Map data providing device, map data providing method, and computer program

Abstract

To provide a map suitable for a movable body that acts autonomously.SOLUTION: A map data providing device comprises: activity range data acquisition means that acquires activity range data indicating an activity range in which a movable body acts autonomously; determination means that determines the coordinate system and the original point of map data provided to the movable body based on the activity range data; and map data providing means that provides the movable body with the map data having the coordinate system and the original point determined by the determination means.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a map data providing device, a map data providing program, and a map data providing method. [Background technology]

[0002] Currently, autonomous mobile robots that move autonomously in various places such as office buildings, homes, and logistics centers and perform predetermined operations such as work are being developed. When moving autonomously through a space and performing a predetermined operation, such a mobile body requires a map of the space. In addition, as a technology for providing such a map to a mobile body that moves autonomously, for example, a map information providing system disclosed in Patent Document 1 can be mentioned.

[0003] This map information providing system includes a database, image data generation means, and data transmission / reception means. The database stores three-dimensional point cloud data relating to an area in which an autonomous mobile device travels. The image data generation means extracts two-dimensional point cloud data at a height specified by the autonomous mobile device from the three-dimensional point cloud data read from the database, and generates two-dimensional planar image data. The data transmission / reception means is capable of transmitting the two-dimensional planar image data or point cloud data generated by the image data generation means to the autonomous mobile device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-77053 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the above-mentioned mobile body has an individual range in which it moves and performs a predetermined operation, and the range may change depending on the situation. For example, even if the mobile body has map data showing a map of a specific floor of an office building, the mobile body may be active only in a part of the section away from the origin of the map. When the mobile body estimates its own position, the accuracy of the result of estimating its position based on its own rotation may be lower than the result of estimating its position based on its own translation, and the mobile body may continue to operate with an accuracy lower than the accuracy desired by the user. In addition, when the mobile body has map data including a range other than the section in which it actually operates, the memory capacity is used unnecessarily. Therefore, the map information providing system disclosed in Patent Document 1 may not be able to provide a map suitable for each mobile body to operate autonomously.

[0006] Therefore, an object of the present invention is to provide a map data providing device, a map data providing program, and a map data providing method that can provide a map suitable for an autonomously operating mobile body. [Means for solving the problem]

[0007] In order to solve the above-mentioned problems, the map data providing device of the present invention comprises an activity range data acquisition means for acquiring activity range data indicating an activity range within which a mobile body operates autonomously, a determination means for determining a coordinate system and an origin of map data to be provided to the mobile body based on the activity range data, and a map data providing means for providing the mobile body with map data based on the coordinate system and origin determined by the determination means. Effect of the Invention

[0008] According to the present invention, it is possible to provide a map suitable for an autonomously operating mobile body. [Brief description of the drawings]

[0009] [Figure 1] 1 is a diagram illustrating an example of a moving object, a map data providing device, and a user terminal according to an embodiment. [Diagram 2] FIG. 2 is a diagram illustrating an example of a hardware configuration of a mobile management device according to an embodiment. [Diagram 3] 1 is a diagram illustrating an example of a hardware configuration of a map data providing device according to an embodiment. [Figure 4] FIG. 2 is a diagram illustrating an example of a software configuration of a mobile object management device according to an embodiment. [Diagram 5] FIG. 2 is a diagram illustrating an example of a software configuration of the map data providing device according to the embodiment. [Figure 6] FIG. 4 is a diagram showing an example of attribute data according to the embodiment. [Figure 7] 1 is a diagram showing an example of a range in which a moving body according to an embodiment can be active; [Figure 8] 5 is a flowchart illustrating an example of a process executed by the map data providing device according to the embodiment. [Figure 9] 5 is a flowchart illustrating an example of a process executed by the map data providing device according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] <Embodiment> Hereinafter, an embodiment of the present invention will be described with reference to Fig. 1 to Fig. 8. Fig. 1 is a diagram showing an example of a mobile object, a map data providing device, and a user terminal according to an embodiment. Fig. 1 includes mobile objects 1-1, ..., and mobile objects 1-k (k: an integer equal to or greater than 1), an information processing device 2, and a user terminal 3.

[0011] The mobile units 1-1, ... and 1-k are, for example, autonomous mobile robots, automatic guided vehicles (AGVs), etc., that perform predetermined operations such as cleaning and transporting luggage in the interior space of a building such as an office building. The mobile units 1-1, ... and 1-k are all equipped with sensors, and by measuring their own position and orientation using SLAM (Simultaneous Localization and Mapping) or the like using these sensors, they understand the space around them and act autonomously in the space. The activity referred to here means moving in the space and performing predetermined operations.

[0012] The above-mentioned sensor is, for example, a two-dimensional or three-dimensional LIDAR (Light Detection and Ranging) or a stereo camera. The LIDAR uses light to measure the distance to each point on each object existing in a space and generates point cloud data, thereby grasping the position, size, shape, etc. of each object existing in a space. The stereo camera measures the distance to each point on each object existing in a space based on a triangulation method and generates a set of feature points, thereby grasping the position, size, shape, etc. of each object existing in a space.

[0013] Furthermore, when the moving body 1-1, ..., and the moving body 1-k move autonomously within the space, they require a map of the space. This map is, for example, data that expresses the inside of the space as two-dimensional or three-dimensional point cloud data using a lidar, or data that expresses the inside of the space as a set of feature points of objects recognized using a stereo camera. In the following description, data indicating the map used by the moving body 1-1, ..., or the moving body 1-k will be referred to as map data.

[0014] The moving body 1-1, ..., and the moving body 1-k measure their own position and orientation by dividing the components into a translation component related to their own translation and a rotation component related to their own rotation. When measuring the rotation component of their own position and orientation, the moving body 1-1, ..., and the moving body 1-k perform repeated calculations by approximating a part of a trigonometric function, which is a type of nonlinear function, as being linear. Therefore, the contribution of the change amount of the translation component and noise to the change in the parameters related to their own position and orientation becomes larger than the contribution of the change amount of the rotation component and noise to the change in the parameters related to their own position and orientation as the moving body 1-1, ..., and the moving body 1-k are present at a position farther from the origin of the coordinate system of the map data. Therefore, the moving body 1-1, ..., and the moving body 1-k may not be able to measure their own position and orientation with sufficient accuracy to act autonomously within the space because the parameter converges before the rotation component of the parameter is optimized.

[0015] The mobile object 1-1 includes the mobile object management device 10-1 shown in Fig. 1. The mobile object management device 10-1 transmits attribute data and activity range data, which will be described later, to the map data providing device 21, and receives third map data, which will be described later, from the map data providing device 21. Similarly, the mobile object 1-k includes the mobile object management device 10-k shown in Fig. 1. The mobile object management device 10-k transmits attribute data and activity range data, which will be described later, to the map data providing device 21, and receives third map data, which will be described later, from the map data providing device 21. Details of the mobile object management devices 10-1, ... and the mobile object management device 10-k will be described later.

[0016] In addition, the mobile object management device 10-1 may not be mounted on the mobile object 1-1. For example, the mobile object management device 10-1 may be mounted on a device other than the mobile object 1-1, or may be an independent device. Similarly, the mobile object management device 10-k may not be mounted on the mobile object 1-k. For example, the mobile object management device 10-k may be mounted on a device other than the mobile object 1-k, or may be an independent device. In the following description, when describing the mobile object 1-1, ... and the mobile object 1-k, the mobile object 1-1 will be taken as an example.

[0017] The information processing device 2 is installed in, for example, a data center. As shown in FIG. 1, the information processing device 2 includes a map data providing device 21, a communication device 22, an input device 23, and a display device 24. The map data providing device 21 generates third map data, which will be described later, based on attribute data and activity range data, which will be described later, and provides the third map data to the mobile object 1-1, ..., or the mobile object 1-k. Details of the map data providing device 21 will be described later. The communication device 22 realizes communication between the information processing device 2 and the mobile object 1-1, ..., the mobile object 1-k, or the user terminal 3. The input device 23 is, for example, a mouse or a keyboard, and is used to input data, instructions, and the like to the information processing device 2. The display device 24 is, for example, a display, and displays information presented to the user of the information processing device 2, and the like.

[0018] The user terminal 3 is, for example, a computer installed at a management base that is located different from the data center. The user terminal 3 is used to operate the information processing device 2 from the management base that is located different from the data center. The management base can be installed in any location, and may be installed in the same location as the data center, for example.

[0019] Next, a hardware configuration of a mobile object management device according to an embodiment will be described with reference to Fig. 2. Fig. 2 is a diagram showing an example of a hardware configuration of a mobile object management device according to an embodiment. As shown in Fig. 2, the mobile object management device 10-1 includes a CPU (Central Processing Unit) 101-1, a RAM (Random Access Memory) 102-1, a ROM (Read Only Memory) 103-1, a memory 104-1, and a bus 105-1.

[0020] CPU 101-1 realizes each function of mobile object management device 10-1 by reading and executing a program. RAM 102-1 is a recording medium on which the program read and executed by CPU 101-1 is temporarily deployed. ROM 103-1 is a recording medium on which the program read and executed by CPU 101-1 is stored. Memory 104-1 is a recording medium on which driving data and the like are stored. Bus 105-1 connects CPU 101-1, RAM 102-1, ROM 103-1, and memory 104-1 in a manner that allows them to communicate with each other.

[0021] Next, the hardware configuration of the map data providing device 21 according to the embodiment will be described with reference to Fig. 3. Fig. 3 is a diagram showing an example of the hardware configuration of the map data providing device according to the embodiment. As shown in Fig. 3, the map data providing device 21 includes a CPU 201, a RAM 202, a ROM 203, a memory 204, and a bus 205.

[0022] The CPU 201 realizes each function of the map data providing device 21 by reading and executing a program. The RAM 202 is a recording medium on which the program read and executed by the CPU 201 is temporarily deployed. The ROM 203 is a recording medium on which the program read and executed by the CPU 201 is stored. The memory 204 is a recording medium on which map data and the like are stored. The bus 205 connects the CPU 201, the RAM 202, the ROM 203, and the memory 204 in a manner that enables them to communicate with one another.

[0023] Next, the software configuration of the mobile object management device and the software configuration of the map data providing device according to the embodiment will be described with reference to Fig. 4 to Fig. 7. Fig. 4 is a diagram showing an example of the software configuration of the mobile object management device according to the embodiment. Fig. 5 is a diagram showing an example of the software configuration of the map data providing device according to the embodiment.

[0024] As shown in FIG. 4, the mobile object management device 10-1 includes an attribute data transmission unit 11-1, an activity area data transmission unit 13-1, and a map data reception unit 17-1.

[0025] As shown in Fig. 5, the map data providing device 21 includes an attribute data acquiring unit 211, a first map data generating unit 212, an activity area data acquiring unit 213, a second map data generating unit 214, a third map data generating unit 215, a determining unit 215-2, a coordinate system data receiving unit 216, and a map data providing unit 217. The map data providing device 21 does not necessarily need to provide map data after going through the procedures of acquiring attribute data and generating first map data and second map data. Therefore, the attribute data acquiring unit 211, the first map data generating unit 212, the second map data generating unit 214, and the coordinate system data receiving unit 216 are not essential. The map data providing device 21 determines the coordinate system and origin of the map data to be provided to the mobile unit 1-1, ... or the mobile unit 1-k based on the activity area data, and provides the map data based on the determined coordinate system and origin to the mobile unit 1-1, ... or the mobile unit 1-k.

[0026] Fig. 6 is a diagram showing an example of attribute data according to the embodiment. The attribute data transmission unit 11-1 transmits the attribute data P shown in Fig. 6 to the map data providing device 21. The attribute data acquisition unit 211 acquires the attribute data P shown in Fig. 6 from the attribute data transmission unit 11-1. The attribute data P indicates attributes of a moving object 1-1 that autonomously acts in a space. For example, as shown in Fig. 6, the attribute data P includes model data P1, sensor data P2, position and orientation measurement data P3, travel route data P4, and task content data P5.

[0027] The model data P1 indicates information on at least one of the model, use, function, etc. of the moving body 1-1. The model data P1 can also be used for managing the moving body 1-1. The information on the model is, for example, information that uniquely identifies the name, model name, type name, product name, model, type, etc. of the moving body 1-1.

[0028] The information regarding usage includes, for example, the dimensions of the moving body 1-1, such as the overall length, overall width, and overall height, the weight of the moving body 1-1, the dimensions of the luggage that can be loaded onto the moving body 1-1, the method by which the moving body 1-1 transports luggage, the performance related to the movement of the moving body 1-1, and the parts operating within the moving body 1-1. The methods by which the moving body 1-1 transports luggage include, for example, stacking, lifting, and towing. The performance related to the movement of the moving body 1-1 includes, for example, the speed of the moving body 1-1, the range in which the moving body 1-1 can change direction, and the turning radius of the moving body 1-1.

[0029] The information on the functions includes, for example, information on functions related to the type of the mobile object 1-1 and information on functions not related to the type of the mobile object 1-1. The functions related to the type of the mobile object 1-1 are, for example, transporting luggage, cleaning the building, and guarding the building. The functions not related to the type of the mobile object 1-1 are, for example, a function to notify or present information to the user of the mobile object 1-1, and a function to receive information from the user of the mobile object 1-1, etc.

[0030] The sensor data P2 indicates information regarding at least one of the following: the type of sensor, the accuracy with which the sensor measures objects in space, the range within which the sensor can measure objects in space, and the position and attitude at which the sensor is attached to the moving body 1-1.

[0031] The information on the type of sensor indicates, for example, the type and method of the sensor, such as a two-dimensional or three-dimensional lidar, a stereo camera, etc. The information on the accuracy of the sensor indicates, for example, the resolution of the distance that can be measured by the sensor, the resolution of the angle that can be measured by the sensor, and the number of times the space is scanned by the sensor. The information on the range that can be measured by the sensor indicates, for example, the range of the distance that can be measured by the sensor, and the range of the angle that can be measured by the sensor. The information on the position, attitude, etc. at which the sensor is attached to the moving body 1-1 indicates, for example, at least one of the position and the direction at which the sensor is attached to the exterior, etc. of the moving body 1-1.

[0032] The position and orientation measurement data P3 indicates information on a processing method that the moving object 1-1 executes by using a sensor to measure at least one of its own position and orientation. The travel route data P4 indicates the positions that the moving object 1-1 passes through when moving within a space, the speed at which the moving object 1-1 moves within the space, etc. The work content data P5 indicates the content of the work that the moving object 1-1 performs within the space.

[0033] Fig. 7 is a diagram showing an example of a range in which a moving body according to the embodiment can be active. Fig. 7 shows that a floor of a building includes areas A, B, C, D, and E. Area A is an area surrounded by four planar walls. Area B is an area surrounded by three planar walls and one cylindrical surface. Area C is an area surrounded by one cylindrical wall. Area D is an area surrounded by three planar walls and one cylindrical surface. Area E is an area surrounded by seven planar walls.

[0034] The first map data generation unit 212 generates first map data indicating a map used when the moving body 1-1 acts autonomously in a space, based on the attribute data P. This first map data indicates, for example, a map of areas A, B, C, D, and E shown in FIG. 7. In other words, the first map data is data indicating a map of the entire area in which the moving body 1-1 can move. As described above, this first map data does not necessarily have to be generated by the map data providing device, and first map data generated by another device, for example, a device that manages other moving bodies or buildings through which the moving bodies move, can be obtained and used.

[0035] The first map data generating unit 212 generates the first map data using the results of measuring a space using at least one of a moving object and a sensor that match within a certain range with the contents indicated by the attribute data P. The moving object referred to here is, for example, a moving object with which at least one of the contents indicated by the model data P1, the position and orientation measurement data P3, the travel route data P4, or the task content data P5 shown in Fig. 6 match within a certain range. The sensor referred to here is, for example, a sensor with which at least one of the contents indicated by the sensor data P2 shown in Fig. 6 match within a certain range.

[0036] The activity area data transmission unit 13-1 transmits the activity area data to the activity area data acquisition unit 213. The activity area data acquisition unit 213 acquires the activity area data from the activity area data transmission unit 13-1. The activity area data indicates the area in which the mobile object 1-1 is active. For example, the activity area data indicates a map of one of the areas A, B, C, D, and E shown in FIG. 7.

[0037] The second map data generating unit 214 generates the second map data by deleting a portion of the first map data that is not necessary for the mobile body based on the activity range data. Also, even without the deletion process, it is possible to obtain second map data of an appropriate range by extracting data of an area that fits the activity range. The second map data shows a map of the area in which the mobile body 1-1 actually operates, not the entire area in which the mobile body 1-1 can move. For example, the second map data generating unit 214 generates the second map data by deleting maps of four areas other than the one area in which the mobile body 1-1 actually operates, from among area A, area B, area C, area D, and area E shown in the first map data. Also, it is possible to obtain second map data of an appropriate range by extracting the area of ​​the activity range, without the deletion process.

[0038] The determination unit 215-2 determines the coordinate system and origin of the map data to be provided to the mobile body based on the activity area data. The third map data generation unit 215 generates the third map data by, for example, correcting the coordinate system of the second map data based on the activity area data in accordance with an instruction from the determination unit 215-2. Below, a procedure for generating the third map data by correcting the coordinate system of the second map data will be mainly described, but if a coordinate system appropriate for a mobile body whose activity area is determined can be determined, the third map data can be provided without going through the process of correcting the coordinate system of the second map data.

[0039] Specifically, when a planar wall exists in the area indicated by the second map data, the third map data generating unit 215 generates the third map data by correcting the coordinate system of the second map data to a coordinate system having an axis parallel to the planar wall. When a plurality of planar walls exist in the area indicated by the second map data, the third map data generating unit 215 may generate the third map data by correcting the coordinate system of the second map data to a coordinate system having an axis parallel to the planar wall having the longest length of contact with the floor. For example, when the area indicated by the second map data is area A, area B, area D, or area E shown in FIG. 7, the third map data generating unit 215 executes one of these two processes. When the step of correcting the coordinate system of the second map data is not performed, for example, if the activity range of the moving object is area A, a coordinate system having an axis parallel to the boundary line (wall) is determined as the coordinate system of the third map data.

[0040] Alternatively, when a columnar object exists in the area indicated by the second map data, the third map data generating unit 215 generates the third map data by correcting the coordinate system of the second map data to a coordinate system based on the columnar object. The columnar object is, for example, a pillar of a building or an object installed on a building and having a certain length or more in the vertical direction.

[0041] For example, in such a case, the third map data generation unit 215 generates the third map data by correcting the coordinate system of the second map data to a three-dimensional coordinate system having at least one of an axis along the longitudinal direction of the columnar object and an axis perpendicular to the axis. Also, for example, in such a case, the third map data generation unit 215 generates the third map data by correcting the coordinate system of the second map data to a coordinate system having an origin included on the surface or inside of the columnar object. Also, for example, when multiple columnar objects exist in the area indicated by the second map data, the third map data generation unit 215 generates the third map data by correcting the coordinate system of the second map data to a coordinate system having axes along the arrangement of the multiple columnar objects.

[0042] The coordinate system data receiving unit 216 receives coordinate system data that specifies the coordinate system of the third map data. The coordinate system data is input to the map data providing device 21 using, for example, the input device 23 shown in Fig. 1. When the coordinate system data receiving unit 216 receives the coordinate system data, the third map data generating unit 215 may generate the third map data by correcting the coordinate system of the second map data based on the coordinate system data.

[0043] Next, a process executed by the map data providing device 21 according to the embodiment will be described with reference to Figs. 8 and 9. Figs. 8 and 9 are flowcharts showing an example of a process executed by the map data providing device according to the embodiment. The flowchart shown in Fig. 8 and the flowchart shown in Fig. 9 are connected by connectors F, G, H, I, and J. Note that the map data providing device 21 does not necessarily need to provide map data after going through steps of acquiring attribute data and generating first map data and second map data. Therefore, at least one of steps S801, S802, S804, S806, S808, and S810 may be omitted or replaced with another process.

[0044] In step S801, the attribute data acquisition unit 211 acquires attribute data.

[0045] In step S802, the first map data generation unit 212 generates first map data based on the attribute data acquired in step S801.

[0046] In step S803, the activity range data acquisition section 213 acquires activity range data.

[0047] In step S804, the second map data generation unit 214 generates second map data by deleting unnecessary parts of the first map data generated in step S802 for the moving object based on the activity range data. Note that the second map data generation unit 214 can also generate second map data by extracting necessary parts.

[0048] In step S805, the third map data generation unit 215 determines whether the area indicated by the second map data generated in step S804 is surrounded by four planar walls. If the third map data generation unit 215 determines that the area indicated by the second map data generated in step S804 is surrounded by four planar walls (step S805: YES), the process proceeds to step S806. On the other hand, if the third map data generation unit 215 determines that the area indicated by the second map data generated in step S804 is not surrounded by four planar walls (step S805: NO), the process proceeds to step S807.

[0049] In step S806, the third map data generating unit 215 generates the third map data by correcting the coordinate system of the second map data generated in step S804 into a three-dimensional coordinate system. This three-dimensional coordinate system has two axes parallel to the two planar walls that are in contact with each other, and one axis parallel to the intersection line of the two planar walls. Note that the third map data generating unit 215 can obtain the third map data by determining the coordinate system of the third map data using the information on the activity range of the mobile object obtained in step S805, instead of correcting the coordinate system of the second map data. The third map data may be generated within the map data providing device 21, or may be generated by another device based on the determined coordinate system. The same applies to steps S808, S810, and S812.

[0050] In step S807, the third map data generation unit 215 determines whether or not multiple flat walls exist in the area indicated by the second map data generated in step S804. If the third map data generation unit 215 determines that multiple flat walls exist in the area indicated by the second map data generated in step S804 (step S807: YES), the process proceeds to step S808. On the other hand, if the third map data generation unit 215 determines that multiple flat walls do not exist in the area indicated by the second map data generated in step S804 (step S807: NO), the process proceeds to step S809.

[0051] In step S808, the third map data generation unit 215 generates the third map data by modifying the coordinate system of the second map data into a coordinate system having an axis parallel to the planar wall that has the longest length in contact with the floor among the multiple planar walls.

[0052] In step S809, the third map data generation unit 215 determines whether or not a columnar object exists in the area indicated by the second map data generated in step S804. If the third map data generation unit 215 determines that a columnar object exists in the area indicated by the second map data generated in step S804 (step S809: YES), the process proceeds to step S810. On the other hand, if the third map data generation unit 215 determines that a columnar object does not exist in the area indicated by the second map data generated in step S804 (step S809: NO), the process proceeds to step S811.

[0053] In step S810, the third map data generation unit 215 generates third map data by correcting the coordinate system of the second map data into a coordinate system based on the columnar object.

[0054] In step S811, the coordinate system data acquisition unit 215 receives coordinate system data. Note that, when the coordinate system cannot be determined from the shape of the area of ​​the activity range of the mobile object, the coordinate system is received from outside the device. In the flowchart of FIG. 8, step S811 is executed when it is determined as NO in steps S805, S807, and S809, but it is also possible to receive coordinate system data in step S811 without going through steps S805, S807, and S809, and not execute the determinations of steps S805, S807, and S809.

[0055] In step S812, the third map data generation unit 215 generates third map data by correcting the coordinate system of the second map data based on the coordinate system data acquired in step S811.

[0056] In step S813, the map data providing unit 217 provides the mobile object with third map data. This third map data is generated in step S806, step S808, step S810, or step S812.

[0057] In step S814, the map data providing device 21 determines whether or not there is a moving object for which the third map data should be provided.

[0058] The map data providing device 21 according to the embodiment has been described above. The map data providing device 21 provides the mobile body 1-1 with third map data indicating a map of an area in which the mobile body 1-1 actually operates, instead of the first map data including a map of an area in which the mobile body 1-1 does not actually operate. Therefore, the map data providing device 21 provides the mobile body 1-1 with map data with a small amount of data, and can prevent the capacity of the memory mounted on the mobile body 1-1 from being occupied more than necessary. In addition, the map data providing device 21 can converge the parameters related to its own position and attitude while bringing the rotational components of the parameters closer to optimal values. Therefore, the map data providing device 21 can measure its own position and attitude with sufficient accuracy for autonomously operating within a space.

[0059] Furthermore, the map data providing device 21 provides the mobile body 1-1 with third map data having a coordinate system that is consistent with the shape of the area in which the mobile body 1-1 actually operates, instead of second map data having a coordinate system that is inconsistent with the shape of the area in which the mobile body 1-1 actually operates. As a result, the map data providing device 21 can reduce the number of parameters that need to be used when measuring its own position and orientation, and reduce the processing load for measuring its own position and orientation.

[0060] In the above-mentioned embodiment, the sensor is mounted on the moving body 1-1, etc., but the present invention is not limited to this. The sensor may be a moving body different from the moving body 1-1, ..., and the moving body 1-k, and may be mounted on a moving body that has already been introduced into the space. The sensor may be a sensor that is not mounted on the moving body 1-1, ..., the moving body 1-k, or a moving body that has already been introduced into the space, and is used by an operator to measure an object existing in the space.

[0061] In the above embodiment, the attribute data and the activity range data are separate, but the present invention is not limited to this. For example, the activity range data may be included in the attribute data.

[0062] In the above-described embodiment, the attribute data acquisition unit 211 acquires the attribute data of the moving object 1-1 from the moving object 1-1, but the present invention is not limited to this. For example, the attribute data acquisition unit 211 may acquire the attribute data of the moving object 1-1 from a device other than the moving object 1-1. Alternatively, the attribute data acquisition unit 211 may acquire attribute data input by a user who manages the moving object 1-1. Alternatively, the attribute data acquisition unit 211 may acquire the attribute data by reading a code attached to a building or the surface of the moving object 1-1. This code is, for example, a two-dimensional code. The same applies to the moving objects 1-2, ..., and 1-k.

[0063] The present invention includes the following inventions that appropriately combine the above-mentioned features.

[0064] (Configuration 1) A map data providing device comprising: an activity range data acquisition means for acquiring activity range data indicating an activity range within which a mobile body autonomously operates; a determination means for determining a coordinate system and an origin of map data to be provided to the mobile body based on the activity range data; and a map data providing means for providing the mobile body with map data based on the coordinate system and origin determined by the determination means.

[0065] (Configuration 2) 2. The map data providing device according to configuration 1, wherein, when a planar wall exists in the activity area, the determining means determines the coordinate system of the map data to be a coordinate system having axes parallel to the planar wall.

[0066] (Configuration 3) The map data providing device according to configuration 2, wherein, when a plurality of the planar walls are present in the activity area, the determining means determines the coordinate system of the map data to be a coordinate system having an axis parallel to the planar wall that has the longest length of contact with a floor among the plurality of the planar walls.

[0067] (Configuration 4) The map data providing device according to any one of configurations 1 to 3, wherein, when a columnar object is present in the activity range, the determination means determines the coordinate system of the map data to be a coordinate system based on the columnar object.

[0068] (Configuration 5) The map data providing device according to configuration 4, wherein, when a plurality of the columnar objects are present in the activity range, the determining means determines the coordinate system of the map data to be a coordinate system having an axis along an arrangement of the plurality of the columnar objects.

[0069] (Configuration 6) a coordinate system data receiving means for receiving coordinate system data that specifies a coordinate system of the map data; The determining means determines a coordinate system of the map data based on the coordinate system data. 6. A map data providing device according to any one of configurations 1 to 5.

[0070] (Program 1) A map data providing program that acquires activity range data indicating an activity range within which a mobile body autonomously operates, determines a coordinate system and an origin of map data to be provided to the mobile body based on the activity range data, and provides map data based on the coordinate system and origin determined by the determination means to the mobile body.

[0071] (Method 1) A map data providing method comprising: acquiring activity range data indicating an activity range within which a mobile body autonomously operates; determining a coordinate system and an origin of map data to be provided to the mobile body based on the activity range data; and providing map data based on the coordinate system and origin determined by the determination means to the mobile body.

[0072] <Other embodiments> The present invention can also be realized by a process in which a program for implementing one or more of the functions of the above-described embodiments is supplied to a system or device via a network or a recording medium, and one or more processors in a computer of the system or device read and execute the program. The present invention can also be realized by a circuit for implementing one or more of the functions, such as an ASIC (Application Specific Integrated Circuit).

[0073] The above describes preferred embodiments of the present invention. However, the present invention is not limited to the above-described embodiments. In other words, the present invention includes embodiments in which various modifications have been made based on the gist of the present invention, and these embodiments are not excluded from the scope of the present invention. [Explanation of symbols]

[0074] 10-1: Mobile object management device 11-1: Attribute data transmission section 13-1: Activity range data transmission section 17-1: Map data receiver 21: Map data providing device 211: Attribute data acquisition unit 212: First map data generation unit 213: Activity range data acquisition unit 214: Second map data generation unit 215: Third map data generation unit 216: Coordinate system data receiver 217: Map Data Provider

Claims

1. Attribute data acquisition means for acquiring attribute data of a moving object; a first map data generating means for generating first map data to be used by the mobile body for autonomous activity based on the attribute data; an activity range data acquisition means for acquiring activity range data indicating an activity range in which the mobile unit autonomously operates; a second map data generating means for generating second map data by excluding, from the first map data, an area that is not necessary for the mobile body to autonomously move, based on the activity range data; a determining means for determining a coordinate system and an origin of map data to be provided to the mobile body based on the activity range data; a third map data generating means for generating third map data by correcting the coordinate system of the second map data based on the determined coordinate system and origin of the map data; a map data providing means for providing the third map data to the mobile body; A map data providing device comprising:

2. When a planar wall exists in the activity area, the determining means determines the coordinate system of the map data to be a coordinate system having axes parallel to the planar wall.

2. The map data providing device according to claim 1.

3. When a plurality of planar walls are present in the activity area, the determining means determines the coordinate system of the map data to be a coordinate system having an axis parallel to the planar wall that has the longest length of contact with the floor among the plurality of planar walls.

3. The map data providing device according to claim 2.

4. When a columnar object is present in the activity area, the determining means determines the coordinate system of the map data to be a coordinate system based on the columnar object.

2. The map data providing device according to claim 1.

5. When a plurality of the columnar objects are present in the activity area, the determining means determines the coordinate system of the map data to be a coordinate system having axes along an arrangement of the plurality of the columnar objects.

5. The map data providing device according to claim 4.

6. coordinate system data receiving means for receiving coordinate system data specifying a coordinate system of the map data; the determining means determines the coordinate system of the map data based on the coordinate system data; 2. The map data providing device according to claim 1.

7. An attribute data acquisition step of acquiring attribute data of a moving object; a first map data generation step of generating first map data to be used by the mobile body for autonomous activity based on the attribute data; an activity range data acquisition step of acquiring activity range data indicating an activity range in which the mobile unit autonomously operates; a second map data generation step of generating second map data by excluding, from the first map data, an area that is not necessary for the moving body to autonomously move, based on the activity range data; a determining step of determining a coordinate system and an origin of map data to be provided to the mobile body based on the activity range data; a third map data generating step of correcting the coordinate system of the second map data based on the determined coordinate system and origin of the map data to generate third map data; a map data providing step of providing the third map data to the mobile body; A map data providing method comprising:

8. A computer program for controlling the map data providing method described in claim 7 by a computer.

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