WO2023214510A1 - Information processing device, information processing system, and information processing method - Google Patents

Information processing device, information processing system, and information processing method Download PDF

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Publication number
WO2023214510A1
WO2023214510A1 PCT/JP2023/015732 JP2023015732W WO2023214510A1 WO 2023214510 A1 WO2023214510 A1 WO 2023214510A1 JP 2023015732 W JP2023015732 W JP 2023015732W WO 2023214510 A1 WO2023214510 A1 WO 2023214510A1
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Prior art keywords
information
dimensional information
information processing
dimensional
difference
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PCT/JP2023/015732
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French (fr)
Japanese (ja)
Inventor
紀夫 安田
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ソニーセミコンダクタソリューションズ株式会社
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Publication of WO2023214510A1 publication Critical patent/WO2023214510A1/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras

Definitions

  • the present disclosure relates to an information processing device, an information processing system, and an information processing method.
  • DX Digital Transform
  • a system has been proposed that generates three-dimensional data of the topography of the work area and the shape of placed objects.
  • images generated by a plurality of imaging devices are aggregated in a cloud or the like to generate three-dimensional data.
  • a system has been proposed in which multi-view images generated by imaging a subject with a plurality of cameras are transmitted to a single arbitrary-view image generation unit (see, for example, Patent Document 1). .
  • This arbitrary viewpoint video generation unit generates one arbitrary viewpoint video from the transmitted multi-view videos.
  • the present disclosure proposes an information processing device, an information processing system, and an information processing method that reduce the data transmission load.
  • An information processing device of the present disclosure is an information processing device that holds three-dimensional information of the topography of a work area including the shapes of placed objects, and includes a three-dimensional information holding unit that holds the three-dimensional information, and a three-dimensional information holding unit that holds the three-dimensional information, an imaging section that images a region included in the region to generate a region image; a position information generation section that generates position information that is information on the position of its own information processing device; a 3D information generation unit that generates 3D information based on position information; and a 3D information difference that detects a 3D information difference that is a difference between the generated 3D information and the held 3D information.
  • the information processing device includes a three-dimensional information updating unit that updates the retained three-dimensional information based on the original information difference and updates the retained three-dimensional information based on the received three-dimensional information difference.
  • FIG. 1 is a diagram illustrating a configuration example of an information processing system according to a first embodiment of the present disclosure.
  • 1 is a diagram illustrating a configuration example of an information processing system according to a first embodiment of the present disclosure.
  • FIG. 1 is a diagram illustrating an example configuration of an information processing device according to a first embodiment of the present disclosure.
  • FIG. 3 is a diagram illustrating a configuration example of a second information processing device according to the first embodiment of the present disclosure.
  • FIG. 3 is a diagram illustrating an example of generation of three-dimensional information according to the first embodiment of the present disclosure.
  • FIG. 3 is a diagram illustrating an example of generation of three-dimensional information according to the first embodiment of the present disclosure.
  • FIG. 1 is a diagram illustrating a configuration example of an information processing system according to a first embodiment of the present disclosure.
  • FIG. 1 is a diagram illustrating an example configuration of an information processing device according to a first embodiment of the present disclosure.
  • FIG. 3 is a diagram illustrating a
  • FIG. 3 is a diagram illustrating an example of a processing procedure of location information processing according to the first embodiment of the present disclosure.
  • FIG. 3 is a diagram illustrating an example of a processing procedure of position information difference transmission processing according to the first embodiment of the present disclosure.
  • FIG. 3 is a diagram illustrating an example of a processing procedure of three-dimensional information processing according to the first embodiment of the present disclosure.
  • FIG. 3 is a diagram illustrating an example of a processing procedure of three-dimensional information difference transmission processing according to the first embodiment of the present disclosure.
  • FIG. 3 is a diagram illustrating an example of a processing procedure of position information difference reception processing according to the first embodiment of the present disclosure.
  • FIG. 3 is a diagram illustrating an example of a processing procedure of three-dimensional information difference reception processing according to the first embodiment of the present disclosure.
  • FIG. 2 is a diagram illustrating a configuration example of an information processing system according to a second embodiment of the present disclosure.
  • FIG. 3 is a diagram illustrating a configuration example of an information processing system according to a third embodiment of the present disclosure.
  • FIG. 7 is a diagram illustrating an example of generation of three-dimensional information according to a third embodiment of the present disclosure.
  • FIG. 1A and 1B are diagrams illustrating a configuration example of an information processing system according to a first embodiment of the present disclosure.
  • FIG. 1A is a diagram illustrating a configuration example of an information processing system 10 of the present disclosure.
  • the information processing system 10 generates three-dimensional information on the topography of a work area, including the shapes of objects placed at a construction site or the like. For example, point cloud data can be used for this three-dimensional information.
  • the information processing system 10 includes a plurality of information processing devices 100 and a second information processing device 200.
  • the information processing system 10 in the figure represents an example in which three information processing apparatuses 100 (an information processing apparatus 100a, an information processing apparatus 100b, and an information processing apparatus 100c) are provided.
  • the information processing device 100 holds three-dimensional information of the work area 20, acquires images of areas included in the work area 20, and generates partial three-dimensional information.
  • the three-dimensional information of the work area 20 is updated using this partial three-dimensional information.
  • the information processing device 100 transmits the generated partial three-dimensional information to another information processing device 100 and receives partial three-dimensional information from the other information processing device 100.
  • the arrows between the information processing devices 100 in the figure represent the exchange of these three-dimensional information and the like.
  • the information processing device 100 further updates the three-dimensional information of the work area 20 based on the received three-dimensional information.
  • the plurality of information processing devices 100 cooperate to update the three-dimensional information in the work area 20. Thereby, even if the shape of the work area 20 changes, the latest three-dimensional information can be maintained.
  • the information processing apparatus 100 generates a difference between the acquired partial three-dimensional information and the held three-dimensional information, and updates the three-dimensional information based on the generated difference. Furthermore, the information processing device 100 transmits and receives this difference to and from other information processing devices 100 . Further, the information processing device 100 further transmits this difference to the second information processing device 200.
  • the second information processing device 200 is placed between the plurality of information processing devices 100 and the network 30, and holds three-dimensional information of the work area 20 and transmits it to the server device 40 via the network 30. Further, the second information processing device 200 updates the three-dimensional information based on the difference transmitted from the information processing device 100.
  • the network 30 is a network configured by a wireless LAN network such as Wi-Fi (registered trademark) or LTE (Long Term Evolution), the Internet, or the like.
  • the server device 40 is a server that holds three-dimensional information.
  • FIG. 1B is a diagram illustrating a construction site. This figure is a diagram showing the arrangement of information processing devices 100 at a construction site 1.
  • the information processing device 100 can be placed in a work vehicle 2 such as a shovel car, a worker 3, a drone 4, and the like.
  • a work vehicle 2 such as a shovel car, a worker 3, a drone 4, and the like.
  • an information processing device 100a is arranged in the work vehicle 2
  • an information processing device 100b is arranged in the worker 3
  • an information processing device 100d is arranged in the drone 4.
  • FIG. 2 is a diagram illustrating a configuration example of an information processing device according to the first embodiment of the present disclosure.
  • the information processing device 100 includes an imaging section 101, a signal processing section 102, a point cloud data generation section 103, a three-dimensional information holding section 109, a three-dimensional information difference detection section 107, and a three-dimensional information updating section 108. Be prepared.
  • the information processing device 100 further includes a position sensor 104, a signal processing unit 105, a position information generation unit 106, a position information holding unit 117, a position information difference detection unit 110, and a position information update unit 111.
  • the information processing device 100 further includes a selection section 114, a compression processing section 115, a transmission section 116, a reception section 112, an expansion processing section 113, and a control section 120.
  • the imaging unit 101 captures an area included in the work area 20 and generates an image. This image is an image of a partial area of the work area 20, and is hereinafter referred to as an area image.
  • the imaging unit 101 outputs the generated regional image to the signal processing unit 102.
  • an imaging device can be used for the imaging unit 101.
  • the signal processing unit 102 performs signal processing on the image output from the imaging unit 101.
  • the signal processing unit 102 outputs the processed image to the point cloud data generation unit 103.
  • the position sensor 104 generates position data for its own information processing device 100. This position sensor 104 outputs the generated position data to the signal processing unit 105.
  • the position sensor 104 for example, a sensor that detects the position using a global navigation satellite system (GNSS) or an inertial measurement unit (IMU) can be used.
  • GNSS global navigation satellite system
  • IMU inertial measurement unit
  • the signal processing unit 105 performs signal processing of position data output from the position sensor 104.
  • the signal processing unit 105 outputs the processed position data to the position information generation unit 106.
  • the position information generation unit 106 generates position information that is information on the position of the area imaged by the imaging unit 101.
  • the position information generation unit 106 generates position information based on position data, the imaging range of the imaging unit 101, and the like.
  • the position information generation unit 106 outputs position information to the point cloud data generation unit 103 and the position information difference detection unit 110.
  • the point cloud data generation unit 103 generates partial three-dimensional information of the work area 20 based on the image generated by the imaging unit 101 and the position information generated by the position information generation unit 106. This point cloud data generation unit 103 generates three-dimensional information composed of point cloud data. The point cloud data generation unit 103 outputs the generated point cloud data to the three-dimensional information difference detection unit 107. Note that the point cloud data generation unit 103 can also select an object for which partial three-dimensional information is to be generated. For example, the point cloud data generation unit 103 can generate three-dimensional information by excluding objects that are not the object of work, such as people, and selecting objects that are the object of work. Note that the point cloud data generation unit 103 is an example of a “three-dimensional information generation unit” of the present disclosure.
  • the three-dimensional information holding unit 109 holds three-dimensional information of the work area 20.
  • a three-dimensional information holding unit 109 shown in the figure holds three-dimensional information composed of point cloud data.
  • the three-dimensional information difference detection unit 107 detects a three-dimensional information difference that is the difference between the three-dimensional information held in the three-dimensional information holding unit 109 and the three-dimensional information generated by the point cloud data generation unit 103. be.
  • the three-dimensional information holding section 109 outputs the detected three-dimensional information difference to the three-dimensional information updating section 108 and the compression processing section 115.
  • the three-dimensional information update unit 108 updates the three-dimensional information held in the three-dimensional information holding unit 109 based on the three-dimensional information difference.
  • This three-dimensional information updating unit 108 updates three-dimensional information based on the three-dimensional information difference detected by its own three-dimensional information difference detection unit 107 and the three-dimensional information difference transmitted from another information processing device 100. .
  • the three-dimensional information can be updated by rewriting the target portion of the three-dimensional information based on the three-dimensional information difference.
  • the compression processing unit 115 performs compression processing on the three-dimensional information difference output from the three-dimensional information difference detection unit 107.
  • the compression processing unit 115 outputs the compressed three-dimensional information difference to the transmission unit 116. By compressing the three-dimensional information difference, the transmission load can be reduced.
  • the location information holding unit 117 holds the location information of its own information processing device 100 and the location information of other information processing devices 100.
  • the location information difference detection unit 110 detects a location information difference that is the difference between the location information held in the location information storage unit 117 and the location information generated by the location information generation unit 106.
  • the location information difference detection section 110 outputs the detected location information difference to the location information update section 111 and the transmission section 116.
  • the location information update unit 111 updates the location information held in the location information holding unit 117 based on the location information difference.
  • This location information updating unit 111 updates location information based on the location information difference detected by its own location information difference detection unit 110 and the location information difference transmitted from another information processing device 100.
  • the location information can be updated by rewriting the target portion of the location information based on the location information difference.
  • the transmitting unit 116 transmits the three-dimensional information difference from the compression processing unit 115 to the other information processing device 100 and the second information processing device 200. Further, the transmitting unit 116 transmits the positional information difference from the positional information difference detecting unit 110 to other information processing devices 100. Note that the transmitting unit 116 can transmit the three-dimensional information difference and position information to the other information processing apparatus 100 selected by the selecting unit 114.
  • the receiving unit 112 receives three-dimensional information differences and position information differences transmitted from other information processing devices 100. This receiving section 112 outputs the received three-dimensional information difference to the decompression processing section 113 and outputs the received position information difference to the position information updating section 111.
  • the decompression processing unit 113 performs decompression processing on the three-dimensional information difference output from the reception unit 112.
  • the decompression process is a process of returning the three-dimensional information difference compressed by the compression processing unit 115 to the three-dimensional information difference of the original size.
  • the decompression processing unit 113 outputs the three-dimensional information difference after decompression processing to the three-dimensional information updating unit 108.
  • the selection unit 114 selects another information processing device 100 to which the three-dimensional information difference detected by the three-dimensional information difference detection unit 107 is to be transmitted. This selection unit 114 controls the selected other information processing apparatus 100 to transmit the three-dimensional information difference.
  • the selection of another information processing device 100 can be performed based on the position information of the other information processing device 100, for example. Specifically, the selection unit 114 can select another information processing device 100 included in the same work area 20 as the own information processing device 100. In this case, other information processing apparatuses 100 that hold and update three-dimensional information in an area different from the work area 20 are excluded, and the process of transmitting three-dimensional information differences can be reduced.
  • the selection unit 114 can also select another information processing device 100 that captures an area different from its own area image in the work area 20. This makes it possible to reduce redundant three-dimensional information difference transmission processing.
  • the control unit 120 controls the entire information processing device 100.
  • the information processing device 100 exchanges three-dimensional information differences with other information processing devices 100 and updates the three-dimensional information in cooperation.
  • the three-dimensional information before being updated that is, the initial three-dimensional information
  • three-dimensional information acquired from the second information processing device 200 or the like can be applied.
  • a method may be adopted in which three-dimensional information of the work area 20 is generated in advance using the drone 4 in FIG. 1B and transferred to another information processing apparatus 100. If initial three-dimensional information does not exist, a method is adopted in which partial three-dimensional information generated by a plurality of information processing devices 100 is aggregated to gradually generate three-dimensional information for the entire work area 20. You can also do it.
  • the three-dimensional information difference detection unit 107 if there is no difference between the three-dimensional information held in the three-dimensional information holding unit 109 and the three-dimensional information generated by the point cloud data generation unit 103, the three-dimensional information difference detection unit 107 detects the three-dimensional information difference. is not transmitted to other information processing devices 100. Therefore, unnecessary transmission and reception processing can be reduced.
  • the configuration of the information processing device 100 of the present disclosure is not limited to this example.
  • a configuration may be adopted in which the selection unit 114 shown in the figure is omitted.
  • the three-dimensional information difference and the position information difference are transmitted to all information processing apparatuses 100.
  • a configuration may be adopted in which the location information holding section 117, location information difference detection section 110, and location information updating section 111 shown in the figure are omitted. In this case, only the three-dimensional information difference is transmitted to the other information processing apparatus 100.
  • FIG. 3 is a diagram illustrating a configuration example of a second information processing device according to the first embodiment of the present disclosure. This figure is a diagram illustrating a configuration example of the second information processing device 200.
  • the second information processing device 200 includes a receiving section 201 , a transmitting section 202 , a control section 203 , a three-dimensional information holding section 206 , a three-dimensional information updating section 204 , and a communication section 207 .
  • the receiving unit 201 receives the three-dimensional information difference transmitted by the information processing device 100.
  • This receiving unit 112 outputs the received three-dimensional information difference to the control unit 203.
  • the transmitter 202 transmits data.
  • the transmitter 202 transmits data such as initial three-dimensional information to the information processing apparatus 100, for example.
  • the control unit 203 controls the entire second information processing device 200. Further, the control unit 203 performs control to output the three-dimensional information difference from the receiving unit 112 to the three-dimensional information updating unit 204. Further, the control unit 203 controls transmitting the three-dimensional information held in the three-dimensional information holding unit 206 to the server device 40.
  • the three-dimensional information holding unit 206 holds three-dimensional information.
  • the three-dimensional information updating unit 204 updates the three-dimensional information held in the three-dimensional information holding unit 206.
  • the three-dimensional information update unit 204 updates three-dimensional information based on the three-dimensional information difference transmitted by the information processing device 100.
  • the communication unit 207 sends and receives data to and from the server device 40.
  • a communication unit 207 in the figure transmits the three-dimensional information held in the three-dimensional information holding unit 206 to the server device 40.
  • the second information processing device 200 can transmit the three-dimensional information it holds to the server device 40 at any timing.
  • FIG. 4 is a diagram illustrating an example of generation of three-dimensional information according to the first embodiment of the present disclosure.
  • This figure is a diagram illustrating generation of three-dimensional information by a plurality of information processing devices 100.
  • the information processing apparatuses 100a and 100b in the figure generate regional images of an object or the like that has entered the imaging area of the imaging unit 101 while moving in the direction of the arrow, and generate partial three-dimensional information.
  • the broken line in the figure represents the imaging area 401.
  • This imaging area 401 is an area according to the angle of view of the imaging unit 101.
  • Objects 402 and 403 are placed in the work area 20 in the figure.
  • the object 402 is assumed to be an object to be worked on, such as a building.
  • the object 403 is assumed to be an object such as a person that is not the object of work.
  • the information processing device 100b moves later than the information processing device 100a.
  • FIG. 5 is a diagram illustrating an example of generation of three-dimensional information according to the first embodiment of the present disclosure. This figure is a sequence diagram showing the generation of three-dimensional information in the information processing apparatuses 100a and 100b of FIG. 4. In addition to the objects 402 and 403 in FIG. 4, the second information processing device 200 and the server device 40 are illustrated in the figure.
  • the information processing device 100a transmits the position information difference to the information processing device 100b (step S101).
  • the object 402 enters the imaging area 401 of the imaging unit 101 of the information processing apparatus 100a (step S102).
  • the information processing device 100a transmits the position information difference to the information processing device 100b (step S103).
  • the information processing device 100a generates a three-dimensional information difference of the region including the object 402, and transmits it to the information processing device 100b (step S104).
  • the information processing device 100a transmits the three-dimensional information difference to the second information processing device 200 (step S105).
  • the information processing device 100b and the second information processing device 200 update the three-dimensional information that they each hold based on the transmitted three-dimensional information difference.
  • the second information processing device 200 transmits the three-dimensional information to the server device 40 (step S106).
  • the information processing device 100a transmits the position information difference to the information processing device 100b (step S107).
  • the information processing device 100b transmits the position information difference to the information processing device 100a (step S108).
  • the object 402 enters the imaging area 401 of the imaging unit 101 of the information processing device 100b (step S109).
  • the information processing device 100b transmits the three-dimensional information difference of the area including the object 402. Do not do this.
  • the information processing device 100b transmits the position information difference to the information processing device 100a (step S110).
  • the object 403 is placed in the work area 20 (step S111), and enters the imaging range of the imaging unit 101 of the information processing device 100b (step S112).
  • the information processing apparatus 100b does not transmit the three-dimensional information difference of the area including the object 403.
  • the information processing device 100b transmits the position information difference to the information processing device 100a.
  • the transmission of the three-dimensional information from the second information processing device 200 to the server device 40 can be performed each time the three-dimensional information difference is transmitted from the information processing device 100. Further, the second information processing device 200 can also transmit the three-dimensional information to the server device 40 after receiving a plurality of three-dimensional information differences from the information processing device 100 and updating its own three-dimensional information. Note that the second information processing device 200 can also transmit a three-dimensional information difference, which is a collection of a plurality of three-dimensional information differences, to the server device 40.
  • FIG. 6 is a diagram illustrating an example of a processing procedure of location information processing according to the first embodiment of the present disclosure.
  • FIG. 2 is a flowchart illustrating an example of a procedure for position information processing in the information processing apparatus 100.
  • the position sensor 104 generates position data (step S121).
  • the signal processing unit 105 performs signal processing on the position data (step S122).
  • the position information generation unit 106 generates position information (step S123).
  • the location information difference detection unit 110 starts detecting the location information difference. If this positional information difference is not detected (step S124, No), the information processing device 100 returns to the process of step S121.
  • step S124 if a positional information difference is detected in step S124 (step S124, Yes), the positional information updating unit 111 updates the positional information (step S125). Next, the information processing apparatus 100 performs position information difference transmission processing (step S130), and returns to the processing of step S131.
  • FIG. 7 is a diagram illustrating an example of a processing procedure for position information difference transmission processing according to the first embodiment of the present disclosure. This figure is a flowchart showing an example of the processing procedure of position information difference transmission (step S130) in FIG.
  • the transmitter 116 transmits the position information difference to another information processing device 100 (step S131). After that, the information processing device 100 returns to the original processing.
  • FIG. 8 is a diagram illustrating an example of a processing procedure of three-dimensional information processing according to the first embodiment of the present disclosure.
  • FIG. 2 is a flowchart illustrating an example of a procedure for position information processing in the information processing apparatus 100.
  • the imaging unit 101 generates an image (step S141).
  • the signal processing unit 102 performs signal processing (step S142).
  • the point cloud data generation unit 103 generates point cloud data (step S143).
  • the three-dimensional information difference detection unit 107 starts detecting the three-dimensional information difference. If this three-dimensional information is not detected (step S144, No), the information processing device 100 returns to the process of step S141.
  • step S144 if a three-dimensional information difference is detected in step S144 (step S144, Yes), the three-dimensional information updating unit 108 updates the three-dimensional information (step S145). Next, the information processing apparatus 100 performs a three-dimensional information difference transmission process (step S150), and returns to the process of step S141.
  • FIG. 9 is a diagram illustrating an example of a processing procedure of three-dimensional information difference transmission processing according to the first embodiment of the present disclosure.
  • This figure is a flowchart showing an example of the processing procedure of three-dimensional information difference transmission (step S150) in FIG.
  • the compression processing unit 115 compresses the three-dimensional information difference (step S151).
  • the transmitter 116 transmits the compressed three-dimensional information difference to the other information processing apparatus 100 and the second information processing apparatus 200 (step S152). After that, the information processing device 100 returns to the original processing.
  • FIG. 10 is a diagram illustrating an example of a processing procedure of position information difference reception processing according to the first embodiment of the present disclosure.
  • FIG. 2 is a flowchart illustrating an example of a procedure for position information processing in the information processing apparatus 100.
  • the receiving unit 112 receives the position information difference transmitted from another information processing device 100 (step S161).
  • the location information update unit 111 updates the location information based on the received location information difference (step S162).
  • FIG. 11 is a diagram illustrating an example of a processing procedure of three-dimensional information difference reception processing according to the first embodiment of the present disclosure. This figure is a flowchart showing an example of a processing procedure of three-dimensional information difference reception processing in the information processing apparatus 100.
  • the receiving unit 112 receives the three-dimensional information difference transmitted from another information processing device 100 (step S171).
  • the decompression processing unit 113 decompresses the received three-dimensional information difference (step S172).
  • the three-dimensional information updating unit 108 updates the three-dimensional information based on the expanded three-dimensional information difference (step S173).
  • the information processing device 100 generates new three-dimensional information based on the area image of the work area 20 while retaining the three-dimensional information of the work area 20, and generates new three-dimensional information based on the area image of the work area 20, and A three-dimensional information difference, which is a difference from the original information, is generated and updated. Furthermore, the information processing device 100 transmits this three-dimensional information difference to other information processing devices 100 and the like. Furthermore, the information processing apparatus 100 further updates the three-dimensional information held based on the received three-dimensional information difference. In this way, the information processing system 10 including the plurality of information processing apparatuses 100 transmits and receives only the differences in three-dimensional information, so that the data transmission load can be reduced.
  • the plurality of information processing apparatuses 100 can cooperate to update the three-dimensional information in the work area 20.
  • the information processing device 100 of the first embodiment described above transmits the three-dimensional information difference to the second information processing device 200, and also sends and receives the three-dimensional information difference to and from other information processing devices 100. Ta.
  • the information processing device 100 according to the second embodiment of the present disclosure differs from the above-described first embodiment in that the three-dimensional information difference is transmitted only to the second information processing device 200.
  • FIG. 12 is a diagram illustrating a configuration example of an information processing system according to the second embodiment of the present disclosure.
  • This figure like FIG. 1A, is a diagram showing a configuration example of the information processing system 10.
  • the information processing system 10 in FIG. 1 differs from the information processing system 10 in FIG. 1A in that the transmission and reception of three-dimensional information differences between the information processing apparatuses 100 is omitted.
  • the three-dimensional information difference generated by the information processing device 100 is transmitted to the other information processing device 100 via the second information processing device 200.
  • Three-dimensional information differences and position information from a plurality of information processing devices 100 are aggregated in the second information processing device 200 .
  • the second information processing device 200 can also control the individual information processing devices 100 based on the aggregated three-dimensional information differences and the like.
  • the second information processing device 200 can also select the information processing device 100 to which the three-dimensional information difference is to be transmitted.
  • the second information processing apparatus 200 excludes other information processing apparatuses 100 that generate overlapping area images and causes them to transmit three-dimensional information differences. be able to.
  • the second information processing device 200 can also centrally receive three-dimensional information differences and the like from a moving information processing device 100 among the plurality of information processing devices 100.
  • the second information processing device 200 can instruct the information processing device 100 about the area to be imaged. In this case, generation of three-dimensional information differences in unnecessary areas can be reduced.
  • the configuration of the information processing system 10 other than this is the same as the configuration of the information processing system 10 in the first embodiment of the present disclosure, so a description thereof will be omitted.
  • the information processing system 10 allows the second information processing apparatus 200 to select the information processing apparatus 100 to which the three-dimensional information difference is to be transmitted. The burden can be reduced.
  • the information processing device 100 of the first embodiment described above had transmitted the three-dimensional information difference to the second information processing device 200.
  • the information processing device 100 according to the third embodiment of the present disclosure is different from the first embodiment in that it transmits data to the server device 40 without going through the second information processing device 200. different.
  • FIG. 13 is a diagram illustrating a configuration example of an information processing system according to a third embodiment of the present disclosure.
  • This figure like FIG. 1A, is a diagram showing a configuration example of the information processing system 10.
  • the information processing system 10 in the figure differs from the information processing system 10 in FIG. 1A in that the second information processing device 200 is omitted.
  • the information processing device 100 in the same figure determines the other information processing device 100 to which the three-dimensional information difference is to be transmitted.
  • FIG. 14 is a diagram illustrating an example of generation of three-dimensional information according to the third embodiment of the present disclosure.
  • This figure is a diagram illustrating generation of three-dimensional information by a plurality of information processing devices 100.
  • information processing devices 100a, 100b, 100c, and 100d are shown. It is assumed that among these, the information processing apparatuses 100a, 100b, and 100c image the same object 402.
  • the information processing apparatuses 100a, 100b, and 100c can recognize each other's overlapping areas (areas of the object 402) and select the information processing apparatus 100 to which the three-dimensional information difference of the area is to be transmitted.
  • the selected information processing device 100 sends the three-dimensional information difference of the overlapping area to the information processing device 100d and the server device 40 as a representative.
  • the configuration of the information processing system 10 other than this is the same as the configuration of the information processing system 10 in the first embodiment of the present disclosure, so a description thereof will be omitted.
  • the information processing apparatus 100 itself determines the information processing apparatus 100 that transmits and receives the three-dimensional information difference, and actively exchanges data.
  • the second information processing device 200 can be omitted, and the system configuration can be simplified.
  • An information processing device that holds three-dimensional information of the topography of a work area including the shape of placed objects, a three-dimensional information holding unit that holds the three-dimensional information; an imaging unit that captures an image of an area included in the work area to generate an area image; a location information generation unit that generates location information that is information on the location of its own information processing device; a three-dimensional information generation unit that generates three-dimensional information based on the generated area image and the generated position information; a three-dimensional information difference detection unit that detects a three-dimensional information difference that is a difference between the generated three-dimensional information and the held three-dimensional information; a transmitting unit that transmits the three-dimensional information difference to another of the information processing devices; a receiving unit that receives the three-dimensional information difference transmitted from the other information processing device; a three-dimensional information update unit that updates the retained three-dimensional information based on the detected three-dimensional information difference and updates the retained three-dimensional information based on the received three-dimensional information difference
  • Information processing device (2) a location information holding unit that holds the generated location information of the own information processing device and the location information of other information processing devices; a position information difference detection unit that detects a position information difference that is a difference between the generated position information of the own information processing device and the held position information of the own information processing device; further comprising a location information update unit that updates the held location information based on the detected location information difference;
  • the transmitting unit further transmits the position information difference to another of the information processing devices,
  • the receiving unit further receives the position information difference transmitted from the other information processing device,
  • the three-dimensional information holding unit holds the three-dimensional information configured by point cloud data, The information processing device according to any one of (1) to (5), wherein the three-dimensional information generation unit generates the three-dimensional information configured by point cloud data.
  • An information processing system having a plurality of information processing devices that hold three-dimensional information of the topography of a work area including the shapes of placed objects
  • the information processing device includes a three-dimensional information holding unit that holds the three-dimensional information, an imaging unit that images an area included in the work area to generate an area image, and information on the position of its own information processing device.
  • a position information generation unit that generates certain position information
  • a three-dimensional information generation unit that generates three-dimensional information based on the generated area image and the generated position information
  • a three-dimensional information difference detection unit that detects a three-dimensional information difference that is a difference from the held three-dimensional information
  • a transmitting unit that transmits the three-dimensional information difference to another of the information processing devices; and another of the information processing devices.
  • a receiving unit that receives the three-dimensional information difference transmitted from the device; updating the retained three-dimensional information based on the detected three-dimensional information difference; and updating the retained three-dimensional information based on the received three-dimensional information difference. and a three-dimensional information updating unit that updates three-dimensional information.
  • a three-dimensional information holding unit that holds the three-dimensional information
  • a receiving unit that receives the three-dimensional information difference transmitted from the information processing device
  • a three-dimensional information storage unit that holds the three-dimensional information based on the received three-dimensional information difference.
  • (9) retaining three-dimensional information of the topography of the work area including the shape of placed objects; capturing an image of an area included in the work area; Generating location information that is information on the location of its own information processing device; Generating three-dimensional information based on the generated area image and the generated position information; detecting a three-dimensional information difference that is a difference between the generated three-dimensional information and the retained three-dimensional information; transmitting the three-dimensional information difference to another of the information processing devices; receiving the three-dimensional information difference transmitted from the other information processing device; An information processing method comprising: updating the retained three-dimensional information based on the detected three-dimensional information difference; and updating the retained three-dimensional information based on the received three-dimensional information difference.
  • Information processing system 20 Work area 40 Server device 100, 100a, 100b, 100c, 100d Information processing device 101 Imaging unit 103 Point cloud data generation unit 104 Position sensor 106 Position information generation unit 107 Three-dimensional information difference detection unit 108 Three-dimensional information Update section 109 Three-dimensional information holding section 110 Location information difference detection section 111 Location information updating section 112 Receiving section 114 Selection section 116 Transmitting section 117 Position information holding section 200 Second information processing device 201 Receiving section 202 Transmitting section 204 Three-dimensional information Update section 206 Three-dimensional information holding section 207 Communication section

Abstract

The present invention reduces a data transmission load. This information processing device, which holds three-dimensional information about work area topography including the shape of disposed object, comprises: a three-dimensional information holding unit which holds three-dimensional information; an imaging unit which images an area included in the work area and generates an area image; a location information generation unit which generates location information about the location of the host information processing device; a three-dimensional information generation unit which generates three-dimensional information on the basis of the generated area image and the generated location information; a three-dimensional information difference detection unit which detects a three-dimensional information difference between the generated three-dimensional information and the held three-dimensional information; a transmission unit which transmits the three-dimensional information difference to another information processing device; a reception unit which receives a three-dimensional information difference transmitted from the other information processing device; and a three-dimensional information update unit which performs, on the held three-dimensional information, an update based on the detected three-dimensional information difference and an update based on the received three-dimensional information difference.

Description

情報処理装置、情報処理システム及び情報処理方法Information processing device, information processing system, and information processing method
　本開示は、情報処理装置、情報処理システム及び情報処理方法に関する。 The present disclosure relates to an information processing device, an information processing system, and an information processing method.
　建築現場等において、現場の工事状況をＤＸ（Digital　Transformation）化するため、作業領域の地形や配置された物体の形状の三次元データを生成するシステムが提案されている。このシステムにおいては、複数の撮像装置により生成された画像をクラウド等に集約して三次元データを生成する。このようなシステムとして、例えば、複数のカメラにより被写体を撮像して生成された多視点の映像を１台の任意視点映像生成部に送信するシステムが提案されている（例えば、特許文献１参照）。この任意視点映像生成部は、送信された多視点の映像から１つの任意視点の映像を生成する。 In order to DX (Digital Transform) the construction situation at a construction site, etc., a system has been proposed that generates three-dimensional data of the topography of the work area and the shape of placed objects. In this system, images generated by a plurality of imaging devices are aggregated in a cloud or the like to generate three-dimensional data. As such a system, for example, a system has been proposed in which multi-view images generated by imaging a subject with a plurality of cameras are transmitted to a single arbitrary-view image generation unit (see, for example, Patent Document 1). . This arbitrary viewpoint video generation unit generates one arbitrary viewpoint video from the transmitted multi-view videos.
特開２０１５－０２８７８０号公報Japanese Patent Application Publication No. 2015-028780
　しかしながら、上記の従来技術では、それぞれのカメラが映像を送信するため、送信処理の負荷が増大するという問題がある。 However, in the above-mentioned conventional technology, since each camera transmits an image, there is a problem that the load of transmission processing increases.
　そこで、本開示では、データの送信負荷を軽減する情報処理装置、情報処理システム及び情報処理方法を提案する。 Therefore, the present disclosure proposes an information processing device, an information processing system, and an information processing method that reduce the data transmission load.
　本開示の情報処理装置は、配置された物体の形状を含む作業領域の地形の三次元情報を保持する情報処理装置であって、上記三次元情報を保持する三次元情報保持部と、上記作業領域に含まれる領域を撮像して領域画像を生成する撮像部と、自身の情報処理装置の位置の情報である位置情報を生成する位置情報生成部と、上記生成された領域画像及び上記生成された位置情報に基づいて三次元情報を生成する三次元情報生成部と、上記生成された三次元情報と上記保持された三次元情報との差分である三次元情報差分を検出する三次元情報差分検出部と、上記三次元情報差分を他の上記情報処理装置に送信する送信部と、他の上記情報処理装置から送信された上記三次元情報差分を受信する受信部と、上記検出された三次元情報差分に基づく上記保持された三次元情報の更新と上記受信された三次元情報差分に基づく上記保持された三次元情報の更新とを行う三次元情報更新部とを有する情報処理装置である。 An information processing device of the present disclosure is an information processing device that holds three-dimensional information of the topography of a work area including the shapes of placed objects, and includes a three-dimensional information holding unit that holds the three-dimensional information, and a three-dimensional information holding unit that holds the three-dimensional information, an imaging section that images a region included in the region to generate a region image; a position information generation section that generates position information that is information on the position of its own information processing device; a 3D information generation unit that generates 3D information based on position information; and a 3D information difference that detects a 3D information difference that is a difference between the generated 3D information and the held 3D information. a detection unit, a transmission unit that transmits the three-dimensional information difference to another of the information processing devices, a reception unit that receives the three-dimensional information difference transmitted from the other information processing device, and the detected three-dimensional information The information processing device includes a three-dimensional information updating unit that updates the retained three-dimensional information based on the original information difference and updates the retained three-dimensional information based on the received three-dimensional information difference. .
本開示の第１の実施形態に係る情報処理システムの構成例を示す図である。1 is a diagram illustrating a configuration example of an information processing system according to a first embodiment of the present disclosure. 本開示の第１の実施形態に係る情報処理システムの構成例を示す図である。1 is a diagram illustrating a configuration example of an information processing system according to a first embodiment of the present disclosure. 本開示の第１の実施形態に係る情報処理装置の構成例を示す図である。FIG. 1 is a diagram illustrating an example configuration of an information processing device according to a first embodiment of the present disclosure. 本開示の第１の実施形態に係る第２の情報処理装置の構成例を示す図である。FIG. 3 is a diagram illustrating a configuration example of a second information processing device according to the first embodiment of the present disclosure. 本開示の第１の実施形態に係る三次元情報の生成の一例を示す図である。FIG. 3 is a diagram illustrating an example of generation of three-dimensional information according to the first embodiment of the present disclosure. 本開示の第１の実施形態に係る三次元情報の生成の一例を示す図である。FIG. 3 is a diagram illustrating an example of generation of three-dimensional information according to the first embodiment of the present disclosure. 本開示の第１の実施形態に係る位置情報処理の処理手順の一例を示す図である。FIG. 3 is a diagram illustrating an example of a processing procedure of location information processing according to the first embodiment of the present disclosure. 本開示の第１の実施形態に係る位置情報差分送信処理の処理手順の一例を示す図である。FIG. 3 is a diagram illustrating an example of a processing procedure of position information difference transmission processing according to the first embodiment of the present disclosure. 本開示の第１の実施形態に係る三次元情報処理の処理手順の一例を示す図である。FIG. 3 is a diagram illustrating an example of a processing procedure of three-dimensional information processing according to the first embodiment of the present disclosure. 本開示の第１の実施形態に係る三次元情報差分送信処理の処理手順の一例を示す図である。FIG. 3 is a diagram illustrating an example of a processing procedure of three-dimensional information difference transmission processing according to the first embodiment of the present disclosure. 本開示の第１の実施形態に係る位置情報差分受信処理の処理手順の一例を示す図である。FIG. 3 is a diagram illustrating an example of a processing procedure of position information difference reception processing according to the first embodiment of the present disclosure. 本開示の第１の実施形態に係る三次元情報差分受信処理の処理手順の一例を示す図である。FIG. 3 is a diagram illustrating an example of a processing procedure of three-dimensional information difference reception processing according to the first embodiment of the present disclosure. 本開示の第２の実施形態に係る情報処理システムの構成例を示す図である。FIG. 2 is a diagram illustrating a configuration example of an information processing system according to a second embodiment of the present disclosure. 本開示の第３の実施形態に係る情報処理システムの構成例を示す図である。FIG. 3 is a diagram illustrating a configuration example of an information processing system according to a third embodiment of the present disclosure. 本開示の第３の実施形態に係る三次元情報の生成の一例を示す図である。FIG. 7 is a diagram illustrating an example of generation of three-dimensional information according to a third embodiment of the present disclosure.
　以下に、本開示の実施形態について図面に基づいて詳細に説明する。説明は、以下の順に行う。なお、以下の各実施形態において、同一の部位には同一の符号を付することにより重複する説明を省略する。
１．第１の実施形態
２．第２の実施形態
３．第３の実施形態 Embodiments of the present disclosure will be described in detail below based on the drawings. The explanation will be given in the following order. In addition, in each of the following embodiments, the same portions are given the same reference numerals and redundant explanations will be omitted.
1. First embodiment 2. Second embodiment 3. Third embodiment
　（１．第１の実施形態）
　［情報処理システムの構成］
　図１Ａ及び１Ｂは、本開示の第１の実施形態に係る情報処理システムの構成例を示す図である。図１Ａは、本開示の情報処理システム１０の構成例を表す図である。情報処理システム１０は、建築現場等における配置された物体の形状を含む作業領域の地形の三次元情報を生成するものである。この三次元情報には、例えば、点群データを使用することができる。情報処理システム１０は、複数の情報処理装置１００と第２の情報処理装置２００とを備える。同図の情報処理システム１０は、３つの情報処理装置１００（情報処理装置１００ａ、情報処理装置１００ｂ及び情報処理装置１００ｃ）を備える場合の例を表したものである。 (1. First embodiment)
[Information processing system configuration]
1A and 1B are diagrams illustrating a configuration example of an information processing system according to a first embodiment of the present disclosure. FIG. 1A is a diagram illustrating a configuration example of an information processing system 10 of the present disclosure. The information processing system 10 generates three-dimensional information on the topography of a work area, including the shapes of objects placed at a construction site or the like. For example, point cloud data can be used for this three-dimensional information. The information processing system 10 includes a plurality of information processing devices 100 and a second information processing device 200. The information processing system 10 in the figure represents an example in which three information processing apparatuses 100 (an information processing apparatus 100a, an information processing apparatus 100b, and an information processing apparatus 100c) are provided.
　情報処理装置１００は、作業領域２０の三次元情報を保持するとともに作業領域２０に含まれる領域の画像を取得して部分的な三次元情報を生成する。この部分的な三次元情報により作業領域２０の三次元情報を更新する。また、情報処理装置１００は、生成した部分的な三次元情報を他の情報処理装置１００に送信するとともに他の情報処理装置１００からの部分的な三次元情報を受信する。同図の情報処理装置１００間の矢印は、これらの三次元情報等のやり取りを表したものである。情報処理装置１００は、受信した三次元情報に基づいて作業領域２０の三次元情報を更に更新する。 The information processing device 100 holds three-dimensional information of the work area 20, acquires images of areas included in the work area 20, and generates partial three-dimensional information. The three-dimensional information of the work area 20 is updated using this partial three-dimensional information. Further, the information processing device 100 transmits the generated partial three-dimensional information to another information processing device 100 and receives partial three-dimensional information from the other information processing device 100. The arrows between the information processing devices 100 in the figure represent the exchange of these three-dimensional information and the like. The information processing device 100 further updates the three-dimensional information of the work area 20 based on the received three-dimensional information.
　このように、情報処理システム１０は、複数の情報処理装置１００が連携して作業領域２０の三次元情報を更新する。これにより、作業領域２０の形状が変化する場合であっても最新の三次元情報を保つことができる。後述するように、情報処理装置１００は、取得した部分的な三次元情報と保持する三次元情報との差分を生成し、生成した差分に基づいて三次元情報の更新を行う。また、情報処理装置１００は、他の情報処理装置１００との間においてこの差分の送受信を行う。また、情報処理装置１００は、この差分を第２の情報処理装置２００に対して更に送信する。 In this way, in the information processing system 10, the plurality of information processing devices 100 cooperate to update the three-dimensional information in the work area 20. Thereby, even if the shape of the work area 20 changes, the latest three-dimensional information can be maintained. As described later, the information processing apparatus 100 generates a difference between the acquired partial three-dimensional information and the held three-dimensional information, and updates the three-dimensional information based on the generated difference. Furthermore, the information processing device 100 transmits and receives this difference to and from other information processing devices 100 . Further, the information processing device 100 further transmits this difference to the second information processing device 200.
　第２の情報処理装置２００は、複数の情報処理装置１００及びネットワーク３０の間に配置され、作業領域２０の三次元情報を保持するとともにネットワーク３０を介してサーバ装置４０に伝達するものである。また、第２の情報処理装置２００は、情報処理装置１００から送信された差分に基づいて三次元情報を更新する。 The second information processing device 200 is placed between the plurality of information processing devices 100 and the network 30, and holds three-dimensional information of the work area 20 and transmits it to the server device 40 via the network 30. Further, the second information processing device 200 updates the three-dimensional information based on the difference transmitted from the information processing device 100.
　ネットワーク３０は、Ｗｉ－Ｆｉ（登録商標）やＬＴＥ（Long　Term　Evolution）等の無線ＬＡＮネットワークやインターネット等により構成されるネットワークである。また、サーバ装置４０は、三次元情報を保持するサーバである。 The network 30 is a network configured by a wireless LAN network such as Wi-Fi (registered trademark) or LTE (Long Term Evolution), the Internet, or the like. Further, the server device 40 is a server that holds three-dimensional information.
　図１Ｂは、建築現場を説明する図である。同図は建築現場１における情報処理装置１００の配置を表す図である。情報処理装置１００は、ショベルカー等の作業車２、作業者３及びドローン４等に配置することができる。同図の作業車２には情報処理装置１００ａが配置され、作業者３には情報処理装置１００ｂが配置され、ドローン４には情報処理装置１００ｄが配置される。 FIG. 1B is a diagram illustrating a construction site. This figure is a diagram showing the arrangement of information processing devices 100 at a construction site 1. The information processing device 100 can be placed in a work vehicle 2 such as a shovel car, a worker 3, a drone 4, and the like. In the figure, an information processing device 100a is arranged in the work vehicle 2, an information processing device 100b is arranged in the worker 3, and an information processing device 100d is arranged in the drone 4.
　［情報処理装置の構成］
　図２は、本開示の第１の実施形態に係る情報処理装置の構成例を示す図である。同図は、情報処理装置１００の構成例を表す図である。情報処理装置１００は、撮像部１０１と、信号処理部１０２と、点群データ生成部１０３と、三次元情報保持部１０９と、三次元情報差分検出部１０７と、三次元情報更新部１０８とを備える。また、情報処理装置１００は、位置センサ１０４と、信号処理部１０５と、位置情報生成部１０６と、位置情報保持部１１７と、位置情報差分検出部１１０と、位置情報更新部１１１とを更に備える。また、情報処理装置１００は、選択部１１４と、圧縮処理部１１５と、送信部１１６と、受信部１１２と、伸長処理部１１３と、制御部１２０とを更に備える。 [Configuration of information processing device]
FIG. 2 is a diagram illustrating a configuration example of an information processing device according to the first embodiment of the present disclosure. This figure is a diagram showing an example of the configuration of the information processing device 100. The information processing device 100 includes an imaging section 101, a signal processing section 102, a point cloud data generation section 103, a three-dimensional information holding section 109, a three-dimensional information difference detection section 107, and a three-dimensional information updating section 108. Be prepared. The information processing device 100 further includes a position sensor 104, a signal processing unit 105, a position information generation unit 106, a position information holding unit 117, a position information difference detection unit 110, and a position information update unit 111. . The information processing device 100 further includes a selection section 114, a compression processing section 115, a transmission section 116, a reception section 112, an expansion processing section 113, and a control section 120.
　撮像部１０１は、作業領域２０に含まれる領域を撮像して画像を生成するものである。この画像は、作業領域２０の部分的な領域の画像であり、以下領域画像と称する。撮像部１０１は、生成した領域画像を信号処理部１０２に出力する。撮像部１０１には、例えば、撮像素子を使用することができる。 The imaging unit 101 captures an area included in the work area 20 and generates an image. This image is an image of a partial area of the work area 20, and is hereinafter referred to as an area image. The imaging unit 101 outputs the generated regional image to the signal processing unit 102. For the imaging unit 101, for example, an imaging device can be used.
　信号処理部１０２は、撮像部１０１から出力された画像の信号処理を行うものである。信号処理部１０２は、処理後の画像を点群データ生成部１０３に出力する。 The signal processing unit 102 performs signal processing on the image output from the imaging unit 101. The signal processing unit 102 outputs the processed image to the point cloud data generation unit 103.
　位置センサ１０４は、自身の情報処理装置１００の位置データ生成するものである。この位置センサ１０４は、生成した位置データを信号処理部１０５に出力する。位置センサ１０４には、例えば、グローバルナビゲーションサテライトシステム（ＧＮＳＳ：Global　Navigation　Satellite　System）により位置を検出するセンサや慣性計測装置（ＩＭＵ：Inertial　Measurement　Unit）を使用することができる。 The position sensor 104 generates position data for its own information processing device 100. This position sensor 104 outputs the generated position data to the signal processing unit 105. As the position sensor 104, for example, a sensor that detects the position using a global navigation satellite system (GNSS) or an inertial measurement unit (IMU) can be used.
　信号処理部１０５は、位置センサ１０４から出力された位置データの信号処理を行うものである。信号処理部１０５は、処理後の位置データを位置情報生成部１０６に出力する。 The signal processing unit 105 performs signal processing of position data output from the position sensor 104. The signal processing unit 105 outputs the processed position data to the position information generation unit 106.
　位置情報生成部１０６は、撮像部１０１が撮像する領域の位置の情報である位置情報を生成するものである。この位置情報生成部１０６は、位置データや撮像部１０１の撮像範囲等に基づいて位置情報を生成する。位置情報生成部１０６は、位置情報を点群データ生成部１０３及び位置情報差分検出部１１０に出力する。 The position information generation unit 106 generates position information that is information on the position of the area imaged by the imaging unit 101. The position information generation unit 106 generates position information based on position data, the imaging range of the imaging unit 101, and the like. The position information generation unit 106 outputs position information to the point cloud data generation unit 103 and the position information difference detection unit 110.
　点群データ生成部１０３は、撮像部１０１が生成した画像及び位置情報生成部１０６が生成した位置情報に基づいて作業領域２０の部分的な三次元情報を生成するものである。この点群データ生成部１０３は、点群データにより構成された三次元情報を生成する。点群データ生成部１０３は、生成した点群データを三次元情報差分検出部１０７に出力する。なお、点群データ生成部１０３は、部分的な三次元情報を生成する対象物を選択することもできる。例えば、点群データ生成部１０３は、人物等の作業の対象外の物体を除外し、作業の対象となる物体を選択して三次元情報を生成することができる。なお、点群データ生成部１０３は、本開示の「三次元情報生成部」の一例である。 The point cloud data generation unit 103 generates partial three-dimensional information of the work area 20 based on the image generated by the imaging unit 101 and the position information generated by the position information generation unit 106. This point cloud data generation unit 103 generates three-dimensional information composed of point cloud data. The point cloud data generation unit 103 outputs the generated point cloud data to the three-dimensional information difference detection unit 107. Note that the point cloud data generation unit 103 can also select an object for which partial three-dimensional information is to be generated. For example, the point cloud data generation unit 103 can generate three-dimensional information by excluding objects that are not the object of work, such as people, and selecting objects that are the object of work. Note that the point cloud data generation unit 103 is an example of a “three-dimensional information generation unit” of the present disclosure.
　三次元情報保持部１０９は、作業領域２０の三次元情報を保持するものである。同図の三次元情報保持部１０９は、点群データにより構成された三次元情報を保持する。 The three-dimensional information holding unit 109 holds three-dimensional information of the work area 20. A three-dimensional information holding unit 109 shown in the figure holds three-dimensional information composed of point cloud data.
　三次元情報差分検出部１０７は、三次元情報保持部１０９に保持された三次元情報と点群データ生成部１０３により生成された三次元情報との差分である三次元情報差分を検出するものである。この三次元情報保持部１０９は、検出した三次元情報差分を三次元情報更新部１０８及び圧縮処理部１１５に出力する。 The three-dimensional information difference detection unit 107 detects a three-dimensional information difference that is the difference between the three-dimensional information held in the three-dimensional information holding unit 109 and the three-dimensional information generated by the point cloud data generation unit 103. be. The three-dimensional information holding section 109 outputs the detected three-dimensional information difference to the three-dimensional information updating section 108 and the compression processing section 115.
　三次元情報更新部１０８は、三次元情報保持部１０９に保持された三次元情報を三次元情報差分に基づいて更新するものである。この三次元情報更新部１０８は、自身の三次元情報差分検出部１０７が検出した三次元情報差分及び他の情報処理装置１００から送信された三次元情報差分に基づいて三次元情報の更新を行う。三次元情報の更新は、三次元情報差分に基づいて三次元情報の対象部分を書き換えることにより行うことができる。 The three-dimensional information update unit 108 updates the three-dimensional information held in the three-dimensional information holding unit 109 based on the three-dimensional information difference. This three-dimensional information updating unit 108 updates three-dimensional information based on the three-dimensional information difference detected by its own three-dimensional information difference detection unit 107 and the three-dimensional information difference transmitted from another information processing device 100. . The three-dimensional information can be updated by rewriting the target portion of the three-dimensional information based on the three-dimensional information difference.
　圧縮処理部１１５は、三次元情報差分検出部１０７から出力された三次元情報差分に対して圧縮処理を行うものである。この圧縮処理部１１５は、圧縮した三次元情報差分を送信部１１６に出力する。三次元情報差分を圧縮することにより送信負荷を軽減することができる。 The compression processing unit 115 performs compression processing on the three-dimensional information difference output from the three-dimensional information difference detection unit 107. The compression processing unit 115 outputs the compressed three-dimensional information difference to the transmission unit 116. By compressing the three-dimensional information difference, the transmission load can be reduced.
　位置情報保持部１１７は、自身の情報処理装置１００の位置情報及び他の情報処理装置１００の位置情報を保持するものである。 The location information holding unit 117 holds the location information of its own information processing device 100 and the location information of other information processing devices 100.
　位置情報差分検出部１１０は、位置情報保持部１１７に保持された位置情報と位置情報生成部１０６により生成された位置情報との差分である位置情報差分を検出するものである。この位置情報差分検出部１１０は、検出した位置情報差分を位置情報更新部１１１及び送信部１１６に出力する。 The location information difference detection unit 110 detects a location information difference that is the difference between the location information held in the location information storage unit 117 and the location information generated by the location information generation unit 106. The location information difference detection section 110 outputs the detected location information difference to the location information update section 111 and the transmission section 116.
　位置情報更新部１１１は、位置情報保持部１１７に保持された位置情報を位置情報差分に基づいて更新するものである。この位置情報更新部１１１は、自身の位置情報差分検出部１１０が検出した位置情報差分及び他の情報処理装置１００から送信された位置情報差分に基づいて位置情報の更新を行う。位置情報の更新は、位置情報差分に基づいて位置情報の対象部分を書き換えることにより行うことができる。 The location information update unit 111 updates the location information held in the location information holding unit 117 based on the location information difference. This location information updating unit 111 updates location information based on the location information difference detected by its own location information difference detection unit 110 and the location information difference transmitted from another information processing device 100. The location information can be updated by rewriting the target portion of the location information based on the location information difference.
　送信部１１６は、圧縮処理部１１５からの三次元情報差分を他の情報処理装置１００及び第２の情報処理装置２００に送信するものである。また、送信部１１６は、位置情報差分検出部１１０からの位置情報差分を他の情報処理装置１００に送信する。なお、送信部１１６は、選択部１１４により選択された他の情報処理装置１００に三次元情報差分及び位置情報を送信することができる。 The transmitting unit 116 transmits the three-dimensional information difference from the compression processing unit 115 to the other information processing device 100 and the second information processing device 200. Further, the transmitting unit 116 transmits the positional information difference from the positional information difference detecting unit 110 to other information processing devices 100. Note that the transmitting unit 116 can transmit the three-dimensional information difference and position information to the other information processing apparatus 100 selected by the selecting unit 114.
　受信部１１２は、他の情報処理装置１００が送信した三次元情報差分及び位置情報差分を受信するものである。この受信部１１２は、受信した三次元情報差分を伸長処理部１１３に出力し、受信した位置情報差分を位置情報更新部１１１に出力する。 The receiving unit 112 receives three-dimensional information differences and position information differences transmitted from other information processing devices 100. This receiving section 112 outputs the received three-dimensional information difference to the decompression processing section 113 and outputs the received position information difference to the position information updating section 111.
　伸長処理部１１３は、受信部１１２から出力された三次元情報差分の伸長処理を行うものである。伸長処理は、上述の圧縮処理部１１５により圧縮処理された三次元情報差分を元のサイズの三次元情報差分に戻す処理である。伸長処理部１１３は、伸長処理後の三次元情報差分を三次元情報更新部１０８出力する。 The decompression processing unit 113 performs decompression processing on the three-dimensional information difference output from the reception unit 112. The decompression process is a process of returning the three-dimensional information difference compressed by the compression processing unit 115 to the three-dimensional information difference of the original size. The decompression processing unit 113 outputs the three-dimensional information difference after decompression processing to the three-dimensional information updating unit 108.
　選択部１１４は、三次元情報差分検出部１０７により検出された三次元情報差分を送信する他の情報処理装置１００を選択するものである。この選択部１１４は、選択した他の情報処理装置１００に三次元情報差分を送信させる制御を行う。他の情報処理装置１００の選択は、例えば、他の情報処理装置１００の位置情報に基づいて行うことができる。具体的には、選択部１１４は、自身の情報処理装置１００と同じ作業領域２０に含まれる他の情報処理装置１００を選択することができる。この場合、作業領域２０とは異なる領域の三次元情報を保持して更新する他の情報処理装置１００は除外されることとなり、三次元情報差分の送信処理を削減することができる。 The selection unit 114 selects another information processing device 100 to which the three-dimensional information difference detected by the three-dimensional information difference detection unit 107 is to be transmitted. This selection unit 114 controls the selected other information processing apparatus 100 to transmit the three-dimensional information difference. The selection of another information processing device 100 can be performed based on the position information of the other information processing device 100, for example. Specifically, the selection unit 114 can select another information processing device 100 included in the same work area 20 as the own information processing device 100. In this case, other information processing apparatuses 100 that hold and update three-dimensional information in an area different from the work area 20 are excluded, and the process of transmitting three-dimensional information differences can be reduced.
　また、選択部１１４は、作業領域２０における自身の領域画像とは異なる領域を撮像する他の情報処理装置１００を選択することもできる。これにより、重複する三次元情報差分の送信処理を削減することができる。 Furthermore, the selection unit 114 can also select another information processing device 100 that captures an area different from its own area image in the work area 20. This makes it possible to reduce redundant three-dimensional information difference transmission processing.
　制御部１２０は、情報処理装置１００の全体を制御するものである。 The control unit 120 controls the entire information processing device 100.
　このように、情報処理装置１００は、他の情報処理装置１００と三次元情報差分のやり取りを行い、連携して三次元情報を更新する。なお、更新される前の三次元情報、すなわち初期の三次元情報は、例えば、第２の情報処理装置２００等から取得した三次元情報を適用することができる。また、予め図１Ｂのドローン４を使用して作業領域２０の三次元情報を生成し、他の情報処理装置１００に転送する方式を取ることもできる。初期の三次元情報が存在しない場合には、複数の情報処理装置１００により生成された部分的な三次元情報を集約して作業領域２０の全体の三次元情報を徐々に生成する方式を取ることもできる。 In this way, the information processing device 100 exchanges three-dimensional information differences with other information processing devices 100 and updates the three-dimensional information in cooperation. Note that as the three-dimensional information before being updated, that is, the initial three-dimensional information, for example, three-dimensional information acquired from the second information processing device 200 or the like can be applied. Alternatively, a method may be adopted in which three-dimensional information of the work area 20 is generated in advance using the drone 4 in FIG. 1B and transferred to another information processing apparatus 100. If initial three-dimensional information does not exist, a method is adopted in which partial three-dimensional information generated by a plurality of information processing devices 100 is aggregated to gradually generate three-dimensional information for the entire work area 20. You can also do it.
　三次元情報差分検出部１０７において、三次元情報保持部１０９に保持された三次元情報と点群データ生成部１０３により生成された三次元情報とに差分が存在しない場合には、三次元情報差分が他の情報処理装置１００に送信されない。このため、不要な送受信処理を削減することができる。 In the three-dimensional information difference detection unit 107, if there is no difference between the three-dimensional information held in the three-dimensional information holding unit 109 and the three-dimensional information generated by the point cloud data generation unit 103, the three-dimensional information difference detection unit 107 detects the three-dimensional information difference. is not transmitted to other information processing devices 100. Therefore, unnecessary transmission and reception processing can be reduced.
　なお、本開示の情報処理装置１００の構成は、この例に限定されない。例えば、同図の選択部１１４を省略する構成を取ることもできる。この場合は、三次元情報差分及び位置情報差分が全ての情報処理装置１００に対して送信される。 Note that the configuration of the information processing device 100 of the present disclosure is not limited to this example. For example, a configuration may be adopted in which the selection unit 114 shown in the figure is omitted. In this case, the three-dimensional information difference and the position information difference are transmitted to all information processing apparatuses 100.
　また、同図の位置情報保持部１１７、位置情報差分検出部１１０及び位置情報更新部１１１を省略する構成を取ることもできる。この場合は、三次元情報差分のみが他の情報処理装置１００に送信される。 Additionally, a configuration may be adopted in which the location information holding section 117, location information difference detection section 110, and location information updating section 111 shown in the figure are omitted. In this case, only the three-dimensional information difference is transmitted to the other information processing apparatus 100.
　また、同図の圧縮処理部１１５及び伸長処理部１１３を省略する構成を取ることもできる。 Additionally, a configuration may be adopted in which the compression processing unit 115 and decompression processing unit 113 shown in the figure are omitted.
　［第２の情報処理装置の構成］
　図３は、本開示の第１の実施形態に係る第２の情報処理装置の構成例を示す図である。同図は、第２の情報処理装置２００の構成例を表す図である。第２の情報処理装置２００は、受信部２０１と、送信部２０２と、制御部２０３と、三次元情報保持部２０６と、三次元情報更新部２０４と、通信部２０７とを備える。 [Configuration of second information processing device]
FIG. 3 is a diagram illustrating a configuration example of a second information processing device according to the first embodiment of the present disclosure. This figure is a diagram illustrating a configuration example of the second information processing device 200. The second information processing device 200 includes a receiving section 201 , a transmitting section 202 , a control section 203 , a three-dimensional information holding section 206 , a three-dimensional information updating section 204 , and a communication section 207 .
　受信部２０１は、情報処理装置１００が送信した三次元情報差分を受信するものである。この受信部１１２は、受信した三次元情報差分を制御部２０３に出力する。 The receiving unit 201 receives the three-dimensional information difference transmitted by the information processing device 100. This receiving unit 112 outputs the received three-dimensional information difference to the control unit 203.
　送信部２０２は、データの送信を行うものである。送信部２０２は、例えば、初期の三次元情報等のデータを情報処理装置１００に送信する。 The transmitter 202 transmits data. The transmitter 202 transmits data such as initial three-dimensional information to the information processing apparatus 100, for example.
　制御部２０３は、第２の情報処理装置２００の全体を制御するものである。また、制御部２０３は、受信部１１２からの三次元情報差分を三次元情報更新部２０４に出力する制御を行う。また、制御部２０３は、三次元情報保持部２０６に保持された三次元情報をサーバ装置４０に送信する制御を行う。 The control unit 203 controls the entire second information processing device 200. Further, the control unit 203 performs control to output the three-dimensional information difference from the receiving unit 112 to the three-dimensional information updating unit 204. Further, the control unit 203 controls transmitting the three-dimensional information held in the three-dimensional information holding unit 206 to the server device 40.
　三次元情報保持部２０６は、三次元情報を保持するものである。 The three-dimensional information holding unit 206 holds three-dimensional information.
　三次元情報更新部２０４は、三次元情報保持部２０６に保持された三次元情報を更新するものである。この三次元情報更新部２０４は、情報処理装置１００が送信した三次元情報差分に基づいて三次元情報の更新を行う。 The three-dimensional information updating unit 204 updates the three-dimensional information held in the three-dimensional information holding unit 206. The three-dimensional information update unit 204 updates three-dimensional information based on the three-dimensional information difference transmitted by the information processing device 100.
　通信部２０７は、サーバ装置４０との間においてデータの送受信を行うものである。同図の通信部２０７は、三次元情報保持部２０６に保持された三次元情報をサーバ装置４０に送信する。 The communication unit 207 sends and receives data to and from the server device 40. A communication unit 207 in the figure transmits the three-dimensional information held in the three-dimensional information holding unit 206 to the server device 40.
　第２の情報処理装置２００は、任意のタイミングにおいて保持する三次元情報をサーバ装置４０に送信することができる。 The second information processing device 200 can transmit the three-dimensional information it holds to the server device 40 at any timing.
　［三次元情報の生成］
　図４は、本開示の第１の実施形態に係る三次元情報の生成の一例を示す図である。同図は、複数の情報処理装置１００による三次元情報の生成を説明する図である。同図の情報処理装置１００ａ及び１００ｂは、矢印の方向に移動しながら撮像部１０１の撮像領域に入った物体等の領域画像を生成し、部分的な三次元情報を生成する。同図の破線は、撮像領域４０１を表す。この撮像領域４０１は、撮像部１０１の画角に応じた領域である。同図の作業領域２０には、物体４０２及び４０３が配置される。物体４０２は、建築物等の作業の対象となる物体を想定する。また、物体４０３は、人物等の作業の対象とならない物体を想定する。また、情報処理装置１００ｂは、情報処理装置１００ａより遅れて移動する。 [Generation of three-dimensional information]
FIG. 4 is a diagram illustrating an example of generation of three-dimensional information according to the first embodiment of the present disclosure. This figure is a diagram illustrating generation of three-dimensional information by a plurality of information processing devices 100. The information processing apparatuses 100a and 100b in the figure generate regional images of an object or the like that has entered the imaging area of the imaging unit 101 while moving in the direction of the arrow, and generate partial three-dimensional information. The broken line in the figure represents the imaging area 401. This imaging area 401 is an area according to the angle of view of the imaging unit 101. Objects 402 and 403 are placed in the work area 20 in the figure. The object 402 is assumed to be an object to be worked on, such as a building. Further, the object 403 is assumed to be an object such as a person that is not the object of work. Further, the information processing device 100b moves later than the information processing device 100a.
　図５は、本開示の第１の実施形態に係る三次元情報の生成の一例を示す図である。同図は、図４の情報処理装置１００ａ及び１００ｂにおける三次元情報の生成を表すシーケンス図である。同図には、図４の物体４０２及び４０３に加えて第２の情報処理装置２００及びサーバ装置４０を記載した。 FIG. 5 is a diagram illustrating an example of generation of three-dimensional information according to the first embodiment of the present disclosure. This figure is a sequence diagram showing the generation of three-dimensional information in the information processing apparatuses 100a and 100b of FIG. 4. In addition to the objects 402 and 403 in FIG. 4, the second information processing device 200 and the server device 40 are illustrated in the figure.
　まず、情報処理装置１００ａが位置情報差分を情報処理装置１００ｂに送信する（ステップＳ１０１）。次に、情報処理装置１００ａの移動に伴って、物体４０２が情報処理装置１００ａの撮像部１０１の撮像領域４０１に入る（ステップＳ１０２）。次に、情報処理装置１００ａは、位置情報差分を情報処理装置１００ｂに送信する（ステップＳ１０３）。次に、情報処理装置１００ａは、物体４０２を含む領域の三次元情報差分を生成し、情報処理装置１００ｂに送信する（ステップＳ１０４）。更に、情報処理装置１００ａは、三次元情報差分を第２の情報処理装置２００に送信する（ステップＳ１０５）。これにより、情報処理装置１００ｂ及び第２の情報処理装置２００は、送信された三次元情報差分に基づいてそれぞれが保持する三次元情報を更新する。また、第２の情報処理装置２００は、三次元情報をサーバ装置４０に送信する（ステップＳ１０６）。 First, the information processing device 100a transmits the position information difference to the information processing device 100b (step S101). Next, as the information processing apparatus 100a moves, the object 402 enters the imaging area 401 of the imaging unit 101 of the information processing apparatus 100a (step S102). Next, the information processing device 100a transmits the position information difference to the information processing device 100b (step S103). Next, the information processing device 100a generates a three-dimensional information difference of the region including the object 402, and transmits it to the information processing device 100b (step S104). Further, the information processing device 100a transmits the three-dimensional information difference to the second information processing device 200 (step S105). Thereby, the information processing device 100b and the second information processing device 200 update the three-dimensional information that they each hold based on the transmitted three-dimensional information difference. Further, the second information processing device 200 transmits the three-dimensional information to the server device 40 (step S106).
　次に、情報処理装置１００ａが位置情報差分を情報処理装置１００ｂに送信する（ステップＳ１０７）。次に、情報処理装置１００ｂが位置情報差分を情報処理装置１００ａに送信する（ステップＳ１０８）。次に、情報処理装置１００ｂの移動に伴って、物体４０２が情報処理装置１００ｂの撮像部１０１の撮像領域４０１に入る（ステップＳ１０９）。しかし、ステップＳ１０４において情報処理装置１００ａから送信された三次元情報差分により情報処理装置１００ｂの三次元情報が更新されているため、情報処理装置１００ｂは物体４０２を含む領域の三次元情報差分の送信を行わない。情報処理装置１００ｂは、位置情報差分を情報処理装置１００ａに送信する（ステップＳ１１０）。 Next, the information processing device 100a transmits the position information difference to the information processing device 100b (step S107). Next, the information processing device 100b transmits the position information difference to the information processing device 100a (step S108). Next, as the information processing device 100b moves, the object 402 enters the imaging area 401 of the imaging unit 101 of the information processing device 100b (step S109). However, since the three-dimensional information of the information processing device 100b has been updated by the three-dimensional information difference transmitted from the information processing device 100a in step S104, the information processing device 100b transmits the three-dimensional information difference of the area including the object 402. Do not do this. The information processing device 100b transmits the position information difference to the information processing device 100a (step S110).
　次に、情報処理装置１００ａの通過後に、物体４０３が作業領域２０に配置され（ステップＳ１１１）、情報処理装置１００ｂの撮像部１０１の撮像範囲に入る（ステップＳ１１２）。しかし、物体４０３は作業の対象ではないため、情報処理装置１００ｂは物体４０３を含む領域の三次元情報差分の送信を行わない。情報処理装置１００ｂは、位置情報差分を情報処理装置１００ａに送信する。 Next, after passing the information processing device 100a, the object 403 is placed in the work area 20 (step S111), and enters the imaging range of the imaging unit 101 of the information processing device 100b (step S112). However, since the object 403 is not the target of the work, the information processing apparatus 100b does not transmit the three-dimensional information difference of the area including the object 403. The information processing device 100b transmits the position information difference to the information processing device 100a.
　なお、上述のように、第２の情報処理装置２００からサーバ装置４０への三次元情報の送信は、情報処理装置１００から三次元情報差分が送信される都度に行うことができる。また、第２の情報処理装置２００は、情報処理装置１００から複数の三次元情報差分が送信されて自身の三次元情報を更新した後に三次元情報をサーバ装置４０に送信することもできる。なお、第２の情報処理装置２００は、複数の三次元情報差分をまとめた三次元情報差分をサーバ装置４０に送信することもできる。 Note that, as described above, the transmission of the three-dimensional information from the second information processing device 200 to the server device 40 can be performed each time the three-dimensional information difference is transmitted from the information processing device 100. Further, the second information processing device 200 can also transmit the three-dimensional information to the server device 40 after receiving a plurality of three-dimensional information differences from the information processing device 100 and updating its own three-dimensional information. Note that the second information processing device 200 can also transmit a three-dimensional information difference, which is a collection of a plurality of three-dimensional information differences, to the server device 40.
　［位置情報処理］
　図６は、本開示の第１の実施形態に係る位置情報処理の処理手順の一例を示す図である。同図は、情報処理装置１００における位置情報処理の処理手順の一例を表す流れ図である。まず、位置センサ１０４が位置のデータを生成する（ステップＳ１２１）。次に、信号処理部１０５が位置のデータの信号処理を行う（ステップＳ１２２）。次に、位置情報生成部１０６が位置情報を生成する（ステップＳ１２３）。次に、位置情報差分検出部１１０が位置情報差分の検出を開始する。この位置情報差分が検出されない場合は（ステップＳ１２４，Ｎｏ）、情報処理装置１００は、ステップＳ１２１の処理に戻る。 [Location information processing]
FIG. 6 is a diagram illustrating an example of a processing procedure of location information processing according to the first embodiment of the present disclosure. FIG. 2 is a flowchart illustrating an example of a procedure for position information processing in the information processing apparatus 100. First, the position sensor 104 generates position data (step S121). Next, the signal processing unit 105 performs signal processing on the position data (step S122). Next, the position information generation unit 106 generates position information (step S123). Next, the location information difference detection unit 110 starts detecting the location information difference. If this positional information difference is not detected (step S124, No), the information processing device 100 returns to the process of step S121.
　一方、ステップＳ１２４において、位置情報差分が検出された場合は（ステップＳ１２４，Ｙｅｓ）、位置情報更新部１１１が位置情報を更新する（ステップＳ１２５）。次に、情報処理装置１００は位置情報差分送信の処理を行い（ステップＳ１３０）、ステップＳ１３１の処理に戻る。 On the other hand, if a positional information difference is detected in step S124 (step S124, Yes), the positional information updating unit 111 updates the positional information (step S125). Next, the information processing apparatus 100 performs position information difference transmission processing (step S130), and returns to the processing of step S131.
　［位置情報差分送信処理］
　図７は、本開示の第１の実施形態に係る位置情報差分送信処理の処理手順の一例を示す図である。同図は、図６の位置情報差分送信（ステップＳ１３０）の処理手順の一例を表す流れ図である。まず、送信部１１６が位置情報差分を他の情報処理装置１００に送信する（ステップＳ１３１）。その後、情報処理装置１００は、元の処理に戻る。 [Location information difference transmission process]
FIG. 7 is a diagram illustrating an example of a processing procedure for position information difference transmission processing according to the first embodiment of the present disclosure. This figure is a flowchart showing an example of the processing procedure of position information difference transmission (step S130) in FIG. First, the transmitter 116 transmits the position information difference to another information processing device 100 (step S131). After that, the information processing device 100 returns to the original processing.
　［三次元情報処理］
　図８は、本開示の第１の実施形態に係る三次元情報処理の処理手順の一例を示す図である。同図は、情報処理装置１００における位置情報処理の処理手順の一例を表す流れ図である。まず、撮像部１０１が画像を生成する（ステップＳ１４１）。次に、信号処理部１０２が信号処理を行う（ステップＳ１４２）。次に、点群データ生成部１０３が点群データを生成する（ステップＳ１４３）。次に、三次元情報差分検出部１０７が三次元情報差分の検出を開始する。この三次元情報が検出されない場合は（ステップＳ１４４，Ｎｏ）、情報処理装置１００は、ステップＳ１４１の処理に戻る。 [Three-dimensional information processing]
FIG. 8 is a diagram illustrating an example of a processing procedure of three-dimensional information processing according to the first embodiment of the present disclosure. FIG. 2 is a flowchart illustrating an example of a procedure for position information processing in the information processing apparatus 100. First, the imaging unit 101 generates an image (step S141). Next, the signal processing unit 102 performs signal processing (step S142). Next, the point cloud data generation unit 103 generates point cloud data (step S143). Next, the three-dimensional information difference detection unit 107 starts detecting the three-dimensional information difference. If this three-dimensional information is not detected (step S144, No), the information processing device 100 returns to the process of step S141.
　一方、ステップＳ１４４において、三次元情報差分が検出された場合は（ステップＳ１４４，Ｙｅｓ）、三次元情報更新部１０８が三次元情報を更新する（ステップＳ１４５）。次に、情報処理装置１００は三次元情報差分送信の処理を行い（ステップＳ１５０）、ステップＳ１４１の処理に戻る。 On the other hand, if a three-dimensional information difference is detected in step S144 (step S144, Yes), the three-dimensional information updating unit 108 updates the three-dimensional information (step S145). Next, the information processing apparatus 100 performs a three-dimensional information difference transmission process (step S150), and returns to the process of step S141.
　［三次元情報差分送信処理］
　図９は、本開示の第１の実施形態に係る三次元情報差分送信処理の処理手順の一例を示す図である。同図は、図８の三次元情報差分送信（ステップＳ１５０）の処理手順の一例を表す流れ図である。まず、圧縮処理部１１５が三次元情報差分を圧縮する（ステップＳ１５１）。次に、送信部１１６が圧縮された三次元情報差分を他の情報処理装置１００や第２の情報処理装置２００に送信する（ステップＳ１５２）。その後、情報処理装置１００は、元の処理に戻る。 [Three-dimensional information difference transmission process]
FIG. 9 is a diagram illustrating an example of a processing procedure of three-dimensional information difference transmission processing according to the first embodiment of the present disclosure. This figure is a flowchart showing an example of the processing procedure of three-dimensional information difference transmission (step S150) in FIG. First, the compression processing unit 115 compresses the three-dimensional information difference (step S151). Next, the transmitter 116 transmits the compressed three-dimensional information difference to the other information processing apparatus 100 and the second information processing apparatus 200 (step S152). After that, the information processing device 100 returns to the original processing.
　［位置情報差分受信処理］
　図１０は、本開示の第１の実施形態に係る位置情報差分受信処理の処理手順の一例を示す図である。同図は、情報処理装置１００における位置情報処理の処理手順の一例を表す流れ図である。まず、他の情報処理装置１００から送信された位置情報差分を受信部１１２が受信する（ステップＳ１６１）。次に、受信した位置情報差分に基づいて、位置情報更新部１１１が位置情報を更新する（ステップＳ１６２）。 [Location information difference reception processing]
FIG. 10 is a diagram illustrating an example of a processing procedure of position information difference reception processing according to the first embodiment of the present disclosure. FIG. 2 is a flowchart illustrating an example of a procedure for position information processing in the information processing apparatus 100. First, the receiving unit 112 receives the position information difference transmitted from another information processing device 100 (step S161). Next, the location information update unit 111 updates the location information based on the received location information difference (step S162).
　［三次元情報差分受信処理］
　図１１は、本開示の第１の実施形態に係る三次元情報差分受信処理の処理手順の一例を示す図である。同図は、情報処理装置１００における三次元情報差分受信処理の処理手順の一例を表す流れ図である。まず、他の情報処理装置１００から送信された三次元情報差分を受信部１１２が受信する（ステップＳ１７１）。次に、受信した三次元情報差分を伸長処理部１１３が伸長する（ステップＳ１７２）。次に、伸長された三次元情報差分に基づいて、三次元情報更新部１０８が三次元情報を更新する（ステップＳ１７３）。 [Three-dimensional information difference reception processing]
FIG. 11 is a diagram illustrating an example of a processing procedure of three-dimensional information difference reception processing according to the first embodiment of the present disclosure. This figure is a flowchart showing an example of a processing procedure of three-dimensional information difference reception processing in the information processing apparatus 100. First, the receiving unit 112 receives the three-dimensional information difference transmitted from another information processing device 100 (step S171). Next, the decompression processing unit 113 decompresses the received three-dimensional information difference (step S172). Next, the three-dimensional information updating unit 108 updates the three-dimensional information based on the expanded three-dimensional information difference (step S173).
　このように、本開示の第１の実施形態の情報処理装置１００は、作業領域２０の三次元情報を保持しながら作業領域２０の領域画像に基づく新たな三次元情報を生成し、保持した三次元情報との差分である三次元情報差分を生成して更新を行う。更に、情報処理装置１００は、この三次元情報差分を他の情報処理装置１００等に送信する。また、情報処理装置１００は、受信した三次元情報差分に基づいて保持する三次元情報を更に更新する。このように、複数の情報処理装置１００を含む情報処理システム１０は、三次元情報の差分のみを送受信するため、データの送信負荷を軽減することができる。 In this way, the information processing device 100 according to the first embodiment of the present disclosure generates new three-dimensional information based on the area image of the work area 20 while retaining the three-dimensional information of the work area 20, and generates new three-dimensional information based on the area image of the work area 20, and A three-dimensional information difference, which is a difference from the original information, is generated and updated. Furthermore, the information processing device 100 transmits this three-dimensional information difference to other information processing devices 100 and the like. Furthermore, the information processing apparatus 100 further updates the three-dimensional information held based on the received three-dimensional information difference. In this way, the information processing system 10 including the plurality of information processing apparatuses 100 transmits and receives only the differences in three-dimensional information, so that the data transmission load can be reduced.
　また、複数の情報処理装置１００が三次元情報差分を共通に送受信することにより、複数の情報処理装置１００が連携して作業領域２０の三次元情報を更新することができる。 Furthermore, by commonly transmitting and receiving the three-dimensional information difference between the plurality of information processing apparatuses 100, the plurality of information processing apparatuses 100 can cooperate to update the three-dimensional information in the work area 20.
　（２．第２の実施形態）
　上述の第１の実施形態の情報処理装置１００は、第２の情報処理装置２００に三次元情報差分を送信するとともに、他の情報処理装置１００との間において三次元情報差分の送受信を行っていた。これに対し、本開示の第２の実施形態の情報処理装置１００は、第２の情報処理装置２００にのみ三次元情報差分を送信する点で、上述の第１の実施形態と異なる。 (2. Second embodiment)
The information processing device 100 of the first embodiment described above transmits the three-dimensional information difference to the second information processing device 200, and also sends and receives the three-dimensional information difference to and from other information processing devices 100. Ta. In contrast, the information processing device 100 according to the second embodiment of the present disclosure differs from the above-described first embodiment in that the three-dimensional information difference is transmitted only to the second information processing device 200.
　［情報処理システムの構成］
　図１２は、本開示の第２の実施形態に係る情報処理システムの構成例を示す図である。同図は、図１Ａと同様に、情報処理システム１０の構成例を表す図である。同図の情報処理システム１０は、情報処理装置１００同士の三次元情報差分の送受信が省略される点で、図１Ａの情報処理システム１０と異なる。 [Information processing system configuration]
FIG. 12 is a diagram illustrating a configuration example of an information processing system according to the second embodiment of the present disclosure. This figure, like FIG. 1A, is a diagram showing a configuration example of the information processing system 10. The information processing system 10 in FIG. 1 differs from the information processing system 10 in FIG. 1A in that the transmission and reception of three-dimensional information differences between the information processing apparatuses 100 is omitted.
　同図の情報処理システム１０では、情報処理装置１００が生成する三次元情報差分は、第２の情報処理装置２００を経由して他の情報処理装置１００に伝達される。第２の情報処理装置２００には複数の情報処理装置１００からの三次元情報差分や位置情報が集約される。この集約される三次元情報差分等に基づいて、第２の情報処理装置２００は、個々の情報処理装置１００を制御することもできる。例えば、第２の情報処理装置２００は、三次元情報差分を送信する情報処理装置１００を選択することもできる。例えば、複数の情報処理装置１００において領域画像が重複する場合に、第２の情報処理装置２００は、重複する領域画像を生成する他の情報処理装置１００を除外して三次元情報差分を送信させることができる。 In the information processing system 10 shown in the figure, the three-dimensional information difference generated by the information processing device 100 is transmitted to the other information processing device 100 via the second information processing device 200. Three-dimensional information differences and position information from a plurality of information processing devices 100 are aggregated in the second information processing device 200 . The second information processing device 200 can also control the individual information processing devices 100 based on the aggregated three-dimensional information differences and the like. For example, the second information processing device 200 can also select the information processing device 100 to which the three-dimensional information difference is to be transmitted. For example, when area images overlap in a plurality of information processing apparatuses 100, the second information processing apparatus 200 excludes other information processing apparatuses 100 that generate overlapping area images and causes them to transmit three-dimensional information differences. be able to.
　また、第２の情報処理装置２００は、複数の情報処理装置１００のうち動きのある情報処理装置１００からの三次元情報差分等の受信を集中して行うこともできる。 Furthermore, the second information processing device 200 can also centrally receive three-dimensional information differences and the like from a moving information processing device 100 among the plurality of information processing devices 100.
　また、第２の情報処理装置２００が情報処理装置１００に対して撮像する領域を指示することもできる。この場合、不要な領域の三次元情報差分の生成を削減することができる。 Additionally, the second information processing device 200 can instruct the information processing device 100 about the area to be imaged. In this case, generation of three-dimensional information differences in unnecessary areas can be reduced.
　これ以外の情報処理システム１０の構成は本開示の第１の実施形態における情報処理システム１０の構成と同様であるため、説明を省略する。 The configuration of the information processing system 10 other than this is the same as the configuration of the information processing system 10 in the first embodiment of the present disclosure, so a description thereof will be omitted.
　このように、本開示の第２の実施形態の情報処理システム１０は、第２の情報処理装置２００が三次元情報差分を送信する情報処理装置１００を選択することにより、情報処理装置１００の処理負担を軽減することができる。 In this way, the information processing system 10 according to the second embodiment of the present disclosure allows the second information processing apparatus 200 to select the information processing apparatus 100 to which the three-dimensional information difference is to be transmitted. The burden can be reduced.
　（３．第３の実施形態）
　上述の第１の実施形態の情報処理装置１００は、第２の情報処理装置２００に三次元情報差分を送信していた。これに対し、本開示の第３の実施形態の情報処理装置１００は、第２の情報処理装置２００を経由せずにサーバ装置４０にデータを送信する点で、上述の第１の実施形態と異なる。 (3. Third embodiment)
The information processing device 100 of the first embodiment described above had transmitted the three-dimensional information difference to the second information processing device 200. In contrast, the information processing device 100 according to the third embodiment of the present disclosure is different from the first embodiment in that it transmits data to the server device 40 without going through the second information processing device 200. different.
　［情報処理システムの構成］
　図１３は、本開示の第３の実施形態に係る情報処理システムの構成例を示す図である。同図は、図１Ａと同様に、情報処理システム１０の構成例を表す図である。同図の情報処理システム１０は、第２の情報処理装置２００が省略される点で、図１Ａの情報処理システム１０と異なる。 [Information processing system configuration]
FIG. 13 is a diagram illustrating a configuration example of an information processing system according to a third embodiment of the present disclosure. This figure, like FIG. 1A, is a diagram showing a configuration example of the information processing system 10. The information processing system 10 in the figure differs from the information processing system 10 in FIG. 1A in that the second information processing device 200 is omitted.
　同図の情報処理装置１００は、三次元情報差分を送信する他の情報処理装置１００を自身が判断する。 The information processing device 100 in the same figure determines the other information processing device 100 to which the three-dimensional information difference is to be transmitted.
　［三次元情報の生成］
　図１４は、本開示の第３の実施形態に係る三次元情報の生成の一例を示す図である。同図は、複数の情報処理装置１００による三次元情報の生成を説明する図である。同図には、情報処理装置１００ａ、１００ｂ、１００ｃ及び１００ｄを記載した。これらのうち情報処理装置１００ａ、１００ｂ及び１００ｃが同一の物体４０２を撮像する場合を想定する。情報処理装置１００ａ、１００ｂ及び１００ｃは、互いの重複領域（物体４０２の領域）を認識し、当該領域の三次元情報差分の送信を行う情報処理装置１００を選択することができる。この選択された情報処理装置１００が代表して情報処理装置１００ｄやサーバ装置４０に重複領域の三次元情報差分等を送信する。 [Generation of three-dimensional information]
FIG. 14 is a diagram illustrating an example of generation of three-dimensional information according to the third embodiment of the present disclosure. This figure is a diagram illustrating generation of three-dimensional information by a plurality of information processing devices 100. In the figure, information processing devices 100a, 100b, 100c, and 100d are shown. It is assumed that among these, the information processing apparatuses 100a, 100b, and 100c image the same object 402. The information processing apparatuses 100a, 100b, and 100c can recognize each other's overlapping areas (areas of the object 402) and select the information processing apparatus 100 to which the three-dimensional information difference of the area is to be transmitted. The selected information processing device 100 sends the three-dimensional information difference of the overlapping area to the information processing device 100d and the server device 40 as a representative.
　これ以外の情報処理システム１０の構成は本開示の第１の実施形態における情報処理システム１０の構成と同様であるため、説明を省略する。 The configuration of the information processing system 10 other than this is the same as the configuration of the information processing system 10 in the first embodiment of the present disclosure, so a description thereof will be omitted.
　このように、本開示の第３の実施形態の情報処理システム１０は、情報処理装置１００自身が三次元情報差分の送受信を行う情報処理装置１００を判断し、能動的にデータのやり取りを行う。これにより、第２の情報処理装置２００を省略することができ、システムの構成を簡略化することができる。 In this manner, in the information processing system 10 of the third embodiment of the present disclosure, the information processing apparatus 100 itself determines the information processing apparatus 100 that transmits and receives the three-dimensional information difference, and actively exchanges data. Thereby, the second information processing device 200 can be omitted, and the system configuration can be simplified.
　以上、本開示の各実施形態について説明したが、本開示の技術的範囲は、上述の各実施形態そのままに限定されるものではなく、本開示の要旨を逸脱しない範囲において種々の変更が可能である。また、異なる実施形態及び変形例にわたる構成要素を適宜組み合わせてもよい。 Although each embodiment of the present disclosure has been described above, the technical scope of the present disclosure is not limited to each of the above-mentioned embodiments as is, and various changes can be made without departing from the gist of the present disclosure. be. Furthermore, components of different embodiments and modifications may be combined as appropriate.
　なお、本明細書に記載された効果はあくまで例示であって限定されるものでは無く、また他の効果があってもよい。 Note that the effects described in this specification are merely examples and are not limiting, and other effects may also exist.
　なお、本技術は以下のような構成も取ることができる。
（１）
　配置された物体の形状を含む作業領域の地形の三次元情報を保持する情報処理装置であって、
　前記三次元情報を保持する三次元情報保持部と、
　前記作業領域に含まれる領域を撮像して領域画像を生成する撮像部と、
　自身の情報処理装置の位置の情報である位置情報を生成する位置情報生成部と、
　前記生成された領域画像及び前記生成された位置情報に基づいて三次元情報を生成する三次元情報生成部と、
　前記生成された三次元情報と前記保持された三次元情報との差分である三次元情報差分を検出する三次元情報差分検出部と、
　前記三次元情報差分を他の前記情報処理装置に送信する送信部と、
　他の前記情報処理装置から送信された前記三次元情報差分を受信する受信部と、
　前記検出された三次元情報差分に基づく前記保持された三次元情報の更新と前記受信された三次元情報差分に基づく前記保持された三次元情報の更新とを行う三次元情報更新部と
　を有する情報処理装置。
（２）
　前記生成された自身の情報処理装置の位置情報及び他の前記情報処理装置の位置情報を保持する位置情報保持部と、
　前記生成された自身の情報処理装置の位置情報と前記保持された自身の情報処理装置の位置情報との差分である位置情報差分を検出する位置情報差分検出部と、
　前記検出された位置情報差分に基づく前記保持された位置情報の更新を行う位置情報更新部と
　を更に有し、
　前記送信部は、前記位置情報差分を他の前記情報処理装置に更に送信し、
　前記受信部は、他の前記情報処理装置から送信された前記位置情報差分を更に受信し、
　前記位置情報更新部は、前記受信した位置情報差分に基づく前記保持された他の前記情報処理装置の位置情報の更新を更に行う
　前記（１）に記載の情報処理装置。
（３）
　前記三次元情報差分を送信する他の前記情報処理装置を前記保持された位置情報に基づいて選択する選択部を更に有し、
　前記送信部は、前記位置情報差分を前記選択された他の前記情報処理装置に送信する
　前記（２）に記載の情報処理装置。
（４）
　前記選択部は、同一の前記作業領域に含まれる他の前記情報処理装置を選択する前記（３）に記載の情報処理装置。
（５）
　前記選択部は、自身の前記領域画像とは異なる領域を撮像する他の前記情報処理装置を選択する前記（３）に記載の情報処理装置。
（６）
　前記三次元情報保持部は、点群データにより構成された前記三次元情報を保持し、
　前記三次元情報生成部は、点群データにより構成された前記三次元情報を生成する
　前記（１）から（５）の何れかに記載の情報処理装置。
（７）
　配置された物体の形状を含む作業領域の地形の三次元情報を保持する複数の情報処理装置を有する情報処理システムであって、
　前記情報処理装置は、前記三次元情報を保持する三次元情報保持部と、前記作業領域に含まれる領域を撮像して領域画像を生成する撮像部と、自身の情報処理装置の位置の情報である位置情報を生成する位置情報生成部と、前記生成された領域画像及び前記生成された位置情報に基づいて三次元情報を生成する三次元情報生成部と、前記生成された三次元情報と前記保持された三次元情報との差分である三次元情報差分を検出する三次元情報差分検出部と、前記三次元情報差分を他の前記情報処理装置に送信する送信部と、他の前記情報処理装置から送信された前記三次元情報差分を受信する受信部と、前記検出された三次元情報差分に基づく前記保持された三次元情報の更新と前記受信された三次元情報差分に基づく前記保持された三次元情報の更新とを行う三次元情報更新部とを備える
　情報処理システム。
（８）
　前記三次元情報を保持する三次元情報保持部と、前記情報処理装置から送信された前記三次元情報差分を受信する受信部と、前記受信された三次元情報差分に基づく前記保持された三次元情報の更新を行う三次元情報更新部とを備える第２の情報処理装置を更に有し、
　前記情報処理装置の前記送信部は、前記三次元情報差分を前記第２の情報処理装置に更に送信する
　前記（７）に記載の情報処理システム。
（９）
　配置された物体の形状を含む作業領域の地形の三次元情報を保持することと、
　前記作業領域に含まれる領域の画像を撮像することと、
　自身の情報処理装置の位置の情報である位置情報を生成することと、
　前記生成された領域画像及び前記生成された位置情報に基づいて三次元情報を生成することと、
　前記生成された三次元情報と前記保持された三次元情報との差分である三次元情報差分を検出することと、
　前記三次元情報差分を他の前記情報処理装置に送信することと、
　他の前記情報処理装置から送信された前記三次元情報差分を受信することと、
　前記検出された三次元情報差分に基づく前記保持された三次元情報の更新と前記受信された三次元情報差分に基づく前記保持された三次元情報の更新とを行うことと
　を含む情報処理方法。 Note that the present technology can also have the following configuration.
(1)
An information processing device that holds three-dimensional information of the topography of a work area including the shape of placed objects,
a three-dimensional information holding unit that holds the three-dimensional information;
an imaging unit that captures an image of an area included in the work area to generate an area image;
a location information generation unit that generates location information that is information on the location of its own information processing device;
a three-dimensional information generation unit that generates three-dimensional information based on the generated area image and the generated position information;
a three-dimensional information difference detection unit that detects a three-dimensional information difference that is a difference between the generated three-dimensional information and the held three-dimensional information;
a transmitting unit that transmits the three-dimensional information difference to another of the information processing devices;
a receiving unit that receives the three-dimensional information difference transmitted from the other information processing device;
a three-dimensional information update unit that updates the retained three-dimensional information based on the detected three-dimensional information difference and updates the retained three-dimensional information based on the received three-dimensional information difference. Information processing device.
(2)
a location information holding unit that holds the generated location information of the own information processing device and the location information of other information processing devices;
a position information difference detection unit that detects a position information difference that is a difference between the generated position information of the own information processing device and the held position information of the own information processing device;
further comprising a location information update unit that updates the held location information based on the detected location information difference;
The transmitting unit further transmits the position information difference to another of the information processing devices,
The receiving unit further receives the position information difference transmitted from the other information processing device,
The information processing device according to (1), wherein the location information updating unit further updates the held location information of the other information processing device based on the received location information difference.
(3)
further comprising a selection unit that selects another of the information processing devices to which the three-dimensional information difference is to be transmitted, based on the held position information;
The information processing device according to (2), wherein the transmitting unit transmits the position information difference to the selected other information processing device.
(4)
The information processing device according to (3), wherein the selection unit selects another of the information processing devices included in the same work area.
(5)
The information processing device according to (3), wherein the selection unit selects another information processing device that captures an area different from the area image of the selection unit.
(6)
The three-dimensional information holding unit holds the three-dimensional information configured by point cloud data,
The information processing device according to any one of (1) to (5), wherein the three-dimensional information generation unit generates the three-dimensional information configured by point cloud data.
(7)
An information processing system having a plurality of information processing devices that hold three-dimensional information of the topography of a work area including the shapes of placed objects,
The information processing device includes a three-dimensional information holding unit that holds the three-dimensional information, an imaging unit that images an area included in the work area to generate an area image, and information on the position of its own information processing device. a position information generation unit that generates certain position information; a three-dimensional information generation unit that generates three-dimensional information based on the generated area image and the generated position information; a three-dimensional information difference detection unit that detects a three-dimensional information difference that is a difference from the held three-dimensional information; a transmitting unit that transmits the three-dimensional information difference to another of the information processing devices; and another of the information processing devices. a receiving unit that receives the three-dimensional information difference transmitted from the device; updating the retained three-dimensional information based on the detected three-dimensional information difference; and updating the retained three-dimensional information based on the received three-dimensional information difference. and a three-dimensional information updating unit that updates three-dimensional information.
(8)
a three-dimensional information holding unit that holds the three-dimensional information; a receiving unit that receives the three-dimensional information difference transmitted from the information processing device; and a three-dimensional information storage unit that holds the three-dimensional information based on the received three-dimensional information difference. further comprising a second information processing device including a three-dimensional information update unit that updates information;
The information processing system according to (7), wherein the transmitter of the information processing device further transmits the three-dimensional information difference to the second information processing device.
(9)
retaining three-dimensional information of the topography of the work area including the shape of placed objects;
capturing an image of an area included in the work area;
Generating location information that is information on the location of its own information processing device;
Generating three-dimensional information based on the generated area image and the generated position information;
detecting a three-dimensional information difference that is a difference between the generated three-dimensional information and the retained three-dimensional information;
transmitting the three-dimensional information difference to another of the information processing devices;
receiving the three-dimensional information difference transmitted from the other information processing device;
An information processing method comprising: updating the retained three-dimensional information based on the detected three-dimensional information difference; and updating the retained three-dimensional information based on the received three-dimensional information difference.
　１０　情報処理システム
　２０　作業領域
　４０　サーバ装置
　１００、１００ａ、１００ｂ、１００ｃ、１００ｄ　情報処理装置
　１０１　撮像部
　１０３　点群データ生成部
　１０４　位置センサ
　１０６　位置情報生成部
　１０７　三次元情報差分検出部
　１０８　三次元情報更新部
　１０９　三次元情報保持部
　１１０　位置情報差分検出部
　１１１　位置情報更新部
　１１２　受信部
　１１４　選択部
　１１６　送信部
　１１７　位置情報保持部
　２００　第２の情報処理装置
　２０１　受信部
　２０２　送信部
　２０４　三次元情報更新部
　２０６　三次元情報保持部
　２０７　通信部 10 Information processing system 20 Work area 40 Server device 100, 100a, 100b, 100c, 100d Information processing device 101 Imaging unit 103 Point cloud data generation unit 104 Position sensor 106 Position information generation unit 107 Three-dimensional information difference detection unit 108 Three-dimensional information Update section 109 Three-dimensional information holding section 110 Location information difference detection section 111 Location information updating section 112 Receiving section 114 Selection section 116 Transmitting section 117 Position information holding section 200 Second information processing device 201 Receiving section 202 Transmitting section 204 Three-dimensional information Update section 206 Three-dimensional information holding section 207 Communication section

Claims (9)

  1. 　配置された物体の形状を含む作業領域の地形の三次元情報を保持する情報処理装置であって、
    　前記三次元情報を保持する三次元情報保持部と、
    　前記作業領域に含まれる領域を撮像して領域画像を生成する撮像部と、
    　自身の情報処理装置の位置の情報である位置情報を生成する位置情報生成部と、
    　前記生成された領域画像及び前記生成された位置情報に基づいて三次元情報を生成する三次元情報生成部と、
    　前記生成された三次元情報と前記保持された三次元情報との差分である三次元情報差分を検出する三次元情報差分検出部と、
    　前記三次元情報差分を他の前記情報処理装置に送信する送信部と、
    　他の前記情報処理装置から送信された前記三次元情報差分を受信する受信部と、
    　前記検出された三次元情報差分に基づく前記保持された三次元情報の更新と前記受信された三次元情報差分に基づく前記保持された三次元情報の更新とを行う三次元情報更新部と
    　を有する情報処理装置。     An information processing device that holds three-dimensional information of the topography of a work area including the shape of placed objects,
    a three-dimensional information holding unit that holds the three-dimensional information;
    an imaging unit that captures an image of an area included in the work area to generate an area image;
    a location information generation unit that generates location information that is information on the location of its own information processing device;
    a three-dimensional information generation unit that generates three-dimensional information based on the generated area image and the generated position information;
    a three-dimensional information difference detection unit that detects a three-dimensional information difference that is a difference between the generated three-dimensional information and the held three-dimensional information;
    a transmitting unit that transmits the three-dimensional information difference to another of the information processing devices;
    a receiving unit that receives the three-dimensional information difference transmitted from the other information processing device;
    a three-dimensional information update unit that updates the retained three-dimensional information based on the detected three-dimensional information difference and updates the retained three-dimensional information based on the received three-dimensional information difference. Information processing device.
  2. 　前記生成された自身の情報処理装置の位置情報及び他の前記情報処理装置の位置情報を保持する位置情報保持部と、
    　前記生成された自身の情報処理装置の位置情報と前記保持された自身の情報処理装置の位置情報との差分である位置情報差分を検出する位置情報差分検出部と、
    　前記検出された位置情報差分に基づく前記保持された位置情報の更新を行う位置情報更新部と
    　を更に有し、
    　前記送信部は、前記位置情報差分を他の前記情報処理装置に更に送信し、
    　前記受信部は、他の前記情報処理装置から送信された前記位置情報差分を更に受信し、
    　前記位置情報更新部は、前記受信した位置情報差分に基づく前記保持された他の前記情報処理装置の位置情報の更新を更に行う
    　請求項１に記載の情報処理装置。     a location information holding unit that holds the generated location information of the own information processing device and the location information of other information processing devices;
    a position information difference detection unit that detects a position information difference that is a difference between the generated position information of the own information processing device and the held position information of the own information processing device;
    further comprising a location information update unit that updates the held location information based on the detected location information difference;
    The transmitting unit further transmits the position information difference to another of the information processing devices,
    The receiving unit further receives the position information difference transmitted from the other information processing device,
    The information processing device according to claim 1, wherein the location information updating unit further updates the held location information of the other information processing device based on the received location information difference.
  3. 　前記三次元情報差分を送信する他の前記情報処理装置を前記保持された位置情報に基づいて選択する選択部を更に有し、
    　前記送信部は、前記位置情報差分を前記選択された他の前記情報処理装置に送信する
    　請求項２に記載の情報処理装置。     further comprising a selection unit that selects another of the information processing devices to which the three-dimensional information difference is to be transmitted, based on the held position information;
    The information processing device according to claim 2, wherein the transmitting unit transmits the position information difference to the other selected information processing device.
  4. 　前記選択部は、同一の前記作業領域に含まれる他の前記情報処理装置を選択する請求項３に記載の情報処理装置。 The information processing device according to claim 3, wherein the selection unit selects another of the information processing devices included in the same work area.
  5. 　前記選択部は、自身の前記領域画像とは異なる領域を撮像する他の前記情報処理装置を選択する請求項３に記載の情報処理装置。 The information processing device according to claim 3, wherein the selection unit selects another information processing device that captures an area different from the area image of the information processing device.
  6. 　前記三次元情報保持部は、点群データにより構成された前記三次元情報を保持し、
    　前記三次元情報生成部は、点群データにより構成された前記三次元情報を生成する
    　請求項１に記載の情報処理装置。     The three-dimensional information holding unit holds the three-dimensional information configured by point cloud data,
    The information processing device according to claim 1, wherein the three-dimensional information generation unit generates the three-dimensional information configured by point cloud data.
  7. 　配置された物体の形状を含む作業領域の地形の三次元情報を保持する複数の情報処理装置を有する情報処理システムであって、
    　前記情報処理装置は、前記三次元情報を保持する三次元情報保持部と、前記作業領域に含まれる領域を撮像して領域画像を生成する撮像部と、自身の情報処理装置の位置の情報である位置情報を生成する位置情報生成部と、前記生成された領域画像及び前記生成された位置情報に基づいて三次元情報を生成する三次元情報生成部と、前記生成された三次元情報と前記保持された三次元情報との差分である三次元情報差分を検出する三次元情報差分検出部と、前記三次元情報差分を他の前記情報処理装置に送信する送信部と、他の前記情報処理装置から送信された前記三次元情報差分を受信する受信部と、前記検出された三次元情報差分に基づく前記保持された三次元情報の更新と前記受信された三次元情報差分に基づく前記保持された三次元情報の更新とを行う三次元情報更新部とを備える
    　情報処理システム。     An information processing system having a plurality of information processing devices that hold three-dimensional information of the topography of a work area including the shapes of placed objects,
    The information processing device includes a three-dimensional information holding unit that holds the three-dimensional information, an imaging unit that images an area included in the work area to generate an area image, and information on the position of its own information processing device. a position information generation unit that generates certain position information; a three-dimensional information generation unit that generates three-dimensional information based on the generated area image and the generated position information; a three-dimensional information difference detection unit that detects a three-dimensional information difference that is a difference from the held three-dimensional information; a transmitting unit that transmits the three-dimensional information difference to another of the information processing devices; and another of the information processing devices. a receiving unit that receives the three-dimensional information difference transmitted from the device; updating the retained three-dimensional information based on the detected three-dimensional information difference; and updating the retained three-dimensional information based on the received three-dimensional information difference. and a three-dimensional information updating unit that updates three-dimensional information.
  8. 　前記三次元情報を保持する三次元情報保持部と、前記情報処理装置から送信された前記三次元情報差分を受信する受信部と、前記受信された三次元情報差分に基づく前記保持された三次元情報の更新を行う三次元情報更新部とを備える第２の情報処理装置を更に有し、
    　前記情報処理装置の前記送信部は、前記三次元情報差分を前記第２の情報処理装置に更に送信する
    　請求項７に記載の情報処理システム。     a three-dimensional information holding unit that holds the three-dimensional information; a receiving unit that receives the three-dimensional information difference transmitted from the information processing device; and a three-dimensional information storage unit that holds the three-dimensional information based on the received three-dimensional information difference. further comprising a second information processing device including a three-dimensional information update unit that updates information;
    The information processing system according to claim 7, wherein the transmitter of the information processing device further transmits the three-dimensional information difference to the second information processing device.
  9. 　配置された物体の形状を含む作業領域の地形の三次元情報を保持することと、
    　前記作業領域に含まれる領域の画像を撮像することと、
    　自身の情報処理装置の位置の情報である位置情報を生成することと、
    　前記生成された領域画像及び前記生成された位置情報に基づいて三次元情報を生成することと、
    　前記生成された三次元情報と前記保持された三次元情報との差分である三次元情報差分を検出することと、
    　前記三次元情報差分を他の前記情報処理装置に送信することと、
    　他の前記情報処理装置から送信された前記三次元情報差分を受信することと、
    　前記検出された三次元情報差分に基づく前記保持された三次元情報の更新と前記受信された三次元情報差分に基づく前記保持された三次元情報の更新とを行うことと
    　を含む情報処理方法。     retaining three-dimensional information of the topography of the work area including the shape of placed objects;
    capturing an image of an area included in the work area;
    Generating location information that is information on the location of its own information processing device;
    Generating three-dimensional information based on the generated area image and the generated position information;
    detecting a three-dimensional information difference that is a difference between the generated three-dimensional information and the retained three-dimensional information;
    transmitting the three-dimensional information difference to another of the information processing devices;
    receiving the three-dimensional information difference transmitted from the other information processing device;
    An information processing method comprising: updating the retained three-dimensional information based on the detected three-dimensional information difference; and updating the retained three-dimensional information based on the received three-dimensional information difference.
PCT/JP2023/015732 2022-05-02 2023-04-20 Information processing device, information processing system, and information processing method WO2023214510A1 (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016012168A (en) * 2014-06-27 2016-01-21 株式会社デジタル Information sharing system
JP2016045609A (en) * 2014-08-21 2016-04-04 パナソニックＩｐマネジメント株式会社 Information management system, vehicle and information management method
JP2021177317A (en) * 2020-05-08 2021-11-11 シンメトリー・ディメンションズ・インク Three-dimensional model construction system and three-dimensional model construction method

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016012168A (en) * 2014-06-27 2016-01-21 株式会社デジタル Information sharing system
JP2016045609A (en) * 2014-08-21 2016-04-04 パナソニックＩｐマネジメント株式会社 Information management system, vehicle and information management method
JP2021177317A (en) * 2020-05-08 2021-11-11 シンメトリー・ディメンションズ・インク Three-dimensional model construction system and three-dimensional model construction method

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