Map creation device, map creation system, and map creation program

Abstract

To provide a useful map to a mobile robot.SOLUTION: A map creation device 140 comprises: an information acquisition section 141 that acquires three-dimensional point information measured by a three-dimensional measuring machine 110; a region limiting section 144 that extracts a plurality of pieces of three-dimensional point information included in a first height region T1 and extracts a plurality of pieces of three-dimensional point information included in a second height region T2; an extraction section 142 that extracts three-dimensional point information closest to the three-dimensional measuring machine 110 among the plurality of pieces of three-dimensional point information respectively included in a plurality of specific regions 302 for each of three-dimensional point information included in the first height region T1 and three-dimensional point information included in the second height region T2; a map creation section 143 that creates a two-dimensional first map 311 on the basis of the plurality of pieces of extracted three-dimensional point information and creates a second map 312 on the basis of the plurality of pieces of extracted three-dimensional point information corresponding to the second height region T2; and a synthesis section 145 that creates a composite map 310 obtained by combining the first map 311 and the second map 312.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a map creation device, a map creation system, and a map creation program that create a two-dimensional map from a plurality of three-dimensional point information pieces including three-dimensional position information. [Background technology]

[0002] For example, Patent Document 1 describes a technology that provides a map useful for mobile robots below a certain height by creating a two-dimensional map from three-dimensional point information included in a range below a certain height in a three-dimensional point cloud. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-23659 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the information provided from the map alone does not fully cover the multiple different types of distance sensors that the mobile robot is equipped with, so it can be difficult for the mobile robot to decide whether to get as close as possible to an obstacle using the first sensor, or to avoid it with ample time using the second sensor.

[0005] The present disclosure has been made in consideration of the above-mentioned problems, and provides a map creation device, a map creation system, and a map creation program that provide a map useful for a mobile robot. [Means for solving the problem]

[0006] A map creation device according to one aspect of the present disclosure includes an information acquisition unit that acquires a plurality of pieces of three-dimensional point information indicating positions of a plurality of points on the surface of an obstacle present around a movable three-dimensional measuring machine measured by the three-dimensional measuring machine; an area restriction unit that extracts a plurality of pieces of three-dimensional point information included in a first height area from the plurality of pieces of three-dimensional point information and extracts a plurality of pieces of three-dimensional point information included in a second height area different from the first height area; and an area restriction unit that extracts a plurality of pieces of three-dimensional point information included in the first height area and a plurality of pieces of three-dimensional point information included in the second height area from the plurality of pieces of three-dimensional point information, the plurality of pieces of three-dimensional point information being arranged in a state intersecting a movement plane along which the three-dimensional measuring machine moves, from the plurality of pieces of three-dimensional point information. an extraction unit that extracts, for each specific area, from a plurality of pieces of three-dimensional point information contained in each of a plurality of specific areas that each include an output plane, the three-dimensional point information that is closest to the three-dimensional measuring machine in a direction along the movement plane; a map creation unit that creates a two-dimensional first map in a plane along the movement plane based on the plurality of three-dimensional point information corresponding to the first height area extracted by the extraction unit, and creates a two-dimensional second map in a plane along the movement plane based on the plurality of three-dimensional point information corresponding to the second height area extracted by the extraction unit; and a synthesis unit that creates a synthesized map by synthesizing the first map and the second map.

[0007] A map creation system according to one aspect of the present disclosure includes: a three-dimensional measuring machine that is movable along a moving plane and measures the positions of a plurality of points on the surface of an obstacle present in the vicinity; a map creation device that creates a two-dimensional map on a plane along the moving plane based on three-dimensional point information acquired from the three-dimensional measuring machine; an information acquisition unit that acquires the three-dimensional point information measured by the three-dimensional measuring machine; an area limitation unit that extracts a plurality of pieces of three-dimensional point information included in a first height region from the plurality of pieces of three-dimensional point information and extracts a plurality of pieces of three-dimensional point information included in a second height region different from the first height region; and a map creation device that calculates the three-dimensional measurement value from the plurality of pieces of three-dimensional point information for each of the three-dimensional point information included in the first height region and the three-dimensional point information included in the second height region. the plurality of three-dimensional point information included in each of a plurality of specific areas each including a plurality of extraction planes aligned in a state intersecting with a moving plane on which the measuring machine moves, extracts, for each of the specific areas, the three-dimensional point information closest to the three-dimensional measuring machine in a direction along the moving plane; a map creation unit that creates a two-dimensional first map in a plane along the moving plane based on the plurality of three-dimensional point information corresponding to the first height area extracted by the extraction unit, and creates a two-dimensional second map in a plane along the moving plane based on the plurality of three-dimensional point information corresponding to the second height area extracted by the extraction unit; and a synthesis unit that creates a synthesized map by synthesizing the first map and the second map.

[0008] A map creation program according to one aspect of the present disclosure acquires a plurality of pieces of three-dimensional point information indicating positions of a plurality of points on a surface of an obstacle present around a movable coordinate measuring machine measured by the movable coordinate measuring machine, extracts a plurality of pieces of three-dimensional point information included in a first height region from the plurality of pieces of three-dimensional point information, extracts a plurality of pieces of three-dimensional point information included in a second height region different from the first height region, and extracts a plurality of pieces of three-dimensional point information from the plurality of pieces of three-dimensional point information that are aligned in a state intersecting a movement plane along which the coordinate measuring machine moves, for each of the three-dimensional point information included in the first height region and the three-dimensional point information included in the second height region. The method causes a processor to execute a process of extracting, for each specific area, from a plurality of pieces of three-dimensional point information included in each of a plurality of specific areas each including a plane for movement, the three-dimensional point information that is closest to the three-dimensional measuring machine in a direction along the plane of movement, causing a map creation unit to create a two-dimensional first map in a plane along the plane of movement based on the plurality of pieces of three-dimensional point information corresponding to the extracted first height area, creating a two-dimensional second map in a plane along the plane of movement based on the plurality of pieces of three-dimensional point information corresponding to the second height area extracted by the extraction unit, and creating a composite map by combining the first map and the second map. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to provide a mobile robot with a map that is useful for determining the traveling state of the mobile robot in relation to obstacles. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a perspective view showing a state in which the map creation system is creating a map of the interior of a room. [Figure 2] FIG. 2 is a block diagram showing the functional configuration of a coordinate measuring machine and a map creation device. [Figure 3] FIG. 2 is a side view showing the relationship between the first height region, the second height region, and the mobile robot. [Figure 4] 10 is a side view showing a state in which an extraction unit extracts extraction points from three-dimensional point information within a specific region. FIG. [Figure 5] FIG. 2 is a diagram showing a first map created by a map creation unit. [Figure 6] FIG. 10 is a diagram showing a second map created by a map creation unit. [Figure 7] FIG. 10 is a diagram showing a composite map created by a synthesis unit. [Figure 8] 10 is a flowchart showing the flow of processing by a synthesis unit. [Figure 9] FIG. 10 is a block diagram showing a functional configuration of a map creation system according to a first modified example. [Figure 10] FIG. 10 is a block diagram showing a functional configuration of a second modified example of a map creation system. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of a map creation device, a map creation system, and a map creation program according to the present invention will be described with reference to the drawings. Note that the following embodiments are presented as examples to explain the present invention and are not intended to limit the present invention. For example, the shapes, structures, materials, components, relative positional relationships, connection states, numerical values, mathematical formulas, the contents of each step in the method, and the order of each step shown in the following embodiments are examples and may include content not described below. Furthermore, although geometric expressions such as parallel and orthogonal may be used, these expressions do not indicate mathematical rigor and are not substantially acceptable. This includes errors, deviations, etc. that may occur. Expressions such as "simultaneous" and "identical" also include a range that is substantially acceptable.

[0012] The drawings are schematic diagrams in which emphasis, omission, or adjustment of proportions is appropriately made for the purpose of explaining the present invention, and differ from the actual shapes, positional relationships, and proportions. The X-axis, Y-axis, and Z-axis shown in the drawings represent Cartesian coordinates arbitrarily set for the purpose of explaining the drawings. In other words, the Z-axis is not necessarily an axis along the vertical direction, and the X-axis and Y-axis are not necessarily located within a horizontal plane.

[0013] In addition, in the following, multiple inventions may be collectively described as one embodiment, and some of the contents described below may be described as optional components related to the present invention.

[0014] Furthermore, the flowchart is an example, and even if the processing flow is different, such as if the order of processing is different, multiple processes are integrated, or one process is separated, it may still be included in the embodiment of the present invention.

[0015] FIG. 1 is a perspective view showing a state in which a map creation system 100 is creating a map of the interior of a room 200. Note that the black dots shown in FIG. 1 represent three-dimensional point information. In FIG. 1, the ceiling and the wall on the near side are omitted from the illustration. Inside the room 200, there are a first protrusion 201 that protrudes from the wall along a movement plane 210 at a height at which it will collide with a mobile robot (not shown in FIG. 1), and a second protrusion 202 that protrudes from the wall along the movement plane 210 at a height at which it will collide with the mobile robot and is shorter in height than the first protrusion 201.

[0016] 2 is a block diagram showing the functional configuration of the three-dimensional measuring machine 110 and the map creation device 140. The map creation system 100 includes the three-dimensional measuring machine 110 and the map creation device 140.

[0017] The three-dimensional measuring machine 110 is movable along a moving plane 210 (on the floor in this embodiment). The three-dimensional measuring machine 110 may be equipped with a self-propelled device such as motor-driven wheels to move autonomously on the moving plane 210, or may be moved by other means such as human power. The three-dimensional measuring machine 110 is equipped with a three-dimensional sensor 111. In this embodiment, the three-dimensional measuring machine 110 is equipped with an odometry sensor 112 and a measuring machine control device 113. Note that an obstacle is an object that impedes the travel of a robot such as an autonomous vacuum cleaner that travels using a map created by the map creation system 100, and also includes walls, doors, and furniture installed in the room 200.

[0018] Three-dimensional sensor 111 is a sensor that measures the positions of multiple points on the surface of an obstacle present around three-dimensional measuring machine 110 as three-dimensional point information. The type of three-dimensional sensor 111 is not limited, and examples include an LRF (Laser Range Finder), a LIDAR (Laser Imaging Detection and Ranging), a ToF (Time of Flight) camera (depth camera), a stereo camera, sonar, and RADAR. Three-dimensional sensor 111 may also be a combination of multiple types of sensors. In this embodiment, the three-dimensional point information obtained from three-dimensional sensor 111 is three-dimensional information with the position of three-dimensional sensor 111 (the self-position of three-dimensional measuring machine 110) as the origin.

[0019] The odometry sensor 112 is a sensor that acquires the position, posture, and the like of the three-dimensional measuring machine 110, which is information for creating a map together with the three-dimensional point information, that is, the odometry information of the three-dimensional sensor 111. The odometry sensor 112 acquires the moving distance, speed, and The odometry sensor 112 detects at least two-dimensional components parallel to the moving plane 210 for each of the acceleration, angular velocity, and attitude. The type of odometry sensor 112 is not limited, but examples include an acceleration sensor, an angular velocity sensor, an encoder that measures the rotation of the wheels provided in the coordinate measuring machine 110, a geomagnetic sensor, and a torque sensor. The odometry sensor 112 may also be a combination of multiple types of sensors.

[0020] The measuring machine control device 113 is a device that controls the coordinate measuring machine 110 and includes a processor. The measuring machine control device 113 includes an output unit 114 as a processing unit that is realized by causing the processor to execute a measuring machine program.

[0021] The output unit 114 acquires the three-dimensional point information acquired by the three-dimensional sensor 111 and odometry information such as the position and attitude of the three-dimensional sensor 111 when the three-dimensional sensor 111 acquired the three-dimensional point information, and outputs the three-dimensional point information and the odometry information in association with each other to the map creation device 140. The communication method between the three-dimensional measuring machine 110 and the map creation device 140 is not limited, and may be either wired communication or wireless communication.

[0022] Map creation device 140 is a device that creates a two-dimensional map on a plane along movement plane 210 based on three-dimensional point information and odometry information acquired from three-dimensional measuring device 110. Map creation device 140 includes a processor, and includes processing units that are realized by causing the processor to execute a map creation program, such as an information acquisition unit 141, an area limitation unit 144, an extraction unit 142, a map creation unit 143, and a synthesis unit 145. Note that while FIG. 1 illustrates a mode in which map creation device 140 communicates directly with three-dimensional measuring device 110, map creation device 140 may also communicate with three-dimensional measuring device 110 via a network. Also, while map creation device 140 is illustrated as a mobile terminal, map creation device 140 may exist as one of the functions of a server or the like that functions as a cloud.

[0023] The information acquisition unit 141 acquires three-dimensional point information measured by the three-dimensional sensor 111 of the three-dimensional measuring machine 110 from the output unit 114. In the present embodiment, the information acquisition unit 141 acquires associated odometry information from the three-dimensional measuring machine 110 along with the three-dimensional point information.

[0024] The region limiting unit 144 extracts, from the plurality of pieces of 3D point information, a plurality of pieces of 3D point information included in a first height region T1 (see FIG. 3 ), and extracts a plurality of pieces of 3D point information included in a second height region T2 (see FIG. 3 ), which is a region different from the first height region T1. This reduces the number of processes performed by the extraction unit 142. The ranges of the first height region T1 and the second height region T2 are not limited. For example, the first height region T1 and the second height region T2 are determined based on the height of the mobile robot 220 using the created map, the height range measurable by a sensor provided in the mobile robot 220, the running ability of the mobile robot 220, and the like. The information acquisition unit 141 may acquire information indicating the specifications of the mobile robot 220 in advance, and the region limiting unit 144 may acquire this information and perform processing. For example, the first height region T1 may be set to a range equal to or greater than the maximum height that a mobile robot 220, such as a vacuum cleaner, using the map can overcome and equal to or less than the minimum height that the mobile robot can crawl into. The second height region T2 may be set to a range that can be detected by a sensor 221 that detects whether the mobile robot 220 has come into contact with an obstacle or has come close enough to come into contact with an obstacle. Examples of the sensor 221 that detects whether the mobile robot 220 has come into contact with an obstacle or has come close enough to come into contact with an obstacle include a contact sensor and a proximity sensor.

[0025] The extraction unit 142 extracts, from the plurality of pieces of three-dimensional point information included in the first height region T1 and the plurality of pieces of three-dimensional point information included in the second height region T2, a plurality of pieces of three-dimensional point information included in a plurality of specific regions 302 each including a plurality of extraction planes 301 that are aligned in a state intersecting with the movement plane 210 along which the three-dimensional measuring machine 110 moves. An extraction point 400, which is three-dimensional point information that is closest to the three-dimensional measuring device 110 in the direction, is extracted for each specific region 302.

[0026] In this embodiment, the extraction planes 301 are virtual planes that are perpendicular to the moving plane 210 and include the three-dimensional sensor 111, and multiple extraction planes 301 exist around the entire periphery of the three-dimensional sensor 111. Note that FIG. 1 shows two of the multiple extraction planes 301. Also, in FIG. 1, the multiple extraction planes 301 are depicted radially around an axis that virtually extends vertically through the three-dimensional sensor 111. However, because the three-dimensional measuring machine 110 acquires three-dimensional point information while moving (while moving intermittently), the multiple extraction planes 301 are not necessarily arranged radially around a single axis. The specific region 302 is a region for including three-dimensional point information that is not included in the extraction planes 301 due to deviations of the three-dimensional point information within a plane parallel to the moving plane 210. In this embodiment, the three-dimensional sensor 111 acquires three-dimensional point information that is aligned in a straight line in the vertical direction, as shown in FIG. 1, on a plane perpendicular to the moving plane 210 (such as the wall of the room 200). The specific region 302 has a plate-like (or columnar) shape from which only three-dimensional point information that can be regarded as at least one line aligned in the vertical direction can be acquired.

[0027] The 3D point information closest to the three-dimensional measuring machine 110 in the direction along the moving plane 210 is, for example, as shown in FIG. 4, the 3D point information obtained by excluding height direction information (information in the Z-axis direction in the figure) from the 3D point information included in the specific region 302, and the 3D point information having the closest distance D between the 3D point information and the position of the 3D sensor 111 when the 3D point information was acquired, excluding the height direction information. Note that FIG. 4 is a diagram for explaining the operation of the extraction unit 142 and is unrelated to FIGS. 1 and 3. Also, although FIG. 4 shows multiple pieces of 3D point information closest to the 3D sensor 111, since there is some measurement error, it is possible to identify the closest 3D point information. Furthermore, "closest" does not mean only the first 3D point information when the pieces of 3D point information are arranged in order of shortest distance D from the 3D sensor 111, but also means any of the second or third 3D point information or subsequent pieces that can be equated with the first.

[0028] In this manner, the extraction unit 142 extracts one extraction point 400 for the first height region T1 of one specific region 302, and extracts one extraction point 400 for the second height region T2 of one specific region 302.

[0029] The extraction unit 142 may select the extraction plane 301 or the specific area 302 so that there is at least one row of 3D point information aligned in the vertical direction between adjacent specific areas 302. This makes it possible to thin out the 3D point information aligned along the movement plane 210, thereby reducing the number of processes for identifying the extraction points 400. Furthermore, it is possible to reduce the number of extraction points 400 output to the map creation unit 143, thereby reducing the number of processes required for map creation by the map creation unit 143.

[0030] The map creation unit 143 creates a two-dimensional first map 311 (see FIG. 5) on a plane along the movement plane 210 based on the plurality of extraction points 400 corresponding to the first height region T1 extracted by the extraction unit 142, and creates a two-dimensional second map 312 (see FIG. 6) on a plane along the movement plane 210 based on the plurality of extraction points 400 corresponding to the second height region T2. ​​The map creation method of the map creation unit 143 is not limited. For example, the map creation unit 143 creates a map using SLAM (Simultaneous Localization and Mapping) technology based on the plurality of extraction points 400 and the plurality of odometry information corresponding to these points.

[0031] The synthesis unit 145 creates a synthesis map 310 (see FIG. 7) by synthesizing the first map 311 and the second map 312. The synthesis unit 145 synthesizes the difference 30 between the first map 311 and the second map 312. 9 (in this embodiment, the portion indicating the second protrusion 202) may be assigned information different from that of the other portions. In this embodiment, the synthesis unit 145 adds proximity information indicating the distance at which the mobile robot 220 using the synthesized map 310 can approach an obstacle to the different portion 309 between the first map 311 and the second map 312. The proximity information is, for example, information that allows the mobile robot 220 to approach the obstacle to a distance at which it will come into contact or a near-contact distance, or information that prohibits the mobile robot 220 from approaching the obstacle more than a predetermined distance. In this embodiment, the synthesis unit 145 adds information that prohibits the mobile robot 220 from approaching the obstacle more than a predetermined distance to the different portion 309, and adds information that allows the mobile robot 220 to approach the obstacle to a distance at which it will come into contact or a near-contact distance to the other portions.

[0032] 8 is a flowchart showing the processing flow of the synthesis unit 145. The synthesis unit 145 acquires the first map 311 and the second map 312 from the map creation unit 143 (S101). In this embodiment, the map creation unit 143 creates a map in which cells (polygonal regions) of a size that does not interfere with the movement of the mobile robot 220 are densely arranged two-dimensionally along the movement plane 210. Among the cells, there are cells that include information corresponding to the extraction point 400 and cells that do not include information corresponding to the extraction point 400.

[0033] Next, the synthesis unit 145 refers to the first map 311 corresponding to the first height region T1 (S102). Specifically, the synthesis unit 145 checks the information of the cells included in the first map 311. If the referenced cell is not an obstacle (No in S103), that is, if the referenced cell does not include information corresponding to the extraction point 400, the synthesis unit 145 adds information indicating that the cell is passable to the referenced cell (S104).

[0034] On the other hand, if the referenced cell in the first map 311 is an obstacle (S103, Yes), the synthesis unit 145 references the corresponding cell in the second map 312 corresponding to the second height region T2, i.e., the cell at the same position as the cell in the first map 311 referenced in S103 (S105). If the referenced cell is not an obstacle (the dashed line portion in FIG. 7) (S106, No), the synthesis unit 145 adds information to the referenced cell that prohibits the mobile robot 220 from approaching the obstacle more than a predetermined distance (S107). If the referenced cell is an obstacle (the solid line portion in FIG. 7) (S106, Yes), the synthesis unit 145 adds information to the referenced cell that allows the mobile robot 220 to approach the obstacle to a distance that is close to or close to the obstacle (s108). The above process is performed for all cells in the first map 311 and the second map 312 (S109).

[0035] It should be noted that the present disclosure is not limited to the above-described embodiments. For example, the present disclosure may be embodied in another embodiment realized by any combination of the components described in this specification or by excluding some of the components. Furthermore, the present disclosure also includes modifications obtained by applying various modifications to the above-described embodiments that would occur to a person skilled in the art without departing from the spirit of the present disclosure, i.e., the meaning of the wording of the claims.

[0036] 9, the coordinate measuring machine 110 may realize an information acquisition unit 141, an area limitation unit 144, and an extraction unit 142 as processing units by causing a processor of the measuring machine control device 113 to execute part of a map creation program. The extraction points 400 extracted by the extraction unit 142 and the corresponding odometry information are transmitted to the map creation device 140 via communication with the output unit 114. This makes it possible to reduce the amount of information transmitted to the map creation device 140 via communication.

[0037] As shown in FIG. 10, the coordinate measuring machine 110 causes the processor of the measuring machine control device 113 to execute a map creation program, thereby providing an information acquisition unit 141 and an area limiting unit 142. 4, the extraction unit 142, the map creation unit 143, and the synthesis unit 145 may be realized as processing units, and the measuring device control device 113 may function as the map creation device 140.

[0038] Furthermore, the extraction plane 301 for creating the first map 311 and the extraction plane 301 for creating the second map 312 do not have to be the same.

[0039] A map creation device 140 of a first aspect according to the present disclosure includes an information acquisition unit 141 that acquires a plurality of pieces of three-dimensional point information indicating the positions of a plurality of points on the surface of an obstacle present around the movable three-dimensional measuring machine 110 measured by the movable three-dimensional measuring machine 110, an area restriction unit 144 that extracts a plurality of pieces of three-dimensional point information included in a first height region T1 from the plurality of pieces of three-dimensional point information and extracts a plurality of pieces of three-dimensional point information included in a second height region T2 different from the first height region T1, and a region restriction unit 145 that extracts a plurality of extraction planes 301 that are arranged in a state intersecting with a movement plane 210 along which the three-dimensional measuring machine 110 moves from the plurality of pieces of three-dimensional point information included in the first height region T1 and the second height region T2, respectively. The apparatus includes an extraction unit 142 that extracts, for each specific region 302, three-dimensional point information that is closest to the three-dimensional measuring machine 110 in a direction along the movement plane 210 from among the multiple three-dimensional point information contained in each of the multiple specific regions 302 including the specific region 302; a map creation unit 143 that creates a two-dimensional first map 311 in a plane along the movement plane 210 based on the multiple three-dimensional point information corresponding to the first height region T1 extracted by the extraction unit 142, and creates a two-dimensional second map 312 in a plane along the movement plane 210 based on the multiple three-dimensional point information corresponding to the second height region T2 extracted by the extraction unit 142; and a synthesis unit 145 that creates a synthesized map 310 by synthesizing the first map 311 and the second map 312.

[0040] According to the first embodiment, the mobile robot 220 can be provided with a composite map 310 that includes information about obstacles located at different positions in the height domain.

[0041] The map creation device 140 of the second aspect includes the first aspect, and adds proximity information indicating the distance at which a mobile robot using the composite map 310 can approach an obstacle to areas where the first map 311 and the second map 312 differ.

[0042] According to the second aspect, useful information for the mobile robot 220 using the composite map 310 can be added to the composite map 310 and provided to the mobile robot 220.

[0043] The third embodiment of the map creation device 140 includes the first embodiment or the second embodiment, and the first height region T1 is a range from the maximum height that a mobile robot 220 using the composite map 310 can overcome to the minimum height that the mobile robot can enter, and the second height region T2 is included in the first height region T1.

[0044] According to the third aspect, the mobile robot 220 using the composite map can work by getting under an obstacle, and can come close to the obstacle or come close to coming close to it.

[0045] The map creation device of the fourth aspect includes any of the first to third aspects, and the extraction unit 142 selects an extraction plane so that three-dimensional point information exists between adjacent specific areas 302.

[0046] According to the fourth aspect, the number of pieces of three-dimensional point information processed by the extraction unit 142 can be reduced, and the processing load of the extraction unit 142 can be reduced.

[0047] The map creation system 100 of the fifth embodiment includes a coordinate measuring machine 110 that is movable along a moving plane 210 and measures the positions of multiple points on the surface of an obstacle present in the vicinity; a map generating device (140) for generating a two-dimensional map on a plane along the moving plane (210) based on three-dimensional point information acquired from the three-dimensional measuring device (110); an information acquiring unit (141) for acquiring three-dimensional point information measured by the three-dimensional measuring device (110); an area limiting unit (144) for extracting a plurality of three-dimensional point information included in a first height region (T1) from the plurality of three-dimensional point information and extracting a plurality of three-dimensional point information included in a second height region (T2) different from the first height region (T1); and a region limiting unit (144) for extracting a plurality of three-dimensional point information included in the first height region (T1) and a plurality of three-dimensional point information included in the second height region (T2) from the plurality of three-dimensional point information, the region limiting unit (144) for extracting a plurality of three-dimensional point information included in the first height region (T1) and a plurality of three-dimensional point information included in the second height region (T2) from the plurality of three-dimensional point information. an extraction unit (142) that extracts, for each specific region (302), three-dimensional point information that is closest to the three-dimensional measuring machine (110) in a direction along the moving plane (210) from among the plurality of three-dimensional point information contained in each specific region (302); a map creation unit (143) that creates a two-dimensional first map (311) in a plane along the moving plane (210) based on the plurality of three-dimensional point information corresponding to the first height region (T1) extracted by the extraction unit (142), and creates a two-dimensional second map (312) in a plane along the moving plane (210) based on the plurality of three-dimensional point information corresponding to the second height region (T2) extracted by the extraction unit (142); and a synthesis unit (145) that creates a synthesized map (310) by synthesizing the first map (311) and the second map (312).

[0048] According to the fifth aspect, the mobile robot 220 can be provided with a composite map 310 that includes information about obstacles that exist at different positions in the height domain.

[0049] The map creation program of the sixth aspect acquires a plurality of pieces of three-dimensional point information indicating the positions of a plurality of points on the surface of an obstacle present around the three-dimensional measuring machine 110 measured by the movable three-dimensional measuring machine 110, extracts a plurality of pieces of three-dimensional point information included in a first height region T1 from the plurality of pieces of three-dimensional point information, extracts a plurality of pieces of three-dimensional point information included in a second height region T2 different from the first height region T1, and creates a plurality of extraction planes 301 arranged in a state intersecting with a movement plane 210 along which the three-dimensional measuring machine 110 moves from the plurality of pieces of three-dimensional point information for each of the three-dimensional point information included in the first height region T1 and the three-dimensional point information included in the second height region T2. Among the multiple pieces of three-dimensional point information contained in multiple specific areas 302 each including the first height area T1, the three-dimensional point information closest to the three-dimensional measuring machine 110 in a direction along the moving plane 210 is extracted for each specific area 302, and a map creation unit 143 is caused to create a two-dimensional first map 311 in a plane along the moving plane 210 based on the multiple pieces of three-dimensional point information corresponding to the extracted first height area T1, and a two-dimensional second map 312 in a plane along the moving plane 210 is created based on the multiple pieces of three-dimensional point information corresponding to the second height area T2 extracted by the extraction unit 142, and a composite map 310 is created by combining the first map 311 and the second map 312.

[0050] According to the sixth aspect, the mobile robot 220 can be provided with a composite map 310 that includes information about obstacles that exist at different positions in the height domain. [Industrial Applicability]

[0051] The present disclosure can be used to create maps for use in mobile robots such as vacuum cleaners. [Explanation of symbols]

[0052] T1 First height region T2 Second height region 100 Mapping System 110 Coordinate measuring machine 111 Three-dimensional sensor 112 Odometry sensor 113 Measuring machine control device 114 Output section 140 Map-making device 141 Information Acquisition Department 142 Extraction part 143 Map Creation Department 144 Area restriction section 145 Synthesis Section 200 rooms 201 First protrusion 202 Second protrusion 210 Moving plane 220 Mobile Robot 221 Sensor 301 Extraction plane 302 Specific area 309 Differences 310 Composite Map 311 First Map 312 Second Map 400 extraction points

Claims

1. an information acquisition unit that acquires a plurality of pieces of three-dimensional point information that indicate the positions of a plurality of points on the surface of an obstacle present around a movable three-dimensional measuring machine, the three-dimensional point information being measured by the movable three-dimensional measuring machine; an area limiting unit that extracts a plurality of pieces of three-dimensional point information included in a first height region from the plurality of pieces of three-dimensional point information, and extracts a plurality of pieces of three-dimensional point information included in a second height region different from the first height region; an extraction unit that extracts, for each of the three-dimensional point information included in the first height region and the three-dimensional point information included in the second height region, the three-dimensional point information that is closest to the three-dimensional measuring machine in a direction along the movement plane from the plurality of three-dimensional point information included in each of a plurality of specific regions each including a plurality of extraction planes that are aligned in a state intersecting with a movement plane along which the three-dimensional measuring machine moves; a map creation unit that creates a two-dimensional first map in a plane along the movement plane based on a plurality of three-dimensional point information corresponding to the first height region extracted by the extraction unit, and creates a two-dimensional second map in a plane along the movement plane based on a plurality of three-dimensional point information corresponding to the second height region extracted by the extraction unit; a synthesis unit that creates a synthesis map by synthesizing the first map and the second map; A map creation device comprising:

2. The synthesis unit Adding proximity information indicating a distance that a mobile robot using the composite map can approach an obstacle to a location on the composite map where the first map and the second map differ. The map creation device according to claim 1 .

3. The first height region is a range from a maximum height that a mobile robot using the composite map can overcome to a minimum height that the mobile robot can crawl into, and the second height region is included in the first height region.

3. A map creation device according to claim 1 or 2.

4. The extraction unit The extraction plane is selected so that the three-dimensional point information exists between adjacent specific regions.

3. A map creation device according to claim 1 or 2.

5. a coordinate measuring machine that is movable along a moving plane and measures the positions of multiple points on the surface of an obstacle present in the vicinity; a map creation device that creates a two-dimensional map on a plane along the movement plane based on the three-dimensional point information acquired from the three-dimensional measuring machine; an information acquisition unit that acquires three-dimensional point information measured by the three-dimensional measuring machine; an area limiting unit that extracts a plurality of pieces of three-dimensional point information included in a first height region from the plurality of pieces of three-dimensional point information, and extracts a plurality of pieces of three-dimensional point information included in a second height region different from the first height region; an extraction unit that extracts, for each of the three-dimensional point information included in the first height region and the three-dimensional point information included in the second height region, the three-dimensional point information that is closest to the three-dimensional measuring machine in a direction along the movement plane from the plurality of three-dimensional point information included in each of a plurality of specific regions each including a plurality of extraction planes that are aligned in a state intersecting with a movement plane along which the three-dimensional measuring machine moves; a first two-dimensional map in a plane along the movement plane based on a plurality of three-dimensional point information corresponding to the first height region extracted by the extraction unit; and a second two-dimensional map in a plane along the movement plane based on a plurality of three-dimensional point information corresponding to the second height region extracted by the extraction unit. a map creation unit that creates a two-dimensional second map on a plane; a synthesis unit that creates a synthesis map by synthesizing the first map and the second map. Mapping system.

6. acquiring a plurality of pieces of three-dimensional point information indicating the positions of a plurality of points on the surface of an obstacle present around the movable three-dimensional measuring machine, the position being measured by the movable three-dimensional measuring machine; extracting a plurality of pieces of three-dimensional point information included in a first height region from the plurality of pieces of three-dimensional point information, and extracting a plurality of pieces of three-dimensional point information included in a second height region different from the first height region; For each of the three-dimensional point information included in the first height region and the three-dimensional point information included in the second height region, from the plurality of pieces of three-dimensional point information, the three-dimensional point information closest to the three-dimensional measuring machine in a direction along the movement plane is extracted for each of the specific regions, each of which includes a plurality of extraction planes aligned in a state intersecting with a movement plane along which the three-dimensional measuring machine moves; causing a map creation unit to create a two-dimensional first map in a plane along the movement plane based on the extracted three-dimensional point information corresponding to the first height region; and creating a two-dimensional second map in a plane along the movement plane based on the extracted three-dimensional point information corresponding to the second height region; A composite map is created by combining the first map and the second map. A map creation program that causes a processor to execute the process.

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