WO2015193941A1 - Système de génération de carte et procédé de génération de carte - Google Patents

Système de génération de carte et procédé de génération de carte Download PDF

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Publication number
WO2015193941A1
WO2015193941A1 PCT/JP2014/065875 JP2014065875W WO2015193941A1 WO 2015193941 A1 WO2015193941 A1 WO 2015193941A1 JP 2014065875 W JP2014065875 W JP 2014065875W WO 2015193941 A1 WO2015193941 A1 WO 2015193941A1
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Prior art keywords
map
measurement data
temporary
unit
temporary map
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PCT/JP2014/065875
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English (en)
Japanese (ja)
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敬介 藤本
宣隆 木村
守屋　俊夫
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株式会社日立製作所
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Priority to JP2016528665A priority Critical patent/JP6506279B2/ja
Priority to PCT/JP2014/065875 priority patent/WO2015193941A1/fr
Publication of WO2015193941A1 publication Critical patent/WO2015193941A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present invention relates to a map generation system and a map generation method for generating a map to be referred to when an autonomous mobile robot moves.
  • Autonomous movement performed by an autonomous mobile robot (hereinafter referred to as “robot” as appropriate) is executed by referring to a route indicating a moving procedure by the robot and performing its own movement control from the current position and orientation.
  • the robot can perform autonomous movement to the destination by movement control based on the set movement route data.
  • a path on which the robot moves is created on an environment map that shows the geometrical state of an entity in the environment space.
  • the robot performs movement control based on the current position and orientation.
  • the position and orientation of the robot in the technique described in Patent Document 1 are estimated by geometrically fitting the surrounding shape measured by a distance sensor or the like into the environment map.
  • the environment space in which the robot moves may be a two-dimensional map.
  • the environment map is often divided into a two-dimensional grid. In such a case, information on whether or not an object exists in the corresponding area of the environment space is given to each cell surrounded by the lattice.
  • Patent Document 2 in which an environment map creation technique is described, a technique for generating and / or displaying a surrounding environment map as an image while the laser distance sensor is moved is disclosed. ing.
  • the shape data around the robot measured by a laser distance sensor or the like is combined with the environmental map being created, and the newly measured result (measurement data) ) Is added.
  • an error occurs in the environment map due to the influence of the measurement error based on the laser distance sensor and the error generated at the time of fitting.
  • Patent Document 3 As a technique for preventing such an error in the environmental map, for example, a technique described in Patent Document 3 is disclosed.
  • the operator determines whether or not to add new measurement data to the environment map at the time of combining each measurement data, whereby erroneous measurement data is added to the environment map. Is preventing.
  • the present invention has been made in view of such a background, and an object of the present invention is to generate a highly accurate environmental map while reducing the work cost of error correction.
  • the present invention generates a temporary map with selected measurement data, corrects the generated temporary map, and then converts the environment map based on the corrected temporary map and the measurement data. It is characterized by generating.
  • FIG. 1 is a diagram illustrating an example of a map generation system according to the present embodiment.
  • the map generation system 10 of the present embodiment includes a measuring device 21, a geometric fitting unit 115, a record selection unit 114, a geometric fitting unit 115, a correction processing unit 116, a correction instruction unit 117, A map generation unit 118 and an environment map generation unit 119 are provided.
  • the measuring device 21 is provided in the autonomous mobile robot 2 (FIG. 2), and measures the shape of the periphery of the autonomous mobile robot 2.
  • the measuring device 21 employs a distance sensor using a laser such as an infrared laser.
  • the measuring device 21 is not limited to a laser-based distance sensor, such as an ultrasonic distance sensor, as long as it can measure the shape of surrounding entities.
  • the record selection unit 114 selects measurement data 131 used for temporary map generation based on information input from the input device 160 (FIG. 2).
  • the geometric matching unit 115 collates the measurement data 131 obtained from the measurement device 21 with the temporary map (temporary map data 132), performs alignment so as to be geometrically matched, and then converts the data into the temporary map.
  • the measurement data 131 is combined. More specifically, the geometric matching unit 115 recognizes a shape element similar to the shape element (element) in each measurement data 131 as the same location in the temporary map. Then, the geometric matching unit 115 generates a temporary map by superimposing the temporary map and the measurement data 131 at a similar shape portion.
  • Such alignment is referred to as “geometric alignment” in the present embodiment. In the following, simply “matching” means “performing geometric matching”.
  • the geometric alignment unit 115 aligns again the shape element whose error has been corrected in the temporary map performed by the correction processing unit 116 with the temporary map. Furthermore, the geometric matching unit 115 generates an environment map (environment map data 133) by combining all the measurement data 131 with the temporary map.
  • the shape element refers to the shape of each object represented on the measurement data 131 or the map.
  • the temporary map generation unit 118 instructs the geometric matching unit 115 to generate a temporary map (temporary map data 132) using the measurement data 131 selected by the record selection unit 114.
  • the correction instruction unit 117 instructs the correction processing unit 116 to correct an error occurring on the temporary map based on the information input from the input device 160 (FIG. 2).
  • the correction processing unit 116 corrects the error of the shape element on the temporary map instructed by the correction instruction unit 117 by correcting the position and / or orientation (posture) of the shape element on the temporary map.
  • the environment map generation unit 119 instructs the geometric matching unit 115 to generate an environment map (environment map data 133).
  • the geometric matching unit 115 In generating the environment map, the geometric matching unit 115 generates the environment map by the same process as the temporary map.
  • FIG. 2 is a diagram illustrating an example of a hardware configuration of the map generation system according to the present embodiment.
  • the same components as those in FIG. 1 are denoted by the same reference numerals, and description thereof will be omitted as appropriate.
  • the autonomous mobile robot 2 having the measurement device 21 collates the surrounding measurement data 131 obtained by the measurement device 21 with the environment map (environment map data 133), and determines its own position. Movement along the route is performed by estimating the posture. Further, when generating the environment map, the autonomous mobile robot 2 is operated not manually but manually and the measurement device 21 acquires the measurement data 131 while traveling all over the environment space for generating the environment map. Then, measurement data 131 acquired at the time of manual movement is sent from the measurement device 21 to the map generation device 1. The map generation device 1 generates an environment map from the sent measurement data 131.
  • the map generation device 1 is, for example, a PC (Personal Computer), a memory 110, a storage device 130 such as an HD (Hard Disk), a CPU (Central Processing Unit) 140, and a transmission / reception device that receives measurement data 131 from the measurement device 21. 150, an input device (input unit) 160 such as a keyboard and a mouse, and a display device (display unit) 170 such as a display.
  • a program stored in the storage device 130 is expanded and executed by the CPU 140, thereby realizing the processing unit 111 and the units 112 to 119 constituting the processing unit 111.
  • the processing unit 111 controls each unit 112 to 119 and also has a function as a display processing unit that displays the measurement data 131, the temporary map data 132, the environmental map data 133, and the like on the display device 170.
  • the information acquisition unit 112 stores the measurement data 131 received by the transmission / reception device 150 in the storage device 130.
  • the probability calculation unit 113 calculates a probability used for geometric matching. Details of the probability calculation will be described later.
  • the storage device 130 stores measurement data 131 acquired from the measurement device 21, temporary map data 132 that is temporary map data, and environmental map data 133 that is environmental map data.
  • FIG. 3 is a flowchart showing the procedure of the map generation method according to the present embodiment. 3 and 4 describe the outline of the processing, and specific contents of the processing will be described later. In the following description, FIGS. 1 and 2 will be referred to as appropriate.
  • the information acquisition unit 112 acquires measurement data 131 during manual movement (S101).
  • the processing unit 111 determines whether or not the measurement data 131 has been acquired (S102). As a result of step S102, when acquisition of the measurement data 131 is not completed (S102 ⁇ No), the processing unit 111 returns the process to step S101. That is, manual movement is continued.
  • step S102 when acquisition of the measurement data 131 has been completed (S102 ⁇ Yes), the temporary map generation device 1 performs temporary map generation processing by the record selection unit 114, the probability calculation unit 113, and the geometric matching unit 115. Perform (S110).
  • the temporary map generation process first, the measurement data selection process is performed in which the record selection unit 114 selects the measurement data 131 used for generating the temporary map (S111).
  • the probability calculation unit 113 calculates a vote value in the measurement data 131 and a probability calculated from the vote value (S112). Step S112 will be described in detail later. Probability represents a measured point and a point that has not been measured with a value of (0, 1).
  • the geometric matching unit 115 performs a geometric matching process for matching the measurement data 131 selected in step S111 with the temporary map being created based on the calculated probability (S113). That is, the temporary map that is matched in step S113 is a temporary map that is currently being generated. By the way, the temporary map when the first measurement data 131 is combined is in a blank state.
  • the correction processing unit 116 performs temporary map correction processing for correcting errors in the temporary map (S121).
  • Step S121 will be specifically described later.
  • the environment map generation unit 119 performs an environment map generation process that causes the geometric matching unit 115 to generate an environment map (S130).
  • the geometric matching unit 115 performs a geometric matching process for generating an environmental map by matching all the measurement data 131 to the temporary map (S131). Specific processing in step S131 will be described later.
  • FIG. 4 is a diagram showing an outline of a processing procedure in the present embodiment.
  • the measuring device 21 sequentially measures the surrounding shape while moving in the environment space.
  • the map generation device 1 acquires measurement data 131 from a number of points.
  • the recording selection unit 114 selects some data from the acquired measurement data 131.
  • the geometric matching unit 115 generates a temporary map 210 by performing geometric matching on the selected measurement data 131.
  • a selection instruction method by the recording selection unit 114 for example, a determination button for recording instruction and a measurement data selection screen for selecting predetermined measurement data 131 are displayed on the display device 170 on the screen of the display device 170. .
  • the record selection unit 114 causes the measurement data to be adjusted to the temporary map 210. 131 is determined.
  • the operator selects the measurement data 131 used for generating the temporary map.
  • the present invention is not limited to this, and the recording selection unit 114 may select the measurement data 131 at predetermined intervals.
  • the shape element on the temporary map 210 is in a state where a defect has occurred.
  • the geometric fitting unit 115 since an error has occurred in the measurement data 131, an error has also occurred on the temporary map 210. Since the geometric fitting unit 115 further fits the measurement data 131 in which an error has occurred into the temporary map 210 in which an error has occurred, the error is accumulated in the temporary map 210 and finally. A large error may occur in the generated temporary map 210. As described above, the temporary map 210 generated by the geometric fitting has a low accuracy.
  • the correction processing unit 116 selects a predetermined shape element in the temporary map 210 in accordance with an instruction from the correction instruction unit 117, and corrects the selected shape element by an operator's manual operation or the like. Correct the position of the resulting shape element.
  • the shape elements 211 and 212 are modified.
  • the corrected temporary map is referred to as a corrected temporary map 220. Since this correction work is performed on the temporary map generated from a part of the measurement data 131 selected by the record selection unit 114, the work amount is small.
  • the geometric matching unit 115 matches all the measurement data 131 with the corrected temporary map 220, thereby generating the environment map 230.
  • This geometric alignment is performed on the corrected temporary map 220 whose accuracy has been improved by the correction, so that a highly accurate map is obtained. Furthermore, since all the measurement data 131 is reflected, the generated environment map 230 has no defect.
  • the temporary map is corrected after all of the selected measurement data 131 is combined with the temporary map.
  • the present invention is not limited to this, and generation of a temporary map and correction of the temporary map may be performed in parallel. In this case, every time one piece of measurement data 131 is combined with the temporary map, the temporary map may be corrected. Alternatively, the temporary map may be corrected after a predetermined number of pieces of measurement data 131 are combined with the temporary map. Even in this case, the temporary map is corrected after the temporary map is corrected, such as correction of the temporary map ⁇ adjustment of the measurement data 131 ⁇ correction of the temporary map ⁇ adjustment of the measurement data 131 ⁇ . The order in which the matching is performed is preserved.
  • FIG. 5 is a diagram illustrating a measurement method by the measurement apparatus according to the present embodiment.
  • the measuring device 21 irradiates the laser 301 by shaking it at a predetermined angle and right and left. In this way, the laser 301 is applied to the surrounding entity 300, and the reflected light is received by the measuring device 21. And the measuring device 21 measures the time from irradiation to light reception, and measures the distance from the measuring device 21 to the presence object 300 based on the time.
  • the shape of the surrounding entity 300 is measured by performing this operation around the measurement device 21 in a predetermined direction.
  • FIG. 6 is a diagram illustrating an example of measurement data obtained by the measurement apparatus.
  • FIG. 6 is a view of the environmental space shown in FIG. 5 as viewed from directly above.
  • the measuring device 21 moves the laser from the right to the left (or from the left to the right), that is, scans, and changes the measurement direction ⁇ by a predetermined angular resolution ⁇ , and changes the n data at a time. Acquired by measurement (scanning).
  • the measurement direction of the i-th measurement data 131 during a certain scan is ⁇ i and the measured distance r i .
  • a combination of the distance and direction (r i , ⁇ i ) at that time is a position representing the measurement point in the polar coordinate system from the center of the measurement device 21. That is, the measurement data 131 obtained by one scan stores data in the format of (r i , ⁇ i ).
  • a broken line arrow indicates a part of the locus of the laser irradiated by the measurement device 21.
  • the end of the dashed arrow 411 is the position of the measurement point by the laser.
  • a thin solid line 401 indicates a real object in the environment space. Therefore, the solid line 401 has a shape when the object 300 in FIG. 5 is viewed from directly above.
  • the point where the real object 401 and the broken line arrow 411 collide becomes the measurement data 131 that has been successfully measured when the measuring device 21 exists at the position shown in FIG.
  • the laser 411 that did not hit the real object 401 indicates that nothing could be measured.
  • a thick solid line 402 indicates the shape finally measured.
  • n is the number of lasers emitted by irradiation that is once swung left and right.
  • FIG. 7 is a diagram illustrating an expression method in the temporary map and the environment map.
  • a map 500 is expressed by being divided into fine grids as shown in an enlarged view 501.
  • the map 500 is common to the temporary map and the environment map.
  • the center is (0, 0)
  • the right direction is the positive direction of the x axis
  • the upward direction is the positive direction of the y axis.
  • the map coordinate system is not limited to this.
  • Reference numeral 502 indicates a shape element of an object existing in the environment space. That is, the shape element 502 is the shape of the object measured by the measurement device 21 and recorded on the map.
  • the empty lattice 503 indicates that the object 502 does not exist in the corresponding area in the environment space.
  • the occupied grid 504 indicates that the object 502 exists in the corresponding environment space.
  • whether or not an object exists is expressed as an object existence probability in the form of a multivalued probability described below. That is, in this embodiment, the shape element 502 (object shape) in the environment space is represented on the map 500 as the existence probability of the object. Inside the map 500, object information is recorded as voting values, which are converted into existence probabilities when the map 500 is read.
  • the vote value is a value indicating whether or not the object 502 exists in a certain lattice 510. The voting value calculation method will be described later.
  • the probability calculation unit 113 calculates the probability in the lattice by the following procedure before the geometric matching by the geometric matching unit 115. That is, when the vote value m (x, y) of the lattice cell in the coordinate (x, y) of the map coordinate system exists, the probability calculation unit 113 sets the probability that the object 502 exists in the coordinate (grid 500) as p ( m (x, y)).
  • m (x, y) is simply abbreviated as m as appropriate.
  • the probability p (m) is defined as in Expression (3) by a sigmoid function according to the value of the vote value m.
  • the reason for converting the vote value m into the probability p (m) using the equation (3) is to normalize the vote value m to (0, 1).
  • the geometric matching unit 115 determines that the object 501 is in accordance with the comparison result between the probability p (m (x, y)) in the map 500 and the probability p (m (x, y)) in the measurement data 131. It is determined whether or not it exists at the corresponding coordinate (grid).
  • the map 500 holds the vote value m (x, y) as attribute information in each grid.
  • the map representation method is not limited to the description described in the present embodiment, and may be any format that can record the shape of the measured object.
  • FIG. 8 is a diagram for explaining a vote value registration method according to this embodiment.
  • the voting value in the lattice is updated.
  • the probability calculation unit 113 calculates the coordinates of the grid to be measured 601 using the equations (4) and (5).
  • t xi s xi cos ⁇ s yi sin ⁇ (4)
  • t yi s xi sin ⁇ + s yi cos ⁇ ⁇ (5)
  • i is the same as the equations (1) and (2), and indicates the i-th measurement data 131 at the time of a certain scan.
  • the probability calculation unit 113 increases the vote value m (x, y) stored in the lattice corresponding to the coordinates calculated by the equations (4) and (5). Note that the initial value of the vote value is “0”. This increases the probability of objects in the grid. Then, the probability calculation unit 113 updates the vote value according to Expression (6) using the increase parameter ⁇ (t x , t y ) corresponding to the position (t x , t y ) of the measured grid.
  • (t x , t y ) is a simplified notation of (t xi , t yi ).
  • the voting value stored in the grid is updated so as to reduce the voting value m (x, y) for the unmeasured grid 602 in which no measurement point is observed. This update is for a grid through which a line segment connecting the position of the measuring device 21 and the position of the point to be measured 610 passes.
  • the probability calculation unit 113 updates the vote value according to Expression (7) using the decrease parameter ⁇ (t x , t y ) corresponding to the lattice position (t x , t y ).
  • the probability p (m (x, y)) that an object exists in the lattice is increased or decreased by increasing or decreasing the vote value of each lattice according to the equations (6) and (7). That is, the probability p (m (x, y)) decreases as the vote value decreases, and the probability increases as the vote value increases.
  • FIG. 9 is a diagram illustrating position and orientation estimation according to the present embodiment.
  • the position and orientation is the position and orientation of the measuring device 21 (that is, the position and orientation of the autonomous mobile robot 2).
  • the position and orientation are the position (coordinates) of the measurement device 21 and the posture (direction in which the measurement device 21 is facing).
  • the geometric matching unit 115 performs rotation and translation so that each measurement point 701 of the measurement data 131 measured by the measurement device 21 matches the map. For this reason, the position and orientation of the measurement device 21 on the map when the measurement point 701 is acquired is estimated.
  • the position and orientation of a measurement point in the map coordinate system (a point where the measurement device 21 exists at the time of measurement) is assumed to be (x, y, ⁇ ).
  • the coordinates of the measurement point 701 represented by the equations (1) and (2) are used by the geometric matching unit 115 in the coordinate system (t xi , t yi ) on the map using the equations (4) and (5).
  • ⁇ is an angle formed by a certain direction on the map and the direction of the measuring device 21.
  • the coordinate system (t x , t y ) on the map is obtained as a linear transformation from the coordinate system (s x , s y ) of the measuring device 21. Then, the optimum position and orientation (x * , y * , x) when the result obtained by the geometric matching unit 115 is geometrically fitted to the map is converted into the map coordinate system (t x , t y ). ⁇ * ) is determined by equation (8). Thereby, the position and orientation of the measurement device 21 when the measurement data 131 to be processed is measured are estimated.
  • Equation (8) is given an initial value close to the optimal solution in advance, and can be solved by using a search method such as the steepest descent method. Since nothing is stored in the temporary map at the initial stage, the geometric alignment result is not determined. In this case, an appropriate value such as (0, 0, 0) is set as (x * , y * , ⁇ * ). Note that such a map generation method is described in Japanese Patent No. 5454442 by the present applicant.
  • FIG. 10 is a diagram illustrating an example of a procedure for creating a temporary map according to the present embodiment.
  • the temporary map is started from a blank state.
  • the temporary map is completed up to the temporary map 811.
  • the operator selects the measurement data 131 used for generating the temporary map from all the measurement data 131.
  • the geometric fitting unit 115 obtains the optimum position and orientation of the measuring device 21 when the measurement data 801 (131) is obtained by obtaining a solution of the equation (8) for the temporary map 811 being created. Ask. Then, for example, the geometric fitting unit 115 displays an image obtained by superimposing the measurement data 801 at the optimum position and orientation calculated by Expression (8) and the temporary map 811 on the display device 170.
  • the operator looks at the displayed image or the like and instructs whether or not to additionally fit the measurement data 801 into the temporary map 811.
  • the criterion for determining whether or not to additionally perform geometric alignment is, for example, that there are not too few and too many map update locations based on the result of geometric alignment. That is, when there are few update locations, there is not much meaning to update, so the operator does not instruct geometric alignment. On the other hand, if there are too many update locations, the degree of coincidence between the position of the measurement data 131 and the shape element of the temporary map 811 is not reliable. Similarly, the operator does not instruct geometric alignment.
  • the geometric matching unit 115 does not fit the measurement data 801 to the temporary map 811, and the next measurement data 802 (131 ) To the geometric fitting process.
  • the temporary map 811 remains unchanged, and is set as a temporary map 812 being created.
  • the measurement data 802 to be selected next is geometrically matched with the temporary map 811 being created.
  • the geometric fitting unit 115 calculates the optimum position and orientation for the measurement data 802 in the same manner as the measurement data 801, and superimposes the measurement data 802 at the calculated optimum position and orientation on the temporary map 812 being created.
  • the displayed image is displayed on the display device 170.
  • the geometric matching unit 115 matches the measurement data 802 with the temporary map 812 being created.
  • a created temporary map 813 in which the measurement data 802 is combined with the created temporary map 812 is generated.
  • the shape element indicated by reference numeral 821 is a shape element that is newly added.
  • the shape element denoted by reference numeral 821 is indicated by a broken line.
  • the operator determines whether or not to perform additional geometric alignment on the currently selected measurement data 803 (131) with respect to the temporary map 813 being created.
  • the temporary map 814 being created is output without performing additional geometric alignment. Accordingly, the temporary map 814 being created is the same temporary map as the temporary map 813 being created.
  • the geometric matching unit 115 performs this process on all the measurement data 131 selected for generating the temporary map, thereby generating a temporary map.
  • FIG. 11 is a diagram for explaining an initial value of a geometric alignment position of measurement data.
  • a solid line shape element 901 is a shape element of the measurement data 131 to be fitted to the temporary map from now on, and a broken line shape element 902 is the measurement data 131 to be fitted to the temporary map one time ago.
  • the shape element As shown in FIG. 11, the initial value of the position of the shape element 901 of the measurement data 131 to be matched with the temporary map is the value of the shape element 902 of the measurement data 131 that is the target of the previous adjustment to the temporary map. It is set in the vicinity or the position of the shape element 902. As shown in FIG.
  • the geometric alignment can be performed robustly by using the optimum position calculated using the measurement data 131 as the initial value used in the geometric alignment. That is, the initial value of the position of the shape element 901 of the measurement data 131 to be matched with the temporary map from now on is set in the vicinity of the shape element 902 of the measurement data 131 that has been targeted for alignment with the temporary map one time before. Therefore, it is possible to prevent falling into a local solution.
  • FIG. 12 is a diagram illustrating an example of a temporary map display screen according to the present embodiment.
  • the temporary map correction instruction screen 1001 displays a temporary map before correction (the same as reference numeral 210 in FIG. 4).
  • a pull-down menu as shown in FIG. 12 is displayed.
  • the operator selects and inputs a “temporary map correction instruction” 1011 in the pull-down menu via the input device 160, correction of the temporary map shown in FIG. 13 is started.
  • FIG. 13 is a diagram illustrating a procedure of temporary map correction processing according to the present embodiment.
  • the temporary map 814 generated by sequentially performing additional geometric alignment of the measurement data 131 in the procedure shown in FIG. 10 has an element shape due to the accumulation of errors derived from the measurement device 21 and the like. There is a deviation in the position. That is, the temporary map 814 has a reduced accuracy. Accordingly, the temporary map 814 is corrected.
  • the error is removed by correcting the position and orientation of the shape element in the temporary map 814 where the error has occurred. First, the operator selects a shape element 1111 to be corrected via the input device 160 or the like.
  • the correction processing unit 116 temporarily removes data related to the selected shape element 1111 from the temporary map 814.
  • the temporary map from which the data related to the selected shape element 1111 is removed is referred to as a temporary map 1101 after removal.
  • the selected shape element 1111 is displayed in another window, for example.
  • the operator instructs the correction amount related to translation and rotation to the shape element 1111 displayed in another window via the input device 160. That is, when the operator instructs to manually change the orientation of the shape element 1111 via the input device 160, the correction instruction unit 117 notifies the correction processing unit 116 of the instruction, and the correction processing unit 116 corrects the correction.
  • a later shape element 1112 is generated.
  • the correction processing unit 116 additionally matches the shape element 1112 to the post-removal temporary map 1101 to generate a post-correction temporary map 1102.
  • the shape element 1111 having an error in the temporary map 814 is corrected. Since the shape element 1131 in the corrected temporary map 1102 also has an error, the correction is performed in the same manner.
  • geometric matching is performed by the probability calculation unit 113 and the geometric matching unit 115.
  • FIG. 14 is a diagram illustrating an example of a temporary map display screen according to the present embodiment.
  • an end confirmation screen 1211 is displayed on the temporary map display screen 1201.
  • the end confirmation screen 1211 is a screen for the operator to confirm whether or not the correction of the temporary map is to be ended.
  • the temporary map display screen 1201 displays a corrected temporary map (here, the same as reference numeral 220 in FIG. 4).
  • the screen transitions to the screen in FIG.
  • the end hospital screen 1211 disappears from the screen, and the operator can correct the shape element. .
  • FIG. 15 is a diagram illustrating an example of a temporary map display screen according to the present embodiment.
  • an environmental map generation confirmation screen 1221 is displayed on the temporary map display screen 1201.
  • the environment map generation confirmation screen 1221 is a screen for the operator to confirm whether or not to start generation of the environment map.
  • the temporary map display screen 1201 displays a corrected temporary map (here, the same reference numeral 220 in FIG. 4) as in FIG.
  • the operator selects and inputs a “Yes” button displayed on the environment map generation confirmation screen 1221 via the input device 160, generation of an environment map shown in FIG.
  • the environment map generation confirmation screen 1221 disappears from the screen, and the operator corrects the shape element. Is possible. That is, the process returns to the correction of the temporary map.
  • the end confirmation screen 1211 and the environment map generation confirmation screen 1221 are displayed on the temporary map display screen 1201.
  • the present invention is not limited to this, and for example, correction of the temporary map is completed using a pull-down menu.
  • the operator may be able to select and specify the start of environmental map generation.
  • the environment map generation confirmation is performed when the end of correction of the temporary map is instructed, but generation of the environment map is started when one of these is instructed. You may do it.
  • FIG. 16 is a diagram showing a procedure for creating an environmental map according to the present embodiment.
  • the geometric matching unit 115 matches the measurement data 1301, 1302, 1303,... With the temporary map 1311 that has been subjected to the correction process.
  • the measurement data 1301, 1302, 1303,... Are all acquired measurement data 131.
  • the shape elements in the temporary map 1311 are indicated by broken lines in order to distinguish them from data to be combined.
  • the geometric matching unit 115 matches the measurement data 131 to be processed with the temporary map 1311 that has been subjected to the correction process, and generates the matching map data 1312 (S201).
  • the geometric fitting unit 115 converts the measurement points (measurement coordinates) of the measurement data 131 by using the formula (4) and the formula (5), using the position and orientation obtained at the time of fitting in step S201.
  • the matching map data 1312 is combined with the currently-created environment map 1321 generated in the previous process (S202), and a new created environment map 1313 is generated.
  • the next measurement data 131 is geometrically matched using the generated environment map 1313 that has been generated as the environment map 1321 being created.
  • the created environment map 1321 is the created environment map 1313 generated in the previous geometric alignment. In this way, the shape elements of the measurement data 131 are accumulated in the created environment maps 1313 and 1321.
  • the geometric matching unit 115 finally generates an environment map by repeatedly executing the processing of steps S201 and S202 for all measurement data 131.
  • the temporary map is generated using the measurement data 131 selected by the operator.
  • the generation of the environmental map in FIG. Are combined. Note that if the amount of information related to the shape elements of the environmental map is sufficient, not all the measurement data 131 need be combined in the generation of the environmental map. That is, when it is known that it is possible to generate an environmental map with sufficiently high accuracy without using all of the measurement data 131, the operator selects the measurement data 131 to be combined in advance when generating the environmental map. It may be left.
  • a map generation system 10 is provided in an autonomous mobile robot, and a measurement device 21 that measures a shape of a surrounding entity on the movement path of the autonomous mobile robot, and the measurement unit performs measurement.
  • a temporary map generation unit 118 that generates a temporary map based on the plurality of measured data, a correction processing unit 116 that corrects the position and / or orientation of elements constituting the temporary map, and the corrected temporary map
  • an environmental map generation unit 119 for generating an environmental map based on the measurement data.
  • the map generation system 10 estimates the position and orientation of the measurement unit by aligning the measurement data with the temporary map being created so as to geometrically match the measurement data. Based on the result, a geometric fitting unit 115 for fitting the measurement data 131 to the temporary map is provided. By doing in this way, a temporary map can be generated from the measurement data 131 without human intervention.
  • the geometric matching unit 115 of the map generation system 10 estimates the position and orientation from the vicinity of the position and orientation estimated in the previous geometric alignment when estimating the position and orientation of the measurement device 21. I do. By doing in this way, it can prevent falling into a local solution in the middle of estimating a position and orientation.
  • the processing unit 111 of the map generation system 10 displays information on the generation of the temporary map on the display device 170, and via the input device 160, When generation of an environmental map is instructed, generation of an environmental map is started. In this way, it is possible to prevent the environment map from being generated based on the temporary map that has not been corrected.
  • the correction process part 116 of the map generation system 10 which concerns on this embodiment corrects the position and orientation of a predetermined shape element among the shape elements which comprise the temporary map in a temporary map. By doing in this way, a temporary map can be corrected easily.
  • the correction processing unit 116 of the map generation system 10 deletes the element to be corrected from the temporary map, and the geometric matching unit 115 corrects the temporary map after correcting the shape element.
  • the geometric alignment is performed by aligning the corrected shape element with the temporary map by performing alignment so that the elements that have been subjected to geometrical matching. By doing so, the shape element can be easily corrected and the corrected shape element can be returned to the temporary map without human intervention.
  • the geometric matching unit 115 of the map generation system 10 selects the measurement data 131 at a predetermined interval when selecting the measurement data 131. By doing in this way, the measurement data 131 used for generation
  • the map generation system 10 geometric fitting unit 115 updates the temporary map based on the corrected temporary map and the new measurement data 131. In this way, the temporary map can be generated while finely adjusting the error of the temporary map.
  • the map shows the shape element of the object in the environment space, and it is desirable that the shape element is composed only of a static object. However, outliers and even moving objects that should not be recorded on the map are often recorded on the map. Therefore, the measured shape is recorded in an area where it is known that the object does not move. In the region where there are many moving objects, the measurement data 131 is combined only when the same shape is measured many times at the same point. In this way, only static objects that should be recorded on the map can be recorded.
  • FIG. 17 is a diagram illustrating an example of a map generation system according to the present embodiment.
  • the map generation system 10a shown in FIG. 17 is different from the map generation system 10 shown in FIG. 1 in that there is an update influence setting section 120 that sets an update influence degree, which will be described later, in a temporary map.
  • FIG. 18 is a diagram illustrating an example of a hardware configuration of the map generation system according to the present embodiment.
  • the same components as those in FIG. 2 are denoted by the same reference numerals and description thereof is omitted.
  • the map generation system 10a shown in FIG. 18 is different from the map generation system 10 shown in FIG. 2 in that the update influence setting unit 120 is provided in the processing unit 111a of the map generation device 1a.
  • FIG. 19 is a flowchart showing the procedure of the map generation method according to the present embodiment.
  • the same steps as those in FIG. 3 are denoted by the same step numbers and the description thereof is omitted.
  • the map generation method shown in FIG. 19 is different from the map generation method shown in FIG. 3 in that the update impact setting unit 120 sets the update impact after the temporary map correction in step S121 (S301). .
  • FIG. 20 is a diagram showing a setting screen for setting the update impact level according to the present embodiment.
  • the update influence level setting unit 120 sets the update influence level (information indicating the degree of update) in each area of the map.
  • the setting of the update influence degree is a process performed after the temporary map is corrected.
  • the update impact setting unit 120 sets the update impact in the designated area. .
  • the display processing unit 111 displays a temporary map being created on the screen of the display device 170.
  • the operator designates the area shape on the displayed temporary map with the input device 160 such as a mouse.
  • the operator sets the update influence degree for the designated area via the input device 160 such as a keyboard.
  • the input device 160 such as a keyboard.
  • an area setting method a free curve enclosing method by mouse dragging, a rectangular enclosing method, or the like is used.
  • the vertex coordinates on the polygonal screen indicating the area may be directly input by the operator as numerical values using a keyboard or the like.
  • each area is set as an area 1401 having a high update influence level, an area 1402 having a low update influence degree, and an area 1403 having an update influence degree of “0” (an area where no update occurs).
  • areas 1401 to 1403 are set for the temporary map that has been corrected.
  • the update influence degree is limited to three types, but the present invention is not limited to this. It is also possible to set the update influence level so that it is continuously changed.
  • FIG. 21 is a diagram illustrating an example of map update using the update influence degree.
  • the update influence level of each area is the same as in FIG. 20, but the shapes of the areas 1401 to 1403 are simplified for the sake of simplicity.
  • the probability calculation unit 113 greatly reduces the vote value m (t x , t y ) of the grid 1501 whose shape has not been measured. As a result, the probability calculation unit 113 significantly reduces the object existence probability p (m (t x , t y )) in the lattice.
  • the probability calculation unit 113 significantly increases the voting value m (t x , t y ) of the grid 1502 whose shape is measured among the grids included in the region 1401 having a large update influence degree. As a result, the probability calculation unit 113 significantly increases the object existence probability p (m (t x , t y )) in the lattice.
  • the probability calculation unit 113 causes the object existence probability p (m (t x , t y) in the lattice in the region 1401 )) Is greatly increased or decreased. By doing so, changes in the shape of the object and movement of the object are immediately reflected in the map.
  • the probability calculation unit 113 reduces the increase / decrease in the voting value m (t x , t y ) for the lattice included in the region 1402 having a low update influence.
  • the probability calculation unit 113 slightly reduces the vote value m (t x , t y ) of the grid 1503 whose shape has not been measured in the region 1402.
  • the probability calculation unit 113 decreases the object existence probability p (m (t x , t y )) in the lattice 1503 to a small extent.
  • the probability calculation unit 113 slightly increases the voting value m (t x , t y ) of the grid 1504 whose shape is measured among the grids included in the region 1402. As a result, the probability calculation unit 113 increases the object existence probability p (m (t x , t y )) in a small manner.
  • the probability calculation unit 113 causes the existence probability p (m (t x , t y ) of the object in the lattice in the region. ) Increase or decrease.
  • the impact of updating the map is moderated.
  • the influence of updating is set to be low, so that moving objects that are undesirable for reflection on the map are less likely to be recorded on the map.
  • the influence of the update is set high, so that a stationary object that should be reflected on the map can be easily recorded on the map.
  • the probability calculation unit 113 does not change the voting value m (t x , t y ) for the lattice included in the region 1403 with the update influence degree “0”. Therefore, in the region where the update influence degree is “0”, the shape in the region 1403 is not changed for any measurement. That is, the probability of the grid 1505 in which the shape in the region 1403 has not been measured and the probability of the grid 1506 in which the shape has been measured does not change. As a result, the shape recorded in the area 1403 remains unchanged from the corrected temporary map state, and error accumulation does not occur even when updating is repeated.
  • a region 1403 with an update influence level of “0” is set for a region such as a wall that is known to never change in shape of an object.
  • the update influence degree is a degree of reflection in the measurement data 131 when the portion where the shape of the surrounding entity is measured is reflected in the temporary map and the environment map.
  • the update influence degree is set after the temporary map is corrected.
  • the present invention is not limited to this, and the update influence degree may be set before the temporary map is generated.
  • the update of the vote value based on the update influence level is used when the temporary map is generated.
  • the present invention is not limited to this, and may be used when the environment map is generated.
  • the update influence setting unit 120 of the map generation system 10a attaches information indicating the degree of update for each region where the environmental map is generated, and according to the degree of update, the temporary map and Generate an environmental map. By doing in this way, the degree of update can be changed for every area according to the excess of moving objects.
  • the information indicating the degree of update is reflected when the location where the shape of the surrounding entity is measured is reflected in the temporary map and the environment map in the measurement data 131. This is the degree of update influence. By doing in this way, the map which considered the degree of update can be produced
  • the selection of the measurement data 131 reflected on the temporary map is performed by the operator specifying the measurement data 131.
  • the present invention is not limited to this, and the measurement data 131 may be selected without human intervention.
  • the record selection unit 114 may use the formula (8) calculated by the geometric matching unit 115 as the likelihood, and the record selection unit 114 may select the measurement data 131 based on the likelihood. Good.
  • FIG. 22 is a diagram illustrating an example of a procedure for creating a temporary map according to the present embodiment.
  • the same components as those in FIG. 10 are denoted by the same reference numerals and description thereof is omitted.
  • the operator sets a threshold regarding the interval of the measurement data 131 such as at least every other measurement data 131 and a threshold regarding the likelihood via the input device 160.
  • the record selection unit 114 searches the last measurement data 131 for which the likelihood of the formula (8) is equal to or greater than the threshold for the measurement data 131 that is equal to or more than the threshold number related to the interval, from the measurement data 131 that was combined last time. To do. In other words, the record selection unit 114 searches and selects the measurement data 131 having an interval equal to or greater than the threshold for the interval from the measurement data 131 that has been the previous processing target and having a likelihood equal to or greater than the threshold.
  • the record selection unit 114 selects the measurement data 131 that meets the conditions as the measurement data 131 for geometric matching.
  • the likelihood shown as Expression (8) represents the degree of coincidence between the measurement data 131 and the shape element on the temporary map being created. Therefore, the smaller the likelihood, the less accurate the geometric alignment.
  • the larger the interval between the measurement data 131 registered in the temporary map the smaller the number of measurement data 131 registered in the temporary map, and the lower the cost of correction. Therefore, as described herein, the measurement data 131 that is the measurement data 131 that precedes the registered measurement data 131 as much as possible and that is accurately aligned is recorded.
  • “previous measurement data 131” means the measurement data 131 after the measurement time.
  • the “measurement data 131 that is accurately aligned” is the measurement data 131 having a high likelihood with the temporary map.
  • the geometric matching unit 115 if the likelihood is less than the threshold (likelihood ⁇ threshold), the geometric matching unit 115 does not match the measurement data 801, 803 (131) to the temporary map 811 or 813 being created. On the other hand, if the likelihood is equal to or greater than the threshold (likelihood ⁇ threshold), the geometric matching unit 115 matches the measurement data 802 (131) with the temporary map 812 being created.
  • whether or not the measurement data 131 is combined is determined based on whether or not the likelihood is equal to or greater than the threshold value. However, depending on whether or not the likelihood is within a predetermined range, the measurement data is determined. It may be determined whether or not 131 is combined. That is, if the likelihood is within a predetermined range, the measurement data 131 to be processed is aligned with the temporary map, and if the likelihood is outside the predetermined range, the measurement data 131 to be processed is temporarily stored. Do not fit on the map.
  • the geometric matching unit 115 of the map generation system 10 calculates the degree of coincidence (likelihood) between the measurement data that is the target of matching to the temporary map and the elements in the temporary map. In accordance with the degree of coincidence, it is determined whether or not the measurement data 131 to be fitted is to be fitted to the temporary map. By doing in this way, since only the measurement data 131 with high necessity can be reflected in a temporary map, processing cost can be improved.
  • a three-dimensional sensor is used as the measuring device 21.
  • Such a three-dimensional sensor irradiates a laser in a three-dimensional direction, and calculates coordinates of a measurement position from a distance in each direction.
  • the three-dimensional shape of the environment space is measured.
  • such measurement is referred to as three-dimensional measurement.
  • the shape at a position where the laser does not reach by the shielding object or a position far from the three-dimensional sensor position cannot be measured only by measurement from one point.
  • the measurement data is combined into one.
  • the configuration of the map generation system 10 in the present embodiment is the same as that shown in FIGS. 1 and 2 except that the measurement device 21 and each of the units 111 to 119 can support three-dimensional measurement. Therefore, illustration and description are omitted here.
  • FIG. 23 is a diagram illustrating a three-dimensional measurement example according to the present embodiment.
  • measurement data sequentially obtained as the autonomous mobile robot 2 (FIG. 2) moves from the back side in the room indicated by reference numeral 1600 is indicated by reference numerals 1601 to 1603 (131).
  • three pieces of measurement data 131 are obtained to simplify the drawing, but a large number of pieces of measurement data 131 are actually obtained.
  • the map generation device 1 generates a temporary map and an environment map by combining the measurement data 1601 to 1603 (131) obtained as a result of the three-dimensional measurement in the same manner as in the first embodiment. To do.
  • FIG. 24 is a flowchart showing the procedure of the map generation method according to this embodiment.
  • the same processes as those in FIG. 3 are denoted by the same step numbers, and description thereof will be omitted as appropriate.
  • the shape elements in the temporary map are corrected.
  • the shape elements in the temporary map are corrected for each measurement data 131. That is, in the temporary map generation / correction process in step S410, after one measurement data 131 is selected in step S411, a probability calculation process (S112) and a geometric fitting process (S113) are performed on the measurement data 131.
  • S112 probability calculation process
  • S113 geometric fitting process
  • the operator corrects the shape element of the measurement data 131 via the input device 160, and the correction processing unit 116 performs the temporary map correction process. (S121). At this time, the shape element to be corrected is deleted from the temporary map, as in the first embodiment. Furthermore, after the shape element is corrected, the shape element is returned to the temporary map by geometric alignment as in the first embodiment.
  • the processing unit 111 determines whether or not the generation of the temporary map has ended (S412). This determination is performed by determining whether or not the operator has used all of the measurement data 131 to be used for generating the temporary map and inputting the determination result via the input device 160. Or you may determine by the process part 111 calculating the ratio of the area
  • the data amount of the three-dimensional data is larger than that of the two-dimensional data, there are cases where a sufficient number of measurements cannot be performed. Therefore, the case where the distance between measurement points leaves
  • the geometric fitting unit 115 performs the geometric fitting by performing the steepest descent method or the like as described in the first embodiment, it falls into a local solution and appropriate fitting is performed. May not be possible. In that case, a predetermined initial position and orientation are set in advance for the measurement point. If the geometric alignment cannot be performed even if the initial position and orientation are set in advance, the temporary map is corrected as in step S121 in FIG.
  • the temporary map is corrected for each measurement data 131 as shown in FIG.
  • the temporary map may be corrected after all the selected measurement data 131 are combined with the temporary map as in the first embodiment, or a predetermined number of measurement data 131 may be corrected. Each time the measurement data 131 is adjusted to the temporary map, the temporary map may be corrected.
  • a three-dimensional environment map can be generated.
  • the present invention is not limited to the above-described embodiment, and includes various modifications.
  • the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to having all the configurations described.
  • a part of the configuration of a certain embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of a certain embodiment.
  • the autonomous mobile robot 2 may be provided with the data 131 to 133 stored in the units 111 to 120 and the storage device 130 in the map generation apparatus 1.
  • each of the above-described configurations, functions, the respective units 111 to 120, the storage device 130, and the like may be realized by hardware by designing a part or all of them with, for example, an integrated circuit.
  • the above-described configurations, functions, and the like may be realized by software by interpreting and executing a program that realizes each function by a processor such as a CPU.
  • a processor such as a CPU.
  • a memory In addition to storing information such as programs, tables, and files for realizing each function in the HD, a memory, a recording device such as an SSD (Solid State Drive), an IC (Integrated Circuit) card, an SD (Secure It can be stored in a recording medium such as a Digital) card or DVD (Digital Versatile Disc).
  • control lines and information lines are those that are considered necessary for explanation, and not all control lines and information lines are necessarily shown on the product. In practice, it can be considered that almost all configurations are connected to each other.

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Abstract

Afin de générer une carte environnementale précise tout en réduisant le coût du travail de correction d'erreurs, l'invention concerne un dispositif de génération de carte qui est caractérisé par : l'obtention d'une pluralité d'éléments de données de mesure (131) mesurées par un dispositif de mesure pouvant mesurer les dimensions d'objets ambiants ; la sélection d'éléments préétablis de données de mesure (131) à partir de la pluralité d'éléments de données de mesure (131) ; la génération d'une carte préliminaire (210) sur la base d'éléments de données de mesure (131) sélectionnés par une unité de sélection d'enregistrement (114) et la modification des positions et des orientations d'éléments de forme (211), (212), constituant la carte préliminaire (210) ; et la génération d'une carte environnementale (230) sur la base de la carte préliminaire (220) modifiée et de la pluralité d'éléments de données de mesure (131).
PCT/JP2014/065875 2014-06-16 2014-06-16 Système de génération de carte et procédé de génération de carte WO2015193941A1 (fr)

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JP2018017826A (ja) * 2016-07-26 2018-02-01 株式会社豊田中央研究所 自律移動体と環境地図更新装置
WO2018180175A1 (fr) * 2017-03-27 2018-10-04 日本電産株式会社 Corps mobile, dispositif de traitement de signal et programme informatique
WO2019122939A1 (fr) * 2017-12-21 2019-06-27 University of Zagreb, Faculty of Electrical Engineering and Computing Procédé mis en oeuvre par ordinateur interactif, interface graphique utilisateur et produit-programme informatique pour construire une carte d'environnement de haute précision
JPWO2020035902A1 (ja) * 2018-08-14 2020-08-20 学校法人千葉工業大学 移動ロボット
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WO2020035902A1 (fr) * 2018-08-14 2020-02-20 学校法人 千葉工業大学 Robot mobile
CN112639917A (zh) * 2018-08-31 2021-04-09 株式会社电装 地图生成系统、车载装置
JP7063310B2 (ja) 2018-08-31 2022-05-09 株式会社デンソー 地図生成システム、車載装置
JP2020038634A (ja) * 2018-08-31 2020-03-12 株式会社デンソー 地図生成システム、車載装置
WO2020045344A1 (fr) * 2018-08-31 2020-03-05 株式会社デンソー Système de génération de carte et dispositif embarqué
CN113519019A (zh) * 2019-03-15 2021-10-19 日立安斯泰莫株式会社 自身位置推断装置、配备其的自动驾驶系统以及自身生成地图共享装置
CN113519019B (zh) * 2019-03-15 2023-10-20 日立安斯泰莫株式会社 自身位置推断装置、配备其的自动驾驶系统以及自身生成地图共享装置
KR102097722B1 (ko) * 2019-03-25 2020-04-06 주식회사 트위니 빅셀그리드맵을 이용한 이동체의 자세 추정 방법, 이를 구현하기 위한 프로그램이 저장된 기록매체 및 이를 구현하기 위해 매체에 저장된 컴퓨터프로그램
WO2020197126A1 (fr) * 2019-03-25 2020-10-01 주식회사 트위니 Procédé d'estimation du positionnement d'un objet mobile en utilisant une carte quadrillée à grandes cellules, support d'enregistrement dans lequel est stocké un programme de mise en œuvre de celui-ci, et programme informatique stocké dans un support pour la mise en œuvre de celui-ci
JP7411208B2 (ja) 2019-11-26 2024-01-11 地方独立行政法人東京都立産業技術研究センター 地図作成方法、地図作成装置、位置推定方法、及び位置推定装置
JP7274707B1 (ja) 2021-12-13 2023-05-17 アイサンテクノロジー株式会社 評価システム、コンピュータプログラム、及び評価方法
JP2023087496A (ja) * 2021-12-13 2023-06-23 アイサンテクノロジー株式会社 評価システム、コンピュータプログラム、及び評価方法

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