG. 14, description of the floor object 202 and the wall object 204 is omitted.

<(1) When there is no auxiliary projection plane (projection plane s _f )>
For example, assume that there is only one stair object 203 on one floor object 201 . In this case, each of the steps 2031 and 2033 included in the floor object 201 and the stair object 203 and the landing 2032 is projected onto the projection plane s. As described above, the stair object 203 overlaps the floor object 201 . Also, a height threshold th is set as the minimum height at which a person can pass comfortably.

As shown in the explanatory diagram (1) of FIG. 14, the height of the footboard f _i from the bottom to the fifth step exceeds the height threshold th, and a person can pass under this footboard _fi . . Therefore, the projection unit 124 sets the auxiliary projection plane s _s at the same height as the footboard f _i through which a person can pass. The footboards f _i of the sixth and subsequent steps and the landing 2032 are projected onto the auxiliary projection plane s _s .

<(2) When there is an auxiliary projection plane (projection plane s _f )>
Here, it is assumed that two stair objects 203 and 203A are provided on one floor object 201, as shown in the explanatory diagram (2) of FIG. The height of the landings 2032 of the stair objects 203, 203A may differ. Then, it is assumed that the projection processing has been performed on the stair object 203A before the projection processing shown in FIG. Therefore, it is assumed that the projection plane s _f as the auxiliary projection plane has already been set through the projection processing for the stair object 203A.

In this case, if there is a projection plane s _f in which the relative height h with respect to the footboard f _i is within a specified range (for example, the height of several steps), the projection unit 124 converts the projection plane s into the projection plane s _f set to The subsequent footboards f _i and the landing 2032 are projected onto the projection plane s _f . The projection unit 124 can determine whether or not the footboard f _i can be projected onto an existing projection plane by detecting whether the footboard f _i exists within the specified range, thereby suppressing the creation of unnecessary auxiliary projection planes.

In this way, the projection unit 124 sequentially directs the first passable object (the tread f _i of the stair object 203) with the lowest height from the projection plane toward the projection plane so that the height from the projection plane is equal to or less than the height threshold. and project onto the auxiliary projection plane the first passable object whose height from the projection plane exceeds the height threshold.

Again, it returns to description of step S27 of FIG.
As shown in the explanatory diagram (1) of FIG. 14, if there is no projection plane s _f in which the relative height h with respect to the footboard f _i is within the specified range in the projection plane set S (NO in S27), the projection unit 124 generates an auxiliary projection plane s _s having the same height as the footboard f _i , adds this auxiliary projection plane s _s to the projection plane set S, and sets the projection plane s as the auxiliary projection plane s _s (S 28 ). Step S28 is performed, for example, by projection processing for the stair object 203A shown in FIG. By generating the auxiliary projection plane _ss , it is possible to prevent overwriting of a passable object (for example, the floor object 201) on which the footboard f _i has already been projected.

On the other hand, as shown in the explanatory diagram (2) of FIG. 14, if there is a projective plane s _f in which the relative height h with respect to the footboard f _i is within the specified range in the projective plane set S (YES in S27), The projection unit 124 sets the projection plane s as the projection plane _sf (S29).

After step S28 or S29, the projection unit 124 links the footboard f _i and the footboard f _i-1 immediately before in the footboard set F as inter-floor link objects (S30). If the footboard f _i-1 immediately before does not exist, the projection unit 124 does not have to execute the process of step S30. Through this process, the projection unit 124 forms an inter-floor link object that connects different projection planes, so that the 2D map data 112 (see FIG. 9) that ensures inter-floor traffic even after projecting the object can be generated. can be done.

After step S30, after the NO determination in step S25 or the NO determination in step S26, the projection unit 124 projects the footboard f _i onto the projection plane s (S31). For each footboard f _i , the projection unit 124 performs projection such that the height of the footboard f _i in a certain direction from the projection plane is equal to or greater than the height threshold th and the relative height with respect to the footboard f _i is within a specified range. If there is a surface, the footboard f _i is projected using the projection surface s _f within the specified range as the projection surface s. On the other hand, if the height of each footboard _{f i} in a certain direction from the projection plane is equal to or greater than the height threshold th and there is no projection plane within the specified range, the projection unit 124 detects the footboard f An auxiliary projection plane s _s having the same height as _i is generated, and the footboard f _i is projected using the auxiliary projection plane s _s as the projection plane s. As a projection method, for example, there is a method in which the projection unit 124 simply removes coordinate information in the height direction from each coordinate of the elements forming the footboard f _i .

Also, the class of the object projected by the projecting unit 124 conforms to the class of the object before projection. However, if the projecting unit 124 changes the class at the time of projecting the object in the middle of the process, for example by changing the staircase object to an inter-floor link object, the projecting unit 124 reflects the changed class. implement.

After step S31, the projection unit 124 returns to step S24 again, and repeats the processing from steps S25 to S31 for the next footboard _fi . When the processing for all the footboards f _i is completed, the projection unit 124 returns to step S22 and repeats the processing from steps S23 to S31 for the next object o included in the object group O. FIG. When the projection unit 124 finishes processing all the objects o included in the object group O, it ends the projection processing of the passable objects.

The above is the description of the passable object projection process according to the second embodiment. When the 3D data with attribute information 111 has a data structure that holds each object for each floor, the projection unit 124 may perform the processing shown in FIG. 13 for each floor. However, it is desirable that the projection unit 124 uses a common set of projection planes S for each floor.

Note that the projection of the obstacle object may be performed in the same manner as in the first embodiment.

By performing the above processing and storing the obtained projection result data in the 2D map data 112, the processing of the projection unit 124 ends.
The above is the description of each process in the second embodiment.

In the 2D map data generation device 100A according to the second embodiment described above, even if passages overlap, if there is a height at which people can pass between the overlapping passages and the projection plane, assistance is provided. Add a projective plane. Then, subsequent objects are projected onto the auxiliary projection plane. For this reason, since the object is not projected into a space having a height through which a person can pass, the 2D map data 112 that guarantees the passability of the object before projection can be generated.

If there are a plurality of aisles with the same floor, the same coordinates, and different heights, and the height difference is equal to or greater than the height threshold th, the projection unit 124 generates an auxiliary projection plane. Then, the projection unit 124 can generate the 2D map data 112 by projecting one passage onto the auxiliary projection plane. Since passages with the same coordinates and different heights are projected onto different projection planes in this way, it is possible to prevent passages from overlapping and generate 2D map data 112 that ensures passability of people and objects.

Note that if the data decomposition unit 123 has decomposed the stair object 203 into the stairway portion 2031 and the landing 2032, the projection unit 124 may generate an auxiliary projection plane having the same height as the landing 2032. good. By generating the auxiliary projection plane in this way, the generation of the 2D map data 112 can be accelerated.

[Modification of Second Embodiment]
The 2D map data generation device 100A according to the second embodiment is configured with one computer (device). However, the computers that constitute the 2D map data generation device 100A may be a plurality of computers that are communicably connected. For example, a system in which the storage unit 110, the arithmetic unit 120A, and the input/output unit 130 are implemented by separate computers, and the bus 140 is used as communication means for connecting the computers may be used. Therefore, a 2D map data generation system divided into a management server and an information terminal will be described with reference to FIG.

FIG. 15 is a block diagram showing a configuration example of the 2D map data generation system 50A.
The 2D map data generation system 50A includes a management server 30A and an information terminal 40. FIG. The information terminal 40 can access the management server 30A via a network N such as the Internet. A plurality of information terminals 40 can also access the management server 30A. The contents of the storage device 31 and the information terminal 40 are the same as those of the modification of the first embodiment (see FIG. 10).

The management server 30A includes a storage device 31 and a 2D map data generation device 32A that are connected via a bus 33 . 3D data with attribute information 111 and 2D map data 112 included in the storage device 31 are the same as those included in the storage unit 110 according to the second embodiment. Also, the data decomposition unit 123 and the projection unit 124 included in the 2D map data generation device 32A are the same as those included in the calculation unit 120A according to the second embodiment.

Therefore, the data decomposition unit 123 reads the 3D data with attribute information 111 from the storage device 31 and decomposes the data. The projection unit 124 generates a projection plane and an auxiliary projection plane for each decomposed data, and stores the 2D map data 112 generated by projecting the object onto the projection plane in the storage device 31 .

A 2D map data generation system 50A according to the modification of the second embodiment has the same effects as the 2D map data generation system 50 according to the modification of the first embodiment described with reference to FIG.

[Other Modifications]
In each of the above-described embodiments, the footboard f _i is extracted from the footboard set F because the normal vector of the surface faces upward. However, there are cases where a space where people can pass is provided even under a slope with a gentle slope. Here, an example of applying the processing according to the present embodiment to the slope will be described with reference to FIG. 16 .
FIG. 16 is a diagram showing an example of the slope object 205. As shown in FIG.

As shown in FIG. 16, floor objects 201 and 202 are connected by a slope object 205 . The slope object 205 is shown to be finely decomposed into regions of predetermined size delimited by dashed lines. Then, even if the normal vector of the surface of the slope object 205 is not in the vertical direction, if the slope object 205 is directed upward, a portion obtained by decomposing the slope object 205 in the width direction may be extracted as the footboard f _i . If the slope object 205 is extracted as the footboard f _i in advance, the projection plane generation unit 121 according to the first embodiment determines whether or not the auxiliary projection plane can be generated for each footboard f _i . If the slope object 205 has not been previously extracted as the footboard f _i , the data decomposing unit 123 according to the second embodiment decomposes the slope object 205 into a plurality of footboards f _i .

By decomposing the slope object 205 in this way, the 2D map data generation devices 100 and 100A can generate auxiliary projection planes and perform projection processing in the same manner as the treads f _i in the stair object 203 described above. Also, if the slope object 205 has a landing in the middle of the slope, the 2D map data generation device 100A can also decompose the slope object 205 into the slope and the landing. In this way, even for the slope object 205, the 2D map data 112 that guarantees the passability of people and objects under the slope object 205 is generated.

Also, even if a plurality of passable objects overlap, if there is a space through which a person can pass, an auxiliary projection plane is generated, and the passable objects are projected onto this auxiliary projection plane. Here, if there is a space in which heavy equipment such as a forklift that moves in the factory can be moved in addition to people, the auxiliary projection plane may be generated based on the height of the heavy equipment.

Also, if each floor is taller than usual or has an atrium structure, only one auxiliary projection plane may be created. When the height between the first passable object and the second passable object that overlaps the first passable object exceeds the height threshold th, the subsequent first passable object may be projected onto the auxiliary projection plane. By generating the auxiliary projection planes in this way, it is possible to prevent generation of a plurality of auxiliary projection planes on each floor. However, when mobile bodies of different heights move, auxiliary projection planes may be generated for each height of the mobile bodies, and the first passable object may be projected onto these auxiliary projection planes. In this case, for example, the simulator can also determine the passability by dividing it into a passage for people and a passage for heavy machinery.

The present invention is not limited to the above-described embodiments, and can of course be applied and modified in various other ways without departing from the gist of the present invention described in the claims.
For example, each of the embodiments described above is a detailed and specific description of the configuration of the device and system in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to those having all the configurations described. Further, it is possible to replace part of the configuration of the embodiment described here with the configuration of another embodiment, and furthermore, it is possible to add the configuration of another embodiment to the configuration of one embodiment. It is possible. Moreover, it is also possible to add, delete, or replace a part of the configuration of each embodiment with another configuration.
Further, the control lines and information lines indicate those considered necessary for explanation, and not all control lines and information lines are necessarily indicated on the product. In practice, it may be considered that almost all configurations are interconnected.

DESCRIPTION OF SYMBOLS 100... 2D map data generation apparatus, 110... Storage part, 111... 3D data with attribute information, 112... 2D map data, 120... Calculation part, 121... Projection plane generation part, 122... Projection part, 123... Data resolution part, 124... Projection part 130... Input/output part 201, 202... Floor object 203... Stairs object 2031... Stairs part 2032... Landing 2033... Stairs part

Claims (13)

A two-dimensional map data generation device for generating two-dimensional map data by projecting an object represented by three-dimensional data with attribute information representing the attributes of the object onto a projection plane represented by a two-dimensional plane from a fixed direction,
The objects include a passable object through which a moving body can pass, the projection plane onto which the passable object is projected, and a second passable object that overlaps the first passable object in the fixed direction. generating an auxiliary projection plane parallel to the projection plane at the height of the first passable object if the height between
Projecting the first passable object having a height equal to or less than the height threshold onto the projection plane, and projecting the first passable object having a height exceeding the height threshold onto the auxiliary projection plane, A two-dimensional map data generation device that generates the two-dimensional map data. The first passable objects whose height from the projection plane is equal to or less than the height threshold are projected toward the projection plane in order from the first passable objects having the lowest height from the projection plane. , the first passable objects whose height from the projection plane exceeds the height threshold, toward the auxiliary projection plane in order from the first passable object having the lowest height from the auxiliary projection plane; 2. The two-dimensional map data generating device according to claim 1, further comprising a projecting unit that projects and generates the two-dimensional map data. The projection plane is generated based on the second passable object, and the auxiliary projection plane is generated based on a portion of the first passable object whose height from the projection plane exceeds the height threshold. and a projection plane generation unit that
3. The two-dimensional map data generation device according to claim 2, wherein the projection unit projects the first passable object onto the projection plane or the auxiliary projection plane. When the first passable object is composed of a plurality of footboards, and the second passable object exists at a position away from the lower part of the footboard in the predetermined direction, the projection plane generation unit generates a plurality of passable objects. 4. The method according to claim 3, wherein for each footboard of said first passable object composed of footboards, the height from said footboard to said second passable object is compared with said height threshold from said footboard. 2D map data generator. 5. The two-dimensional map according to claim 4, wherein the projection plane generator generates the auxiliary projection plane having the same height as the footboard if there is no projection plane whose height relative to the footboard is within a specified range. Data generator. a disassembling unit that disassembles the first passable object composed of a plurality of footboards into each of the footboards;
The projection unit generates the projection plane and the auxiliary projection plane, and projects the footboard obtained by decomposing the first passable object onto the projection plane or the auxiliary projection plane to generate the two-dimensional map data. 3. The two-dimensional map data generation device according to claim 2. The decomposition unit classifies the surfaces of the first passable objects that are equal to or smaller than a specified area as objects of the step board class, and the surfaces that are larger than a prescribed area threshold as objects of the landing part class. 7. The two-dimensional map data generation device according to claim 6, wherein the object of The projection unit compares the height from the second passable object to the first passable object with a height threshold in the certain direction from the second passable object, and If there is a projection plane in which the height of the footboard in the given direction from the projection plane is equal to or greater than the height threshold and the relative height to the footboard is within the specified range, it is within the specified range. 8. The footboard is projected onto the projection plane, and if there is no projection plane within a specified range, an auxiliary projection plane having the same height as the footboard is generated and the footboard is projected onto the auxiliary projection plane. 2. The two-dimensional map data generation device according to . The two-dimensional map data generation device according to claim 5 or 8, wherein the specified range is a range obtained by shifting the floors stored in the three-dimensional data by a specified value in the fixed direction. When the plurality of footboards included in the same first passable object are projected onto different projection planes, the projection unit indicates that the plurality of footboards projected onto the different projection planes are passable. 9. The two-dimensional map data generation device according to claim 5 or 8, wherein the two-dimensional map data is generated by performing a linking process that indicates the two-dimensional map data. In a two-dimensional map data generation method for generating two-dimensional map data by projecting an object represented by three-dimensional data with attribute information representing the attributes of the object onto a projection plane represented by a two-dimensional plane from a fixed direction,
The objects include a passable object through which a moving body can pass, the projection plane onto which the passable object is projected, and a second passable object that overlaps the first passable object in the fixed direction. generating an auxiliary projection plane parallel to the projection plane at the height of the first passable object if the height between
Projecting the first passable object having a height equal to or less than the height threshold onto the projection plane, and projecting the first passable object having a height exceeding the height threshold onto the auxiliary projection plane, and generating the two-dimensional map data. a two-dimensional map data generation device for generating two-dimensional map data by projecting an object represented by three-dimensional data with attribute information representing attributes of the object onto a projection plane represented by a two-dimensional plane from a fixed direction; In a two-dimensional map data generation system in which a storage device for storing the three-dimensional data and the two-dimensional map data and an information terminal are connected to each other via a network,
The two-dimensional map data generation device is
The objects represented by the three-dimensional data read out from the storage device include passable objects through which a moving object can pass. an auxiliary projection plane parallel to the projection plane at the height of the first passable object when the height between the first passable object and a second passable object that overlaps the first passable object exceeds a height threshold; to generate
Projecting the first passable object having a height equal to or less than the height threshold onto the projection plane, and projecting the first passable object having a height exceeding the height threshold onto the auxiliary projection plane, generating the two-dimensional map data;
The storage device
A two-dimensional map data generating system for storing the three-dimensional data and the two-dimensional map data, and transmitting the three-dimensional data or the two-dimensional map data requested by the information terminal to the information terminal. The information terminal is
an input unit for instructing the two-dimensional map data generation device to generate the two-dimensional map data;
13. The two-dimensional map data generation system according to claim 12, further comprising an output unit that outputs the three-dimensional data or the two-dimensional map data received from the storage device.

Images