JP7336430B2 - Mobile body position detection device and position detection method - Google Patents

Description

The present invention relates to a position detection device and a position detection method for a moving object, and more particularly to data amount compression of distance data acquired by a distance sensor.

In recent years, moving bodies such as unmanned guided vehicles and autonomous mobile robots that can automatically reach a destination without human operation have been realized. This moving body is equipped with a distance sensor, and moves while estimating its own position in the environment by collating the measured distance data with the map information of the moving environment.

There is Patent Document 1 as a prior art document in this technical field. Patent document 1 discloses a control system for a moving object, which includes a control module and a moving object-side module. , estimate the position of the mobile body in the environment, and control the moving mechanism of the mobile body based on the estimation result to move the mobile body autonomously.

Japanese Patent Application Laid-Open No. 2020-91810

For example, on the center side, it is effective to use the distance data acquired by the distance sensor of the moving body in order to record the operating state of the moving body, analyze and monitor the movement of the moving body. . In that case, it is necessary to transmit the distance data to the center, but the distance sensor needs to measure the distance to the obstacles around the distance sensor while moving, so the amount of data is enormous.

In Patent Document 1, the control module may exist in the mobile body, or may exist outside the mobile body and may be configured to perform wireless communication with the mobile body. No consideration is given to the amount of measurement data from the distance sensor.

SUMMARY OF THE INVENTION In view of the above problems, it is an object of the present invention to provide a position detection device and a position detection method for a moving body capable of compressing the amount of distance data acquired by a distance sensor.

To give an example, the present invention is a position detection device for a moving object that moves autonomously while estimating its own position by collating distance data measured by a distance sensor with map information of the moving environment, The distance data is distance data measured in a plurality of predetermined angle measurement directions within a predetermined angle of the circumference in frame processing in which the distance sensor measures a predetermined angle of the circumference, and is based on the distance data. A position and orientation detection processing unit that estimates a position and orientation and outputs position and orientation information, a map generation processing unit that creates a map based on distance data and outputs map information, and a distance data input and map information in the measurement direction. It has a distance selection processing unit that sequentially assigns a number to each existing distance and outputs the number of the distance for which distance data in the measurement direction exists as the distance number.

ADVANTAGE OF THE INVENTION According to this invention, the position detection apparatus and position detection method of the moving body which can compress the data amount of the distance data acquired with the distance sensor can be provided.

1 is a schematic configuration diagram of a position information processing system in an embodiment; FIG. 1 is a hardware configuration diagram of a position detection device in an embodiment; FIG. 4 is a functional configuration diagram of an encoding processing unit and a decoding processing unit for distance data in the embodiment; FIG. It is a figure explaining distance measurement in an example. FIG. 4 is an explanatory diagram of map generation by distance measurement in the embodiment; It is a figure explaining the relationship between map data and distance measurement in an Example. It is a figure explaining the code sequence of the distance data in an Example. FIG. 4 is an explanatory diagram of decoding distance data from a code sequence of distance data in the embodiment; 4 is a processing flowchart of distance data encoding processing in the embodiment. 4 is a processing flowchart of decoding processing of distance data in the embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a schematic configuration diagram of a position information processing system in this embodiment. In FIG. 1 , the position information processing system is composed of a mobile object 100 and a position information processing device 500 .

The moving body 100 has a position detection device 110, a communication device 120, a laser scanner 130 which is a distance sensor for measuring distance data, and a moving mechanism 140, and compares the measured distance data with map information of the moving environment. By doing so, it moves autonomously while estimating its own position in the environment.

The position information processing device 500 has a decoding processing unit 510 and a communication device 520, performs information communication with the mobile object 100 via the communication device 120 and the communication device 520, and uses the distance data measured by the mobile object 100. Performs motion recording, movement analysis, monitoring, etc. of mobile objects.

The position detection device 110 in the mobile object 100 has a communication control unit 111, a laser scanner control unit 112, a mobile object control unit 113, a position/orientation detection/map generation processing unit 150, and an encoding processing unit 160 as functional units. Note that the communication control unit 111 , the laser scanner control unit 112 , and the moving body control unit 113 may be provided in the moving body 100 as functional units separate from the position detection device 110 .

The laser scanner 130 uses a laser to measure the distance to an object within the laser measurable area around the laser scanner 130, and a measured distance data set (also called point cloud data), which is a data set indicating the measured distance. say). One measured distance data set indicates a plurality of distances measured around, that is, a plurality of distances corresponding to a plurality of parts of surrounding obstacles within the measurable area. A measured distance data set is input to the position detection device 110 .

The moving mechanism 140 is controlled by the moving body control unit 113 and driven according to the position and orientation of the moving body 100 .

FIG. 2 is a hardware configuration diagram of the position detection device 110 in this embodiment. 2, the position detection device 110 includes a processor (CPU) 201, a memory (main storage device) 203 connected thereto, an auxiliary storage device 205, and an interface section (I/F) 207. FIG.

The processor 201 operates based on the programs and data stored in the auxiliary storage device 205 or memory 203, and executes predetermined processing by software processing. That is, in the auxiliary storage device 205 or memory 203, programs such as a communication device control program 231, a laser scanner control program 232, a moving object control program 233, a position and orientation detection program 234, a map creation program 235, an encoding program 236, A map 237, a position detection result 238, and compressed data 239 are stored, and each function of the position detection device 110 of FIG. 1 is executed. It should be noted that the processing may be realized by hardware such as a dedicated integrated circuit instead of software processing.

The interface unit (I/F) 207 is connected with the communication device 120, the laser scanner 130, and the moving mechanism 140 of the moving body 100 shown in FIG.

FIG. 3 is a functional configuration diagram of a distance data encoding processing unit and a decoding processing unit according to the present embodiment. FIG. 3 shows the details of the position/orientation detection/map generation processing unit 150 and the encoding processing unit 160 of the position detection device 110 in the moving body 100 and the details of the decoding processing unit 510 in the position information processing device 500 .

3, the position/posture detection/map generation processing unit 150 includes a position/posture detection processing unit 151 and a map generation processing unit 152. The encoding processing unit 160 includes a position/posture encoding processing unit 161 and a map encoding processing unit 161. It is composed of a processing unit 162 , a distance selection processing unit 163 and a distance number encoding processing unit 164 . The decoding processing unit 510 includes a position/orientation decoding processing unit 511 , a map decoding processing unit 512 , a distance number decoding processing unit 513 , and a distance data restoration processing unit 514 .

In FIG. 3 , the distance data measured by the laser scanner 130 is input to the position/orientation detection/map generation processing unit 150 . Here, the position/orientation detection/map generation processing unit 150 performs SLAM (simultaneous localization and mapping) processing to simultaneously estimate the self-position from the distance data and create a map. That is, the position/orientation detection processing unit 151 estimates the position and orientation of the moving object in the map, and outputs the position/orientation information. Here, the orientation is the orientation or moving direction of the moving object. Further, the map generation processing unit 152 creates a map and outputs map information. Furthermore, the distance data is input to the distance selection processing section 163, and the distance selection processing section 163 generates a distance number based on the map information and the position and orientation information. Details of the distance selection process and the distance number will be described later.

Then, the position and orientation information, the map information, and the distance number are encoded by the position and orientation encoding processing unit 161, the map encoding processing unit 162, and the distance number encoding processing unit 164, respectively. The attitude code, map code, and distance number code are transmitted to the position information processing device 500 .

In the position information processing device 500, each encoded data is decoded by the position/attitude decoding processing unit 511, the map decoding processing unit 512, and the distance number decoding processing unit 513 in the decoding processing unit 510, and the position/attitude information, Map information and distance numbers are decoded. A distance data restoration processing unit 514 restores distance data from the distance number decoded by the distance number decoding processing unit 513 .

Note that the distance selection processing unit 163 and the distance number encoding processing unit 164 may be configured as a distance data encoding device that encodes the distance data. Similarly, the distance number decoding processing unit 513 and the distance data restoration processing unit 514 may be configured as a distance data decoding device that decodes and restores the distance data.

Further, since the data amount of the distance data is compressed by the distance number generation by the distance selection processing unit 163, the distance number is not encoded by the distance number encoding processing unit 164, and the distance number is used as it is for the position information processing device. 500. In that case, the distance number encoding processing section 164 and the distance number decoding processing section 513 become unnecessary.

FIG. 4 is a diagram for explaining distance measurement in this embodiment. FIG. 4 shows a case where the moving body 100 moves within a structure environment composed of a building wall surface 800, objects 801, 802, 803, and window glass 804. FIG. A straight line extending from a laser scanner 130 provided on the moving body 100 indicates distance measurement by laser, and a thick line and black circles indicate the parts measured by the moving body 100 .

In FIG. 4, the moving body 100 measures the distance to obstacles around the laser scanner 130 while moving. Here, with respect to the window glass 804, the position of the window glass 804 is measured by reflecting the laser on the glass at the portion 11B where the laser hits almost perpendicularly. For a portion hit at a predetermined angle or more, the laser beam is transmitted through the glass and reflected by the object 803 in front of it, so that the position of the object 803 is measured.

FIG. 5 is an explanatory diagram of map generation by distance measurement in this embodiment. FIG. 5 is a top view of the structure in FIG. 4, and is a schematic diagram showing how the moving object 100 moves in the direction of the arrow 101 and measures the distance to surrounding obstacles.

In FIG. 5, (a) shows the measured parts of the obstacles around the moving body 100 by a certain time with thick lines, and a partial map is generated from this. Here, 12 indicates the measurable area of the laser scanner 130 . It is assumed that the laser scanner 130 measures distance data to an obstacle in a peripheral direction from −135° to +135° with respect to the moving direction 101 on a horizontal plane at a certain height. (b) shows the measured portions of obstacles around the moving body 100 after a predetermined time has elapsed from the time shown in (a), and the map is generated by sequentially adding the map as indicated by the thick lines based on the measurement data. be.

FIG. 6 is a diagram for explaining the relationship between map data and distance measurement in this embodiment. In FIG. 6, (a) shows the map data generated by the map generation process described in FIG. 5 with a thick line. Also, regarding the distance measurement for the windowpane 804, FIG. 8B shows an enlarged view of the portion 15 indicated by the dotted line. (b) shows a block that is a constituent unit of map data, and the map data is made up of a plurality of blocks. Regarding the block 11B of the windowpane 804 which the laser emitted from the laser scanner 130 of the moving body 100 almost perpendicularly hits, the laser is reflected by the glass, the position of the windowpane 804 is measured, and the laser is projected at a predetermined angle with respect to the vertical. As for the block 11A of the window glass 804 hit by the above, the position of the object 803 is measured by the laser beam passing through the glass and being reflected by the object 803 located ahead. Black circles are measurement points.

FIG. 7 is a diagram for explaining code sequences of distance data in this embodiment. In FIG. 7, (a) shows a state in which the mobile body 100 measures surrounding obstacles at a certain time in the environment indicated by the map data. Using a laser scanner 130, the moving body 100 is scanned clockwise from the measurement direction a in a range of 270° from -135° to +135° in increments of 10° with respect to the surrounding moving direction 101, as shown in the figure. It is assumed that 28 points of z, za, and zb are measured.

In FIG. 7, (b) is a diagram showing the relationship between the measurement data and the map data, with the horizontal axis representing the distance in each measurement direction. In (b), black squares indicate distances where map data exist, and black circles indicate distances where measurement data exist. For example, in the measurement direction e, as shown in (a), both the measurement data for the building wall surface 800 and the map data are present in the measurable area 12, so a black square and a black circle are described at the position of the distance de1. . Note that the distance D is the limit distance of the measurable area. A number is sequentially assigned to each distance in the measurement direction at which the map data exists, and the number of the distance at which the measurement data exists is set as the distance number. Therefore, in the measurement direction e, since the distance at which the measurement data exists is the first distance at which the map data exists, 1 is assigned as the distance number. In the measurement direction h, there are two map data, and since the measurement data is at the first distance dh1, a distance number of 1 is given. In the measurement direction p, neither map data nor measurement data exists within the limit distance D of the measurable area. Similarly, there is one map data in the measurement direction s, but there is no measurement data for that distance, and there is no measurement data within the limit distance D of the measurable area. is given as 2. In the measurement direction v, there are two pieces of map data. Furthermore, in the measurement direction x, there are two map data, and since there is measurement data at the distance of the first map data, a distance number of 1 is assigned.

After determining the distance numbers in each measurement direction as in (b), the distance numbers in each measurement direction in the clockwise direction are arranged to form a code sequence of distance data as in (c). The code series of the distance data has a compressed data amount compared to the data amount of the distance data itself.

FIG. 8 is an explanatory diagram of restoring distance data from a code sequence of distance data in this embodiment. In FIG. 8, in the code series of the distance data calculated in FIG. 7, for example, in the measuring direction v, which is the 22nd order of the measuring direction in the clockwise direction, the distance number is 2, so the map in the measuring direction v The distance of the second map data of the two data is restored as the measured distance data of the measurement data.

FIG. 9 is a processing flowchart of encoding processing of distance data in this embodiment. In FIG. 9, first, in step S101, when the processing of measuring a predetermined angle around the moving body 100 with the laser scanner 130 is one frame process, the number of frames is m, and the predetermined angle is measured in predetermined increments. When the measurement direction number in the clockwise direction is n, the m and n are initialized to m=1 and n=1. Next, in step S102, it is determined whether or not the current frame number m is equal to or less than the total frame number M. If it is greater than the frame number M, the process proceeds to step S109. and laser measurement data (dm1, . . . , dmN) to detect the measured position and orientation (coordinates xm, ym and angle θm). Here, N is the maximum value of the measurement direction number for a predetermined angle within one round.

Then, in step S104, it is determined whether or not the current measurement direction number n is equal to or less than the maximum value N of measurement direction numbers. In step S105, m is incremented, the process returns to step S102, and the process is repeated until the number of frames M is reached.

In step S106, map data is scanned in the n-th measurement direction with respect to the detected position and orientation, and blocks in which measurement data exist are extracted as shown in FIG. Then, in step S107, the distance number corresponding to the actual measurement data is specified and stored in the memory. The processing of step S107 corresponds to the processing of the distance selection processing section 163 in FIG.

Then, in step S108, n is incremented, the process returns to step S104, and the process is repeated until the distance number in the measurement direction for a predetermined angle within one round is specified.

In step S109, the distance number stored in the memory is encoded by run length code or the like. The processing of this step S109 corresponds to the processing of the distance number encoding processing section 164 in FIG.

FIG. 10 is a processing flowchart of the decoding processing of the distance data in this embodiment. In FIG. 10, first, in step S501, the number of frames m and the measurement direction number n are initialized to m=1 and n=1. Next, in step S502, all distance numbers are decoded from the encoded distance number code. Next, in step S503, it is determined whether or not the current frame number m is equal to or less than the total frame number M. If the number is greater than the frame number M, the process is terminated. position and orientation (coordinates xm, ym and angle θm).

Then, in step S505, it is determined whether or not the current measurement direction number n is equal to or less than the maximum measurement direction number N. If it is equal to or less than the maximum measurement direction number N, the process proceeds to step S507. In S506, m is incremented, the process returns to step S503, and the process is repeated until the number of frames M is reached.

In step S507, map data is scanned in the n-th measurement direction with respect to the decoded position and orientation, and blocks in which measurement data exist are extracted. Then, in step S508, the corresponding block is extracted from the distance number, and the measurement data dmn is obtained. Then, in step S509, n is incremented, the process returns to step S505, and the process is repeated until data in the measurement direction for a predetermined angle within one round is obtained.

In the encoding process of FIG. 9, the data amount of the distance data is compressed by generating the distance number. 10, the decoding process of the distance number in step S502 may be eliminated.

As described above, according to the present embodiment, the position detecting device of a moving body that moves autonomously while estimating its own position by collating the distance data measured by the distance sensor with the map information of the moving environment, The distance data is distance data measured in a plurality of predetermined angle measurement directions within a predetermined angle of the circumference in frame processing in which the distance sensor measures a predetermined angle of the circumference, and the movement is performed based on the distance data. A position and orientation detection processing unit for estimating a position and orientation of a body in a map and outputting position and orientation information, a map generation processing unit for creating a map based on the distance data and outputting the map information, and receiving the distance data. a position detection device having a distance selection processing unit that sequentially assigns a number to each distance in the measurement direction at which the map information exists, and outputs the number of the distance at which the distance data exists in the measurement direction as a distance number; Configurable.

Also, a position detection method for a moving body that autonomously moves while estimating its own position by collating distance data measured by a distance sensor with map information of a moving environment, wherein the distance data is obtained by the distance sensor. Distance data obtained by measuring a plurality of predetermined angles within a predetermined angle in frame processing for measuring a predetermined angle around the circumference, wherein the position and orientation of the mobile object in a map are calculated based on the distance data. A map is created based on the distance data, map information is output, the distance data is input, and a number is sequentially assigned to each distance in the measurement direction at which the map information exists. A position detection method can be configured in which the number of the distance at which the distance data exists in the measurement direction is output as the distance number.

Also, a distance data encoding device for a moving body that autonomously moves while estimating its own position by collating distance data measured by a distance sensor with map information of a moving environment, wherein the distance data is the distance Distance data obtained by measuring a plurality of predetermined angles in measurement directions within a predetermined angle in a frame process in which a sensor measures a predetermined angle around the circumference, wherein the distance data is input and map information in the measurement direction is obtained. a distance selection processing unit that sequentially assigns a number to each existing distance, sets the number of the distance at which the distance data exists in the measurement direction as a distance number, and outputs the distance number; and a distance number that encodes the distance number. A distance data encoding device having an encoding processing unit can be configured.

Also, a distance data encoding method for a moving body that autonomously moves while estimating its own position by collating distance data measured by a distance sensor with map information of a moving environment, wherein the distance data is the distance Distance data obtained by measuring a plurality of predetermined angles in measurement directions within a predetermined angle in a frame process in which a sensor measures a predetermined angle around the circumference, wherein the distance data is input and map information in the measurement direction is obtained. A distance data encoding method can be configured in which a number is sequentially assigned to each existing distance, the number of the distance at which the distance data exists in the measurement direction is output as a distance number, and the distance number is encoded.

Further, in the distance data encoding method, the distance data may be distance data obtained by measuring a predetermined angle of the circumference in a measurement direction at predetermined increments.

Also, by comparing the distance data measured by the distance sensor with the map information, the distance data measured by the mobile body that moves autonomously while estimating its own position is used to record the movement of the mobile body and to perform the movement analysis. A processing device, wherein the distance data is distance data measured in a plurality of predetermined angle measurement directions within a predetermined angle around the moving body in frame processing for measuring a predetermined angle around the moving body, a communication device that sequentially assigns a number to each distance in the measurement direction at which the map information exists and receives the number of the distance at which the distance data exists in the measurement direction as a distance number; A position information processing apparatus having a distance data restoration processing unit that restores the distance in the direction where the map information exists as distance data can be configured.

Further, in the position information processing device, the communication device has a distance number decoding processing unit that receives a distance number code in which the distance number is encoded, decodes the received distance number code, and outputs a distance number. Further, the distance data restoration processing unit can constitute a position information processing device that restores distance data from the distance number output by the distance number decoding processing unit.

Also, by comparing the distance data measured by the distance sensor with the map information, the distance data measured by the mobile body that moves autonomously while estimating its own position is used to record the movement of the mobile body and to perform the movement analysis. In the processing method, the distance data is distance data measured in a plurality of predetermined angle measurement directions within a predetermined angle around the moving object in frame processing for measuring a predetermined angle around the moving object, A number is sequentially assigned to each distance in the measurement direction at which the map information exists, and the number of the distance at which the distance data exists in the measurement direction is received as a distance number, and the received distance number is used to determine the distance in the measurement direction. It is possible to configure a position information processing method that restores the distance at which map information exists as distance data.

Further, in the above position information processing method, a distance number code in which the distance number is encoded is received, the received distance number code is decoded to output the distance number, and the distance data is restored from the distance number. Information processing methods can be configured.

Also, by comparing the distance data measured by the distance sensor with the map information, the distance data measured by the mobile body that moves autonomously while estimating its own position is used to record the movement of the mobile body and to perform the movement analysis. A distance data decoding device for a processing device, wherein the distance data is measured in a plurality of predetermined angle measurement directions within a predetermined angle around the moving object in frame processing for measuring a predetermined angle around the moving object. wherein a number is assigned to each distance in the measurement direction at which the map information exists, and the number of the distance at which the distance data exists in the measurement direction is used as a distance number, and the distance number is encoded as a distance number. A distance number decoding processing unit that receives a number code, decodes the received distance number code and outputs a distance number, and the map information in the measurement direction based on the distance number output by the distance number decoding processing unit. A distance data decoding device having a distance data restoration processing unit that restores the distance as distance data can be configured.

Also, by comparing the distance data measured by the distance sensor with the map information, the distance data measured by the mobile body that moves autonomously while estimating its own position is used to record the movement of the mobile body and to perform the movement analysis. In the distance data decoding method for a processing device, the distance data is measured in a plurality of predetermined angle measurement directions within a predetermined angle around the moving object in frame processing for measuring a predetermined angle around the moving object. wherein a number is assigned to each distance in the measurement direction at which the map information exists, and the number of the distance at which the distance data exists in the measurement direction is used as a distance number, and the distance number is encoded as a distance number. A distance data decoding method for receiving a number code, decoding the received distance number code, outputting a distance number, and restoring the distance in the measurement direction at which the map information exists from the output distance number as distance data. Configurable.

As described above, according to the present embodiment, it is possible to provide a position detection device and a position detection method for a moving object capable of compressing the amount of distance data acquired by a distance sensor.

Although the embodiments have been described above, the present invention is not limited to the above-described embodiments and includes various modifications. For example, in the embodiments, it was described that a predetermined angle around the laser scanner is measured in the measurement direction at predetermined increments. can be measured by Also, the above-described embodiments have been described in detail for easy understanding of the present invention, and the present invention is not necessarily limited to those having all the components described.

100: moving body, 111: communication control unit, 112: laser scanner control unit, 113: moving body control unit, 110: position detection device, 120: communication device, 130: laser scanner, 140: movement mechanism, 150: position and orientation Detection/map generation processing unit 151: position and orientation detection processing unit 152: map generation processing unit 160: encoding processing unit 161: position and orientation encoding processing unit 162: map encoding processing unit 163: distance selection Processing unit 164: Distance number encoding processing unit 201: Processor (CPU) 203: Memory (main storage device) 205: Auxiliary storage device 207: Interface unit (I/F) 500: Position information processing device , 510: decoding processing unit, 511: position and orientation decoding processing unit, 512: map decoding processing unit, 513: distance number decoding processing unit, 514: distance data restoration processing unit, 520: communication device.

Claims (10)

A position detection device for a moving body that moves autonomously while estimating its own position by comparing distance data measured by a distance sensor with map information of the moving environment,
The distance data is distance data measured in a plurality of predetermined angle measurement directions within a predetermined angle of the circumference in frame processing in which the distance sensor measures a predetermined angle of the circumference,
a map generation processing unit that generates a map based on the distance data and outputs map information;
a position and orientation detection processing unit that estimates the position and orientation of the mobile object in the map based on the distance data and outputs position and orientation information;
A distance selection processing unit that receives the distance data, assigns a number to each distance in the measurement direction at which the map information exists, and outputs the number of the distance at which the distance data exists in the measurement direction as a distance number. A position detection device comprising: In the position detection device according to claim 1,
a position and orientation information encoding processing unit that encodes the position and orientation information;
a map information encoding processing unit that encodes the map information;
A position detection device comprising a distance number encoding processing unit that encodes the distance number. In the position detection device according to claim 1,
The position detection device, wherein the position/orientation detection processing unit and the map generation processing unit output position/orientation information and map information, respectively, by SLAM processing. In the position detection device according to claim 1,
The position detection device, wherein the distance data is distance data obtained by measuring a predetermined angle around the circumference in a measurement direction at predetermined increments. A position detection method for a moving body that moves autonomously while estimating its own position by comparing distance data measured by a distance sensor with map information of the moving environment,
The distance data is distance data measured in a plurality of predetermined angle measurement directions within a predetermined angle of the circumference in frame processing in which the distance sensor measures a predetermined angle of the circumference,
creating a map based on the distance data and outputting map information;
estimating the position and orientation of the mobile object within the map based on the distance data and outputting position and orientation information;
The distance data is input, a number is sequentially assigned to each distance in the measurement direction at which the map information exists, and the number of the distance at which the distance data exists in the measurement direction is output as a distance number. location detection method. In the position detection method according to claim 5,
encoding the position and orientation information;
encoding the map information;
A position detection method, wherein the distance number is encoded. In the position detection method according to claim 5,
A position detection method, wherein the position and orientation information and the map information are generated by SLAM processing. In the position detection method according to claim 5,
The position detection method, wherein the distance data is distance data obtained by measuring a predetermined angle around the circumference in a measurement direction at predetermined increments. A distance data encoding device for a moving body that moves autonomously while estimating its own position by comparing distance data measured by a distance sensor with map information of the moving environment,
The distance data is distance data measured in a plurality of predetermined angle measurement directions within a predetermined angle of the circumference in frame processing in which the distance sensor measures a predetermined angle of the circumference,
A number is assigned to each distance in order for which the distance data is input and map information created based on the distance data in the measurement direction exists, and the number of the distance in the measurement direction for which the distance data exists is the distance number. a distance selection processing unit that outputs the distance number as
A distance data encoding device comprising a distance number encoding processing unit that encodes the distance number. The distance data encoding device according to claim 9,
The distance data encoding device, wherein the distance data is distance data obtained by measuring a predetermined angle around the circumference in a measurement direction at predetermined increments.

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