WO2020202510A1 - Map data distribution device for mobile body and mobile body system - Google Patents

Map data distribution device for mobile body and mobile body system Download PDF

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Publication number
WO2020202510A1
WO2020202510A1 PCT/JP2019/014862 JP2019014862W WO2020202510A1 WO 2020202510 A1 WO2020202510 A1 WO 2020202510A1 JP 2019014862 W JP2019014862 W JP 2019014862W WO 2020202510 A1 WO2020202510 A1 WO 2020202510A1
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WIPO (PCT)
Prior art keywords
grid map
information
true value
map
value information
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PCT/JP2019/014862
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French (fr)
Japanese (ja)
Inventor
若林　正男
允裕 山隅
敬秀 平井
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三菱電機株式会社
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Priority to PCT/JP2019/014862 priority Critical patent/WO2020202510A1/en
Publication of WO2020202510A1 publication Critical patent/WO2020202510A1/en

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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 mobile map data distribution device and a mobile system.
  • Patent Document 1 discloses an example of a route data generator.
  • the route data generator uses the optimized graph structure data to generate the route data of the moving body.
  • the route data generator generates route data based on the Graph-Based SLAM technology (SLAM: Simultaneous Localization and Mapping).
  • SLAM Simultaneous Localization and Mapping
  • An object of the present invention is to provide a map data distribution device and a mobile body system capable of delivering map data applicable to guidance control with high accuracy to a moving body.
  • the true value information obtained in advance regarding the position information of an object existing in the space in which the moving body moves is assigned to the true value information in a discrete space grid.
  • a true value information grid map generator that generates a grid map, and a measurement information grid map in which measurement information about the position information of an object measured by a measuring unit of a moving object in space is assigned on a grid that is discrete in space.
  • An occupied grid map generator that generates an occupied grid map on a grid that disperses the space based on the true value information grid map, and an occupied grid map distribution unit that distributes the generated occupied grid map to a moving body. To be equipped with.
  • the moving body system generates a true value information grid map in which true value information obtained in advance regarding the position information of an object existing in the space in which the moving body moves is assigned on a grid in which the space is discreteized.
  • a measurement information grid map in which measurement information related to the position information of an object measured by a moving body's measurement unit in space is assigned on a grid in which the space is discrete, and true value information.
  • An occupied grid map generator that generates an occupied grid map on a grid that disperses the space based on the grid map, and an occupied grid map distribution unit that distributes the generated occupied grid map to a moving body that moves in space. , Equipped with.
  • the map data distribution device includes a true value information grid map generation unit, an occupied grid map generation unit, and an occupied grid map distribution unit.
  • the true value information grid map generation unit generates a true value information grid map.
  • the true value information grid map is map data in which true value information is assigned on a grid in which space is discretized.
  • the true value information is information obtained in advance regarding the position information of an object existing in the space where the moving body moves.
  • the occupancy grid map generation unit generates an occupancy grid map on a grid that discretizes the space based on the measurement information grid map and the true value information grid map.
  • the measurement information grid map is map data in which the measurement information is assigned on a grid in which the space is discretized.
  • the measurement information is information on the position information of an object measured by a measuring unit of a moving body in space.
  • the occupied grid map distribution unit distributes the generated occupied grid map to the moving body. As a result, map data applicable to guidance control with higher accuracy can be delivered to the moving body.
  • FIG. 5 is a block diagram showing a configuration of a true value information grid map storage unit and a measurement information grid map storage unit according to the first embodiment. It is a figure which shows the example of the measurement information grid map and the true value information grid map which concerns on Embodiment 1.
  • FIG. It is a figure which shows the example of the occupied grid map which concerns on Embodiment 1.
  • FIG. It is a figure which shows the example of the generation of the exclusive grid map which concerns on Embodiment 1.
  • FIG. It is a flowchart which shows the example of the operation of the map data distribution apparatus which concerns on Embodiment 1.
  • FIG. It is a figure which shows the hardware configuration of the main part of the map data distribution apparatus which concerns on Embodiment 1.
  • FIG. 1 is a block diagram showing a configuration of a map data distribution device according to the first embodiment.
  • the mobile system 100 includes a plurality of mobiles 1 and a map data distribution device 2.
  • Each of the plurality of moving bodies 1 is a device that moves in a predetermined space 3.
  • the space 3 in which the moving body 1 moves is, for example, a space inside a building.
  • the moving body 1 is, for example, an autonomous moving body that moves autonomously by recognizing an object 4 existing in space 3.
  • the moving body 1 is, for example, a robot or a drone.
  • Each of the plurality of moving bodies 1 includes a measurement unit 5, a measurement information grid map generation unit 6, an occupied grid map storage unit 7, a self-position estimation unit 8, a route search unit 9, and a guidance control unit 10. To be equipped.
  • the measurement unit 5 is a part that measures the position information of the object 4 as measurement information in the space 3.
  • the measurement information may include, for example, relative position information between the moving body 1 and the object 4, and the moving amount of the moving body 1.
  • the measuring unit 5 may include, for example, LIDAR (Light Detection and Ringing) for measuring the distance between the moving body 1 and the object 4.
  • the measuring unit 5 may include, for example, an encoder that measures the amount of movement of the moving body 1 by dead reckoning or the like.
  • the measurement unit 5 outputs the measured measurement information to the measurement information grid map generation unit 6.
  • the measurement information grid map generation unit 6 is a part that generates a measurement information grid map based on the measurement information measured by the measurement unit 5.
  • the measurement information grid map is map data in which measurement information is assigned on a grid in which the space 3 is discretized.
  • the lattice that discretizes the space 3 is, for example, a two-dimensional or three-dimensional lattice.
  • the measurement information grid map generation unit 6 may update the measurement information grid map based on the acquired measurement information every time the measurement information is acquired, for example.
  • the measurement information is relative position information from the moving body 1 having the measuring unit 5
  • the measurement information grid map generation unit 6 uses the position of the moving body 1 in updating the measurement information grid map. May be good.
  • the measurement information grid map generation unit 6 outputs the generated measurement information grid map to the occupied grid map storage unit 7.
  • the occupied grid map storage unit 7 is a portion that stores the occupied grid map.
  • the occupancy grid map is map data showing the occupancy state of the object 4 on the grid in which the space 3 is discretized.
  • the self-position estimation unit 8 is a part that estimates the position of the moving body 1 including the self-position estimation unit 8 itself based on an occupied grid map or the like.
  • the self-position estimation unit 8 acquires the occupied grid map from the occupied grid map storage unit 7.
  • the self-position estimation unit 8 outputs the estimated position of the moving body 1 to the measurement information grid map generation unit 6 so that it can be used for updating the measurement information grid map.
  • the route search unit 9 is a part that searches for a route to the destination of the moving body 1 based on an occupied grid map or the like.
  • the route search unit 9 acquires the occupied grid map from the occupied grid map storage unit 7.
  • the guidance control unit 10 is a part that controls the movement of the moving body 1 to the destination based on the position of the moving body 1 and the route to the destination.
  • the guidance control unit 10 acquires the position of the moving body 1 from the self-position estimation unit 8.
  • the guidance control unit 10 acquires a route to the destination from the route search unit 9.
  • the guidance control unit 10 outputs the movement amount of the moving body 1 by the guidance control to the self-position estimation unit 8.
  • the map data distribution device 2 is provided in, for example, a building having a space 3 in which the moving body 1 moves.
  • the map data distribution device 2 is, for example, a server computer.
  • the map data distribution device 2 includes a true value information acquisition unit 11, a true value information grid map generation unit 12, a true value information grid map storage unit 13, a measurement information grid map storage unit 14, and an occupied grid map generation unit 15. And an occupied grid map distribution unit 16.
  • the true value information acquisition unit 11 is a part for acquiring true value information.
  • the true value information is information obtained in advance regarding the position information of the object 4 existing in the space 3 in which the moving body 1 moves.
  • the true value information is, for example, the position information of the object 4 obtained in advance from the information of the design drawing of the object 4 existing in the space 3.
  • the object 4 is a building facility such as an elevator.
  • the true value information is, for example, the position information of the object 4 obtained in advance by surveying.
  • the true value information is, for example, the position information of the object 4 obtained in advance from the information of BIM (Building Information Modeling).
  • the true value information is the position information of the object 4 obtained in advance from the information of the design drawing of the building forming the space 3.
  • the object 4 is, for example, a wall, a pillar, a door, or the like of a building.
  • the true value information is information about the building owned by, for example, the owner or manager of the building.
  • the true value information is highly accurate information obtained in advance.
  • the true value information does not include the information of the change after the true value information is obtained, or the information of the object 4 that moves or changes in the space 3.
  • the true value information acquisition unit 11 outputs the acquired true value information to the true value information grid map generation unit 12.
  • the true value information grid map generation unit 12 is a part that generates a true value information grid map based on the true value information.
  • the true value information grid map is map data in which true value information is assigned on a grid in which the space 3 is discretized.
  • the true value information grid map generation unit 12 outputs the generated true value information grid map to the true value information grid map storage unit 13.
  • the true value information grid map storage unit 13 is a part that stores the generated true value information grid map.
  • the measurement information grid map storage unit 14 is a portion that stores the measurement information grid map generated by each of the plurality of moving bodies 1.
  • the measurement information grid map storage unit 14 acquires the measurement information grid map from a part or all of the plurality of moving bodies 1.
  • the occupied grid map generation unit 15 is a part that generates an occupied grid map based on the true value information grid map and the measurement information grid map.
  • the occupied grid map generated by the occupied grid map generation unit 15 is map data represented as the probability of occupation of the object 4 assigned on the grid in which the space 3 is discretized.
  • the occupied grid map generation unit 15 generates an occupied grid map by, for example, assigning discrete values of three or more gradations on a grid obtained by discretizing the space 3.
  • the occupied grid map generation unit 15 generates an occupied grid map by, for example, assigning continuous real values on a grid in which the space 3 is discretized.
  • the occupied grid map generation unit 15 outputs the generated occupied grid map to the occupied grid map distribution unit 16.
  • the occupied grid map distribution unit 16 is a portion that distributes the occupied grid map to each of the plurality of moving bodies 1.
  • the occupied grid map distribution unit 16 is equipped with a wireless communication function so as to be able to communicate with each of the plurality of mobile bodies 1, for example.
  • FIG. 2 is a block diagram showing the configurations of the true value information grid map storage unit and the measurement information grid map storage unit according to the first embodiment.
  • the true value information grid map storage unit 13 includes a first vector conversion unit 13a, a first vector storage unit 13b, and a first discretization conversion unit 13c.
  • the first vector conversion unit 13a is a portion that converts a true value information grid map represented as a value assigned to a grid in which the space 3 is discretized into vector information.
  • Vector information is information that represents an object 4 as a collection of geometric figures such as lines or faces.
  • the first vector storage unit 13b is a portion that stores the converted true value information grid map as vector information.
  • the first discretized conversion unit 13c is a portion that allocates the true value information grid map represented as vector information to the discretized grid in space 3.
  • the grid of the true value information grid map output by the first discretized conversion unit 13c may be a grid different from the true value information grid map input to the first vector conversion unit 13a. Further, the first discretized conversion unit 13c may output a plurality of true value information grid maps of different grids corresponding to each of the plurality of mobile bodies 1.
  • the measurement information grid map storage unit 14 includes a second vector conversion unit 14a, a second vector storage unit 14b, and a second discretization conversion unit 14c.
  • the second vector conversion unit 14a is a portion that converts a measurement information grid map represented as a value assigned to a grid in which the space 3 is discretized into vector information.
  • the second vector storage unit 14b is a portion that stores the converted measurement information grid map as vector information.
  • the second discretized conversion unit 14c is a portion that allocates the measurement information grid map represented as vector information to the discretized grid in space 3.
  • the grid of the measurement information grid map output by the second discretization conversion unit 14c may be a grid different from the measurement information grid map input to the second vector conversion unit 14a.
  • the second discretization conversion unit 14c may output a plurality of measurement information grid maps of different grids corresponding to each of the plurality of mobile bodies 1.
  • the first vector conversion unit 13a and the second vector conversion unit 14a convert the map data format by a method used in image processing such as vectorization.
  • the first discretization conversion unit 13c and the second discretization conversion unit 14c convert the format of the map data by a method used in image processing such as rasterization.
  • the map data M1 represents an example of a measurement information grid map in the space inside the building.
  • the map data M2 represents an example of a true value information grid map in the space.
  • the map data M3 represents an example of an occupied grid map in the space.
  • region R1 includes a flat wall surface.
  • area R2 includes equipment provided after the building was built.
  • region R3 includes a movable object, such as a desk or chair.
  • FIG. 3 is a diagram showing an example of the measurement information grid map and the true value information grid map according to the first embodiment.
  • the true value information grid map accurately represents the flat wall surface of the region R1 as a flat wall surface.
  • the flat wall surface of the region R1 is represented as an uneven wall surface including an error.
  • the error included in the measurement information grid map is caused by, for example, an error included in the measurement value itself of the sensor included in the measurement unit 5 of the moving body 1.
  • the error included in the measurement information grid map is caused by, for example, a change of the object 4 in the space 3. The change is, for example, opening and closing of the landing door when the wall surface includes the landing door of the elevator.
  • the measurement information grid map of this example shows the equipment of the area R2 provided after the construction of the building.
  • the true value information grid map of this example does not represent the equipment of the area R2 provided after the construction of the building.
  • the true value information is a design drawing of a building
  • the true value information is obtained in advance before the construction of the building. If the true value information is not updated after the construction of the building, the true value information grid map does not reflect the situation after the true value information is obtained.
  • the measurement information grid map of this example represents the movable object 4 in the area R3.
  • the true value information grid map of this example does not represent the movable object 4 in the region R3.
  • the true value information when the true value information is a design drawing of a building, the true value information may not include information on a movable object 4 that is not included in the building. Further, when the true value information includes the information of the movable object 4, the true value information does not include the information of the situation where the object 4 has moved after the true value information is obtained.
  • the true value information grid map is accurate because it does not include measurement errors, but it is map data that does not reflect the situation after the true value information is obtained.
  • the measurement information grid map reflects the situation of the object 4 that moves or changes at any time in the space 3 in which the moving body 1 moves, but is map data including measurement errors and the like. That is, the true value information grid map and the measurement information grid map are complementary map data. Therefore, the occupied grid map generation unit 15 generates an occupied grid map based on the true value information grid map and the measurement information grid map.
  • FIG. 4 is a diagram showing an example of an occupied grid map according to the first embodiment.
  • the occupied grid map is generated by the occupied grid map generation unit 15 as map data in which discrete values of four gradations are assigned on a grid obtained by discretizing the space 3.
  • the occupancy probabilities of the object 4 on the grid points are, for example, "blank”, “unknown”, “occupancy (measurement)", and “occupancy (true value) in ascending order of occupancy probability. ) ”Is expressed as a value of four gradations.
  • “blank” is a value representing a state in which the probability that the object 4 exists at the position of the grid point is low.
  • “Unknown” is a value indicating a state in which it is unknown whether or not the object 4 exists at the position of the grid point.
  • occupancy (measurement) is a value representing a state in which the probability that the object 4 exists at the position of the grid point is high.
  • occupancy (true value) is a value representing a state in which the probability that the object 4 exists at the position of the grid point is higher than the "occupancy (measurement)”.
  • FIG. 5 is a diagram showing an example of generating an occupied grid map according to the first embodiment.
  • the map data M4 represents an example of an occupied grid map.
  • the white circles represent the grid points where the object 4 exists in the measurement information grid map.
  • the broken line represents the object 4 represented in the true value information.
  • the occupied grid map generation unit 15 generates an occupied grid map based on the true value information grid map and the measurement information grid map, for example, as follows. Since the true value information grid map is accurate map data that does not include measurement errors, the occupied grid map generation unit 15 "occupies (true value)" at the grid point where the object 4 exists in the true value information grid map. Is assigned. Since the measurement information grid map is map data including measurement errors and the like, the occupied grid map generation unit 15 assigns "occupancy (measurement)" to the grid points where the object 4 exists in the measurement information grid map. The occupied grid map generation unit 15 assigns "blank" to the grid points where the object 4 does not exist in both the true value information grid map and the measurement information grid map.
  • the occupied grid map generation unit 15 can determine the movable object 4 in the measurement information grid map, it is unknown whether the object 4 continues to stay in the same place. Therefore, the object 4 in the measurement information grid map Assign "Unknown" to the grid point where. For example, when there are both an object 4 existing and a non-existing object 4 at the corresponding lattice points among the plurality of measurement information grid maps acquired from the plurality of moving objects 1, the occupied grid map The generation unit 15 may determine that the object 4 can move to the grid point.
  • FIG. 6 is a flowchart showing an example of the operation of the map data distribution device according to the first embodiment.
  • FIG. 6 shows an example of the operation of the moving body 1 in which the occupied grid map is distributed from the map data distribution device 2.
  • step S11 the measurement unit 5 acquires measurement information. After that, the operation of the moving body 1 proceeds to step S12.
  • step S12 the self-position estimation unit 8 estimates the self-position before the movement of the moving body 1 by the guidance control unit 10 based on the occupied grid map and the measurement information.
  • the self-position estimation unit 8 uses the occupied grid map distributed from the map data distribution device 2 for self-position estimation.
  • the moving body 1 simultaneously generates the occupied grid map and estimates the self-position from the measured information grid map and the measured information by a method such as online SLAM. May be good.
  • the operation of the moving body 1 proceeds to step S13.
  • step S13 the route search unit 9 searches for a route to the destination based on the occupied grid map and the estimated self-position. After that, the operation of the moving body 1 proceeds to step S14.
  • step S14 the guidance control unit 10 moves the moving body 1 based on the searched route and the like. After that, the operation of the moving body 1 proceeds to step S15.
  • step S15 the guidance control unit 10 outputs the movement amount of the moving body 1 by the guidance control to the self-position estimation unit 8.
  • the self-position estimation unit 8 estimates the self-position after the movement of the moving body 1 based on the movement amount by the guidance control and the like. After that, the operation of the moving body 1 proceeds to step S16.
  • step S16 the measurement information grid map generation unit 6 generates a measurement information grid map based on the measurement information measured by the measuring instrument and the like. After that, the operation of the moving body 1 proceeds to step S17.
  • step S17 the moving body 1 transmits the generated measurement information grid map to the map data distribution device 2. After that, the operation of the moving body 1 proceeds to step S11.
  • FIG. 6 shows an example of the operation of the map data distribution device 2.
  • step S21 the true value information acquisition unit 11 acquires true value information. For example, by an operation by the owner or manager of the building, the information held by the owner or manager is input to the true value information acquisition unit 11 as true value information. After that, the operation of the map data distribution device 2 proceeds to step S22.
  • step S22 the true value information grid map generation unit 12 generates a true value information grid map based on the acquired true value information. After that, the operation of the map data distribution device 2 proceeds to step S23.
  • step S23 the true value information grid map storage unit 13 stores the generated true value information grid map. After that, the operation of the map data distribution device 2 proceeds to step S24.
  • step S24 the occupied grid map generation unit 15 generates an occupied grid map based on the true value information grid map and the measurement information grid map.
  • the occupied grid map generation unit 15 may generate the occupied grid map based on the true value information grid map.
  • step S25 the occupied grid map distribution unit 16 distributes the generated occupied grid map to the moving body 1. After that, the operation of the map data distribution device 2 proceeds to step S26.
  • step S26 the measurement information grid map storage unit 14 stores the measurement information grid map acquired from the moving body 1. After that, the operation of the map data distribution device 2 proceeds to step S27.
  • step S27 the occupied grid map generation unit 15 updates and generates the occupied grid map based on the true value information grid map and the measurement information grid map. After that, the operation of the map data distribution device 2 proceeds to step S25.
  • the occupied grid map generation unit 15 updates the occupied grid map as follows, for example.
  • the occupied grid map generation unit 15 updates the occupied grid map by adding or subtracting values based on the true value information grid map and the measurement information grid map, using the current value in the occupied grid map as, for example, the logarithmic odds of the occupation probability. You may.
  • the occupied grid map generation unit 15 represents the occupied grid map as the probability of discrete values of 3 or more gradations by updating the values of the occupied grid map by real value calculation and then classifying the values according to the threshold values. You may.
  • the occupied grid map generation unit 15 may, for example, subtract the difference between the current value in the occupied grid map and the value in the true value information grid map by a constant multiple from the current value in the occupied grid map. In this way, the occupied grid map generation unit 15 may update the occupied grid map so as to converge on the true value information grid map with the passage of time.
  • the occupied grid map generation unit 15 may, for example, weight and add the current value in the measurement information grid map to the value obtained by subtraction. In this way, the occupied grid map generation unit 15 may update the occupied grid map so as to reflect the measurement information by the moving body 1.
  • the occupied grid map generation unit 15 may use different weights depending on the measurement accuracy of each measurement unit 5 of the plurality of moving bodies 1. Further, the occupied grid map generation unit 15 may select any part of the measurement information grid maps acquired from each of the plurality of moving bodies 1 and use them for updating the occupied grid map. In this way, the occupied grid map generation unit 15 may update the occupied grid map so as to preferentially reflect the measurement information by the moving body 1 including the measuring unit 5 having high measurement accuracy.
  • the occupied grid map generation unit 15 may use different weights depending on the distance between each measuring unit 5 of the plurality of moving bodies 1 and the grid points. In this way, the occupied grid map generation unit 15 may update the occupied grid map so as to preferentially reflect the information obtained by the measurement information grid map in the vicinity of the moving body 1.
  • the map data distribution device 2 hides the true value information from the moving body 1.
  • the true value information acquisition unit 11, the true value information grid map generation unit 12, the true value information grid map storage unit 13, the occupied grid map generation unit 15, and the occupied grid map distribution unit 16 of the map data distribution device 2 are ,
  • the true value information is concealed from the moving body 1. Concealment of the true value state is realized, for example, by not disclosing the true value information to the moving body 1.
  • the map data distribution device 2 is physically separated from each of the plurality of mobile bodies 1.
  • the map data distribution device 2 includes a true value information grid map generation unit 12, an occupied grid map generation unit 15, and an occupied grid map distribution unit 16.
  • the true value information grid map generation unit 12 generates a true value information grid map.
  • the true value information grid map is map data in which true value information is assigned on a grid in which space 3 is discretized.
  • the true value information is information obtained in advance regarding the position information of the object 4 existing in the space 3 in which the moving body 1 moves.
  • the occupied grid map generation unit 15 generates an occupied grid map on a grid in which the space 3 is discretized, based on the measurement information grid map and the true value information grid map.
  • the measurement information grid map is map data in which the measurement information is assigned on a grid in which the space 3 is discretized.
  • the measurement information is information regarding the position information of the object 4 measured by the measurement unit 5 of the moving body 1 in the space 3.
  • the occupied grid map distribution unit 16 distributes the generated occupied grid map to the moving body 1.
  • the map data distribution device 2 distributes a highly accurate occupied grid map based on true value information to the moving body 1. Therefore, guidance control with high accuracy can be applied to the moving body 1 that uses a method having a light calculation load such as online SLAM. Further, the guidance control with high accuracy can be applied to the moving body 1 whose map generation accuracy is not high.
  • true value information grid map generation unit 12 the occupied grid map generation unit 15, and the occupied grid map distribution unit 16 conceal the true value information from the moving body 1.
  • the map data distribution device 2 hides the true value information from the moving body 1.
  • the true value information may include information that is preferably kept secret from the viewpoint of security.
  • the owner or manager of the moving body 1 may be different from the owner or manager of the building. Even in such a case, true value information including information that is preferably kept secret is not delivered to the mobile body 1. Therefore, the security of the building is improved.
  • the occupied grid map generation unit 15 generates an occupied grid map as the probability of occupation of the object 4 assigned on the grid in which the space 3 is discretized.
  • the true value information is information obtained in advance, it may be represented by a blank or a binary value of occupancy.
  • the map data that the moving body 1 estimates at the same time as its own position by a technique such as online SLAM may be estimated so as to have a high likelihood with respect to the already obtained measurement information.
  • the occupied grid map is map data that reflects measurement information including measurement errors. Therefore, the occupied grid map generation unit 15 generates an occupied grid map represented as the probability of occupation of the object 4 on the grid points, so that the map data distribution device 2 can generate map data having a high likelihood of measurement information. It can be delivered to the moving body 1.
  • the occupied grid map generation unit 15 generates an occupied grid map with a probability of 3 or more gradations.
  • the map data distribution device 2 can suppress the cost of data transfer related to the distribution to the mobile body 1.
  • the true value information grid map generation unit 12 generates a true value information grid map using the position information of the object 4 obtained in advance from the information of the design drawing of the object 4 existing in the space 3 as the true value information. Further, the true value information grid map generation unit 12 generates a true value information grid map using the position information of the object 4 existing in the space 3 obtained in advance by the survey as the true value information. Further, the true value information grid map generation unit 12 generates a true value information grid map using the position information of the object 4 existing in the space 3 obtained in advance from the BIM information as the true value information. Further, the true value information grid map generation unit 12 generates an occupied grid map using the position information of the object 4 existing in the space 3 obtained in advance from the information of the design drawing of the building forming the space 3 as the true value information. To do.
  • the map data distribution device 2 can use highly accurate information owned by a building manager or the like as true value information. As a result, guidance control with higher accuracy can be applied to the moving body 1 by the map data distributed by the map data distribution device 2.
  • the map data distribution device 2 includes a first vector conversion unit 13a, a first vector storage unit 13b, and a first discretization conversion unit 13c.
  • the first vector conversion unit 13a converts the true value information grid map into vector information.
  • the first vector storage unit 13b stores the true value information grid map converted into vector information.
  • the first discretized conversion unit 13c allocates a true value information grid map represented as vector information on the grid in which the space 3 is discretized.
  • the true value information grid map is stored as vector information, the required storage capacity does not depend on the degree of discretization of space 3. Therefore, the storage capacity of the true value information grid map does not increase even for a finely discretized grid. Further, since the first discretization conversion unit 13c allocates the true value information grid map stored as vector information on the grid, the true value information grid map for a plurality of types of grids having different discretization fineness can be obtained. Can be output. Therefore, the map data distribution device 2 can use a true value information grid map matched to the corresponding grid for each of the plurality of mobile bodies 1.
  • the map data distribution device 2 includes a second vector conversion unit 14a, a second vector storage unit 14b, and a second discretization conversion unit 14c.
  • the second vector conversion unit 14a converts the measurement information grid map into vector information.
  • the second vector storage unit 14b stores the measurement information grid map converted into vector information.
  • the second discretized conversion unit 14c allocates the measurement information grid map represented as vector information on the grid in which the space 3 is discretized.
  • the second discretization conversion unit 14c allocates the measurement information grid map stored as vector information on the grid. Therefore, the second discretization conversion unit 14c can output a measurement information grid map for a plurality of types of grids having different discretization fineness. Therefore, the map data distribution device 2 can use the measurement information grid map matched to the corresponding grid for each of the plurality of moving bodies 1. Further, the second vector conversion unit 14a converts the measurement information grid map assigned on the grid points into vector information.
  • the map data distribution device 2 can accept the input of the measurement information grid map for a plurality of types of grids having different discretization fineness. As a result, the map data distribution device 2 can distribute the occupied grid map generated by mutually utilizing the measurement information acquired by the plurality of moving bodies 1 having different corresponding grids.
  • the occupied grid map generation unit 15 updates and generates the occupied grid map based on the measurement information grid map acquired from the moving body 1.
  • the occupied grid map generation unit 15 can generate an occupied grid map that reflects a changing situation in the space 3 in which the moving body 1 moves. Further, the occupied grid map generation unit 15 can deliver the map data based on the information generated by the moving body 1 having high accuracy of map generation to the moving body 1 having low accuracy of map generation. Further, the occupied grid map generation unit 15 can statistically process the map data based on the information generated by the plurality of mobile bodies 1 and distribute the map data to the mobile body 1. As a result, highly accurate guidance control can be applied to the moving body 1 whose map generation accuracy is not high.
  • the map data distribution device 2 may distribute the occupied grid map updated at a preset update frequency each time it is updated.
  • the update frequency of the occupancy update map may be lower than the frequency of map update such as online SLAM performed internally by the moving body 1.
  • the map data distribution device 2 can suppress the cost of data transfer related to the distribution to the mobile body 1 by suppressing the distribution frequency of the map data.
  • map data distribution device 2 may distribute the occupied grid map to a single moving body 1.
  • the moving body 1 may distribute the occupied grid map to another moving body 1.
  • FIG. 7 is a diagram showing a hardware configuration of a main part of the map data distribution device according to the first embodiment.
  • Each function of the map data distribution device 2 can be realized by a processing circuit.
  • the processing circuit includes at least one processor 2b and at least one memory 2c.
  • the processing circuit may include at least one dedicated hardware 2a with or as a substitute for the processor 2b and the memory 2c.
  • each function of the map data distribution device 2 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. The program is stored in the memory 2c. The processor 2b realizes each function of the map data distribution device 2 by reading and executing the program stored in the memory 2c.
  • the processor 2b is also referred to as a CPU (Central Processing Unit), a processing device, an arithmetic unit, a microprocessor, a microcomputer, and a DSP.
  • the memory 2c is composed of, for example, a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD, or the like.
  • the processing circuit is provided with dedicated hardware 2a, the processing circuit is realized, for example, by a single circuit, a composite circuit, a programmed processor 2b, a parallel programmed processor 2b, an ASIC, an FPGA, or a combination thereof. ..
  • Each function of the map data distribution device 2 can be realized by a processing circuit. Alternatively, each function of the map data distribution device 2 can be collectively realized by a processing circuit. For each function of the map data distribution device 2, a part may be realized by the dedicated hardware 2a, and the other part may be realized by software or firmware. In this way, the processing circuit realizes each function of the map data distribution device 2 by hardware 2a, software, firmware, or a combination thereof.
  • the map data distribution device can be applied to the distribution of map data used for guidance control of a moving body.
  • 100 mobile system 1 mobile, 2 map data distribution device, 3 space, 4 object, 5 measurement unit, 6 measurement information grid map generation unit, 7 occupied grid map storage unit, 8 self-position estimation unit, 9 route search unit , 10 Guidance control unit, 11 True value information acquisition unit, 12 True value information grid map generation unit, 13 True value information grid map storage unit, 14 Measurement information grid map storage unit, 15 Occupied grid map generation unit, 16 Occupied grid map Distribution unit, 13a 1st vector conversion unit, 13b 1st vector storage unit, 13c 1st discrete conversion unit, 14a 2nd vector conversion unit, 14b 2nd vector storage unit, 14c 2nd discrete conversion unit, 2a hardware , 2b processor, 2c memory

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Abstract

Provided are a map data distribution device and a mobile body system, which are capable of distributing to a mobile body, map data applicable to guidance control with high accuracy. A map data distribution device (2) comprises: a true value information grid map generation unit (12) which generates a true value information grid map; an occupied grid map generation unit (15); and an occupied grid map distribution unit (16) which distributes an occupied grid map to the mobile body (1). The occupied grid map generation unit (15) generates an occupied grid map on a grid obtained by discretizing the space (3), on the basis of a measurement information grid map and a true value information grid map. The true value information grid map and the measurement information grid map are map data in which the true value information and the measurement information are assigned on the grid obtained by discretizing the space (3). The true value information is information obtained in advance regarding the position information on the object (4) present in the space (3). The measurement information is information on the position information of the object (4) measured by the measurement unit (5) of the mobile body (1) in the space (3).

Description

移動体の地図データ配信装置および移動体システムMobile map data distribution device and mobile system
　本発明は、移動体の地図データ配信装置および移動体システムに関する。 The present invention relates to a mobile map data distribution device and a mobile system.
　特許文献１は、経路データ生成装置の例を開示する。経路データ生成装置は、最適化されたグラフ構造データを用いて、移動体の経路データを生成する。 Patent Document 1 discloses an example of a route data generator. The route data generator uses the optimized graph structure data to generate the route data of the moving body.
日本特開２０１８－８４９９５号公報Japanese Patent Application Laid-Open No. 2018-84995
　しかしながら、特許文献１において、経路データ生成装置は、Ｇｒａｐｈ－Ｂａｓｅｄ　ＳＬＡＭ技術（ＳＬＡＭ：Ｓｉｍｕｌｔａｎｅｏｕｓ　Ｌｏｃａｌｉｚａｔｉｏｎ　ａｎｄ　Ｍａｐｐｉｎｇ）に基づいて経路データを生成する。ここで、当該技術における経路データの生成に係る計算負荷は大きいので、実時間での経路データの生成は難しい場合がある。この場合に、移動体の誘導制御に適用できる経路データの生成が難しい。 However, in Patent Document 1, the route data generator generates route data based on the Graph-Based SLAM technology (SLAM: Simultaneous Localization and Mapping). Here, since the calculation load related to the generation of the route data in the technique is large, it may be difficult to generate the route data in real time. In this case, it is difficult to generate route data applicable to the guidance control of the moving body.
　本発明は、このような課題を解決するためになされた。本発明の目的は、高い精度での誘導制御に適用可能な地図データを移動体に配信できる地図データ配信装置および移動体システムを提供することである。 The present invention has been made to solve such a problem. An object of the present invention is to provide a map data distribution device and a mobile body system capable of delivering map data applicable to guidance control with high accuracy to a moving body.
　本発明に係る移動体の地図データ配信装置は、移動体が移動する空間に存在する物体の位置情報に関して予め得られている真値情報が空間を離散化した格子上に割り当てられた真値情報格子地図を生成する真値情報格子地図生成部と、空間において移動体が有する計測部によって計測される物体の位置情報に関する計測情報が空間を離散化した格子上に割り当てられた計測情報格子地図、および真値情報格子地図に基づいて、空間を離散化した格子上に占有格子地図を生成する占有格子地図生成部と、生成された占有格子地図を移動体に配信する占有格子地図配信部と、を備える。 In the moving body map data distribution device according to the present invention, the true value information obtained in advance regarding the position information of an object existing in the space in which the moving body moves is assigned to the true value information in a discrete space grid. A true value information grid map generator that generates a grid map, and a measurement information grid map in which measurement information about the position information of an object measured by a measuring unit of a moving object in space is assigned on a grid that is discrete in space. An occupied grid map generator that generates an occupied grid map on a grid that disperses the space based on the true value information grid map, and an occupied grid map distribution unit that distributes the generated occupied grid map to a moving body. To be equipped with.
　本発明に係る移動体システムは、移動体が移動する空間に存在する物体の位置情報に関して予め得られている真値情報が空間を離散化した格子上に割り当てられた真値情報格子地図を生成する真値情報格子地図生成部と、空間において移動体が有する計測部によって計測される物体の位置情報に関する計測情報が空間を離散化した格子上に割り当てられた計測情報格子地図、および真値情報格子地図に基づいて、空間を離散化した格子上に占有格子地図を生成する占有格子地図生成部と、生成された占有格子地図を、空間を移動する移動体に配信する占有格子地図配信部と、を備える。 The moving body system according to the present invention generates a true value information grid map in which true value information obtained in advance regarding the position information of an object existing in the space in which the moving body moves is assigned on a grid in which the space is discreteized. A measurement information grid map in which measurement information related to the position information of an object measured by a moving body's measurement unit in space is assigned on a grid in which the space is discrete, and true value information. An occupied grid map generator that generates an occupied grid map on a grid that disperses the space based on the grid map, and an occupied grid map distribution unit that distributes the generated occupied grid map to a moving body that moves in space. , Equipped with.
　本発明によれば、地図データ配信装置は、真値情報格子地図生成部と、占有格子地図生成部と、占有格子地図配信部と、を備える。真値情報格子地図生成部は、真値情報格子地図を生成する。真値情報格子地図は、真値情報が空間を離散化した格子上に割り当てられた地図データである。真値情報は、移動体が移動する空間に存在する物体の位置情報に関して予め得られている情報である。占有格子地図生成部は、計測情報格子地図、および真値情報格子地図に基づいて、空間を離散化した格子上に占有格子地図を生成する。計測情報格子地図は、計測情報が空間を離散化した格子上に割り当てられた地図データである。計測情報は、空間において移動体が有する計測部によって計測される物体の位置情報に関する情報である。占有格子地図配信部は、生成された占有格子地図を移動体に配信する。これにより、より高い精度での誘導制御に適用可能な地図データを移動体に配信できる。 According to the present invention, the map data distribution device includes a true value information grid map generation unit, an occupied grid map generation unit, and an occupied grid map distribution unit. The true value information grid map generation unit generates a true value information grid map. The true value information grid map is map data in which true value information is assigned on a grid in which space is discretized. The true value information is information obtained in advance regarding the position information of an object existing in the space where the moving body moves. The occupancy grid map generation unit generates an occupancy grid map on a grid that discretizes the space based on the measurement information grid map and the true value information grid map. The measurement information grid map is map data in which the measurement information is assigned on a grid in which the space is discretized. The measurement information is information on the position information of an object measured by a measuring unit of a moving body in space. The occupied grid map distribution unit distributes the generated occupied grid map to the moving body. As a result, map data applicable to guidance control with higher accuracy can be delivered to the moving body.
実施の形態１に係る地図データ配信装置の構成を示すブロック図である。It is a block diagram which shows the structure of the map data distribution apparatus which concerns on Embodiment 1. FIG. 実施の形態１に係る真値情報格子地図記憶部および計測情報格子地図記憶部の構成を示すブロック図である。FIG. 5 is a block diagram showing a configuration of a true value information grid map storage unit and a measurement information grid map storage unit according to the first embodiment. 実施の形態１に係る計測情報格子地図および真値情報格子地図の例を示す図である。It is a figure which shows the example of the measurement information grid map and the true value information grid map which concerns on Embodiment 1. FIG. 実施の形態１に係る占有格子地図の例を示す図である。It is a figure which shows the example of the occupied grid map which concerns on Embodiment 1. FIG. 実施の形態１に係る占有格子地図の生成の例を示す図である。It is a figure which shows the example of the generation of the exclusive grid map which concerns on Embodiment 1. FIG. 実施の形態１に係る地図データ配信装置の動作の例を示すフローチャートである。It is a flowchart which shows the example of the operation of the map data distribution apparatus which concerns on Embodiment 1. FIG. 実施の形態１に係る地図データ配信装置の主要部のハードウェア構成を示す図である。It is a figure which shows the hardware configuration of the main part of the map data distribution apparatus which concerns on Embodiment 1. FIG.
　本発明を実施するための形態について添付の図面を参照しながら説明する。各図において、同一または相当する部分には同一の符号を付して、重複する説明は適宜に簡略化または省略する。 The embodiment for carrying out the present invention will be described with reference to the attached drawings. In each figure, the same or corresponding parts are designated by the same reference numerals, and duplicate description will be appropriately simplified or omitted.
　実施の形態１．
　図１は、実施の形態１に係る地図データ配信装置の構成を示すブロック図である。 Embodiment 1.
FIG. 1 is a block diagram showing a configuration of a map data distribution device according to the first embodiment.
　図１において、移動体システム１００が示される。移動体システム１００は、複数の移動体１と、地図データ配信装置２と、を備える。 In FIG. 1, the mobile system 100 is shown. The mobile system 100 includes a plurality of mobiles 1 and a map data distribution device 2.
　複数の移動体１の各々は、所定の空間３を移動する機器である。移動体１が移動する空間３は、例えば建築物の内部の空間である。移動体１は、例えば空間３に存在する物体４を認識することで自律的に移動する自律移動体である。移動体１は、例えばロボットまたはドローンなどである。 Each of the plurality of moving bodies 1 is a device that moves in a predetermined space 3. The space 3 in which the moving body 1 moves is, for example, a space inside a building. The moving body 1 is, for example, an autonomous moving body that moves autonomously by recognizing an object 4 existing in space 3. The moving body 1 is, for example, a robot or a drone.
　複数の移動体１の各々は、計測部５と、計測情報格子地図生成部６と、占有格子地図記憶部７と、自己位置推定部８と、経路探索部９と、誘導制御部１０と、を備える。 Each of the plurality of moving bodies 1 includes a measurement unit 5, a measurement information grid map generation unit 6, an occupied grid map storage unit 7, a self-position estimation unit 8, a route search unit 9, and a guidance control unit 10. To be equipped.
　計測部５は、空間３において物体４の位置情報を計測情報として計測する部分である。計測情報は、例えば、移動体１と物体４との相対的な位置情報と、移動体１の移動量と、を含んでもよい。計測部５は、例えば移動体１と物体４との間の距離を測定するＬＩＤＡＲ（Ｌｉｇｈｔ　Ｄｅｔｅｃｔｉｏｎ　ａｎｄ　Ｒａｎｇｉｎｇ）などを含んでもよい。計測部５は、例えば移動体１の移動量をデッドレコニングなどによって計測するエンコーダーなどを含んでもよい。計測部５は、計測した計測情報を計測情報格子地図生成部６に出力する。 The measurement unit 5 is a part that measures the position information of the object 4 as measurement information in the space 3. The measurement information may include, for example, relative position information between the moving body 1 and the object 4, and the moving amount of the moving body 1. The measuring unit 5 may include, for example, LIDAR (Light Detection and Ringing) for measuring the distance between the moving body 1 and the object 4. The measuring unit 5 may include, for example, an encoder that measures the amount of movement of the moving body 1 by dead reckoning or the like. The measurement unit 5 outputs the measured measurement information to the measurement information grid map generation unit 6.
　計測情報格子地図生成部６は、計測部５が計測した計測情報に基づいて計測情報格子地図を生成する部分である。計測情報格子地図は、空間３を離散化した格子上に計測情報が割り当てられた地図データである。ここで、空間３を離散化した格子は、例えば２次元または３次元の格子である。計測情報格子地図生成部６は、例えば計測情報を取得する度に、取得された計測情報に基づいて計測情報格子地図を更新してもよい。ここで、計測情報が計測部５を有する移動体１からの相対的な位置情報である場合に、計測情報格子地図生成部６は、計測情報格子地図の更新において移動体１の位置を用いてもよい。計測情報格子地図生成部６は、生成した計測情報格子地図を占有格子地図記憶部７に出力する。 The measurement information grid map generation unit 6 is a part that generates a measurement information grid map based on the measurement information measured by the measurement unit 5. The measurement information grid map is map data in which measurement information is assigned on a grid in which the space 3 is discretized. Here, the lattice that discretizes the space 3 is, for example, a two-dimensional or three-dimensional lattice. The measurement information grid map generation unit 6 may update the measurement information grid map based on the acquired measurement information every time the measurement information is acquired, for example. Here, when the measurement information is relative position information from the moving body 1 having the measuring unit 5, the measurement information grid map generation unit 6 uses the position of the moving body 1 in updating the measurement information grid map. May be good. The measurement information grid map generation unit 6 outputs the generated measurement information grid map to the occupied grid map storage unit 7.
　占有格子地図記憶部７は、占有格子地図を記憶する部分である。占有格子地図は、空間３を離散化した格子上において物体４の占有の状態を表す地図データである。 The occupied grid map storage unit 7 is a portion that stores the occupied grid map. The occupancy grid map is map data showing the occupancy state of the object 4 on the grid in which the space 3 is discretized.
　自己位置推定部８は、占有格子地図などに基づいて、当該自己位置推定部８自身を備える移動体１の位置を推定する部分である。自己位置推定部８は、占有格子地図を占有格子地図記憶部７から取得する。自己位置推定部８は、推定した移動体１の位置を、計測情報格子地図の更新に利用しうるように計測情報格子地図生成部６に出力する。 The self-position estimation unit 8 is a part that estimates the position of the moving body 1 including the self-position estimation unit 8 itself based on an occupied grid map or the like. The self-position estimation unit 8 acquires the occupied grid map from the occupied grid map storage unit 7. The self-position estimation unit 8 outputs the estimated position of the moving body 1 to the measurement information grid map generation unit 6 so that it can be used for updating the measurement information grid map.
　経路探索部９は、占有格子地図などに基づいて、移動体１の目的地までの経路を探索する部分である。経路探索部９は、占有格子地図を占有格子地図記憶部７から取得する。 The route search unit 9 is a part that searches for a route to the destination of the moving body 1 based on an occupied grid map or the like. The route search unit 9 acquires the occupied grid map from the occupied grid map storage unit 7.
　誘導制御部１０は、移動体１の位置および目的地までの経路などに基づいて、当該移動体１の目的地までの移動を制御する部分である。誘導制御部１０は、移動体１の位置を自己位置推定部８から取得する。誘導制御部１０は、目的地までの経路を経路探索部９から取得する。誘導制御部１０は、誘導制御による移動体１の移動量を自己位置推定部８に出力する。 The guidance control unit 10 is a part that controls the movement of the moving body 1 to the destination based on the position of the moving body 1 and the route to the destination. The guidance control unit 10 acquires the position of the moving body 1 from the self-position estimation unit 8. The guidance control unit 10 acquires a route to the destination from the route search unit 9. The guidance control unit 10 outputs the movement amount of the moving body 1 by the guidance control to the self-position estimation unit 8.
　地図データ配信装置２は、例えば移動体１が移動する空間３を有する建築物に設けられる。地図データ配信装置２は、例えばサーバーコンピューターである。地図データ配信装置２は、真値情報取得部１１と、真値情報格子地図生成部１２と、真値情報格子地図記憶部１３と、計測情報格子地図記憶部１４と、占有格子地図生成部１５と、占有格子地図配信部１６と、を備える。 The map data distribution device 2 is provided in, for example, a building having a space 3 in which the moving body 1 moves. The map data distribution device 2 is, for example, a server computer. The map data distribution device 2 includes a true value information acquisition unit 11, a true value information grid map generation unit 12, a true value information grid map storage unit 13, a measurement information grid map storage unit 14, and an occupied grid map generation unit 15. And an occupied grid map distribution unit 16.
　真値情報取得部１１は、真値情報を取得する部分である。真値情報は、移動体１が移動する空間３に存在する物体４の位置情報に関して予め得られている情報である。真値情報は、例えば空間３に存在する物体４の設計図面の情報から予め得られている当該物体４の位置情報である。このとき、当該物体４は、例えばエレベーターなどのビル設備である。あるいは、真値情報は、例えば測量によって予め得られている物体４の位置情報である。あるいは、真値情報は、例えばＢＩＭ（Ｂｕｉｌｄｉｎｇ　Ｉｎｆｏｒｍａｔｉｏｎ　Ｍｏｄｅｌｉｎｇ）の情報から予め得られている物体４の位置情報である。あるいは、真値情報は、空間３を形成する建築物の設計図面の情報から予め得られている物体４の位置情報である。このとき、当該物体４は、例えば建築物の壁、柱、および扉などである。真値情報は、例えば建築物の所有者または管理者などが保有する当該建築物に関する情報である。真値情報は、予め得られている精度の高い情報である。一方で、真値情報は、真値情報が得られた後の変化の情報、または空間３において移動もしくは変化する物体４の情報を含まない。真値情報取得部１１は、取得した真値情報を真値情報格子地図生成部１２に出力する。 The true value information acquisition unit 11 is a part for acquiring true value information. The true value information is information obtained in advance regarding the position information of the object 4 existing in the space 3 in which the moving body 1 moves. The true value information is, for example, the position information of the object 4 obtained in advance from the information of the design drawing of the object 4 existing in the space 3. At this time, the object 4 is a building facility such as an elevator. Alternatively, the true value information is, for example, the position information of the object 4 obtained in advance by surveying. Alternatively, the true value information is, for example, the position information of the object 4 obtained in advance from the information of BIM (Building Information Modeling). Alternatively, the true value information is the position information of the object 4 obtained in advance from the information of the design drawing of the building forming the space 3. At this time, the object 4 is, for example, a wall, a pillar, a door, or the like of a building. The true value information is information about the building owned by, for example, the owner or manager of the building. The true value information is highly accurate information obtained in advance. On the other hand, the true value information does not include the information of the change after the true value information is obtained, or the information of the object 4 that moves or changes in the space 3. The true value information acquisition unit 11 outputs the acquired true value information to the true value information grid map generation unit 12.
　真値情報格子地図生成部１２は、真値情報に基づいて真値情報格子地図を生成する部分である。真値情報格子地図は、空間３を離散化した格子上に真値情報が割り当てられた地図データである。真値情報格子地図生成部１２は、生成した真値情報格子地図を真値情報格子地図記憶部１３に出力する。 The true value information grid map generation unit 12 is a part that generates a true value information grid map based on the true value information. The true value information grid map is map data in which true value information is assigned on a grid in which the space 3 is discretized. The true value information grid map generation unit 12 outputs the generated true value information grid map to the true value information grid map storage unit 13.
　真値情報格子地図記憶部１３は、生成された真値情報格子地図を記憶する部分である。 The true value information grid map storage unit 13 is a part that stores the generated true value information grid map.
　計測情報格子地図記憶部１４は、複数の移動体１の各々が生成した計測情報格子地図を記憶する部分である。計測情報格子地図記憶部１４は、複数の移動体１の一部または全部から計測情報格子地図を取得する。 The measurement information grid map storage unit 14 is a portion that stores the measurement information grid map generated by each of the plurality of moving bodies 1. The measurement information grid map storage unit 14 acquires the measurement information grid map from a part or all of the plurality of moving bodies 1.
　占有格子地図生成部１５は、真値情報格子地図および計測情報格子地図に基づいて占有格子地図を生成する部分である。占有格子地図生成部１５が生成する占有格子地図は、空間３を離散化した格子上に割り当てられた物体４の占有の確率として表される地図データである。占有格子地図生成部１５は、例えば空間３を離散化した格子上に３以上の階調の離散的な値を割り当てることによって占有格子地図を生成する。あるいは、占有格子地図生成部１５は、例えば空間３を離散化した格子上に連続的な実数値を割り当てることによって占有格子地図を生成する。占有格子地図生成部１５は、生成した占有格子地図を占有格子地図配信部１６に出力する。 The occupied grid map generation unit 15 is a part that generates an occupied grid map based on the true value information grid map and the measurement information grid map. The occupied grid map generated by the occupied grid map generation unit 15 is map data represented as the probability of occupation of the object 4 assigned on the grid in which the space 3 is discretized. The occupied grid map generation unit 15 generates an occupied grid map by, for example, assigning discrete values of three or more gradations on a grid obtained by discretizing the space 3. Alternatively, the occupied grid map generation unit 15 generates an occupied grid map by, for example, assigning continuous real values on a grid in which the space 3 is discretized. The occupied grid map generation unit 15 outputs the generated occupied grid map to the occupied grid map distribution unit 16.
　占有格子地図配信部１６は、複数の移動体１の各々に占有格子地図を配信する部分である。占有格子地図配信部１６は、例えば複数の移動体１の各々と通信しうるように無線通信の機能を搭載する。 The occupied grid map distribution unit 16 is a portion that distributes the occupied grid map to each of the plurality of moving bodies 1. The occupied grid map distribution unit 16 is equipped with a wireless communication function so as to be able to communicate with each of the plurality of mobile bodies 1, for example.
　図２は、実施の形態１に係る真値情報格子地図記憶部および計測情報格子地図記憶部の構成を示すブロック図である。 FIG. 2 is a block diagram showing the configurations of the true value information grid map storage unit and the measurement information grid map storage unit according to the first embodiment.
　真値情報格子地図記憶部１３は、第１ベクトル変換部１３ａと、第１ベクトル記憶部１３ｂと、第１離散化変換部１３ｃと、を備える。第１ベクトル変換部１３ａは、空間３を離散化した格子に割り当てられた値として表される真値情報格子地図を、ベクトル情報に変換する部分である。ベクトル情報は、例えば、線または面などの幾何学的な図形の集まりとして物体４を表す情報である。第１ベクトル記憶部１３ｂは、変換された真値情報格子地図をベクトル情報として記憶する部分である。第１離散化変換部１３ｃは、ベクトル情報として表される真値情報格子地図を、空間３を離散化した格子に割り当てる部分である。このとき、第１離散化変換部１３ｃが出力する真値情報格子地図の格子は、第１ベクトル変換部１３ａに入力される真値情報格子地図と異なる格子であってもよい。また、第１離散化変換部１３ｃは、複数の移動体１の各々に対応して、互いに異なる格子の複数の真値情報格子地図を出力してもよい。 The true value information grid map storage unit 13 includes a first vector conversion unit 13a, a first vector storage unit 13b, and a first discretization conversion unit 13c. The first vector conversion unit 13a is a portion that converts a true value information grid map represented as a value assigned to a grid in which the space 3 is discretized into vector information. Vector information is information that represents an object 4 as a collection of geometric figures such as lines or faces. The first vector storage unit 13b is a portion that stores the converted true value information grid map as vector information. The first discretized conversion unit 13c is a portion that allocates the true value information grid map represented as vector information to the discretized grid in space 3. At this time, the grid of the true value information grid map output by the first discretized conversion unit 13c may be a grid different from the true value information grid map input to the first vector conversion unit 13a. Further, the first discretized conversion unit 13c may output a plurality of true value information grid maps of different grids corresponding to each of the plurality of mobile bodies 1.
　計測情報格子地図記憶部１４は、第２ベクトル変換部１４ａと、第２ベクトル記憶部１４ｂと、第２離散化変換部１４ｃと、を備える。第２ベクトル変換部１４ａは、空間３を離散化した格子に割り当てられた値として表される計測情報格子地図を、ベクトル情報に変換する部分である。第２ベクトル記憶部１４ｂは、変換された計測情報格子地図をベクトル情報として記憶する部分である。第２離散化変換部１４ｃは、ベクトル情報として表される計測情報格子地図を、空間３を離散化した格子に割り当てる部分である。このとき、第２離散化変換部１４ｃが出力する計測情報格子地図の格子は、第２ベクトル変換部１４ａに入力される計測情報格子地図と異なる格子であってもよい。また、第２離散化変換部１４ｃは、複数の移動体１の各々に対応して、互いに異なる格子の複数の計測情報格子地図を出力してもよい。 The measurement information grid map storage unit 14 includes a second vector conversion unit 14a, a second vector storage unit 14b, and a second discretization conversion unit 14c. The second vector conversion unit 14a is a portion that converts a measurement information grid map represented as a value assigned to a grid in which the space 3 is discretized into vector information. The second vector storage unit 14b is a portion that stores the converted measurement information grid map as vector information. The second discretized conversion unit 14c is a portion that allocates the measurement information grid map represented as vector information to the discretized grid in space 3. At this time, the grid of the measurement information grid map output by the second discretization conversion unit 14c may be a grid different from the measurement information grid map input to the second vector conversion unit 14a. Further, the second discretization conversion unit 14c may output a plurality of measurement information grid maps of different grids corresponding to each of the plurality of mobile bodies 1.
　第１ベクトル変換部１３ａおよび第２ベクトル変換部１４ａは、例えばベクタライズなどの画像処理において用いられる手法によって地図データの形式を変換する。第１離散化変換部１３ｃおよび第２離散化変換部１４ｃは、例えばラスタライズなどの画像処理において用いられる手法によって地図データの形式を変換する。 The first vector conversion unit 13a and the second vector conversion unit 14a convert the map data format by a method used in image processing such as vectorization. The first discretization conversion unit 13c and the second discretization conversion unit 14c convert the format of the map data by a method used in image processing such as rasterization.
　続いて、図３から図５を用いて、地図データ配信装置２が扱う地図データの例を説明する。
　図３において、地図データＭ１は、建築物の内部の空間における計測情報格子地図の例を表す。図３において、地図データＭ２は、当該空間における真値情報格子地図の例を表す。図４において、地図データＭ３は、当該空間における占有格子地図の例を表す。
　図３および図４において、領域Ｒ１は、平坦な壁面を含む。図３および図４において、領域Ｒ２は、建築物が建築された後に設けられた設備を含む。図３および図４において、領域Ｒ３は、例えば机または椅子などの移動しうる物体を含む。 Subsequently, an example of the map data handled by the map data distribution device 2 will be described with reference to FIGS. 3 to 5.
In FIG. 3, the map data M1 represents an example of a measurement information grid map in the space inside the building. In FIG. 3, the map data M2 represents an example of a true value information grid map in the space. In FIG. 4, the map data M3 represents an example of an occupied grid map in the space.
In FIGS. 3 and 4, region R1 includes a flat wall surface. In FIGS. 3 and 4, area R2 includes equipment provided after the building was built. In FIGS. 3 and 4, region R3 includes a movable object, such as a desk or chair.
　図３は、実施の形態１に係る計測情報格子地図および真値情報格子地図の例を示す図である。 FIG. 3 is a diagram showing an example of the measurement information grid map and the true value information grid map according to the first embodiment.
　この例において、真値情報格子地図は、領域Ｒ１の平坦な壁面を平坦な壁面として正確に表している。一方、計測情報格子地図は、領域Ｒ１の平坦な壁面を凹凸のある壁面として誤差を含んで表している。計測情報格子地図に含まれる誤差は、例えば移動体１の計測部５が備えるセンサーの計測値そのものに含まれる誤差などに起因する。また、計測情報格子地図に含まれる誤差は、例えば空間３における物体４の変化などに起因する。当該変化は、例えば壁面がエレベーターの乗場扉などを含む場合に、当該乗場扉の開閉などである。 In this example, the true value information grid map accurately represents the flat wall surface of the region R1 as a flat wall surface. On the other hand, in the measurement information grid map, the flat wall surface of the region R1 is represented as an uneven wall surface including an error. The error included in the measurement information grid map is caused by, for example, an error included in the measurement value itself of the sensor included in the measurement unit 5 of the moving body 1. Further, the error included in the measurement information grid map is caused by, for example, a change of the object 4 in the space 3. The change is, for example, opening and closing of the landing door when the wall surface includes the landing door of the elevator.
　この例の計測情報格子地図は、建築物の建築の後に設けられた領域Ｒ２の設備を表している。一方、この例の真値情報格子地図は、建築物の建築の後に設けられた領域Ｒ２の設備を表していない。例えば真値情報が建築物の設計図面である場合に、真値情報は建築物の建築の前に予め得られている。当該真値情報が建築物の建築の後に更新されていない場合に、真値情報格子地図は、真値情報が得られた後の状況を反映しない。 The measurement information grid map of this example shows the equipment of the area R2 provided after the construction of the building. On the other hand, the true value information grid map of this example does not represent the equipment of the area R2 provided after the construction of the building. For example, when the true value information is a design drawing of a building, the true value information is obtained in advance before the construction of the building. If the true value information is not updated after the construction of the building, the true value information grid map does not reflect the situation after the true value information is obtained.
　この例の計測情報格子地図は、領域Ｒ３において移動しうる物体４を表している。一方、この例の真値情報格子地図は、領域Ｒ３において移動しうる物体４を表していない。例えば真値情報が建築物の設計図面である場合に、真値情報は、建築物に含まれない移動しうる物体４の情報を含まないことがある。また、真値情報が移動しうる物体４の情報を含む場合において、真値情報は、真値情報が得られた後に当該物体４が移動した状況の情報を含まない。 The measurement information grid map of this example represents the movable object 4 in the area R3. On the other hand, the true value information grid map of this example does not represent the movable object 4 in the region R3. For example, when the true value information is a design drawing of a building, the true value information may not include information on a movable object 4 that is not included in the building. Further, when the true value information includes the information of the movable object 4, the true value information does not include the information of the situation where the object 4 has moved after the true value information is obtained.
　このように、真値情報格子地図は、計測誤差などを含まないので正確であるが、真値情報が得られた後の状況が反映されない地図データである。一方、計測情報格子地図は、移動体１が移動する空間３において随時移動または変化などをする物体４の状況を反映するが、計測誤差などを含む地図データである。すなわち、真値情報格子地図および計測情報格子地図は、相補的な地図データである。このため、占有格子地図生成部１５は、真値情報格子地図および計測情報格子地図に基づいて占有格子地図を生成する。 In this way, the true value information grid map is accurate because it does not include measurement errors, but it is map data that does not reflect the situation after the true value information is obtained. On the other hand, the measurement information grid map reflects the situation of the object 4 that moves or changes at any time in the space 3 in which the moving body 1 moves, but is map data including measurement errors and the like. That is, the true value information grid map and the measurement information grid map are complementary map data. Therefore, the occupied grid map generation unit 15 generates an occupied grid map based on the true value information grid map and the measurement information grid map.
　図４は、実施の形態１に係る占有格子地図の例を示す図である。 FIG. 4 is a diagram showing an example of an occupied grid map according to the first embodiment.
　この例において、占有格子地図は、空間３を離散化した格子上に４階調の離散的な値が割り当てられた地図データとして占有格子地図生成部１５に生成される。この例の占有格子地図において、格子点上の物体４の占有の確率は、例えば、占有の確率が低い順に、「空白」、「不明」、「占有（計測）」、および「占有（真値）」の４階調の値として表される。ここで、「空白」は、格子点の位置に物体４が存在している確率が低い状態を表す値である。「不明」は、格子点の位置に物体４が存在しているか否か不明な状態を表す値である。「占有（計測）」は、格子点の位置に物体４が存在している確率が高い状態を表す値である。「占有（真値）」は、格子点の位置に物体４が存在している確率が「占有（計測）」よりさらに高い状態を表す値である。 In this example, the occupied grid map is generated by the occupied grid map generation unit 15 as map data in which discrete values of four gradations are assigned on a grid obtained by discretizing the space 3. In the occupancy grid map of this example, the occupancy probabilities of the object 4 on the grid points are, for example, "blank", "unknown", "occupancy (measurement)", and "occupancy (true value) in ascending order of occupancy probability. ) ”Is expressed as a value of four gradations. Here, "blank" is a value representing a state in which the probability that the object 4 exists at the position of the grid point is low. “Unknown” is a value indicating a state in which it is unknown whether or not the object 4 exists at the position of the grid point. "Occupancy (measurement)" is a value representing a state in which the probability that the object 4 exists at the position of the grid point is high. The "occupancy (true value)" is a value representing a state in which the probability that the object 4 exists at the position of the grid point is higher than the "occupancy (measurement)".
　図５は、実施の形態１に係る占有格子地図の生成の例を示す図である。
　図５において、地図データＭ４は、占有格子地図の例を表す。図５において、白抜きの丸は、計測情報格子地図において物体４が存在している格子点を表す。図５において、破線は、真値情報において表される物体４を表す。 FIG. 5 is a diagram showing an example of generating an occupied grid map according to the first embodiment.
In FIG. 5, the map data M4 represents an example of an occupied grid map. In FIG. 5, the white circles represent the grid points where the object 4 exists in the measurement information grid map. In FIG. 5, the broken line represents the object 4 represented in the true value information.
　占有格子地図生成部１５は、例えば次のように真値情報格子地図および計測情報格子地図に基づいて占有格子地図を生成する。真値情報格子地図は計測誤差などを含まない正確な地図データであるので、占有格子地図生成部１５は、真値情報格子地図において物体４が存在している格子点に「占有（真値）」を割り当てる。計測情報格子地図は計測誤差などを含む地図データであるので、占有格子地図生成部１５は、計測情報格子地図において物体４が存在している格子点に「占有（計測）」を割り当てる。占有格子地図生成部１５は、真値情報格子地図および計測情報格子地図のいずれにおいても物体４が存在していない格子点に「空白」を割り当てる。占有格子地図生成部１５は、計測情報格子地図において移動しうる物体４を判定できる場合に、当該物体４が継続して同じ場所に留まっているか不明であるので、計測情報格子地図において当該物体４が存在している格子点に「不明」を割り当てる。例えば、複数の移動体１から取得した複数の計測情報格子地図のうちに、対応する格子点に物体４が存在しているものと存在していないものとの両方がある場合に、占有格子地図生成部１５は、当該格子点に移動しうる物体４であると判定してもよい。 The occupied grid map generation unit 15 generates an occupied grid map based on the true value information grid map and the measurement information grid map, for example, as follows. Since the true value information grid map is accurate map data that does not include measurement errors, the occupied grid map generation unit 15 "occupies (true value)" at the grid point where the object 4 exists in the true value information grid map. Is assigned. Since the measurement information grid map is map data including measurement errors and the like, the occupied grid map generation unit 15 assigns "occupancy (measurement)" to the grid points where the object 4 exists in the measurement information grid map. The occupied grid map generation unit 15 assigns "blank" to the grid points where the object 4 does not exist in both the true value information grid map and the measurement information grid map. When the occupied grid map generation unit 15 can determine the movable object 4 in the measurement information grid map, it is unknown whether the object 4 continues to stay in the same place. Therefore, the object 4 in the measurement information grid map Assign "Unknown" to the grid point where. For example, when there are both an object 4 existing and a non-existing object 4 at the corresponding lattice points among the plurality of measurement information grid maps acquired from the plurality of moving objects 1, the occupied grid map The generation unit 15 may determine that the object 4 can move to the grid point.
　続いて、図６を用いて地図データ配信装置２の動作の例を説明する。
　図６は、実施の形態１に係る地図データ配信装置の動作の例を示すフローチャートである。 Subsequently, an example of the operation of the map data distribution device 2 will be described with reference to FIG.
FIG. 6 is a flowchart showing an example of the operation of the map data distribution device according to the first embodiment.
　図６において、地図データ配信装置２から占有格子地図が配信される移動体１の動作の例が示される。 FIG. 6 shows an example of the operation of the moving body 1 in which the occupied grid map is distributed from the map data distribution device 2.
　ステップＳ１１において、計測部５は、計測情報を取得する。その後、移動体１の動作は、ステップＳ１２に進む。 In step S11, the measurement unit 5 acquires measurement information. After that, the operation of the moving body 1 proceeds to step S12.
　ステップＳ１２において、自己位置推定部８は、占有格子地図および計測情報に基づいて、誘導制御部１０による移動体１の移動前の自己位置推定を行う。このとき、自己位置推定部８は、地図データ配信装置２から配信された占有格子地図を自己位置推定に用いる。地図データ配信装置２から占有格子地図が配信されていない場合に、移動体１は、計測情報格子地図および計測情報から例えばオンラインＳＬＡＭなどの手法によって占有格子地図の生成および自己位置推定を同時に行ってもよい。自己位置推定の後、移動体１の動作は、ステップＳ１３に進む。 In step S12, the self-position estimation unit 8 estimates the self-position before the movement of the moving body 1 by the guidance control unit 10 based on the occupied grid map and the measurement information. At this time, the self-position estimation unit 8 uses the occupied grid map distributed from the map data distribution device 2 for self-position estimation. When the occupied grid map is not distributed from the map data distribution device 2, the moving body 1 simultaneously generates the occupied grid map and estimates the self-position from the measured information grid map and the measured information by a method such as online SLAM. May be good. After the self-position estimation, the operation of the moving body 1 proceeds to step S13.
　ステップＳ１３において、経路探索部９は、占有格子地図および推定した自己位置に基づいて目的地までの経路を探索する。その後、移動体１の動作は、ステップＳ１４に進む。 In step S13, the route search unit 9 searches for a route to the destination based on the occupied grid map and the estimated self-position. After that, the operation of the moving body 1 proceeds to step S14.
　ステップＳ１４において、誘導制御部１０は、探索した経路などに基づいて移動体１を移動させる。その後、移動体１の動作は、ステップＳ１５に進む。 In step S14, the guidance control unit 10 moves the moving body 1 based on the searched route and the like. After that, the operation of the moving body 1 proceeds to step S15.
　ステップＳ１５において、誘導制御部１０は、誘導制御による移動体１の移動量を自己位置推定部８に出力する。自己位置推定部８は、誘導制御による移動量などに基づいて、移動体１の移動後の自己位置推定を行う。その後、移動体１の動作は、ステップＳ１６に進む。 In step S15, the guidance control unit 10 outputs the movement amount of the moving body 1 by the guidance control to the self-position estimation unit 8. The self-position estimation unit 8 estimates the self-position after the movement of the moving body 1 based on the movement amount by the guidance control and the like. After that, the operation of the moving body 1 proceeds to step S16.
　ステップＳ１６において、計測情報格子地図生成部６は、計測器が計測した計測情報などに基づいて計測情報格子地図を生成する。その後、移動体１の動作は、ステップＳ１７に進む。 In step S16, the measurement information grid map generation unit 6 generates a measurement information grid map based on the measurement information measured by the measuring instrument and the like. After that, the operation of the moving body 1 proceeds to step S17.
　ステップＳ１７において、移動体１は、生成された計測情報格子地図を地図データ配信装置２に送信する。その後、移動体１の動作は、ステップＳ１１に進む。 In step S17, the moving body 1 transmits the generated measurement information grid map to the map data distribution device 2. After that, the operation of the moving body 1 proceeds to step S11.
　図６において、地図データ配信装置２の動作の例が示される。 FIG. 6 shows an example of the operation of the map data distribution device 2.
　ステップＳ２１において、真値情報取得部１１は、真値情報を取得する。例えば建築物の所有者または管理者による操作によって、所有者又は管理者が保有している情報が真値情報として真値情報取得部１１に入力される。その後、地図データ配信装置２の動作は、ステップＳ２２に進む。 In step S21, the true value information acquisition unit 11 acquires true value information. For example, by an operation by the owner or manager of the building, the information held by the owner or manager is input to the true value information acquisition unit 11 as true value information. After that, the operation of the map data distribution device 2 proceeds to step S22.
　ステップＳ２２において、真値情報格子地図生成部１２は、取得された真値情報に基づいて真値情報格子地図を生成する。その後、地図データ配信装置２の動作は、ステップＳ２３に進む。 In step S22, the true value information grid map generation unit 12 generates a true value information grid map based on the acquired true value information. After that, the operation of the map data distribution device 2 proceeds to step S23.
　ステップＳ２３において、真値情報格子地図記憶部１３は、生成された真値情報格子地図を記憶する。その後、地図データ配信装置２の動作は、ステップＳ２４に進む。 In step S23, the true value information grid map storage unit 13 stores the generated true value information grid map. After that, the operation of the map data distribution device 2 proceeds to step S24.
　ステップＳ２４において、占有格子地図生成部１５は、真値情報格子地図および計測情報格子地図に基づいて占有格子地図を生成する。計測情報格子地図を移動体１から取得していない場合に、占有格子地図生成部１５は、真値情報格子地図に基づいて占有格子地図を生成してもよい。その後、地図データ配信装置２の動作は、ステップＳ２５に進む。 In step S24, the occupied grid map generation unit 15 generates an occupied grid map based on the true value information grid map and the measurement information grid map. When the measurement information grid map is not acquired from the moving body 1, the occupied grid map generation unit 15 may generate the occupied grid map based on the true value information grid map. After that, the operation of the map data distribution device 2 proceeds to step S25.
　ステップＳ２５において、占有格子地図配信部１６は、生成された占有格子地図を移動体１に配信する。その後、地図データ配信装置２の動作は、ステップＳ２６に進む。 In step S25, the occupied grid map distribution unit 16 distributes the generated occupied grid map to the moving body 1. After that, the operation of the map data distribution device 2 proceeds to step S26.
　ステップＳ２６において、計測情報格子地図記憶部１４は、移動体１から取得した計測情報格子地図を記憶する。その後、地図データ配信装置２の動作は、ステップＳ２７に進む。 In step S26, the measurement information grid map storage unit 14 stores the measurement information grid map acquired from the moving body 1. After that, the operation of the map data distribution device 2 proceeds to step S27.
　ステップＳ２７において、占有格子地図生成部１５は、真値情報格子地図および計測情報格子地図に基づいて占有格子地図を更新して生成する。その後、地図データ配信装置２の動作は、ステップＳ２５に進む。 In step S27, the occupied grid map generation unit 15 updates and generates the occupied grid map based on the true value information grid map and the measurement information grid map. After that, the operation of the map data distribution device 2 proceeds to step S25.
　占有格子地図生成部１５は、例えば次のように占有格子地図を更新する。占有格子地図生成部１５は、占有格子地図における現在の値を例えば占有確率の対数オッズとして、真値情報格子地図および計測情報格子地図に基づく値を加算または減算することによって占有格子地図を更新してもよい。占有格子地図生成部１５は、占有格子地図の値を実数値の演算によって更新した後に当該値を閾値によって分類することで、３以上の階調の離散的な値の確率として占有格子地図を表してもよい。 The occupied grid map generation unit 15 updates the occupied grid map as follows, for example. The occupied grid map generation unit 15 updates the occupied grid map by adding or subtracting values based on the true value information grid map and the measurement information grid map, using the current value in the occupied grid map as, for example, the logarithmic odds of the occupation probability. You may. The occupied grid map generation unit 15 represents the occupied grid map as the probability of discrete values of 3 or more gradations by updating the values of the occupied grid map by real value calculation and then classifying the values according to the threshold values. You may.
　占有格子地図生成部１５は、例えば、占有格子地図における現在の値から、占有格子地図における現在の値と真値情報格子地図の値との差を定数倍して減算してもよい。このように、占有格子地図生成部１５は、時間の経過によって真値情報格子地図に収束するように占有格子地図を更新してもよい。 The occupied grid map generation unit 15 may, for example, subtract the difference between the current value in the occupied grid map and the value in the true value information grid map by a constant multiple from the current value in the occupied grid map. In this way, the occupied grid map generation unit 15 may update the occupied grid map so as to converge on the true value information grid map with the passage of time.
　占有格子地図生成部１５は、例えば、減算して得られた値に、計測情報格子地図における現在の値を重み付けして加算してもよい。このように、占有格子地図生成部１５は、移動体１による計測情報を反映するように占有格子地図を更新してもよい。 The occupied grid map generation unit 15 may, for example, weight and add the current value in the measurement information grid map to the value obtained by subtraction. In this way, the occupied grid map generation unit 15 may update the occupied grid map so as to reflect the measurement information by the moving body 1.
　このとき、占有格子地図生成部１５は、複数の移動体１の各々の計測部５の計測精度に応じて異なる重みを用いてもよい。また、占有格子地図生成部１５は、複数の移動体１の各々から取得される計測情報格子地図のうちいずれか一部を選択して占有格子地図の更新に用いてもよい。このように、占有格子地図生成部１５は、高い計測精度を持つ計測部５を備える移動体１による計測情報を優先して反映するように占有格子地図を更新してもよい。 At this time, the occupied grid map generation unit 15 may use different weights depending on the measurement accuracy of each measurement unit 5 of the plurality of moving bodies 1. Further, the occupied grid map generation unit 15 may select any part of the measurement information grid maps acquired from each of the plurality of moving bodies 1 and use them for updating the occupied grid map. In this way, the occupied grid map generation unit 15 may update the occupied grid map so as to preferentially reflect the measurement information by the moving body 1 including the measuring unit 5 having high measurement accuracy.
　あるいは、占有格子地図生成部１５は、複数の移動体１の各々の計測部５と格子点との距離に応じて異なる重みを用いてもよい。このように、占有格子地図生成部１５は、移動体１の近傍の計測情報格子地図による情報を優先して反映するように占有格子地図を更新してもよい。 Alternatively, the occupied grid map generation unit 15 may use different weights depending on the distance between each measuring unit 5 of the plurality of moving bodies 1 and the grid points. In this way, the occupied grid map generation unit 15 may update the occupied grid map so as to preferentially reflect the information obtained by the measurement information grid map in the vicinity of the moving body 1.
　地図データ配信装置２は、真値情報を移動体１から秘匿する。この例において、地図データ配信装置２の真値情報取得部１１、真値情報格子地図生成部１２、真値情報格子地図記憶部１３、占有格子地図生成部１５、および占有格子地図配信部１６は、真値情報を移動体１から秘匿する。真値状態の秘匿は、例えば移動体１に真値情報を開示しないことによって実現される。地図データ配信装置２は、複数の移動体１の各々と物理的に分離されている。 The map data distribution device 2 hides the true value information from the moving body 1. In this example, the true value information acquisition unit 11, the true value information grid map generation unit 12, the true value information grid map storage unit 13, the occupied grid map generation unit 15, and the occupied grid map distribution unit 16 of the map data distribution device 2 are , The true value information is concealed from the moving body 1. Concealment of the true value state is realized, for example, by not disclosing the true value information to the moving body 1. The map data distribution device 2 is physically separated from each of the plurality of mobile bodies 1.
　以上に説明したように、実施の形態１に係る地図データ配信装置２は、真値情報格子地図生成部１２と、占有格子地図生成部１５と、占有格子地図配信部１６と、を備える。真値情報格子地図生成部１２は、真値情報格子地図を生成する。真値情報格子地図は、真値情報が空間３を離散化した格子上に割り当てられた地図データである。真値情報は、移動体１が移動する空間３に存在する物体４の位置情報に関して予め得られている情報である。占有格子地図生成部１５は、計測情報格子地図、および真値情報格子地図に基づいて、空間３を離散化した格子上に占有格子地図を生成する。計測情報格子地図は、計測情報が空間３を離散化した格子上に割り当てられた地図データである。計測情報は、空間３において移動体１が有する計測部５によって計測される物体４の位置情報に関する情報である。占有格子地図配信部１６は、生成された占有格子地図を移動体１に配信する。 As described above, the map data distribution device 2 according to the first embodiment includes a true value information grid map generation unit 12, an occupied grid map generation unit 15, and an occupied grid map distribution unit 16. The true value information grid map generation unit 12 generates a true value information grid map. The true value information grid map is map data in which true value information is assigned on a grid in which space 3 is discretized. The true value information is information obtained in advance regarding the position information of the object 4 existing in the space 3 in which the moving body 1 moves. The occupied grid map generation unit 15 generates an occupied grid map on a grid in which the space 3 is discretized, based on the measurement information grid map and the true value information grid map. The measurement information grid map is map data in which the measurement information is assigned on a grid in which the space 3 is discretized. The measurement information is information regarding the position information of the object 4 measured by the measurement unit 5 of the moving body 1 in the space 3. The occupied grid map distribution unit 16 distributes the generated occupied grid map to the moving body 1.
　地図データ配信装置２は、真値情報に基づく高い確度の占有格子地図を移動体１に配信する。このため、例えばオンラインＳＬＡＭなどの計算負荷が軽い手法を用いる移動体１に対しても、高い精度での誘導制御が適用できる。また、地図生成の精度が高くない移動体１に対しても、高い精度での誘導制御が適用できる。 The map data distribution device 2 distributes a highly accurate occupied grid map based on true value information to the moving body 1. Therefore, guidance control with high accuracy can be applied to the moving body 1 that uses a method having a light calculation load such as online SLAM. Further, the guidance control with high accuracy can be applied to the moving body 1 whose map generation accuracy is not high.
　また、真値情報格子地図生成部１２、占有格子地図生成部１５および占有格子地図配信部１６は、真値情報を移動体１から秘匿する。 Further, the true value information grid map generation unit 12, the occupied grid map generation unit 15, and the occupied grid map distribution unit 16 conceal the true value information from the moving body 1.
　地図データ配信装置２は、真値情報を移動体１から秘匿する。真値情報は、セキュリティの観点から秘匿されることが好ましい情報を含むことがある。ここで、移動体１の所有者または管理者と、建築物の所有者または管理者とが異なる場合がある。このような場合においても、秘匿されることが好ましい情報を含む真値情報は移動体１に配信されない。このため、建築物のセキュリティ性が高くなる。 The map data distribution device 2 hides the true value information from the moving body 1. The true value information may include information that is preferably kept secret from the viewpoint of security. Here, the owner or manager of the moving body 1 may be different from the owner or manager of the building. Even in such a case, true value information including information that is preferably kept secret is not delivered to the mobile body 1. Therefore, the security of the building is improved.
　また、占有格子地図生成部１５は、空間３を離散化した格子上に割り当てられた物体４の占有の確率として占有格子地図を生成する。 Further, the occupied grid map generation unit 15 generates an occupied grid map as the probability of occupation of the object 4 assigned on the grid in which the space 3 is discretized.
　真値情報は、予め得られている情報であるため、空白または占有の二値で表されることがある。一方、移動体１がオンラインＳＬＡＭなどの技術によって自己位置と同時に推定する地図データは、既に得られた計測情報に対して尤度が高くなるように推定されることがある。ここで、占有格子地図は、計測誤差を含む計測情報を反映した地図データである。このため、占有格子地図生成部１５が格子点上の物体４の占有の確率として表された占有格子地図を生成することで、地図データ配信装置２は、計測情報に対する尤度が高い地図データを移動体１に配信できる。 Since the true value information is information obtained in advance, it may be represented by a blank or a binary value of occupancy. On the other hand, the map data that the moving body 1 estimates at the same time as its own position by a technique such as online SLAM may be estimated so as to have a high likelihood with respect to the already obtained measurement information. Here, the occupied grid map is map data that reflects measurement information including measurement errors. Therefore, the occupied grid map generation unit 15 generates an occupied grid map represented as the probability of occupation of the object 4 on the grid points, so that the map data distribution device 2 can generate map data having a high likelihood of measurement information. It can be delivered to the moving body 1.
　また、占有格子地図生成部１５は、３以上の階調の確率として占有格子地図を生成する。 Further, the occupied grid map generation unit 15 generates an occupied grid map with a probability of 3 or more gradations.
　占有格子地図が離散的な階調の値によって表されるので、格子点あたりに必要な情報量が低減される。例えば占有格子地図における確率の値が３階調または４階調の値である場合に、占有格子地図は格子点あたり２ビットの情報量で表される。このため、地図データ配信装置２は、移動体１への配信に係るデータ転送のコストを抑制できる。 Since the occupied grid map is represented by discrete gradation values, the amount of information required per grid point is reduced. For example, when the value of the probability in the occupied grid map is a value of 3 gradations or 4 gradations, the occupied grid map is represented by an amount of information of 2 bits per grid point. Therefore, the map data distribution device 2 can suppress the cost of data transfer related to the distribution to the mobile body 1.
　また、真値情報格子地図生成部１２は、空間３に存在する物体４の設計図面の情報から予め得られている当該物体４の位置情報を真値情報として真値情報格子地図を生成する。また、真値情報格子地図生成部１２は、測量によって予め得られている空間３に存在する物体４の位置情報を真値情報として真値情報格子地図を生成する。また、真値情報格子地図生成部１２は、ＢＩＭの情報から予め得られている空間３に存在する物体４の位置情報を真値情報として真値情報格子地図を生成する。また、真値情報格子地図生成部１２は、空間３を形成する建築物の設計図面の情報から予め得られている空間３に存在する物体４の位置情報を真値情報として占有格子地図を生成する。 Further, the true value information grid map generation unit 12 generates a true value information grid map using the position information of the object 4 obtained in advance from the information of the design drawing of the object 4 existing in the space 3 as the true value information. Further, the true value information grid map generation unit 12 generates a true value information grid map using the position information of the object 4 existing in the space 3 obtained in advance by the survey as the true value information. Further, the true value information grid map generation unit 12 generates a true value information grid map using the position information of the object 4 existing in the space 3 obtained in advance from the BIM information as the true value information. Further, the true value information grid map generation unit 12 generates an occupied grid map using the position information of the object 4 existing in the space 3 obtained in advance from the information of the design drawing of the building forming the space 3 as the true value information. To do.
　地図データ配信装置２は、建築物の管理者などが所有している確度の高い情報を真値情報として利用できる。これにより、地図データ配信装置２が配信する地図データによって、より高い精度での誘導制御が移動体１に適用できる。 The map data distribution device 2 can use highly accurate information owned by a building manager or the like as true value information. As a result, guidance control with higher accuracy can be applied to the moving body 1 by the map data distributed by the map data distribution device 2.
　また、地図データ配信装置２は、第１ベクトル変換部１３ａと、第１ベクトル記憶部１３ｂと、第１離散化変換部１３ｃと、を備える。第１ベクトル変換部１３ａは、真値情報格子地図をベクトル情報に変換する。第１ベクトル記憶部１３ｂは、ベクトル情報に変換された真値情報格子地図を記憶する。第１離散化変換部１３ｃは、ベクトル情報として表される真値情報格子地図を、空間３を離散化した格子上に割り当てる。 Further, the map data distribution device 2 includes a first vector conversion unit 13a, a first vector storage unit 13b, and a first discretization conversion unit 13c. The first vector conversion unit 13a converts the true value information grid map into vector information. The first vector storage unit 13b stores the true value information grid map converted into vector information. The first discretized conversion unit 13c allocates a true value information grid map represented as vector information on the grid in which the space 3 is discretized.
　真値情報格子地図はベクトル情報として記憶されるので、必要な記憶容量が空間３の離散化の程度に依らない。このため、細かく離散化された格子に対しても、真値情報格子地図の記憶容量が大きくならない。また、第１離散化変換部１３ｃは、ベクトル情報として記憶されている真値情報格子地図を格子上に割り当てるので、離散化の細かさが異なる複数の種類の格子についての真値情報格子地図を出力できる。このため、地図データ配信装置２は、複数の移動体１の各々に対して、対応する格子に合わせた真値情報格子地図を利用できる。 Since the true value information grid map is stored as vector information, the required storage capacity does not depend on the degree of discretization of space 3. Therefore, the storage capacity of the true value information grid map does not increase even for a finely discretized grid. Further, since the first discretization conversion unit 13c allocates the true value information grid map stored as vector information on the grid, the true value information grid map for a plurality of types of grids having different discretization fineness can be obtained. Can be output. Therefore, the map data distribution device 2 can use a true value information grid map matched to the corresponding grid for each of the plurality of mobile bodies 1.
　また、地図データ配信装置２は、第２ベクトル変換部１４ａと、第２ベクトル記憶部１４ｂと、第２離散化変換部１４ｃと、を備える。第２ベクトル変換部１４ａは、計測情報格子地図をベクトル情報に変換する。第２ベクトル記憶部１４ｂは、ベクトル情報に変換された計測情報格子地図を記憶する。第２離散化変換部１４ｃは、ベクトル情報として表される計測情報格子地図を、空間３を離散化した格子上に割り当てる。 Further, the map data distribution device 2 includes a second vector conversion unit 14a, a second vector storage unit 14b, and a second discretization conversion unit 14c. The second vector conversion unit 14a converts the measurement information grid map into vector information. The second vector storage unit 14b stores the measurement information grid map converted into vector information. The second discretized conversion unit 14c allocates the measurement information grid map represented as vector information on the grid in which the space 3 is discretized.
　計測情報格子地図はベクトル情報として記憶されるので、必要な記憶容量が空間３の離散化の程度に依らない。このため、細かく離散化された格子に対しても、計測情報格子地図の記憶容量が大きくならない。また、第２離散化変換部１４ｃは、ベクトル情報として記憶されている計測情報格子地図を格子上に割り当てる。このため、第２離散化変換部１４ｃは、離散化の細かさが異なる複数の種類の格子についての計測情報格子地図を出力できる。このため、地図データ配信装置２は、複数の移動体１の各々に対して、対応する格子に合わせた計測情報格子地図を利用できる。また、第２ベクトル変換部１４ａは、格子点上に割り当てられた計測情報格子地図をベクトル情報に変換する。このため、地図データ配信装置２は、離散化の細かさが異なる複数の種類の格子についての計測情報格子地図の入力を受け付けられる。これにより、地図データ配信装置２は、対応する格子が異なる複数の移動体１によって取得された計測情報を、相互に利用して生成された占有格子地図を配信できる。 Since the measurement information grid map is stored as vector information, the required storage capacity does not depend on the degree of discretization of space 3. Therefore, the storage capacity of the measurement information grid map does not increase even for a finely discretized grid. Further, the second discretization conversion unit 14c allocates the measurement information grid map stored as vector information on the grid. Therefore, the second discretization conversion unit 14c can output a measurement information grid map for a plurality of types of grids having different discretization fineness. Therefore, the map data distribution device 2 can use the measurement information grid map matched to the corresponding grid for each of the plurality of moving bodies 1. Further, the second vector conversion unit 14a converts the measurement information grid map assigned on the grid points into vector information. Therefore, the map data distribution device 2 can accept the input of the measurement information grid map for a plurality of types of grids having different discretization fineness. As a result, the map data distribution device 2 can distribute the occupied grid map generated by mutually utilizing the measurement information acquired by the plurality of moving bodies 1 having different corresponding grids.
　また、占有格子地図生成部１５は、移動体１から取得する計測情報格子地図に基づいて占有格子地図を更新して生成する。 Further, the occupied grid map generation unit 15 updates and generates the occupied grid map based on the measurement information grid map acquired from the moving body 1.
　占有格子地図生成部１５は、移動体１が移動する空間３において変化する状況を反映した占有格子地図を生成できる。また、占有格子地図生成部１５は、地図生成の精度の高い移動体１が生成した情報に基づく地図データを、地図生成の精度の高くない移動体１に配信できる。また、占有格子地図生成部１５は、複数の移動体１が生成した情報に基づく地図データを、統計的に処理して移動体１に配信できる。これにより、地図生成の精度の高くない移動体１に対しても、高い精度の誘導制御が適用できる。 The occupied grid map generation unit 15 can generate an occupied grid map that reflects a changing situation in the space 3 in which the moving body 1 moves. Further, the occupied grid map generation unit 15 can deliver the map data based on the information generated by the moving body 1 having high accuracy of map generation to the moving body 1 having low accuracy of map generation. Further, the occupied grid map generation unit 15 can statistically process the map data based on the information generated by the plurality of mobile bodies 1 and distribute the map data to the mobile body 1. As a result, highly accurate guidance control can be applied to the moving body 1 whose map generation accuracy is not high.
　なお、地図データ配信装置２は、予め設定された更新頻度で更新された占有格子地図を、更新の度に配信してもよい。占有更新地図の更新頻度は、移動体１が内部で行うオンラインＳＬＡＭなどの地図更新の頻度より低い頻度であってもよい。地図データ配信装置２は、地図データの配信頻度を抑えることによって、移動体１への配信に係るデータ転送のコストを抑制できる。 Note that the map data distribution device 2 may distribute the occupied grid map updated at a preset update frequency each time it is updated. The update frequency of the occupancy update map may be lower than the frequency of map update such as online SLAM performed internally by the moving body 1. The map data distribution device 2 can suppress the cost of data transfer related to the distribution to the mobile body 1 by suppressing the distribution frequency of the map data.
　また、地図データ配信装置２は、単一の移動体１に占有格子地図を配信してもよい。 Further, the map data distribution device 2 may distribute the occupied grid map to a single moving body 1.
　また、地図データ配信装置２の機能の一部または全部は、移動体１に設けられてもよい。移動体１が占有格子地図配信部１６を備える場合に、当該移動体１は、他の移動体１に占有格子地図を配信してもよい。 Further, a part or all of the functions of the map data distribution device 2 may be provided in the moving body 1. When the moving body 1 includes the occupied grid map distribution unit 16, the moving body 1 may distribute the occupied grid map to another moving body 1.
　続いて、図７を用いて地図データ配信装置２のハードウェア構成の例について説明する。
　図７は、実施の形態１に係る地図データ配信装置の主要部のハードウェア構成を示す図である。 Subsequently, an example of the hardware configuration of the map data distribution device 2 will be described with reference to FIG. 7.
FIG. 7 is a diagram showing a hardware configuration of a main part of the map data distribution device according to the first embodiment.
　地図データ配信装置２の各機能は、処理回路により実現し得る。処理回路は、少なくとも１つのプロセッサ２ｂと少なくとも１つのメモリ２ｃとを備える。処理回路は、プロセッサ２ｂおよびメモリ２ｃと共に、あるいはそれらの代用として、少なくとも１つの専用のハードウェア２ａを備えてもよい。 Each function of the map data distribution device 2 can be realized by a processing circuit. The processing circuit includes at least one processor 2b and at least one memory 2c. The processing circuit may include at least one dedicated hardware 2a with or as a substitute for the processor 2b and the memory 2c.
　処理回路がプロセッサ２ｂとメモリ２ｃとを備える場合、地図データ配信装置２の各機能は、ソフトウェア、ファームウェア、またはソフトウェアとファームウェアとの組み合わせで実現される。ソフトウェアおよびファームウェアの少なくとも一方は、プログラムとして記述される。そのプログラムはメモリ２ｃに格納される。プロセッサ２ｂは、メモリ２ｃに記憶されたプログラムを読み出して実行することにより、地図データ配信装置２の各機能を実現する。 When the processing circuit includes the processor 2b and the memory 2c, each function of the map data distribution device 2 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. The program is stored in the memory 2c. The processor 2b realizes each function of the map data distribution device 2 by reading and executing the program stored in the memory 2c.
　プロセッサ２ｂは、ＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）、処理装置、演算装置、マイクロプロセッサ、マイクロコンピュータ、ＤＳＰともいう。メモリ２ｃは、例えば、ＲＡＭ、ＲＯＭ、フラッシュメモリ、ＥＰＲＯＭ、ＥＥＰＲＯＭ等の、不揮発性または揮発性の半導体メモリ、磁気ディスク、フレキシブルディスク、光ディスク、コンパクトディスク、ミニディスク、ＤＶＤ等により構成される。 The processor 2b is also referred to as a CPU (Central Processing Unit), a processing device, an arithmetic unit, a microprocessor, a microcomputer, and a DSP. The memory 2c is composed of, for example, a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD, or the like.
　処理回路が専用のハードウェア２ａを備える場合、処理回路は、例えば、単一回路、複合回路、プログラム化したプロセッサ２ｂ、並列プログラム化したプロセッサ２ｂ、ＡＳＩＣ、ＦＰＧＡ、またはこれらの組み合わせで実現される。 When the processing circuit is provided with dedicated hardware 2a, the processing circuit is realized, for example, by a single circuit, a composite circuit, a programmed processor 2b, a parallel programmed processor 2b, an ASIC, an FPGA, or a combination thereof. ..
　地図データ配信装置２の各機能は、それぞれ処理回路で実現することができる。あるいは、地図データ配信装置２の各機能は、まとめて処理回路で実現することもできる。地図データ配信装置２の各機能について、一部を専用のハードウェア２ａで実現し、他部をソフトウェアまたはファームウェアで実現してもよい。このように、処理回路は、ハードウェア２ａ、ソフトウェア、ファームウェア、またはこれらの組み合わせで地図データ配信装置２の各機能を実現する。 Each function of the map data distribution device 2 can be realized by a processing circuit. Alternatively, each function of the map data distribution device 2 can be collectively realized by a processing circuit. For each function of the map data distribution device 2, a part may be realized by the dedicated hardware 2a, and the other part may be realized by software or firmware. In this way, the processing circuit realizes each function of the map data distribution device 2 by hardware 2a, software, firmware, or a combination thereof.
　本発明に係る地図データ配信装置は、移動体の誘導制御に用いる地図データの配信に適用できる。 The map data distribution device according to the present invention can be applied to the distribution of map data used for guidance control of a moving body.
　１００　移動体システム、１　移動体、　２　地図データ配信装置、　３　空間、　４　物体、　５　計測部、　６　計測情報格子地図生成部、　７　占有格子地図記憶部、　８　自己位置推定部、　９　経路探索部、　１０　誘導制御部、　１１　真値情報取得部、　１２　真値情報格子地図生成部、　１３　真値情報格子地図記憶部、　１４　計測情報格子地図記憶部、　１５　占有格子地図生成部、　１６　占有格子地図配信部、　１３ａ　第１ベクトル変換部、　１３ｂ　第１ベクトル記憶部、　１３ｃ　第１離散化変換部、　１４ａ　第２ベクトル変換部、　１４ｂ　第２ベクトル記憶部、　１４ｃ　第２離散化変換部、　２ａ　ハードウェア、　２ｂ　プロセッサ、　２ｃ　メモリ 100 mobile system, 1 mobile, 2 map data distribution device, 3 space, 4 object, 5 measurement unit, 6 measurement information grid map generation unit, 7 occupied grid map storage unit, 8 self-position estimation unit, 9 route search unit , 10 Guidance control unit, 11 True value information acquisition unit, 12 True value information grid map generation unit, 13 True value information grid map storage unit, 14 Measurement information grid map storage unit, 15 Occupied grid map generation unit, 16 Occupied grid map Distribution unit, 13a 1st vector conversion unit, 13b 1st vector storage unit, 13c 1st discrete conversion unit, 14a 2nd vector conversion unit, 14b 2nd vector storage unit, 14c 2nd discrete conversion unit, 2a hardware , 2b processor, 2c memory

Claims (12)

  1. 　移動体が移動する空間に存在する物体の位置情報に関して予め得られている真値情報が前記空間を離散化した格子上に割り当てられた真値情報格子地図を生成する真値情報格子地図生成部と、
    　前記空間において前記移動体が有する計測部によって計測される物体の位置情報に関する計測情報が前記空間を離散化した格子上に割り当てられた計測情報格子地図、および前記真値情報格子地図に基づいて、前記空間を離散化した格子上に占有格子地図を生成する占有格子地図生成部と、
    　生成された前記占有格子地図を前記移動体に配信する占有格子地図配信部と、
    　を備える移動体の地図データ配信装置。     A true value information grid map generator that generates a true value information grid map in which true value information obtained in advance with respect to the position information of an object existing in the space in which the moving body moves is assigned on a grid that discretizes the space. When,
    Based on the measurement information grid map and the true value information grid map, in which the measurement information regarding the position information of the object measured by the measuring unit of the moving body in the space is assigned on the grid that disperses the space. An occupied grid map generator that generates an occupied grid map on a grid that disperses the space,
    An exclusive grid map distribution unit that distributes the generated occupied grid map to the moving body,
    A mobile map data distribution device equipped with.
  2. 　前記真値情報格子地図生成部、前記占有格子地図生成部および前記占有格子地図配信部は、前記真値情報を前記移動体から秘匿する
    　請求項１に記載の移動体の地図データ配信装置。     The map data distribution device for a moving body according to claim 1, wherein the true value information grid map generation unit, the occupied grid map generation unit, and the occupied grid map distribution unit conceal the true value information from the moving body.
  3. 　前記占有格子地図生成部は、前記空間を離散化した格子上に割り当てられた物体の占有の確率として前記占有格子地図を生成する
    　請求項１または請求項２に記載の移動体の地図データ配信装置。     The map data distribution device for a moving body according to claim 1 or 2, wherein the occupied grid map generation unit generates the occupied grid map as the probability of occupying an object assigned on the discretized lattice of the space. ..
  4. 　前記占有格子地図生成部は、３以上の階調の確率として前記占有格子地図を生成する
    　請求項３に記載の移動体の地図データ配信装置。     The moving body map data distribution device according to claim 3, wherein the occupied grid map generation unit generates the occupied grid map with a probability of 3 or more gradations.
  5. 　前記真値情報格子地図生成部は、前記空間に存在する物体の設計図面の情報から予め得られている当該物体の位置情報を前記真値情報として前記真値情報格子地図を生成する
    　請求項１から請求項４のいずれか一項に記載の移動体の地図データ配信装置。     The true value information grid map generation unit generates the true value information grid map using the position information of the object obtained in advance from the information of the design drawing of the object existing in the space as the true value information. The map data distribution device for a moving body according to any one of claims 4.
  6. 　前記真値情報格子地図生成部は、測量によって予め得られている前記空間に存在する物体の位置情報を前記真値情報として前記真値情報格子地図を生成する
    　請求項１から請求項５のいずれか一項に記載の移動体の地図データ配信装置。     Any of claims 1 to 5, wherein the true value information grid map generation unit generates the true value information grid map using the position information of an object existing in the space obtained in advance by surveying as the true value information. The map data distribution device for moving objects described in item 1.
  7. 　前記真値情報格子地図生成部は、ＢＩＭの情報から予め得られている前記空間に存在する物体の位置情報を前記真値情報として前記真値情報格子地図を生成する
    　請求項１から請求項６のいずれか一項に記載の移動体の地図データ配信装置。     The true value information grid map generation unit generates the true value information grid map using the position information of an object existing in the space obtained in advance from the BIM information as the true value information. Claims 1 to 6 The map data distribution device for a moving object according to any one of the above.
  8. 　前記真値情報格子地図生成部は、前記空間を形成する建築物の設計図面の情報から予め得られている前記空間に存在する物体の位置情報を前記真値情報として前記占有格子地図を生成する
    　請求項１から請求項７のいずれか一項に記載の移動体の地図データ配信装置。     The true value information grid map generation unit generates the occupied grid map using the position information of an object existing in the space obtained in advance from the information of the design drawing of the building forming the space as the true value information. The map data distribution device for a moving body according to any one of claims 1 to 7.
  9. 　前記真値情報格子地図をベクトル情報に変換する第１ベクトル変換部と、
    　ベクトル情報に変換された前記真値情報格子地図を記憶する第１ベクトル記憶部と、
    　ベクトル情報として表される前記真値情報格子地図を、前記空間を離散化した格子上に割り当てる第１離散化変換部と、
    　を備える請求項１から請求項８のいずれか一項に記載の移動体の地図データ配信装置。     A first vector conversion unit that converts the true value information grid map into vector information,
    A first vector storage unit that stores the true value information grid map converted into vector information, and
    A first discretized conversion unit that allocates the true value information grid map represented as vector information on the discretized grid of the space, and
    The mobile map data distribution device according to any one of claims 1 to 8.
  10. 　前記計測情報格子地図をベクトル情報に変換する第２ベクトル変換部と、
    　ベクトル情報に変換された前記計測情報格子地図を記憶する第２ベクトル記憶部と、
    　ベクトル情報として表される前記計測情報格子地図を、前記空間を離散化した格子上に割り当てる第２離散化変換部と、
    　を備える請求項１から請求項９のいずれか一項に記載の移動体の地図データ配信装置。     A second vector conversion unit that converts the measurement information grid map into vector information,
    A second vector storage unit that stores the measurement information grid map converted into vector information, and
    A second discretization conversion unit that allocates the measurement information grid map represented as vector information on the discretized grid of the space, and
    The mobile map data distribution device according to any one of claims 1 to 9.
  11. 　前記占有格子地図生成部は、前記移動体から取得する前記計測情報格子地図に基づいて前記占有格子地図を更新して生成する
    　請求項１から請求項１０のいずれか一項に記載の移動体の地図データ配信装置。     The moving body according to any one of claims 1 to 10, wherein the occupied grid map generation unit updates and generates the occupied grid map based on the measurement information grid map acquired from the moving body. Map data distribution device.
  12. 　移動体が移動する空間に存在する物体の位置情報に関して予め得られている真値情報が前記空間を離散化した格子上に割り当てられた真値情報格子地図を生成する真値情報格子地図生成部と、
    　前記空間において移動体が有する計測部によって計測される物体の位置情報に関する計測情報が前記空間を離散化した格子上に割り当てられた計測情報格子地図、および前記真値情報格子地図に基づいて、前記空間を離散化した格子上に占有格子地図を生成する占有格子地図生成部と、
    　生成された前記占有格子地図を、前記空間を移動する移動体に配信する占有格子地図配信部と、
    　を備える移動体システム。     A true value information grid map generator that generates a true value information grid map in which true value information obtained in advance with respect to the position information of an object existing in the space in which the moving body moves is assigned on a grid that discretizes the space. When,
    Based on the measurement information grid map and the true value information grid map, in which the measurement information regarding the position information of the object measured by the measuring unit of the moving body in the space is assigned on the grid that disperses the space, the said An occupied grid map generator that generates an occupied grid map on a grid that disperses the space,
    An occupied grid map distribution unit that distributes the generated occupied grid map to a moving body moving in the space.
    Mobile system with.
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JP2014137743A (en) * 2013-01-17 2014-07-28 Denso It Laboratory Inc Information providing system
JP2015171933A (en) * 2014-03-12 2015-10-01 株式会社豊田自動織機 Map information updating method in interlocking system of unmanned carrier and warehouse management system
WO2019054209A1 (en) * 2017-09-13 2019-03-21 日本電産シンポ株式会社 Map creation system and map creation device

Patent Citations (4)

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JP2010277548A (en) * 2009-06-01 2010-12-09 Hitachi Ltd Robot management system, robot management terminal, method for managing robot, and program
JP2014137743A (en) * 2013-01-17 2014-07-28 Denso It Laboratory Inc Information providing system
JP2015171933A (en) * 2014-03-12 2015-10-01 株式会社豊田自動織機 Map information updating method in interlocking system of unmanned carrier and warehouse management system
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