Spatial information service system and computer program

Abstract

To provide a spatial information service system that can utilize non-spatial information input from a terminal.SOLUTION: A spatial information service system includes: a data input unit that receives input data from a terminal; a terminal information generating unit that generates predetermined information relating to the input data; an input data converting unit that converts the input data based on the predetermined information generated by the terminal information generating unit; and a database that stores therein spatial information. The predetermined information relating to the input data includes kind information on the input data, and information relating to a spatial range of the input data. The input data converting unit stores, in the database, non-spatial data from the terminal based on the information relating to the spatial range and on the kind information on the input data.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a spatial information service system, a computer program, and the like.

Background Art

[0002] In recent years, with technological innovations such as autonomous driving mobility and spatial recognition systems around the world, the development of an overall picture (hereinafter referred to as digital architecture) that connects data and systems among different organizations and members of society has been progressing.

[0003] By utilizing digital architecture, autonomous driving mobility and spatial recognition systems (hereinafter referred to as terminals) can acquire more information. Furthermore, they can cooperate with external devices and systems other than themselves to solve larger problems.

[0004] To achieve this, a spatial information service system based on digital architecture that connects the real-world space and digital information is required. Also, in order to quickly update the information in the real world as digital information on the spatial information service system, it is necessary to receive data input from the terminal and reflect it in the spatial information service system.

[0005] As a technology for receiving input from terminals that have conventionally provided services and reflecting it in the data of the spatial information service system, there is a technology such as Patent Document 1. In Patent Document 1, a moving body is considered as a plurality of terminals, and the position information of the moving body and environmental sensing data are transmitted to a data distribution server.

[0006] The data distribution server selects and reflects typical environmental sensing data from map data including the trajectory of the moving body, the position information of roads and intersections, and a plurality of data.

Prior Art Documents

Patent Documents

[0007]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0008] However, the technology of the above Patent Document 1 assumes that the environmental sensing data depends on the position of the terminal or that the acquisition position of the environmental sensing data can be recognized as the terminal.

[0009] The data distribution server corrects the environmental sensing data acquired on the terminal side and its position information at the time of input and updates its own spatial information database, but it is not considered for various inputs from various terminals assumed by the digital architecture. The terminals assumed by the digital architecture are assumed to have various detection functions in each terminal, and there is also a possibility of detecting an event that is not treated as spatial information among them.

[0010] For example, when a glass breakage sound is detected by detecting a glass breakage sound attached to the terminal, if the position where the glass is broken is different from the position of the terminal, the detected non-spatial information cannot be reflected in the spatial information database.

[0011] Therefore, one of the objectives of the present invention is to provide a spatial information service system that can utilize non-spatial information input from a terminal.

Means for Solving the Problems

[0012] In a spatial information service system, a data input unit that receives input data from a terminal, a terminal information generation unit that generates predetermined information regarding the input data, an input data conversion unit that converts the input data based on the predetermined information generated by the terminal information generation unit, a database in which spatial information is stored, It has a data output unit that outputs spatial information to the terminal. The predetermined information regarding the input data includes identification information for identifying the terminal that input the input data, type information of the input data, and information regarding the spatial range of the input data. The input data conversion unit stores the non-spatial data from the terminal in the database based on the information regarding the spatial range and the type information of the input data.

Effects of the Invention

[0013] According to the present invention, it is possible to provide a spatial information service system that can utilize non-spatial information input from a terminal.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Modes for Carrying Out the Invention

[0015] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiments. In each figure, the same members or elements are given the same reference numerals, and redundant descriptions are omitted or simplified.

[0016] <Embodiment 1> FIG. 1 is a diagram showing the configuration of an overall system including a spatial information service system according to Embodiment 1 of the present invention. Note that some of the functional blocks shown in FIG. 1 are realized by causing a CPU or the like as a computer (not shown) included in the spatial information service system to execute a computer program stored in a memory as a storage medium (not shown).

[0017] However, some or all of them may be realized by hardware. As the hardware, a dedicated circuit (ASIC), a processor (reconfigurable processor, DSP), or the like can be used.

[0018] Also, each of the functional blocks shown in FIG. 1 does not have to be built in the same housing, and may be configured by separate devices connected via signal paths. Note that the above description regarding FIG. 1 also applies to FIG. 2 in the same manner.

[0019] The spatial information service system according to Embodiment 1 of the present invention provides information regarding the space provided by the spatial information service system to a plurality of connected terminals by a predetermined method. In this embodiment, an example of a system in which the spatial information service system provides information necessary for an autonomous delivery by a delivery robot as a terminal will be described.

[0020] In FIG. 1, the spatial information infrastructure 100 includes a catalog system 102 and a spatial information service system 101, and is a system that performs data input / output in accordance with a request from the terminal 103.

[0021] In addition to the spatial information service system 101, there may be a plurality of spatial information service systems. The terminal 103 can search for information on each spatial information service system using the catalog system 102.

[0022] The spatial information service system 101 is connected to the terminal 103 and provides the spatial information required by the terminal 103. The terminal 103 is, for example, a delivery robot. In this embodiment, the spatial information service system 101 provides the terminal 103 with spatial information including information indicating whether passage through the space is possible as information necessary for the terminal 103 (delivery robot) to automatically deliver packages and the like in a predetermined space.

[0023] The catalog system 102 is a system that holds information on the plurality of spatial information service systems and enables selection of an appropriate spatial information service system for each terminal 103 when accessed by the terminal 103. For example, for each use case or function of the terminal 103, the internal spatial information service systems are managed, and information such as the range of spatial information provided by each and the publicly available APIs can be provided to the terminal 103.

[0024] The terminal 103 connects to the spatial information infrastructure 100 to obtain information on a predetermined space. Then, the spatial information infrastructure 100 notifies the terminal 103 of a spatial information service system suitable for the use case or function of the terminal 103, which has been searched for by the catalog system 102. Then, the terminal 103 selects the most optimal spatial information service system from among them and obtains information on the predetermined space.

[0025] Note that the terminal 103 in this embodiment is, for example, a delivery robot, and it is assumed that the delivery robot automatically delivers packages and the like using the obtained spatial information. The spatial information infrastructure 100 and the terminal 103 are connected, for example, via the Internet or the like, and data can be exchanged using a predetermined API or the like.

[0026] In addition, APIs specific to a certain spatial information service system, etc. are to be transmitted through the above-mentioned predetermined APIs, etc., or published in the catalog system 102, or held in advance in the terminal 103, etc., so that the terminal 103 can use them.

[0027] Here, although the terminal 103 directly accesses the spatial information service system, a server, etc. for controlling and managing the terminal 103 may be provided in between, and the server may access on behalf. Note that the spatial information infrastructure 100 may have other components such as an authentication infrastructure, for example.

[0028] FIG. 2 is a functional block diagram showing a configuration example of the spatial information service system 101 according to Embodiment 1. The configuration example of the spatial information service system related to the present embodiment will be described with reference to FIG. 2. The spatial information service system 101 includes a data input unit 201, a terminal information generation unit 202, an input data conversion unit 203, a database 204, and a data output unit 205.

[0029] The data input unit 201 receives data input from the terminal 103. Here, the input data input from the terminal 103 includes at least spatial information data and non-spatial information data. Here, the spatial information data is position information, etc. included in the input data from the terminal 103. More specifically, it is measurement data obtained by a sensor, etc. for measuring the space owned by the terminal 103 by the terminal 103, or information indicating the position of the terminal 103 when the measurement data is obtained, etc. Also, the non-spatial information data is information other than information indicating space or position among the data from the terminal 103.

[0030] For example, the spatial information data is data obtained by a sensor for measuring space such as LiDAR (Light Detection And Ranging) of the terminal. On the other hand, the non-spatial information data is data obtained by a sensor such as a microphone that is not for space measurement.

[0031] The terminal information generation unit 202 searches for terminal-specific information regarding the input data, generates predetermined information, and outputs it to the input data conversion unit 203. For example, if the type name of the terminal and other terminal-specific information are held in the spatial information service system, the terminal-specific information regarding the input data can be obtained by identifying the type name of the terminal from the input data.

[0032] Here, the terminal-specific information is predetermined information necessary for the input data conversion unit 203, which will be described later, to expand non-spatial information data into the fields of the database.

[0033] Here, an example of terminal-specific information will be described with reference to FIG. 3. FIG. 3 is a diagram showing an example of the structure of terminal-specific information according to Embodiment 1. 301 is a terminal table, 302 and 303 are the first output table and the second output table, respectively, and 304 and 305 are type name information tables for type names K1 and K2, respectively.

[0034] Here, it is assumed that the terminal-specific information is stored in a relational database, but any storage format may be used as long as the necessary predetermined information can be retrieved using the type name as a search key.

[0035] 301 is a terminal table and has, for example, a type name field so as to be able to identify the terminals connected to the spatial information service system. The type name here is the model number of the terminal, and it is assumed that terminals having the same model number have equivalent functions and performance. Here, the type name functions as identification information for identifying the terminal that input the input data.

[0036] In addition, an output information flag for identifying the type of output data that the terminal outputs to the spatial information service system is defined in the terminal table 301. For the input information supported by the spatial information service system, 1 is stored if the terminal can output it, and 0 is stored if it cannot.

[0037] If there are multiple pieces of input information supported by the spatial information service system, for example, in binary format, bit 1 can represent the first piece of input information and bit 2 can represent the second piece of input information.

[0038] When performing a search in a relational database, such a flag can be used to perform a search quickly, but it is not essential. In this embodiment, the first piece of input information is information related to impassability obtained by voice sensing, and the second piece of input information is information related to impassability obtained by temperature sensing.

[0039] Here, 302 and 303 are used to explain the predetermined information necessary as terminal-specific information. 302 is a table regarding the first piece of input information, and 303 is a table regarding the second piece of input information.

[0040] 306 is, for example, if it is table 302, a column of the model name of the terminal that outputs the first piece of input information, and is used as a search key. 307 is a column in which information regarding the axis of the sensor necessary for outputting the first piece of input information, that is, the sensing axis, is entered.

[0041] That is, it indicates the deviation between the coordinate system of the space measured by the sensor and the coordinate system related to the movement of the terminal, and is a sensing axis column in which information necessary to determine the sensing direction is entered. In this embodiment, the coordinate system of the terminal is a Cartesian coordinate system with the moving direction of the terminal as the x-axis, and is a coordinate system that rotates as it moves.

[0042] On the other hand, the coordinate system of the space measured by the sensor is a fixed Cartesian coordinate system with the maximum sensitivity direction of the microphone as the x-axis, and is expressed independently of the installation position of the microphone and the movement of the terminal. Here, the sensing axis column is expressed using a pair of azimuth angle and zenith angle when the maximum sensitivity direction of the microphone is shown on the coordinate system of the terminal.

[0043] FIG. 4 is an explanatory diagram of a coordinate system used for the directional information according to Embodiment 1. For example, consider a coordinate system with the x-axis as the moving direction of the terminal as shown in FIG. 4, and let 402 be the direction vector of the maximum sensitivity of the microphone. Then, a set of the angle φ formed by the vector 401 obtained by projecting 402 onto the XY plane and the x-axis, and the angle θ formed by the z-axis and 402 is used as the data of the sensing axis column.

[0044] Note that, as the information for determining the coordinate system of the terminal, information obtained by inputting the position information of the terminal as spatial information may be used, or it may be determined by a spatial information service system from the input of other terminals, such as a monitoring camera. Also, for a terminal that does not move, the coordinate system of the terminal may be registered and held in the spatial information service system in advance.

[0045] In FIG. 3, 308 is a range column that is information indicating the directional characteristics of the sensor. For example, information may be written in the range column so that a list describing the relative sensitivity, for example, with the maximum sensitivity set to 1, for each unit angle in the directions of the angle φ and the angle θ can be referred to. Also, for example, for an omnidirectional sensor, it may be described as NA, for example.

[0046] In this way, the information in the range of column 308 functions as information regarding the spatial range of the input data. Also, the information regarding the spatial range of the input data is information calculated based on the sensor information from which the input data was obtained, and is information that can be calculated by giving the probability of the existence of the event generation source at a certain spatial coordinate.

[0047] Note that the above sensor information is information including at least one of the installation position of the sensor with respect to the terminal 103, the sensing direction, and the directivity.

[0048] 309 is a reliability column that shows information indicating reliability. In this embodiment, reliability is information indicating, for example, the probability of the existence of the source of abnormal sound or the source of abnormal temperature, and is a value related to the detection performance of the terminal. This information may be updated by the spatial information service system sequentially. Also, the database may store information including at least information indicating the probability of the existence of the event source in each unit space and information that can identify an event including the event occurrence time.

[0049] 310 is a boundary condition column that contains information indicating the distance dependence of reliability, and may include an offset vector, a dependence parameter, a dependence pattern, and detection boundary conditions. Here, the offset vector represents the center point of the dependence. For example, if it is (0,0,0), the center point of the dependence coincides with the center of gravity of the terminal, and if it is (x, y, z), the center point of the dependence is the point obtained by adding the offset vector to the center of gravity of the terminal.

[0050] Here, for simplicity, the coordinate system adopted is the coordinate system of the terminal. The dependence pattern is information indicating how the dependence parameter described later changes with respect to the distance from the center point. For example, if the dependence pattern is 0, there is no dependence. If it is +1, it decays in proportion to the distance from the center point. If it is +2, it decays in proportion to the square of the distance. If it is +3, it decays in proportion to the cube of the distance.

[0051] The dependence parameter is a parameter that can specify a physical quantity used in calculation determined by the spatial information service system. In Table 302, for example, it is the sound pressure level P expressed in dBSPL units. Also, in Table 303, it may be the temperature T expressed in Kelvin units.

[0052] The dependence parameter depends on the distance according to the dependence pattern and decays or increases. The detection boundary condition indicates the dependence between the dependence parameter and reliability and the condition of the dependence parameter when reliability becomes 0, and may be expressed as a combination of numbers such as (a, b, c, d, e). Here, the numbers a, b, and c may be the exponents and coefficients of the following formula 1 representing the dependence value and reliability.

[0053]

Number

[0054] Moreover, d and e are information indicating the range in which the above formula holds. For example, d may represent the threshold of the dependent parameter, and e may indicate the condition. For example, when e = 1, the reliability becomes 0 when the dependent parameter is below the threshold d, and when e = 2, the reliability becomes 0 when the dependent parameter is above the threshold d.

[0055] For example, for abnormal sound detection of type name K1, assume that the detection performance significantly deteriorates when the sound pressure level of the detected sound is below 70 dBSPL, and the detection performance is a certain (e.g., 85%) when it is above 70 dBSPL.

[0056] In that case, the boundary condition parameters can be set as (0, 0, 85, 70, 1). Incidentally, a list of a certain reliability and the set of dependent parameter values corresponding to that reliability may be held as terminal-specific information.

[0057] 311 in Figure 3 is the input type identifier column, which is the type information of the input data from the terminal. For example, it may be defined by the terminal and can be an alarm number or the like input to the spatial information service system.

[0058] Incidentally, the type information of the input data includes at least information that can determine whether to reflect the input data in the database, and any information that can correspond the fields on the database to the input data is acceptable. Moreover, the type information of the input data functions as information for determining whether the input data is related to the passageability of a moving body.

[0059] Moreover, 304 and 305 are type name information tables respectively, showing the relationship between the unique information of a certain type name and the information used in the spatial information service system. The type name information table is composed of a type name column, a parameter column, and a conversion list column.

[0060] The parameter column can be expressed by the terminal output parameters of the type name described in the type name column and a parameter set of physical quantities used in calculations defined by the corresponding spatial information service system. In addition, in order to enable the terminal output to correspond to multiple spatial information service systems, for example, another parameter set may be added in addition to the parameter set.

[0061] The terminal output parameters may be information corresponding to the terminal output such as the first variable of the alarm defined by the input identifier, or may be parameter identifiers. The conversion list in the type name information table 304 shows the information necessary to convert the parameters output by the terminal into physical quantities used in calculations defined by the spatial information service system.

[0062] For example, the type name information table 304 is a table of type name K1, and the parameter column may be written with a pair of the volume level L output by the type name K1 and the identifier of the sound pressure level P, which is a physical quantity used in calculations defined by the information service system.

[0063] Furthermore, in the conversion list column, it is sufficient to be able to refer to the correspondence list between the volume level L output by the terminal of type name K1 and the sound pressure level P. Here, the number of related parameters may be different for each type name in the type name information table. For example, like 305, the number of parameter columns and conversion list columns may be larger than 304.

[0064] In this way, the predetermined information based on the terminal-specific information output to the input data conversion unit 203 includes identification information for identifying the terminal that input the data, type information of the input data, and information regarding the spatial range of the input data. In addition, the above-mentioned predetermined information includes information uniquely determined and extracted from the sensing axis, range, reliability, boundary conditions, parameters, and conversion list. Note that the method shown here is only an example, and it is sufficient that information that can be converted into spatial information data is shown when non-spatial information data is input.

[0065] The input data conversion unit 203 receives the predetermined information generated by the terminal information generation unit 202 based on the terminal-specific information, and converts the input data from the data input unit into a form adapted to the database of the spatial information service system.

[0066] That is, the input data conversion unit stores the non-spatial data from the terminal 103 in the database based on the spatial range information and the type information of the input data. Note that the non-spatial data includes voice data and the like, and the voice data includes the breaking sound of glass and the temperature data by the temperature sensor of the terminal. is included. Also, the spatial information stored in the database should be able to determine whether it is information inferred from non-spatial data.

[0067] Here, the terminal-specific information input from the terminal information generation unit 202 is sorted out. The terminal-specific information consists of, for example, the sensing axis information, range information, reliability information, boundary conditions, parameter information, and conversion list information of a table of information corresponding to the input (hereinafter, it is assumed that the table 302 corresponds for simplicity).

[0068] The sensing axis information, range information, and reliability information may be the information of the row where the type name of the terminal that input the data matches the type name column and the field where the columns 307 to 309 intersect (hereinafter, it is assumed that it is obtained from the terminal of type name K1 for simplicity).

[0069] The boundary conditions further consist of offset vector information, dependent parameter information, dependent pattern information, and detection boundary conditions, and are the information obtained from the information indicated by 310. Further, the detection boundary conditions consist of reliability conversion parameter information and detection boundary condition information.

[0070] The reliability conversion parameter information is information that enables the conversion of dependent parameters and reliability, and the detection boundary condition information is information regarding the conditions under which the conversion holds. Also, the parameter information is the information obtained from the parameter 1 column obtained from the table of type name K1 and the conversion list information.

[0071] Here, even if there are multiple parameters such as parameter 1 and parameter 2 of 305, only the parameter set corresponding to table 302 needs to be extracted.

[0072] Next, the conversion of the input data conversion unit 203 will be described with reference to the flowchart of FIG. 5. FIG. 5 is a flowchart showing an example of the process of input data conversion according to Embodiment 1. Incidentally, the operations of each step of the flowchart in FIG. 5 are sequentially performed by a CPU or the like as a computer (not shown) in the space information service system executing a computer program stored in a memory (not shown).

[0073] In step S501, it is determined whether the sensing axis information in the predetermined information (terminal-specific information corresponding to the input data input from the terminal) generated by the terminal information generation unit 202 is NA. If the sensing axis information is not NA, proceed to step S502 as a directional sensor. If it is NA, proceed to step S511 as an omnidirectional sensor.

[0074] In step S502, based on the range information and the sensing axis information in the predetermined information (terminal-specific information corresponding to the input data input from the terminal) generated by the terminal information generation unit 202, the directivity of the sensor that sensed the input information is specified. Then, the directivity information is corrected to the azimuth angle and zenith angle of the coordinate system used in the space information managed by the space information service system, and proceed to step S503.

[0075] Here, when the azimuth angle and zenith angle in the coordinate system used in the space information managed by the space information service system are φ and θ, the directivity information is represented as Pd(φ,θ) for simplicity. Incidentally, when the direction in which the sensitivity is maximum is (φ0,θ0), it is normalized so as to be Pd(φ0,θ0). Also, a list in which the values of Pd(φ,θ) are recorded for each unit angle may be used as the directivity information.

[0076] In step S511, assuming the sensor is omnidirectional, it generates directivity information Pd(φ, θ) that is 1 for all azimuth angles and zenith angles, and proceeds to step S503.

[0077] In step S503, it obtains the dependent parameters from the boundary conditions and proceeds to step S504.

[0078] In step S504, it determines whether there is parameter information corresponding to the dependent parameters. If there is, it proceeds to step S505. If not, it proceeds to step S512.

[0079] In step S505, it determines whether there is corresponding parameter information in the input data. If there is, it proceeds to step S506. If not, it proceeds to step S512.

[0080] In step S506, using the conversion list information, it converts the information of the input data into dependent parameters and proceeds to step S507. Here, for the sake of convenience, the dependent parameters are represented as Dp. Also, taking the maximum value that Dp can take as Dpmax, the newly defined Dp is the one obtained by normalizing Dp with Dpmax. Here, Dpmax can be an internal intrinsic value of the spatial information service system or can be included in the conversion list information.

[0081] In step S512, it determines the value of the dependent parameter Dp by referring to the normalized typical value held internally, and proceeds to step S507.

[0082] In step S507, it determines the distance dependence of the dependent parameter Dp from the dependent pattern and proceeds to step S508. Here, Dp is a function of distance and is represented, for example, by the following equation 2.

Equation

[0083] The constant value may use the value of Dp. r0 may be indicated by the dependent pattern information, or may be determined as a unique value in the spatial information service system. Alternatively, it may be indicated by the detection boundary condition information.

[0084] In step S508, the distance dependence of the trust information is determined, and the process proceeds to step S509. Here, the trust information C(r) is represented by the following equation (3).

Equation

[0085] Here, a, b, and c may be indicated in the trust conversion parameter information. In addition, the distance at which the trust information becomes 0 is obtained from the detection boundary condition information. For example, if the information Dp(r)>TH is shown in the detection boundary condition information, for example, if it has the dependence of Dp(r)=Dp / r, the condition becomes r<Dp / TH.

[0086] Here, TH is included in the boundary condition information and is assumed to be normalized by Dpmax. Also, let the value of C(r0) when Dp = 1 be the trust C obtained from the trust information.

[0087] In step S509, based on the orientation information and the trust degree, the spatial dependence of the trust information is determined as shown in the following equation (4), and the process proceeds to step S510.

Equation

[0088] Here, Equation (4) includes various assumptions such as the dependent parameter depending only on the distance and the trust degree being determined by the product of the orientation and the trust degree. However, even under different assumptions, for example, a list of multiple functions can be shown and selected, so the spatial dependence of the trust information can be derived.

[0089] In step S510, calculate the reliability of the voxel unit, which is the quantization unit of the space information in the database, using Equation 4, and end the flow of FIG. 5. The description of the voxel will be given later. Hereinafter, an example of a method for calculating the reliability for a voxel is shown.

[0090] For example, let the coordinates of the center point of a certain voxel be (x, y, z), and let the coordinates of the center point of the aforementioned dependency be (x0, y0, z0). For example, for a voxel where the distance r satisfies the condition of Equation 5 below, enter a value other than 0 for the reliability, and if the condition is not satisfied, enter 0 for the reliability.

Equation

[0091] In the above, the conditions Dp(r) = Dp / r and Dp(r)>TH are assumed to be in the dependency pattern information and boundary condition information, but the same processing is possible with other conditions. Also, in this embodiment, it is assumed that the size of the voxel is small, and the distance between the center point of the voxel and the center point of the dependency is used for determination. However, among the distances between each vertex of the voxel and the center point of the dependency, the same processing is possible if the smallest distance is considered.

[0092] When the coordinates of the center point of the voxel that satisfies the above condition are (x2, y2, z2) and the coordinates of the terminal are (x1, y1, z1), consider the vector (x2 - x1, y2 - y1, z2 - z1), and obtain the azimuth angle φ2 as shown in Equation 6 below, and obtain the zenith angle θ2 as shown in Equation 7.

Equation

Equation

[0093] When Pd(φ2, θ2) is obtained based on the azimuth angle φ2 and the zenith angle θ2, the reliability corresponding to a certain voxel can be calculated using Equation 4.

[0094] Here, Pd(φ2, θ2) may be, for example, a list showing the values of Pd for each unit angle. Also, even if the value of φ2 is not in the list, φ´2 in the list at the nearest angle may be used instead of φ2, or Pd may be calculated and averaged for the angles in the vicinity of φ2 that are in the list.

[0095] By calculating Equation 4 using this Pd, the reliability can be calculated for the voxels that satisfy the above conditions. With the method described above, in the input data conversion unit 203, the input data can be converted into voxel format data to be handled by the database 204.

[0096] Here, in this embodiment, the reliability of the voxel is assumed to be the same as the reliability of the center of the voxel, but the reliabilities of each vertex may be calculated and averaged, or the reliabilities at any number of points within an arbitrary voxel may be calculated and an average operation may be performed. Through the above processing, in the input data conversion unit 203, the input data can be converted into voxel data to be handled by the database.

[0097] The database 204 stores spatial information and stores the input received from the input data conversion unit 203. For example, the database 204 is a database that manages spatial information in a certain range, and has, for example, each voxel table, and is a relational database having spatial information regarding the voxels.

[0098] Here, the configuration of the format managed by the database 204 will be described with reference to FIGS. 6(A) and 6(B). FIG. 6(A) is a diagram showing the latitude / longitude information of the Earth, and FIG. 6(B) is a perspective view showing a predetermined space 600 in FIG. 6(A). Also, in FIG. 6(B), the center of the predetermined space 600 is the center 601.

[0099] In FIGS. 6(A) and 6(B), the format divides the space of the Earth into divided spaces determined by ranges starting from latitude / longitude / height, and adds unique identifiers to each space to enable management.

[0100] For example, here, space 600 is displayed as a predetermined space. Space 600 is defined, for example, with a center 601 at 20 degrees north latitude, 140 degrees east longitude, and height H. Also, it is a divided space defined with a width D in the latitude direction, a width W in the longitude direction, and a width T in the height direction, and is one space that divides the space of the Earth into a space determined by a range starting from the said latitude / longitude / height.

[0101] In FIG. 6(A), only space 600 is displayed for clarity, but in the format definition, spaces defined in the same way as space 600 are arranged side by side in the latitude / longitude / height directions.

[0102] Also, in FIG. 6(B), the center of the divided space is set as the starting point of the said latitude / longitude / height, but it is not limited to this. For example, a corner of the space or the center of the bottom surface may be used as the starting point.

[0103] Each of the above-described divided space regions is called a voxel, and space information (unique identifier) is associated and managed. Here, the shape of the voxel has been described as a rectangular parallelepiped shape, but space information may be associated and stored in three-dimensional space regions of various shapes such as a rectangular parallelepiped shape, a polygonal polygon shape, and a spherical shape.

[0104] That is, a voxel is a quantization unit of the space handled by the space information service system, and the space information service system can manage, provide, and share the information required for a certain space region provided with the service in units of voxels.

[0105] Also, in the space information service system, the quantization unit is not fixed, and it can also be divided into a plurality of quantization units. Therefore, information can be handled in voxel units of a plurality of sizes. The degree of space division is called, for example, the zoom level. The size of the voxel will be different at each zoom level.

[0106] Here, assume that the zoom level when the space is divided by the largest quantization unit is 0, and the zoom level is increased by 1 each time the division size is decreased. For example, a division that further divides the voxels when the zoom level is n into 4 parts may be defined as the zoom level n+1.

[0107] By introducing the zoom level, the space information service system can use a combination of voxels of multiple sizes, enabling flexible handling of spatial events. As a unique identifier for each voxel, a unique ID is assigned so that the voxel can be identified within the space, and it is used as a search key for the information stored in the database.

[0108] For example, by assigning the ID of each voxel in Morton order (octree), the positional relationship of each voxel can be specified by the ID. Also, voxels with a parent-child relationship such as adjacent voxels or different zoom levels where one voxel contains another voxel can be identified.

[0109] Morton order (octree) is a type of tree structure where each node has a maximum of 8 child nodes. It is used, for example, when recursively dividing a three-dimensional space into 8 octants (eighth spaces).

[0110] An example of the information managed in the database in this embodiment will be described with reference to FIG. 7. FIG. 7 is a diagram showing an example of the structure of the information stored in the database according to Embodiment 1. The voxels in the space handled by the space information service system are managed for space information in a voxel table as shown in FIG. 7.

[0111] The voxel table consists of columns such as a unique identifier that serves as a search key, date and time information, central position, filling degree, reliability, traffic information, reliability, and information source. The unique identifier column indicates the above-mentioned unique identifier that can identify the voxel and distinguish the coordinates and zoom level of the voxel.

[0112] The date and time information column shows the date and time information when data was input into the corresponding voxel. The date and time information may be indicated, for example, in Unix time. The center position column shows the coordinates within the voxel and the center position of an object or event related to the traffic information described later.

[0113] For example, when an object generates a non-passable state, the coordinates of the center point of the object are described. When the center point is unknown, such as when the center point of the object is unknown or there is a center point in an adjacent voxel, it may be described as NA, or the center of the voxel may be tentatively described.

[0114] The filling degree column indicates the degree to which an object or event related to the traffic information exists inside the box. For example, if it is 100, it indicates that the corresponding voxel is filled with an object or event related to the traffic information. When it is other than 100, it indicates that an object or event related to the traffic information is localized inside the voxel.

[0115] For example, when the filling degree is a value other than 100, by referring to voxels with a larger zoom level, or when the filling degree is 100, by referring to voxels with a smaller zoom level, it becomes possible to specify the position and range of the object or event.

[0116] The traffic state column shows information that can determine whether the space of the corresponding voxel is passable. For example, when the corresponding space of the voxel can be freely passed through, the column can be set to 0, and when it is composed of concrete such as a wall, the column can be set to 1 to indicate that it is impassable.

[0117] The reliability column shows the reliability of the voxel described above. The information source column is a code for identifying the input of information related to the traffic information of the voxel.

[0118] The code may be composed of, for example, the model name of the terminal where information is input and the product serial number of the terminal. The first bit may be used as a flag so that dynamic information input from a terminal or the like or identification of quasi-static information pre-input from map information or the like can be performed.

[0119] For example, the code "q:yyy:xxx" is dynamic data, which means that it is based on information input from the product serial number xxx of the model yyy. If the code "0:kkk:pp" is quasi-static data, it may be considered that it is input based on the pp map of the kkk company.

[0120] Here, q is a number other than 0 and represents the type of input information corresponding in the spatial information service system. For example, when q is 1, it means that it is based on abnormal sound detection information, and when q is 2, it may be considered that it is based on abnormal temperature detection information. Here, when the region of q is 0, it means that it is quasi-static data.

[0121] The database 204 is a relational database that has and manages a table related to the above-described voxels for each voxel. Note that the configuration of the table for each voxel described above is merely an example for explaining the present embodiment, and is not limited thereto. Also, the form of the database is not limited to a relational database, and is not limited to the form of the database.

[0122] The data output unit 205 outputs the spatial information managed in the database to the terminal 103 in accordance with a request from the terminal 103. In the present embodiment, for simplicity, it is assumed that information on whether a certain space is passable is output.

[0123] Next, FIG. 8 is a flowchart for explaining a processing example of the data output unit according to Embodiment 1. The processing until the data output unit 205 outputs data will be explained with reference to FIG. 8. Note that operations of each step of the flowchart in FIG. 8 are sequentially performed by a CPU or the like as a computer (not shown) in the spatial information service system executing a computer program stored in a memory (not shown).

[0124] In step S801, the data output unit identifies the space requested by the terminal, selects the optimal voxel for the space requested by the terminal, and proceeds to step S802. Here, the input from the terminal may be the specification of a space indicated by absolute coordinates that can be converted into certain latitude, longitude, and altitude information, or the specification of a route from a starting point via a transit point to an arrival point.

[0125] When specifying a route here, for example, it may be indicated by a file in GPX format. A file in GPX format is mainly composed of three types: waypoints (point information without an order relationship), routes (point information with an order relationship with time information added), and tracks (a collection of multiple point information: a trajectory).

[0126] As the attribute values of each point information, latitude / longitude, and as child elements, altitude, geoid height, GPS reception status, accuracy, etc. are described. The minimum elements required for a GPX file are the latitude / longitude information of a single point, and the description of other information is optional.

[0127] The data output unit may identify the necessary voxels using a collection of point information consisting of latitude / longitude with an order relationship. Identify the unique identifier of the voxel using the space, point latitude / longitude, and altitude information obtained above.

[0128] Still, at the zoom level, the zoom level held in the space information service system and the size information of the terminal may be obtained from, for example, the terminal information generation unit 202, and a zoom level corresponding to the size of the terminal may be selected.

[0129] In step S802, obtain the information of the voxel selected in step S801 from the database. In step S803, using the unique identifier as the search key, search for and select the necessary information from the voxel information, and proceed to step S804.

[0130] In step S804, it is determined whether it is necessary to update the database. If it is not necessary to update, the process proceeds to step S807. If it is necessary, the process proceeds to step S805. Here, the case where it is necessary to update the database is, for example, when it is found that a plurality of quasi-static data is the same information.

[0131] For the determination of identity, for example, in a plurality of row information in the database, if the input time is within a certain range and simultaneity can be confirmed, and moreover, it can be confirmed that the spatial information service system is of the same type of input information, it can be determined that they are the same.

[0132] For example, in a plurality of row information, if it falls within the range of the date and time information described in FIG. 7, and moreover, the types of input information corresponding to the spatial information service system at the information source described in FIG. 7 are the same, it can be determined that they are the same.

[0133] In addition, a retention period for information may be determined for each type of input information corresponding to the spatial information service system. The elapsed time is determined from the difference between the current time and the date and time information. If the elapsed time exceeds the retention period, the information may be deleted.

[0134] The retention time may be sequentially changed based on the importance of the space estimated from the update frequency and inquiry frequency in the spatial information service system of the voxel.

[0135] In step S805, one synthesized data is calculated from the same data, and the process proceeds to step S806. When synthesizing data, for example, when the data to be synthesized is obtained from the same terminal from the information source, a method of discarding the data with older date and time information may be adopted.

[0136] Conversely, when the data to be synthesized from the information source is from different terminals, the sum of each reliability may be calculated, and the value obtained by dividing by the number of synthesized data is used as the new reliability to update the data with the newer date and time information, and the other data may be discarded.

[0137] For example, when the sum of each reliability exceeds a certain threshold, the value calculated by the method defined in the spatial information service system may be further added to emphasize the reliability.

[0138] That is, when the same type of event information exists in the database, the identity is determined at least from the event occurrence time and the event type. If it is determined to be the same, the information indicating the existence probability of the overlapping part may be emphasized. Also, the method of emphasizing the information indicating the source probability of the events determined to be of the same type may be set separately for each event information.

[0139] Next, in step S806, the data synthesized in step S805 is written into the database, the data used for synthesis is deleted, and the process proceeds to step S807.

[0140] Here, although it is stated that the synthesized data is written into the database, for example, the reliability value of the synthesis source data with the highest reliability may be rewritten as the synthesized reliability value. In this embodiment, the deletion of the data used for synthesis is regarded as the deletion of the corresponding record on the database.

[0141] However, for example, instead of deleting, methods such as adding an identifier indicating past data to the unique identifier of the voxel or moving it to another database may be used when there is too much data and it takes time to search.

[0142] In step S807, the traffic information, filling degree, and reliability of the voxels that meet the terminal's requirements are obtained from the database and changed to an information format that the terminal can receive. Here, for example, when the terminal can only receive traffic information, the data output unit 205 may process the traffic information using the filling degree, reliability, and the size information of the terminal. In this way, the spatial information stored in the database can determine the reliability of the data associated with the spatial information.

[0143] For example, first, the scaling factor (SF) may be obtained from the volume (VV) and filling degree (FF) of the voxels and the volume (TV) of the terminal as shown in Equation 8 below.

Equation

[0144] Then, for example, when the traffic information (CI) is 1, the corrected traffic information (CI NEW ) may be calculated as shown in Equation 9 below using the confidence level (CD) and the above-mentioned scaling factor (SF).

Equation

[0145] Here, TH is a constant between 0 and 100, and β is a constant. For example, different constants may be held in the spatial information service system according to the zoom level of the voxels. The above method is only an example of this embodiment and is not limited thereto. In step S808, the voxel information is transmitted to the terminal, and the flow of FIG. 8 ends.

[0146] By using the method described above, it is possible to take into account the information calculated from the non-spatial information input held internally and transmit the voxel information requested from the terminal to the terminal.

[0147] In this way, the spatial information service system 101 can use the non-spatial information from the terminal 103 as input data, update the internal database, and provide the terminal 103 with information including the traffic permission information taking into account the non-spatial information in response to the request from the terminal 103.

[0148] Next, a specific method of using the spatial information service system of this embodiment will be described with reference to FIG. 9. FIG. 9 is a sequence diagram when using the spatial information service system according to Embodiment 1, and shows the processing until an end user receives an article delivery from a service provider by a delivery robot (terminal).

[0149] Still, by a CPU or the like as a computer (not shown) in the spatial information service system executing a computer program stored in a memory (not shown), the operations of each step of the sequence in FIG. 9 are sequentially performed.

[0150] At that time, the delivery service provider uses the spatial information service system to acquire spatial information and perform route setting and the like. Also, when detection is made by the glass breakage sound detection function by the detection function of the delivery robot during delivery, it is assumed that the service provider inputs it as non-spatial information to the spatial information service system. Here, the delivery service provider is a company or the like that manages and operates delivery robots and provides delivery services to end users.

[0151] In step S901, the end user orders a service from the service provider. Here, the order method may be a method determined by the service provider, for example, an application from a WEB page published by the service provider.

[0152] The service provider needs information on the item for which delivery is requested (weight of the item, size of the item, state of the item, location information at the time of ordering the item, etc.) and location information of the receiving point.

[0153] Therefore, the service provider needs to include the above information in the order information in step S901. However, for example, it is also possible to omit the input of the above information by previously determining the item to be delivered and the receiving location with the user.

[0154] In step S902, if a delivery robot (terminal) capable of delivering the item is available upon receiving the order in step S901, the service provider inquires of the spatial information service system for spatial information in order to determine a route.

[0155] That is, the service provider inquires of the spatial information service system about route candidates necessary for creating the final route for picking up an article and delivering it to the end user, and the spatial information of the related space.

[0156] In step S903, the spatial information service system responds with spatial information, and the service provider acquires the spatial information and formulates a route. Here, the service for formulating a route may be performed by the spatial information service system. Also, the function of dividing the space to which the spatial information desired by the service provider belongs into voxel units managed by the spatial information service system may be implemented by the service provider or by the spatial information service system.

[0157] In step S904, the service provider dispatches a delivery robot and transmits the formulated route.

[0158] In step S905, the delivery robot starts autonomous movement for service provision. Here, in this embodiment, a delivery robot is assumed and it is assumed to move autonomously, but it is not limited to autonomous movement. For example, movement may be performed by human operation.

[0159] In step S906, a glass breaking sound is detected by a microphone of the delivery robot, and the service provider is notified of the glass breaking sound. For glass breaking sound detection, for example, a feature vector may be extracted from the input voice from the microphone attached to the delivery robot, and likelihood calculation may be performed with the feature vector of the acoustic model learned from the glass breaking sound and modeled for determination.

[0160] Here, the feature vector may be composed of, for example, the fundamental frequency of the voice, formant frequency, spectrum, mel frequency cepstrum coefficients obtained from the cepstrum, zero crossing, subband energy, etc.

[0161] In step S907, the service provider inputs information indicating the detection of glass breakage sound as non-spatial information into the spatial information service system. Although this embodiment focuses on non-spatial information, it is also possible to input spatial information into the spatial information service system, and there is no particular need to limit it to non-spatial information.

[0162] Also, in FIG. 9, the example shows that the service provider is notified of the detection of glass breakage sound. However, steps S906 and S907 can be combined and directly input as non-spatial information from the delivery robot into the spatial information service system. Also, when non-spatial information or spatial information is input into the spatial information service system from a terminal such as a delivery robot or a service provider, the spatial information service system may add incentives such as points or coupons.

[0163] In step S908, the service provider queries the spatial information service system for spatial information in order to determine a new route.

[0164] In step S909, the service provider obtains spatial information from the spatial information service system.

[0165] In step S910, the service provider reconfigures the route and transmits it to the delivery robot.

[0166] In step S911, the delivery robot performs autonomous movement based on the reconfigured route.

[0167] In step S912, the delivery robot delivers the ordered item to the designated location and provides the service to the end user, thus ending the series of sequences in FIG. 9.

[0168] In this way, the spatial information service system according to this embodiment can obtain non-spatial information and the like from the delivery robot while providing spatial information to the service provider.

[0169] Therefore, according to this embodiment, since non-spatial information can be received as input from a terminal such as a delivery robot and reflected in the data on the database, an abnormal state of the space can be detected promptly and shared with other terminals.

[0170] (Other Embodiments) As described above, the present invention has been described in detail based on its preferred embodiments. However, the present invention is not limited to the above embodiments, and various modifications are possible based on the spirit of the present invention, and they are not excluded from the scope of the present invention.

[0171] In addition, a recording medium recording a program code of software for realizing the above functions may be supplied to a system or device, and a computer (CPU, MPU) of the system or device may read and execute the program code stored in the recording medium.

[0172] In this case, the program code itself read from the storage medium realizes the functions of the above-described embodiments, and the storage medium storing the program code constitutes the above-described device.

[0173] As the storage medium for supplying the program code, for example, a flexible disk, a hard disk, an optical disk, a magneto-optical disk, a CD-ROM, a CD-R, a magnetic tape, a non-volatile memory card, a ROM, a DVD, etc. can be used.

[0174] Also, by executing the program code read by the computer, not only are the above functions realized, but also based on the instructions of the program code, the OS running on the computer performs part or all of the actual processing to realize the above functions. Note that OS is an abbreviation for Operating System.

[0175] Furthermore, write the program code read from the storage medium into the memory provided in a function expansion board inserted into the computer or a function expansion unit connected to the computer. Then, based on the instructions of the program code, the CPU provided in the function expansion board or the function expansion unit may perform part or all of the actual processing to realize the above-described functions.

[0176] The present invention can also be realized by supplying a program that realizes one or more functions of the above-described embodiments to a system or device via a network or a storage medium, and causing one or more processors in the computer of the system or device to read and execute the program. It can also be realized by a circuit (for example, ASIC) that realizes one or more functions. The present invention also includes the following combinations.

[0177] (Configuration 1) A space information service system, comprising: a data input unit that receives input data from a terminal; a terminal information generation unit that generates predetermined information regarding the input data; an input data conversion unit that converts the input data based on the predetermined information generated by the terminal information generation unit; and a database in which space information is stored, wherein the predetermined information regarding the input data includes type information of the input data and information regarding a spatial range of the input data, and the input data conversion unit stores the non-spatial data from the terminal in the database based on the information regarding the spatial range and the type information of the input data.

[0178] (Configuration 2) The space information service system according to Configuration 1, wherein the type information of the input data includes at least information that can determine whether to reflect the input data in the database, and is information that can associate a field on the database with the input data.

[0179] (Configuration 3) The space information service system according to Configuration 1 or 2, wherein the type information of the input data is information for determining whether the input data is related to the passageability of a moving object.

[0180] (Configuration 4) The information regarding the spatial range of the input data is information calculated based on the sensor information from which the input data was obtained, and is information that can be calculated by giving the probability of the existence of an event generation source to certain spatial coordinates. The spatial information service system according to any one of Configurations 1 to 3, characterized in that.

[0181] (Configuration 5) The spatial information service system according to Configuration 4, characterized in that the sensor information includes at least one of the installation position of the sensor with respect to the terminal, the sensing direction, and the directivity.

[0182] (Configuration 6) The spatial information service system according to any one of Claims 1 to 5, characterized in that the predetermined information regarding the input data includes identification information for identifying the terminal that input the input data.

[0183] (Configuration 7) The spatial information service system according to Claim 6, characterized in that the identification information includes the model name of the terminal.

[0184] (Configuration 8) The spatial information service system according to any one of Configurations 1 to 7, characterized in that the non-spatial data includes audio data.

[0185] (Configuration 9) The spatial information service system according to Configuration 8, characterized in that the audio data includes destructive sounds.

[0186] (Configuration 10) The spatial information service system according to any one of Configurations 1 to 9, characterized in that the non-spatial data includes temperature data from a temperature sensor of the terminal.

[0187] (Configuration 11) The spatial information service system according to any one of Configurations 1 to 10, characterized in that the database stores information including information indicating at least the probability of the existence of an event generation source in each unit space and information capable of identifying an event including the event generation time.

[0188] Configuration 12: When there is the same type of event information in the database, at least the event occurrence time and the event type are used to determine identity. If it is determined to be the same, information indicating the existence probability of the overlapping part is emphasized. The spatial information service system according to any one of Configurations 1 to 11, characterized in that.

[0189] Configuration 13: The spatial information stored in the database can be discriminated whether it is information inferred from the non-spatial data. The spatial information service system according to any one of Configurations 1 to 12, characterized in that.

[0190] Configuration 14: The spatial information stored in the database can be discriminated the reliability of the data associated with the spatial information. The spatial information service system according to any one of Configurations 1 to 13, characterized in that.

[0191] Configuration 15: The method of emphasizing the information indicating the origin probability of the event determined to be the same type can be set separately for each event information. The spatial information service system according to any one of Configurations 12, characterized in that.

[0192] Program: A computer program for controlling each part of the spatial information service system according to any one of Configurations 1 to 15 by a computer.

Explanation of Signs

[0193] 100: Spatial information infrastructure 101: Catalog system 102: Spatial information service system 103: Terminal 201: Data input part 202: Terminal information generation part 203: Input data conversion part 204: Database 205: Data output part

Claims

1. A data input unit that receives input data from a terminal, A terminal information generation unit that generates predetermined information regarding the input data, An input data conversion unit that converts the input data based on the predetermined information generated by the terminal information generation unit, And a database in which spatial information is stored, The predetermined information regarding the input data includes the type information of the input data and the information regarding the spatial range of the input data, The input data conversion unit stores the non-spatial data from the terminal in the database based on the information regarding the spatial range and the type information of the input data. A spatial information service system characterized by this.

2. The type information of the input data includes at least information that can determine whether to reflect the input data in the database, and is information that can correspond the input data with a field on the database. The spatial information service system according to Claim 1, characterized by this.

3. The type information of the input data is information for determining whether the input data is related to the passability of a moving object. The spatial information service system according to Claim 1, characterized by this.

4. The information regarding the spatial range of the input data is information calculated based on the sensor information that acquired the input data, and is information that can be calculated by giving the probability of the existence of the event generation source to a certain spatial coordinate. The spatial information service system according to Claim 1, characterized by this.

5. The sensor information is information including at least one of the installation position of the sensor with respect to the terminal, the sensing direction, and the directivity. The spatial information service system according to Claim 4, characterized by this.

6. The predetermined information regarding the input data includes identification information that identifies the terminal that input the input data. The spatial information service system according to Claim 1, characterized by this.

7. The identification information includes the model name of the terminal. The spatial information service system according to Claim 6, characterized by this.

8. The non-spatial data includes voice data. The spatial information service system according to Claim 1, characterized by this.

9. The voice data includes destructive sound. The spatial information service system according to Claim 8, characterized by this.

10. The spatial information service system according to claim 1, wherein the non-spatial data includes temperature data from a temperature sensor of the terminal.

11. The spatial information service system according to claim 1, wherein the database stores information including information indicating the probability of the existence of at least an event generation source and information capable of identifying an event including the event generation time in each unit space.

12. The spatial information service system according to claim 1, wherein when the same type of event information exists in the database, identity is determined based on at least the event generation time and the event type, and when determined to be the same, information indicating the probability of the existence of the overlapping part is emphasized.

13. The spatial information service system according to claim 1, wherein the spatial information stored in the database can be determined whether it is information inferred from the non-spatial data.

14. The spatial information service system according to claim 1, wherein the spatial information stored in the database can be determined the reliability of the data associated with the spatial information.

15. The spatial information service system according to claim 12, wherein the method of emphasizing the information indicating the source probability of the event determined to be of the same type can be set separately for each event information.

16. A computer program for controlling each part of the spatial information service system according to any one of claims 1 to 15 by a computer.

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