Information processing apparatus, information processing method, and program product

Abstract

An information processing device is provided with: a virtual map storage unit that stores a three-dimensional virtual map corresponding to an actual space; a map information acquisition unit that acquires map information of the actual space from a plurality of moving bodies that move in the actual space; a different point extraction unit that extracts different points from the virtual map for each piece of map information; and a virtual map updating unit that updates the virtual map on the basis of different points when the different points are extracted at the same location in the two or more pieces of map information. The map information acquisition unit can acquire map information for each location in an actual space from a plurality of moving bodies moving in the actual space. The different point extraction unit can determine the similarity between the map information in the same location and different points in the virtual map. The virtual map update unit may update the virtual map based on the similarity.

Description

Technical Field

[0001] This invention relates to information processing apparatus, information processing method, and program products. Background Technology

[0002] Patent document 1 states that "the map is a three-dimensional map" (claim 8). Patent document 2 describes "generating three-dimensional environment map information based on distance information obtained by a distance sensor" (claim 1). Patent document 3 describes "dynamically generating an environmental map that represents the three-dimensional position of objects existing in actual space" (paragraph 0034). Patent document 4 describes "using the sensor data and the map data to estimate the position of the moving body" (claim 1). Patent document 5 describes "generating an updated environmental map in accordance with the adoption or rejection instruction, indicating whether the updated part is adopted or discarded" (claim 1). Patent document 6 describes a "three-dimensional map generation unit for generating three-dimensional maps" (claim 1). Patent document 7 describes that "the driving path setting device calculates undetected areas representing terrain portions that cannot be measured by the surrounding monitoring sensors" (claim 1). Existing technical documents Patent Document 1: Japanese Patent No. 7452706 Patent Document 2: Japanese Patent Publication No. 2014-157478 Patent Document 3: Japanese Patent Publication No. 2024-62741 Patent Document 4: International Publication No. 2018 / 179960 Patent Document 5: Japanese Patent Publication No. 2009-169845 Patent Document 6: International Publication No. 2021 / 111613 Patent Document 7: Japanese Patent Publication No. 2023-42673 Summary of the Invention

[0003] In a first aspect of the present invention, an information processing apparatus is provided. The information processing apparatus includes: a virtual map storage unit that stores a three-dimensional virtual map corresponding to an actual space; a map information acquisition unit that acquires map information of the actual space from a plurality of moving bodies moving in the actual space; a difference point extraction unit that extracts differences between the virtual map and each map information; and a virtual map updating unit that updates the virtual map based on the differences when differences are extracted in the same location from two or more map information.

[0004] The map information acquisition unit can acquire map information for various locations in the actual space from multiple moving bodies moving in the actual space. The difference point extraction unit can determine the similarity between the map information of the same location and the differences between points on the virtual map. The virtual map update unit can update the virtual map based on the similarity.

[0005] In any of the aforementioned information processing devices, the difference point extraction unit can determine the similarity based on the resolution of images captured by multiple moving objects. The images are map information.

[0006] In any of the above information processing devices, the different point extraction unit can determine the similarity based on the accuracy of obtaining the locations of multiple moving bodies.

[0007] In any of the aforementioned information processing devices, the map information acquisition unit can acquire the time at which map information was acquired at the same location. The difference point extraction unit can extract differences based on similarity and time.

[0008] Any of the above-mentioned information processing devices may further include: a receiving unit that receives a designation on a virtual map for a first location to which the mobile body should move or a second location to which it should not move; and a movement path generation unit that generates a predetermined movement path for the mobile body based on the designated first or second location and the current position of the mobile body. If the virtual map updating unit updates the virtual map, the movement path generation unit can update the predetermined movement path.

[0009] In any of the aforementioned information processing devices, the virtual map storage unit can store characteristic information of a hypothetical movement path for a mobile body moving in the actual space. Any of the aforementioned information processing devices may also include a movement path generation unit that generates a predetermined movement path for the mobile body based on its movement performance and characteristic information. When the virtual map update unit updates the virtual map, the movement path generation unit can update the predetermined movement path.

[0010] Any of the aforementioned information processing devices may further include a motion information acquisition unit that acquires motion information related to the movement of a mobile body in the actual space. When the mobile body autonomously moves along a predetermined movement path to avoid obstacles by detecting obstacles in the actual space, and the motion information acquisition unit acquires information that the mobile body has deviated from the predetermined movement path due to the detection of obstacles, the movement path generation unit may further update the predetermined movement path.

[0011] Any of the above-mentioned information processing devices may further include a display unit that displays the position of the deviation of the moving body from the predetermined moving path when the moving body deviates from the predetermined moving path.

[0012] In any of the aforementioned information processing devices, the different point extraction unit can obtain the number of extractions of different points in the same location. Any of the aforementioned information processing devices may also include a display unit that displays a predetermined number of extractions in the same location if the number of extractions exceeds a predetermined number.

[0013] Any of the above-mentioned information processing devices may further include: a motion information acquisition unit for acquiring motion information related to the movement of a moving body in actual space; and a display unit for displaying the motion information on a virtual map containing the initial position and target position of the moving body.

[0014] In any of the above information processing devices, the movement information may include at least one of the following: information on the actual space that the moving body has moved through, information on the actual space that the moving body will move to, and the position information of the moving body.

[0015] Any of the above-mentioned information processing devices may further include: a measuring instrument information acquisition unit, which acquires measuring instrument information of the measuring instruments present in the actual space from the moving body; and a display unit, which displays the measuring instrument information.

[0016] In any of the above-mentioned information processing devices, the measuring instrument information acquisition unit can acquire measuring instrument information acquired by the moving body. The measuring instrument information acquisition unit can also acquire the position of the moving body when it acquires the measuring instrument information. The display unit can display the position of the moving body.

[0017] A second aspect of the present invention provides an information processing method. The information processing method includes: a virtual map storage stage, storing a three-dimensional virtual map corresponding to an actual space; a map information acquisition stage, acquiring map information of the actual space from multiple moving bodies moving in the actual space; a difference point extraction stage, extracting differences between each map information and the virtual map; and a virtual map update stage, updating the virtual map based on the differences when differences have been extracted from the same location in two or more map information sets.

[0018] In a third aspect of the invention, a program product is provided. This program product includes an information processing program for causing a computer to perform an information processing method.

[0019] Furthermore, the above summary of the invention does not list all the features of the invention. In addition, sub-combinations of these feature groups can also constitute inventions. Attached Figure Description

[0020] Figure 1 It is a schematic top view of the actual space 110 representing the movement of multiple moving bodies 90. Figure 2It is a stereoscopic view representing an example of a three-dimensional virtual map 120 corresponding to the actual space 110. Figure 3 This is a block diagram representing an example of an information processing device 100. Figure 4 This is a diagram illustrating an example of the display mode of the display unit 70. Figure 5 This is a schematic top view representing another example of actual space 110. Figure 6 This is another example of virtual map 120. Figure 7 This refers to the actual spatial information storage unit 12 (refer to...) Figure 3 A diagram illustrating an example of a storage method. Figure 8 This is a flowchart illustrating an example of an information processing method according to an embodiment of the present invention. Figure 9 This is a diagram illustrating an example of the structure of a computer 1200 that can implement the present invention in whole or in part. Detailed Implementation

[0021] The present invention will now be described through embodiments thereof, but these embodiments do not limit the invention as defined in the claims. Furthermore, not all combinations of the features described in the embodiments are necessary for the solution of the invention.

[0022] Figure 1 This is a schematic top view illustrating an example of the actual space 110 in which multiple moving bodies 90 move. Figure 1 In the example, the multiple moving bodies 90 are moving bodies 90-1 to 90-3. The actual space 110 is, for example, a space such as a factory. The actual space 110 can be an indoor space or an outdoor space. The actual space 110 can be a space that is difficult to enter due to the influence of the environment such as radiation or harmful gases, or a space that is difficult to enter due to the presence of obstacles.

[0023] A road surface 112 can be configured in the actual space 110, and a structure 114 can be provided. If the actual space 110 is a space such as a factory, the road surface 112 is the floor of that factory. The structure 114 is, for example, a measuring instrument, a manufacturing device, or spare parts. The mobile body 90 can travel on the road surface 112.

[0024] The mobile body 90 can be an autonomous robot or a robot that can be remotely controlled by a user of the information processing device 100 (described later). The mobile body 90 can be a quadruped robot that moves while in contact with the road surface 112, a tracked or wheeled robot, or a drone that moves in the air. The mobile body 90 can be a robot that patrols in the physical space 110.

[0025] Mobile body 90 may have a map acquisition unit 92 that acquires map information of the actual space 110. Each of the plurality of mobile bodies 90 may have a map acquisition unit 92 that acquires map information of the actual space 110. In this example, mobile bodies 90-1 to 90-3 each have map acquisition units 92-1 to 92-3. The map information is information relating to the physical quantities of objects in the actual space 110. The object may be at least one of road surface 112 and structure 114.

[0026] The physical quantities of the object include, for example, the location, shape, slope, width, temperature, and condition of the road surface 112, as well as whether there are obstacles or the location, shape, and size of structures 114 on the road surface 112. The location of the object can be the relative location between multiple objects, the relative location to a set reference location, or the absolute location such as latitude and longitude.

[0027] The condition of the road surface 112 can be the unevenness of the road surface 112, the presence or absence of cracks, the wetness of the road surface 112, or the presence or absence of foreign objects such as sand on the road surface 112. Obstacles on the road surface 112 can refer to objects larger than a preset size (e.g., at least one of width, depth, and height), or objects that prevent the moving body 90 from moving due to their presence.

[0028] The physical quantities of the object may include the temperature, humidity, and concentration of a specific gas (e.g., carbon dioxide) in the actual space 110. The map acquisition unit 92 can acquire information related to the physical quantities of the object in the actual space 110. The map acquisition unit 92 may be a sensor that acquires this information, or it may be a camera unit that captures an image representing this information (described later). When the map acquisition unit 92 is a camera unit, each of the moving bodies 90-1 to 90-3 has a camera unit.

[0029] The map acquisition unit 92 can also detect areas where the moving body 90 can move and areas where it cannot move, and acquire map information based on the detection results. The map acquisition unit 92 can determine that there is a road surface 112 in an area where the moving body 90 can move, and that there is a structure 114 or obstacle in an area where the moving body 90 cannot move. The map acquisition unit 92 can also acquire map information based on the movement results of the moving body 90 and images of the surrounding environment acquired by the imaging unit. For example, the map acquisition unit 92 can also acquire physical quantities such as the position, shape, and size of the structure 114 or obstacle that hinders the movement of the moving body 90 based on images acquired when the moving body 90 is unable to move.

[0030] Multiple mobile bodies 90 may have a location information acquisition unit 94 that acquires the location of the mobile bodies 90 in the actual space 110. The location information acquisition unit 94 is, for example, a GPS (Global Positioning System). Figure 1 In the example, the mobile bodies 90-1 to 90-3 each have a position information acquisition unit 94-1 to a position information acquisition unit 94-3.

[0031] In this specification, orthogonal coordinate axes of X, Y, and Z are sometimes used to describe technical matters. In this specification, the plane parallel to road surface 112 is designated as the XY plane, and the direction perpendicular to road surface 112 is designated as the Z-axis direction. In this specification, any direction within the XY plane is designated as the X-axis direction, and any direction within the XY plane orthogonal to the X-axis is designated as the Y-axis direction. The Z-axis direction can be a direction parallel to the vertical direction, and the XY plane can be a horizontal plane.

[0032] Figure 2 This is a stereoscopic view representing an example of a three-dimensional virtual map 120 corresponding to the actual space 110. The virtual map 120 can be an existing map or a map created based on map information acquired by the map acquisition unit 92 of the moving body 90. Existing maps include, for example, CAD data when the actual space 110 is constructed, Google Maps, etc. Maps created based on map information acquired by the map acquisition unit 92 are, for example, maps created using SLAM (Simultaneous Localization and Mapping) technology. Figure 2 This represents the area in the virtual map 120 that corresponds to the actual space 110. The virtual map 120 contains information corresponding to objects in the actual space 110. These objects are either the road surface 112 or the structure 114 in the actual space 110. Figure 2 In China, only for... Figure 1The structure 114-6 corresponds to the reference numeral for structure 114. The virtual map 120 can contain the same information as the map information in the actual space 110. That is, the virtual map 120 can contain information related to the physical quantities of objects in the actual space 110.

[0033] On the virtual map 120, at least one of the following can be specified: a first location P1 to which the mobile body 90 should move, and a second location P2 to which the mobile body 90 should not move. Figure 2 In the diagram, the dashed line represents an example of the first location P1, and the dotted line represents an example of the second location P2.

[0034] The first location P1 is, for example, a location in the physical space 110 where the user of the information processing device 100 (described later) wants the mobile body 90 to obtain map information. In cases where the physical space 110 is difficult for a person to enter, and an unexpected event occurs in a specific first location P1 within the physical space 110, the user may sometimes want to obtain map information from the first location P1 within the physical space 110. In such cases, the user can designate the first location P1 as the location where the mobile body 90 should move. The second location P2 is, for example, a dangerous area or a prohibited area within the physical space 110. When the second location P2 is such a location, the user of the information processing device 100 (described later) can designate the second location P2 as a location where the mobile body 90 should not move.

[0035] The first location P1 and the second location P2 can be pre-defined areas within the actual space 110. These areas can be areas on the road surface 112. In the case where the mobile body 90 is a drone, the first location P1 and the second location P2 can be areas within the pre-defined space of the actual space 110, or they can be spatial areas with volume. A spatial area with volume is, for example, the space of one or more rooms located within the actual space 110.

[0036] Figure 3 This is a block diagram illustrating an example of an information processing device 100. The information processing device 100 includes a virtual map storage unit 10, a map information acquisition unit 20, a difference point extraction unit 30, a virtual map updating unit 40, and a control unit 50. The information processing device 100 may also include a physical space information storage unit 12, a movement path generation unit 60, a receiving unit 62, a movement information acquisition unit 64, a measuring instrument information acquisition unit 68, and a display unit 70. The display unit 70 may be, for example, a monitor, a smartphone screen, etc.

[0037] A portion or all of the information processing device 100 may be implemented by a computer. The control unit 50 may be the CPU (Central Processing Unit) of the computer. When the information processing device 100 is implemented by a computer, an information processing program for enabling the computer to function as the information processing device 100 may be installed in the computer, and an information processing program for executing the information processing methods described later may also be installed in the computer.

[0038] The map information acquisition unit 20 acquires map information of the actual space 110 from multiple mobile bodies 90. The map information acquisition unit 20 can wirelessly acquire map information acquired by the map acquisition unit 92 of each mobile body 90. The map information acquisition unit 20 can acquire map information acquired by each of the multiple mobile bodies 90 individually. The map information acquisition unit 20 can acquire map information at various locations within the actual space 110 from multiple mobile bodies 90 moving within the actual space 110. The map acquisition unit 92 of each mobile body 90 can acquire map information continuously while moving within the actual space 110. The map information acquisition unit 20 can continuously acquire map information acquired by the mobile bodies 90 while they are moving.

[0039] The map information acquisition unit 20 can wirelessly acquire the location information acquired by the location information acquisition unit 94 of the mobile body 90. The map information acquisition unit 20 can acquire the location information acquired by each of multiple mobile bodies 90. The map information acquisition unit 20 can acquire the location information of each of multiple mobile bodies 90 moving within the physical space 110. While a mobile body 90 is moving within the physical space 110, the location information acquisition unit 94 can acquire its position within the physical space 110 at any time. The map information acquisition unit 20 can acquire location information that the mobile body 90 acquires while moving.

[0040] The virtual map storage unit 10 stores the virtual map 120. The map information acquisition unit 20 can acquire the virtual map 120 via the Internet. The virtual map storage unit 10 can store the virtual map 120 acquired by the map information acquisition unit 20.

[0041] The difference extraction unit 30 extracts the differences between the map information of the actual space 110 obtained by each of the multiple moving bodies 90 and the virtual map 120. The difference extraction unit 30 can extract the differences between the map information of the actual space 110 and the virtual map 120 based on the physical quantities of the objects in the map information of the actual space 110 and the physical quantities of the objects in the virtual map 120.

[0042] For example, the difference point extraction unit 30 can compare the presence or absence of structures 114 or obstacles disposed on the road surface 112 in the map information of the actual space 110 and the virtual map 120. As a more specific example, if an obstacle exists in the map information of the actual space 110 but does not exist in the virtual map 120, the difference point extraction unit 30 can determine that there is a difference point between the presence and absence of the obstacle at the location where the obstacle exists in the actual space 110.

[0043] In other examples, the difference point extraction unit 30 can compare the configuration of the road surface 112 in the map information of the actual space 110 and the virtual map 120. The configuration of the road surface 112 includes, for example, the location of the road surface 112 at an intersection, the location of the road surface 112 at a road end, the location of a straight road surface 112, the location of a corner road surface 112, and other patterns of the road surface 112. As a more specific example, if a straight road surface 112 is configured in the map information of the actual space 110, but becomes a road end in the virtual map 120, the difference point extraction unit 30 can determine that the configuration of the road surface 112 at that location is different.

[0044] In other examples, if the physical quantity of an object in the virtual map 120 is greater than the physical quantity of that object in the map information of the actual space 110, and the physical quantity of that object in the map information of the actual space 110 is less than a predetermined first threshold ratio relative to the physical quantity of the object in the virtual map 120, the difference point extraction unit 30 extracts that object as a difference point. For example, if the physical quantity of an object in the virtual map 120 is less than the physical quantity of that object in the map information of the actual space 110, and the physical quantity of that object in the map information of the actual space 110 is greater than a predetermined second threshold ratio relative to the physical quantity of the object in the virtual map 120, the difference point extraction unit 30 extracts that object as a difference point.

[0045] For example, the map information acquisition unit 20 acquires that the width of the road surface 112 during the movement of the moving body 90 is 0.5m. In the virtual map 120, the width of the road surface 112 is 1m. In this case, the ratio of the width of the road surface acquired by the moving body 90 to the width of the road surface 112 in the virtual map 120 is 0.5. When the first threshold ratio is, for example, 0.8, this ratio is less than the first threshold ratio. Therefore, the difference point extraction unit 30 extracts the width of the road surface 112 as a difference point. For example, the map information acquisition unit 20 acquires that the width of the road surface 112 during the movement of the moving body 90 is 0.9m. In the virtual map 120, the width of the road surface 112 is 1m. In this case, the ratio of the width of the road surface acquired by the moving body 90 to the width of the road surface 112 in the virtual map 120 is 0.9. When the first threshold ratio is, for example, 0.8, this ratio is greater than or equal to the first threshold ratio. Therefore, the difference point extraction unit 30 does not extract the width of the road surface 112 as a difference point.

[0046] For example, the map information acquisition unit 20 acquires that the width of the road surface 112 during the movement of the mobile body 90 is 1.5m. In the virtual map 120, the width of the road surface 112 is 1m. In this case, the ratio of the width of the road surface acquired by the mobile body 90 to the width of the road surface 112 in the virtual map 120 is 1.5. When the second threshold ratio is, for example, 1.2, this ratio is greater than the second threshold ratio. Therefore, the difference point extraction unit 30 extracts the width of the road surface 112 as a difference point. For example, the map information acquisition unit 20 acquires that the width of the road surface 112 during the movement of the mobile body 90 is 1.1m. In the virtual map 120, the width of the road surface 112 is 1m. In this case, the ratio of the width of the road surface acquired by the mobile body 90 to the width of the road surface 112 in the virtual map 120 is 1.1. When the second threshold ratio is, for example, 1.2, this ratio is less than the second threshold ratio. Therefore, the difference point extraction unit 30 does not extract the width of the road surface 112 as a difference point.

[0047] For example, the map information acquisition unit 20 acquires a height of 1m for structure 114. In the virtual map 120, the height of structure 114 is 2m. In this case, the ratio of the height of the structure acquired by the moving body 90 to the height of structure 114 in the virtual map 120 is 0.5. When the first threshold ratio is, for example, 0.8, this ratio is less than the first threshold ratio. Therefore, the difference point extraction unit 30 extracts the height of structure 114 as a difference point. For example, the map information acquisition unit 20 acquires a height of 1.8m for structure 114. In the virtual map 120, the height of structure 114 is 2m. In this case, the ratio of the height of the structure acquired by the moving body 90 to the height of structure 114 in the virtual map 120 is 0.9. When the first threshold ratio is, for example, 0.8, this ratio is greater than or equal to the first threshold ratio. Therefore, the difference point extraction unit 30 does not extract the height of structure 114 as a difference point.

[0048] For example, the map information acquisition unit 20 obtains a height of 3m for structure 114. In the virtual map 120, the height of structure 114 is 2m. In this case, the ratio of the height of the structure obtained by the moving body 90 to the height of structure 114 in the virtual map 120 is 1.5. When the second threshold ratio is, for example, 1.2, this ratio is greater than the second threshold ratio. Therefore, the difference point extraction unit 30 extracts the height of structure 114 as a difference point. For example, the map information acquisition unit 20 obtains a height of 2.2m for structure 114. In the virtual map 120, the height of structure 114 is 2m. In this case, the ratio of the height of the structure obtained by the moving body 90 to the height of structure 114 in the virtual map 120 is 1.1. When the second threshold ratio is, for example, 1.2, this ratio is less than the second threshold ratio. Therefore, the difference point extraction unit 30 does not extract the height of structure 114 as a difference point.

[0049] In this example, the difference extraction unit 30 extracts the first difference between the first map information obtained by the mobile body 90-1 and the virtual map 120, the second difference between the second map information obtained by the mobile body 90-2 and the virtual map 120, and the third difference between the third map information obtained by the mobile body 90-3 and the virtual map 120. When differences with the virtual map 120 are extracted from two or more map information sources at the same location, the virtual map update unit 40 updates the virtual map 120 based on these differences. In the same location, when differences with the virtual map 120 are extracted from two or more map information sources, there is a high probability that the map information in the virtual map 120 differs from the current state of the actual space 110 at that location. Therefore, when differences with the virtual map 120 are extracted from two or more map information sources at the same location, the virtual map update unit 40 updates the virtual map 120 based on these differences. Thus, the current state of the actual space 110 can be reflected in the virtual map 120. The virtual map update unit 40 can update the virtual map 120 by updating the physical quantities of the objects involved in different points in the virtual map 120 to the physical quantities of the objects in the map information of the actual space 110.

[0050] Figure 4 This diagram illustrates an example of the display mode of display unit 70. In this example, display unit 70 is a monitor. Display unit 70 can display a virtual map 120. Display unit 70 can display an updated virtual map 120. Display unit 70 can display locations from which different points are extracted from two or more map sources. Figure 4 In the example, Figure 2 The virtual map 120 shown is displayed on the display unit 70. However, in Figure 4 In the middle, the following was omitted. Figure 2 The first location P1 and the second location P2 are shown.

[0051] The display unit 70 can perform predetermined displays at locations where different points are extracted. Predetermined displays include, for example, surrounding the locations where different points are extracted with a frame, causing them to blink, etc., to emphasize the display of the locations where different points are extracted. Figure 4 In the example, the location Pd is enclosed by a black box and extracted to different points. Location Pd is structure 114-7 in the actual space 110 (see reference). Figure 1 The adjacent part in the X-axis direction of ) and is structure 114-9 (refer to Figure 1 The adjacent part in the opposite direction of the Y-axis direction.

[0052] Figure 5 This is a schematic top view representing another example of actual space 110. Figure 5 In Figure 1An obstacle Ob exists at position Pb in the actual space 110. In this example, position Pb is the position on the XY plane. Figure 5 In the diagram, obstacle Ob is represented by an elliptical shape. Position Pb lies between structures 114-5 and 114-7 along the X-axis.

[0053] The difference extraction unit 30 can determine the similarity between the map information in the same location and the differences between the virtual map 120. For example, in the same location Pb, the difference extraction unit 30 determines the similarity between the first difference between the map information obtained from the mobile body 90-1 and the virtual map 120 and the second difference between the map information obtained from the mobile body 90-2 and the virtual map 120.

[0054] When both the first and second differences refer to the same content (i.e., when the similarity is greatest), the difference extraction unit 30 can reflect the content indicated by the first and second differences in the virtual map 120. Examples of differences being the same include the presence or absence of structures 114 or obstacles Ob located on the road surface 112. As a more specific example, if an obstacle Ob that is not present in the virtual map 120 exists in both the first and second differences, the difference extraction unit 30 can determine that the first and second differences refer to the same content.

[0055] Other examples of the same content at different points include situations where the patterns of road surface 112 are consistent, such as the location of road surface 112 at intersections, the location of road surface 112 at the end of a road, the location of straight road surface 112, and the location of road surface 112 at corners.

[0056] Figure 6 This is another example of virtual map 120. Figure 6 The first and second differences extracted by the difference extraction section 30 both refer to more specific examples of the same content. Figure 6 In the example, other structures 114 are configured at the positions of the virtual map 120 corresponding to the X-axis directions of structures 114-4 and 114-6 in the actual space 110. Figure 6 The virtual map 120 at the above points and Figure 2 The virtual map is different from 120. Figure 6 In the middle, other structures 114 are represented by thick lines.

[0057] exist Figure 6In the virtual map 120, due to the configuration of other structures 114, the road surface 112 between structures 114-4 and 114-6 in the X-axis direction becomes a state where the moving body 90 cannot pass in the Y-axis direction (a state of road end). However, in the actual space 110, the positions of the other structures 114 in the virtual map 120 are passable. If the difference point extraction unit 30 extracts a first difference point and a second difference point at this position, the difference point extraction unit 30 can determine that the first difference point and the second difference point refer to the same content.

[0058] In other examples, in the same location, the map information acquisition unit 20 acquires a width of 0.5m for road surface 112 from mobile body 90-1 and a width of 0.7m from mobile body 90-2. In the virtual map 120, the width of road surface 112 is 1m. In this case, the ratio of the width of the road surface acquired by mobile body 90-1 to the width of road surface 112 in the virtual map 120 is 0.5, and the ratio of the width of the road surface acquired by mobile body 90-2 to the width of road surface 112 in the virtual map 120 is 0.7. When the first threshold ratio is, for example, 0.8, these ratios are less than the first threshold ratio. Therefore, the difference point extraction unit 30 extracts the width of road surface 112 as the first difference point and the second difference point.

[0059] The virtual map updating unit 40 can update the virtual map 120 based on the similarity of different points. For example, if the similarity of different points is determined to be above a predetermined threshold similarity, the virtual map updating unit 40 updates the virtual map 120. In this example, the ratio involved in the first different point is 0.5, and the ratio involved in the second different point is 0.7. The similarity of different points can be, for example, the ratio of other ratios to the maximum value of the ratios involved in different points. In this example, this ratio is 0.5 / 0.7 (≈0.71). If the predetermined threshold similarity is, for example, 0.80, this ratio is less than the threshold similarity. Therefore, the virtual map updating unit 40 does not update the virtual map 120. For example, if the map information acquisition unit 20 obtains that the width of the road surface 112 is 0.6m from the moving body 90-2, the ratio involved in the second different point is 0.6. In this case, the ratio of the ratio involved in the first different point to the ratio involved in the second different point is 0.5 / 0.6 (≈0.83). If the predetermined threshold similarity is, for example, 0.80, this ratio is above the threshold similarity. Therefore, the virtual map update unit 40 updates the virtual map 120.

[0060] Multiple moving bodies 90 can each have a camera unit for capturing map information (see reference). Figure 1 The photography unit is an example of the map acquisition unit 92. Figure 1In the example, the mobile body 90-1 has a first camera unit for capturing first map information, the mobile body 90-2 has a second camera unit for capturing second map information, and the mobile body 90-3 has a third camera unit for capturing third map information.

[0061] The difference point extraction unit 30 can determine the similarity of differences based on the resolution of the imaging unit. For example, if the first resolution of the first imaging unit is A (ppi), the second resolution of the second imaging unit is B (ppi), and the third resolution of the third imaging unit is C (ppi), the difference point extraction unit 30 can calculate the weighted average of the first to third differences, with the weights of the first difference point set to A / (A+B+C), the second difference point set to B / (A+B+C), and the third difference point set to C / (A+B+C), as the similarity of the differences. The higher the resolution of the imaging unit, the easier it is to increase the accuracy of the ratios involved in the differences; the lower the resolution of the imaging unit, the easier it is to decrease the accuracy of the ratios involved in the differences. Therefore, the higher the resolution of the imaging unit, the more the difference point extraction unit 30 can increase the weight of the differences; the lower the resolution of the imaging unit, the more the difference point extraction unit 30 can decrease the weight of the differences. Thus, the difference point extraction unit 30 can extract differences in accordance with the resolution. In addition, the resolution of the camera unit can be the resolution of images acquired by the camera unit, such as images of the surrounding environment, map information, etc.

[0062] For example, when the first resolution is 200ppi, the second resolution is 300ppi, and the third resolution is 350ppi, the weight of the first difference is 0.235, the weight of the second difference is 0.353, and the weight of the third difference is 0.412. For example, when the ratio involved in the first difference is 0.5, the ratio involved in the second difference is 0.7, and the ratio involved in the third difference is 0.75, the weighted average of the first to third differences is 0.673 (=0.5×0.235+0.7×0.353+0.75×0.412). The difference extraction unit 30 can use this weighted average value as the similarity of the differences. When the predetermined threshold similarity is, for example, 0.80, the weighted average value is less than the threshold similarity. Therefore, the virtual map update unit 40 does not update the virtual map 120.

[0063] The difference point extraction unit 30 can determine the similarity of different points based on the accuracy of the location information acquisition unit 94. For example, if the first accuracy of the location information acquisition unit 94-1 is α (m), the second accuracy of the location information acquisition unit 94-2 is β (m), and the third accuracy of the location information acquisition unit 94-3 is γ (m), and α > β > γ, the difference point extraction unit 30 can calculate the weighted average of the first difference point to the third difference point, with the weight of the first difference point set to γ / (α+β+γ), the weight of the second difference point set to β / (α+β+γ), and the weight of the third difference point set to α / (α+β+γ), as the similarity of the difference points. The higher the accuracy of the location information acquisition unit 94, the easier it is to increase the accuracy of the ratio involved in the difference points; the lower the accuracy of the location information acquisition unit 94, the easier it is to decrease the accuracy of the ratio involved in the difference points. Therefore, the higher the accuracy of the location information acquisition unit 94, the more the difference point extraction unit 30 can increase the weight of the difference points; the lower the accuracy of the location information acquisition unit 94, the more the difference point extraction unit 30 can decrease the weight of the difference points. Therefore, the different point extraction unit 30 can extract different points based on the accuracy of the location information.

[0064] For example, when the first precision is 3m, the second precision is 2m, and the third precision is 1m, the weight of the first difference point is 0.167 (=1 / 6), the weight of the second difference point is 0.333 (=2 / 6), and the weight of the third difference point is 0.5 (=3 / 6). For example, when the ratio involved in the first difference point is 0.5, the ratio involved in the second difference point is 0.7, and the ratio involved in the third difference point is 0.75, the weighted average of the first to third difference points is 0.6916 (=0.5×0.167+0.7×0.333+0.75×0.5). The difference point extraction unit 30 can use this weighted average value as the similarity of the difference points. When the predetermined threshold similarity is, for example, 0.80, the weighted average value is less than the threshold similarity. Therefore, the virtual map update unit 40 does not update the virtual map 120.

[0065] The map information acquisition unit 20 can acquire the time when map information is acquired at the same location. For example, the map information acquisition unit 20 can acquire the first time when mobile body 90-1 acquires map information and the second time when mobile body 90-2 acquires map information at the same location. The map information acquisition unit 20 can also acquire the acquisition interval between the first and second times.

[0066] The difference point extraction unit 30 can extract differences based on the similarity of differences in the same location and the time when the map information acquisition unit 20 acquired map information in that location. For example, as described above, if the ratio involved in the first difference point is 0.5, the ratio involved in the second difference point is 0.6, and the predetermined threshold similarity is, for example, 0.80, then the ratio of the ratio involved in the first difference point to the ratio involved in the second difference point (0.5 / 0.6 (≈0.83)) is greater than or equal to the threshold similarity. Therefore, the virtual map update unit 40 can update the virtual map 120. In this case, if the acquisition interval between the first and second times exceeds a predetermined time threshold, the virtual map update unit 40 may not update the virtual map 120. If the acquisition interval between the first and second times is less than or equal to the time threshold, the virtual map update unit 40 can update the virtual map 120. This time threshold is, for example, 6 hours, 12 hours, 24 hours (one day), 48 hours (two days), 120 hours (five days), or 168 hours (one week).

[0067] Road surface 112 or structure 114 in the same location (refer to) Figure 1 The state of the virtual map 120 may change over time. If the state of the road surface 112 or structure 114 in the same location differs between a first and second time, the virtual map 120 at the first time may differ from the virtual map 120 at the second time. Therefore, if the acquisition interval between the first and second times exceeds a time threshold, the virtual map 120 for different points may differ between the first and second times. When the virtual maps 120 differ, it is difficult to compare the different points at the first and second times using the same benchmark. Therefore, even if the similarity of different points in the same location is above a threshold similarity, the virtual map update unit 40 may not update the virtual map 120 if the acquisition interval between the first and second times exceeds a predetermined time threshold. Thus, the virtual map update unit 40 can update the virtual map 120 more accurately.

[0068] The difference point extraction unit 30 can obtain the number of extractions of different points extracted in the same location. The extraction count can be the total number of extractions for map information extracted from multiple mobile bodies 90 respectively. For example, if two different points are extracted in a specific location for the first map information from mobile body 90-1, one different point is extracted in the same specific location for the second map information from mobile body 90-2, and one different point is extracted in the same specific location for the third map information from mobile body 90-3, the difference point extraction unit 30 obtains a total of four extraction counts.

[0069] If the number of extractions exceeds a predetermined number, the display unit 70 can perform a predetermined display at the location where a different point has been extracted. The predetermined number of extractions can be two, five, or ten. The predetermined display may include, for example, surrounding the location where a different point has been extracted with a frame, causing it to blink, etc., emphasizing that the location where a different point has been extracted is the location where a different point has been extracted more than the predetermined number of extractions.

[0070] In locations within the actual space 110 that are extracted multiple times as distinct points, there is a high probability that events will occur that alter the map information within that location. Such events could include changes in the position of the structure 114 within the actual space 110 due to continuous vibration of the structure 114 itself, leading to changes in the width of the road surface 112 adjacent to the structure 114. Therefore, in locations where distinct points are extracted more than a predetermined number of times, the display unit 70 performs a predetermined display, allowing the user of the information processing device 100 to identify the location to be viewed within the actual space 110.

[0071] Figure 7 This refers to the actual spatial information storage unit 12 (refer to...) Figure 3 This diagram illustrates an example of a storage method for the actual space 110. The actual space information storage unit 12 stores information about the actual space 110. The actual space information storage unit 12 can store map information acquired by the map information acquisition unit 20. The actual space information storage unit 12 can store the map information acquired by the map information acquisition unit 20 in correspondence with location information. In this example, the actual space information storage unit 12 stores n locations in the actual space 110, the physical quantities related to the road surface 112 at each location, and the physical quantities related to the structure 114 at each location. In this example, the physical quantities related to the road surface 112 are the shape sh, slope sl, width wa, state st, and presence or absence of obstacles. In this example, the physical quantities related to the structure 114 are the shape sh', height h, width wb, and depth d of the structure 114.

[0072] Receiving unit 62 (refer to) Figure 3 ) Receive the first location P1 on the virtual map 120 (refer to Figure 2 ) or the second location P2 (refer to Figure 2The designation of the location is as follows. As described above, the first location P1 is the location where the mobile body 90 should move to, and the second location P2 is the location where the mobile body 90 should not move to. The movement path generation unit 60 generates a predetermined movement path for the mobile body 90 based on the first location P1 or the second location P2 and the current position of the mobile body 90. The movement path generation unit 60 can generate a predetermined movement path for the mobile body 90 based on the first location P1 or the second location P2, the current position of the mobile body 90, and information about the actual space 110 stored in the actual space information storage unit 12. For example, the movement path generation unit 60 generates the shortest movement path from the current position to the first location P1 as the predetermined movement path for the mobile body 90. For example, the movement path generation unit 60 generates the shortest movement path from the current position to the first location P1, and a path that does not pass through the second location P2. The physical quantities related to the road surface 112 and the physical quantities related to the structure 114 are stored in the actual space information storage unit 12. Therefore, the movement path generation unit 60 can generate a predetermined movement path for the movement body 90 based on the first location P1 or the second location P2, the current position of the movement body 90, and at least one of the physical quantities involved in the road surface 112 and the physical quantities involved in the structure 114.

[0073] Virtual map storage unit 10 (refer to) Figure 3 The information processing unit 100 can store characteristic information about the imagined movement path of the mobile body 90 moving in the actual space 110. The imagined movement path can be a path imagined by the user of the information processing unit 100 for the mobile body 90. The characteristic information of the imagined movement path refers to at least one of the following: shape, slope, width, state (presence or absence of depressions or bumps), and presence or absence of obstacles. The characteristic information can be included in the virtual map 120. The map information acquisition unit 20 can acquire the virtual map 120 containing the characteristic information of the imagined movement path. The virtual map storage unit 10 can store the virtual map 120 containing the characteristic information.

[0074] The movement path generation unit 60 can generate a predetermined movement path for the mobile body 90 based on the movement performance of the mobile body 90 and characteristic information of the envisioned movement path. The movement performance of the mobile body 90 includes, for example, the maximum speed of the mobile body 90, the width of the path that the mobile body 90 can traverse, and the slope of the path that the mobile body 90 can traverse. For example, the movement path generation unit 60 generates a predetermined movement path in which the slope of the envisioned movement path in the characteristic information is less than the maximum slope that the mobile body 90 can traverse. For example, the movement path generation unit 60 generates a predetermined movement path in which the width of the envisioned movement path in the characteristic information is greater than or equal to the minimum width of the path that the mobile body 90 can traverse. For example, the movement path generation unit 60 generates a predetermined movement path that avoids envisioned movement paths that are considered to contain obstacles in the characteristic information. Therefore, the mobile body 90 can reliably move along the predetermined movement path.

[0075] The movement path generation unit 60 can generate a predetermined movement path for the mobile body 90 based on the first location P1 or the second location P2, the current position of the mobile body 90, the movement performance of the mobile body 90, and characteristic information of the envisioned movement path. Thus, the mobile body 90 can reliably move along the predetermined movement path from its current position to the first location P1.

[0076] In the Virtual Map Update Section 40 (see reference) Figure 3 When the virtual map 120 is updated, the movement path generation unit 60 can update the predetermined movement path. When the virtual map 120 is updated, sometimes the information in the actual space 110 stored in the actual space information storage unit 12 is also updated. Therefore, in the virtual map update unit 40 (refer to...), the virtual map update unit 60 can update the predetermined movement path. Figure 3 When the virtual map 120 is updated, the preferred movement path generation unit 60 updates the predetermined movement path.

[0077] The moving body 90 may have a detection unit that detects obstacles in the actual space 110. This detection unit may be a camera unit (an example of a map acquisition unit 92). See [reference] Figure 1 Obstacles in the actual space 110 are objects in the actual space 110 that, although considered places where the mobile body 90 can move in the virtual map 120, actually make it difficult for the mobile body 90 to move. An obstacle is, for example, a structure 114 that collapses onto the road surface 112 due to an earthquake or other event, thereby blocking the path. Such structures 114 are not displayed in the virtual map 120.

[0078] The movement information acquisition unit 64 acquires movement information related to the movement of the mobile body 90 in the actual space 110. The movement information may be information about the actual space 110 that the mobile body 90 has moved through (see reference). Figure 7 ), or it could be information about the actual space 110 that the moving body 90 will move to (see Figure 7 The information about the actual space 110 that the mobile body 90 has moved through refers to the information about the actual space 110 that the mobile body 90 has moved through so far. The information about the actual space 110 that the mobile body 90 will move to refers to the information about the actual space 110 that the mobile body 90 will move to from now on. The movement information can be the position information of the mobile body 90. The position information of the mobile body 90 can be the current position information of the mobile body 90 in the actual space 110, or the information of the first location P1 that the mobile body 90 should move to, or the information of the second location P2 that the mobile body 90 should not move to.

[0079] The mobile body 90 can detect obstacles in the actual space 110 and autonomously avoid them. While the mobile body 90 is autonomously traveling along a predetermined path, it may deviate from the predetermined path if it detects an obstacle. In the movement information acquisition unit 64 (see...) Figure 3 If the mobile body 90 deviates from the predetermined movement path, the movement path generation unit 60 can further update the predetermined movement path. Therefore, even if the mobile body 90 deviates from the predetermined movement path of the current location, it can still reach the first location P1.

[0080] The virtual map 120 can include the initial position and target position of the moving body 90. (Refer to receiver 62) Figure 3 The display unit 70 can receive the specified initial and target positions. The specified initial and target positions can be displayed on the virtual map 120. Figure 3 The movement information of the moving body 90 can be displayed on a virtual map 120 that includes the initial position and target position of the moving body 90. If the moving body 90 deviates from the predetermined movement path, the display unit 70 can display the position where the moving body 90 has deviated from the predetermined movement path. If the moving body 90 deviates from the predetermined movement path due to the detection of an obstacle, the position where it deviates from the predetermined movement path can be the position of the obstacle.

[0081] The measuring instrument information acquisition unit 68 acquires measuring instrument information of the measuring instruments present in the actual space 110. The moving body 90 can acquire measuring instrument information. The imaging unit of the moving body 90 can acquire measuring instrument information of the measuring instruments present in the actual space 110. For example, if the measuring instrument is a pressure gauge in a nuclear power plant, the imaging unit acquires the pressure value indicated by the pressure gauge by taking a picture. The measuring instrument information acquisition unit 68 can acquire the measuring instrument information acquired by the moving body 90. For example, the measuring instrument information acquisition unit 68 acquires the pressure value acquired by the imaging unit.

[0082] The measuring instrument information acquisition unit 68 can also acquire the position of the moving body 90 when it acquires measuring instrument information. The position information acquisition unit 94 of the moving body 90 can acquire the position of the moving body 90 when it acquires measuring instrument information. The measuring instrument information acquisition unit 68 can acquire the position acquired by the position information acquisition unit 94.

[0083] The display unit 70 can display the measuring instrument information acquired by the measuring instrument information acquisition unit 68. For example, the display unit 70 displays the pressure value of the pressure gauge acquired by the measuring instrument information acquisition unit 68. The display unit 70 can display the measuring instrument information acquired by the measuring instrument information acquisition unit 68 and the position of the moving body 90 when it acquires the measuring instrument information.

[0084] Figure 8 This is a flowchart illustrating an example of an information processing method according to one embodiment of the present invention. Figure 3 Taking the information processing device 100 shown as an example, an information processing method according to one embodiment of the present invention will be described.

[0085] The virtual map storage stage S100 is the stage in which the virtual map storage unit 10 stores a three-dimensional virtual map 120 corresponding to the actual space 110. The virtual map storage stage S100 can also be the stage in which the virtual map storage unit 10 stores the virtual map 120 acquired by the map information acquisition unit 20.

[0086] The map information acquisition stage S110 is the stage in which the map information acquisition unit 20 acquires map information of the actual space 110 from multiple moving bodies 90 moving in the actual space 110. The difference point extraction stage S120 is the stage in which the difference point extraction unit 30 extracts the differences between each map information and the virtual map 120. The virtual map update stage S130 is the stage in which the virtual map update unit 40 updates the virtual map 120 based on the differences when it extracts differences in the same location from two or more map information.

[0087] Figure 9 This diagram illustrates an example of the structure of a computer 1200 that can implement the present invention wholly or partially. Through programs installed on the computer 1200, the computer 1200 can perform operations associated with an apparatus or one or more "parts" of that apparatus as embodiments of the present invention, or execute that operation or one or more "parts," and / or the computer 1200 can execute processes or stages of processes that are embodiments of the present invention. To enable the computer 1200 to perform specific operations associated with several or all of the modules in the flowcharts and block diagrams described in this specification, such programs can be executed by the CPU 1212. Furthermore, processes or stages of processes that are embodiments of the present invention can also be executed in the cloud.

[0088] The computer 1200 of this embodiment includes a CPU 1212, RAM 1214, a graphics controller 1216, and a display device 1218, which are interconnected via a main controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a hard disk drive 1224, a DVD-ROM drive 1226, and an IC card drive, which are connected to the main controller 1210 via an input / output controller 1220. The computer also includes conventional input / output units such as a ROM 1230 and a keyboard 1242, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0089] CPU 1212 operates according to the program stored in ROM 1230 and RAM 1214, thereby controlling each unit. Graphics controller 1216 obtains image data generated by CPU 1212 from frame buffers or other storage provided in RAM 1214 or from within itself, and displays the image data on display device 1218.

[0090] The communication interface 1222 enables communication with other electronic devices via a network. The hard disk drive 1224 stores programs and data used by the CPU 1212 within the computer 1200. The DVD-ROM drive 1226 reads programs or data from the DVD-ROM 1201 and provides programs or data to the hard disk drive 1224 via RAM 1214. The IC card drive reads programs and data from the IC card and / or writes programs and data to the IC card.

[0091] ROM1230 contains boot programs and / or programs dependent on the hardware of computer 1200 that are executed by computer 1200 when it is activated in internal storage. Input / output chip 1240 can also connect various input / output units to input / output controller 1220 via parallel port, serial port, keyboard port, mouse port, etc.

[0092] The program is provided by a computer-readable storage medium such as a DVD-ROM 1201 or an IC card. The program is read from the computer-readable storage medium and installed in a hard disk drive 1224, RAM 1214, or ROM 1230, which are also examples of computer-readable storage media, and executed by the CPU 1212. The information processing described within these programs is read into the computer 1200, thereby enabling cooperation between the program and the aforementioned various types of hardware resources. The apparatus or method can be configured to perform information manipulation or processing in conjunction with the use of the computer 1200.

[0093] For example, when communication is performed between computer 1200 and an external device, CPU 1212 can execute a communication program loaded in RAM 1214 and instruct communication interface 1222 to perform communication processing based on the processing described in the communication program. Under the control of CPU 1212, communication interface 1222 reads transmission data stored in a transmission buffer area provided in a storage medium such as RAM 1214, hard disk drive 1224, DVD-ROM 1201, or IC card, sends the read transmission data to the network, or writes received data received from the network to a receive buffer area provided on the storage medium, etc.

[0094] Furthermore, the CPU 1212 can read all or necessary portions of files or databases stored on external storage media such as hard disk drive 1224, DVD-ROM drive 1226 (DVD-ROM 1201), IC cards, etc., into RAM 1214, and perform various types of processing on the data in RAM 1214. Then, the CPU 1212 can write the processed data back to the external storage media.

[0095] Various types of information, such as programs, data, tables, and databases, can be stored in the storage medium for information processing. The CPU 1212 can perform various types of processing described throughout this invention on data read from RAM 1214 and write the results back to RAM 1214. These various types of processing include various types of operations specified by a sequence of program instructions, information processing, conditional judgments, conditional branches, unconditional branches, information retrieval / replacement, etc. Furthermore, the CPU 1212 can retrieve information from files, databases, etc., within the storage medium. For example, when multiple entries, each having an attribute value of a first attribute associated with a second attribute value, are stored in the storage medium, the CPU 1212 can retrieve from these multiple entries an entry that matches the condition specifying the first attribute value, and read the attribute value of the second attribute stored in that entry, thereby obtaining the attribute value of the second attribute associated with the first attribute satisfying a predetermined condition.

[0096] The programs or software modules described above can be stored on or near the computer 1200 in a computer-readable storage medium. Alternatively, storage media such as hard disks or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as computer-readable storage media, thereby providing the programs to the computer 1200 via the network.

[0097] The present invention has been described above using embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. As can be seen from the claims, such modifications or improvements may also be included within the technical scope of the present invention.

[0098] The execution order of actions, processes, steps, and stages in the apparatus, systems, programs, and methods shown in the claims, description, and drawings is not specifically stated as "earlier" or "before." Furthermore, it should be noted that any order is permissible as long as the output of the preceding process is not used in the subsequent process. Even if the flow of actions in the claims, description, and drawings is described using terms such as "firstly," "next," etc., for ease of explanation, it does not imply that the actions must be performed in that order. Explanation of reference numerals in the attached figures

[0099] 10 Virtual map storage unit, 12 Actual spatial information storage unit, 20 Map information acquisition unit, 30 Differential point extraction unit, 40 Virtual map update unit, 50 Control unit, 60 Movement path generation unit, 62 Receiving unit, 64 Movement information acquisition unit, 68 Surveying instrument information acquisition unit, 70 Display unit, 90 Moving body, 92 Map acquisition unit, 94 Location information acquisition unit, 100 Information processing device, 110 Actual space, 112 Road surface, 114 Structure, 120 Virtual map, 1200 Computer, 1201 DVD-ROM, 1210 Main controller, 1212 CPU, 1214 RAM, 1216 Graphics controller, 1218 Display device, 1220 Input / output controller, 1222 Communication interface, 1224 Hard disk drive, 1226 DVD-ROM drive, 1230 ROM, 1240 Input / output chip, 1242 Keyboard.

Claims

1. An information processing device, characterized in that... have: The virtual map storage unit stores three-dimensional virtual maps that correspond to the actual space. The map information acquisition unit acquires map information of the actual space from multiple moving bodies moving in the actual space. The difference point extraction unit extracts the differences between the map information and the virtual map. as well as The virtual map updating unit updates the virtual map based on the differences when different points are extracted from the same location in two or more map information sources.

2. The information processing device according to claim 1, characterized in that, The map information acquisition unit acquires map information for each location in the actual space from the plurality of moving bodies moving in the actual space. The difference point extraction unit determines the similarity between the map information in the same location and the difference points in the virtual map. The virtual map update unit updates the virtual map based on the similarity.

3. The information processing device according to claim 2, characterized in that, The difference extraction unit determines the similarity based on the resolution of images captured by the multiple moving bodies.

4. The information processing apparatus according to claim 3, characterized in that, The image is the map information.

5. The information processing apparatus according to claim 2, characterized in that, The difference extraction unit determines the similarity based on the accuracy of obtaining the locations of the multiple moving bodies.

6. The information processing apparatus according to claim 2, characterized in that, The map information acquisition unit acquires the time at which the map information was acquired at the same location. The difference extraction unit extracts the differences based on the similarity and the time.

7. The information processing apparatus according to claim 1, characterized in that... It also has: The receiving unit receives a designation on the virtual map indicating whether the moving object should move to a first location or not move to a second location; and The movement path generation unit generates a predetermined movement path for the moving body based on the specified first location or second location and the current position of the moving body. When the virtual map update unit updates the virtual map, the movement path generation unit updates the predetermined movement path.

8. The information processing apparatus according to claim 1, characterized in that, The virtual map storage unit stores characteristic information of the envisioned movement path of the moving body in the actual space. The information processing device further includes a movement path generation unit, which generates a predetermined movement path for the mobile body based on the mobility performance of the mobile body and the characteristic information. When the virtual map update unit updates the virtual map, the movement path generation unit updates the predetermined movement path.

9. The information processing apparatus according to claim 7 or 8, characterized in that, The information processing device further includes a motion information acquisition unit, which acquires motion information related to the movement of the moving body in the actual space. When the mobile body autonomously travels along the predetermined movement path by detecting obstacles in the actual space to avoid them, and the movement information acquisition unit obtains information that the mobile body has deviated from the predetermined movement path due to the detection of the obstacles, the movement path generation unit further updates the predetermined movement path.

10. The information processing apparatus according to claim 9, characterized in that, The information processing device further includes a display unit that displays the position of the moving body from the predetermined moving path when the moving body deviates from the predetermined moving path.

11. The information processing apparatus according to any one of claims 1 to 6, characterized in that, The different point extraction unit obtains the number of extractions of the different points extracted in the same location. The information processing device also includes a display unit, which displays a predetermined number of times the number of extractions exceeds a predetermined number of times in the same location.

12. The information processing apparatus according to any one of claims 1 to 6, characterized in that... It also has: The movement information acquisition unit acquires movement information related to the movement of the moving body in the actual space; and The display unit displays the movement information on the virtual map, which includes the initial position and the target position of the moving body.

13. The information processing apparatus according to claim 12, characterized in that, The movement information includes at least one of the following: information about the actual space the moving body has moved through, information about the actual space the moving body is about to move to, and the position information of the moving body.

14. The information processing apparatus according to any one of claims 1 to 6, characterized in that... It also has: The measuring instrument information acquisition unit acquires measuring instrument information of the measuring instruments present in the actual space from the moving body; and The display unit shows information about the measuring instrument.

15. The information processing apparatus according to claim 14, characterized in that, The measuring instrument information acquisition unit acquires the measuring instrument information acquired by the moving body. The measuring instrument information acquisition unit also acquires the position of the moving body when it acquires the measuring instrument information. The display unit shows the position of the moving body.

16. An information processing method, characterized in that... have: The virtual map storage stage stores a three-dimensional virtual map that corresponds to the actual space. In the map information acquisition phase, map information of the actual space is acquired from multiple moving bodies moving in the actual space. In the difference point extraction stage, the differences between the map information and the virtual map are extracted; as well as During the virtual map update phase, if different points are extracted from the same location in two or more map information sources, the virtual map is updated based on these different points.

17. A program product, characterized in that, It includes an information processing program for causing a computer to perform the information processing method of claim 16.

Images