Three-dimensional map processing system, three-dimensional map processing method, and three-dimensional map processing program

Abstract

This reduces the processing load required to update the three-dimensional environment map when there are geometric changes in the environment in which a moving object is traveling. [Solution] One aspect of the disclosure is a three-dimensional map processing system comprising: a map storage unit that stores a three-dimensional environmental map and a two-dimensional environmental map of a target area; a two-dimensional environmental map acquisition unit that acquires a two-dimensional environmental map of the target area; a difference detection unit that detects the difference between a first two-dimensional environmental map acquired by the two-dimensional environmental map acquisition unit and a second two-dimensional environmental map acquired in the past; a three-dimensional information acquisition unit that acquires three-dimensional information indicating a three-dimensional shape including the detection position of the difference detected by the difference detection unit; and a three-dimensional environmental map update unit that updates the three-dimensional environmental map stored in the map storage unit based on the three-dimensional information.

Description

Technical Field

[0001] The present invention relates to a three-dimensional map processing system, a three-dimensional map processing method, and a three-dimensional map processing program.

Background Art

[0002] When autonomously driving a mobile robot indoors to perform various services, a technique called SLAM (Simultaneous Localization and Mapping) is known. SLAM is a technique for generating an environmental map by measuring the shape representing the environment around the mobile robot using an LRF (Laser Range Finder) equipped on the mobile robot, and simultaneously estimating the self-position of the mobile robot on the map.

[0003] As a technique related to this type of mobile robot, the one described in Patent Document 1 below is known. Patent Document 1 describes that, in order to construct a more accurate and complete three-dimensional environmental map, a three-dimensional map construction device includes steps of obtaining a current global point cloud map, obtaining a plurality of image data collected by a local collection device during the movement of a mobile device, determining real-time pose information of the local collection device generated at the time of collecting the image data, and constructing a three-dimensional environmental map based on the current global point cloud map, the plurality of image data, and the real-time pose information of the local collection device.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The technology described in Patent Document 1 above requires updating the entire three-dimensional environmental map when the geometric shape of the target area is updated.

[0006] A three-dimensional environment map can be used as a three-dimensional digital twin interface to visualize the status of a mobile robot in the real world and plan its route to its destination in a three-dimensional virtual space. The three-dimensional environment map is constructed, for example, using images acquired by imaging devices and detection results from laser range sensors, etc., to obtain measurements in three-dimensional space.

[0007] On the other hand, two-dimensional environmental maps are generally constructed using the detection results of a mobile robot, either by having it follow a person or by controlling it remotely within a real-world area. It is also possible to create a two-dimensional environmental map by using a three-dimensional environmental map to run a virtual mobile robot in a virtual space. Once a two-dimensional environmental map is created, as long as there are no geometric changes in the target area, the mobile robot can estimate its own position by comparing the surrounding environment measured by two-dimensional LiDAR with the two-dimensional environmental map, and then navigate autonomously.

[0008] Three-dimensional environmental maps and two-dimensional environmental maps used for autonomous driving are generally created at different times for different purposes. A three-dimensional environmental map reconstructs the geometric shape of the entire target area, while a two-dimensional environmental map is a map created by slicing the three-dimensional environmental map at the height of the target robot's LiDAR.

[0009] When there are geometric changes in the environment of a target area, a mobile robot can use LiDAR to reflect these changes in a two-dimensional environment map, but it has the problem that it cannot reflect these changes in a three-dimensional environment map. In this case, not only is it affected to use the three-dimensional environment map as a digital twin interface, but if a two-dimensional environment map of another mobile robot device is created using the three-dimensional environment map, malfunctions in automatic navigation may occur. Furthermore, as described in Patent Document 1 above, it is possible to recreate the entire three-dimensional environment map in response to geometric changes in the target area, but as the target area becomes larger, a lot of effort is required for remeasurement, coordinate system editing and setting, etc.

[0010] This disclosure is made in view of these circumstances and aims to provide a three-dimensional map processing system, a three-dimensional map processing method, and a three-dimensional map processing program that can suppress the processing load required to update a three-dimensional environmental map when there are geometric changes in the environment in which a moving object is traveling. [Means for solving the problem]

[0011] This disclosure has been made to solve the above-mentioned problems, and one aspect of this disclosure is a three-dimensional map processing system comprising: a map storage unit that stores a three-dimensional environmental map and a two-dimensional environmental map of a target area; a two-dimensional environmental map acquisition unit that acquires a two-dimensional environmental map of the target area; a difference detection unit that detects the difference between a first two-dimensional environmental map acquired by the two-dimensional environmental map acquisition unit and a second two-dimensional environmental map acquired in the past; a three-dimensional information acquisition unit that acquires three-dimensional information showing a three-dimensional shape including the detection position of the difference detected by the difference detection unit; and a three-dimensional environmental map update unit that updates the three-dimensional environmental map stored in the map storage unit based on the three-dimensional information.

[0012] Another aspect of the present disclosure is a three-dimensional map processing method comprising: a server system storing a three-dimensional environmental map and a two-dimensional environmental map of a target area; a mobile robot device creating a two-dimensional environmental map of the target area; the server system detecting a difference between the created first two-dimensional environmental map and a second two-dimensional environmental map acquired in the past; the server system acquiring three-dimensional information indicating a three-dimensional shape including the detection location of the detected difference; and the server system updating the stored three-dimensional environmental map based on the three-dimensional information.

[0013] Another aspect of this disclosure is a three-dimensional map processing program that causes a computer to perform the steps of: storing a three-dimensional environmental map and a two-dimensional environmental map of a target area; acquiring a two-dimensional environmental map of the target area; detecting a difference between a first two-dimensional environmental map that has been created and a second two-dimensional environmental map acquired in the past; acquiring three-dimensional information indicating a three-dimensional shape including the detection location of the detected difference; and updating the stored three-dimensional environmental map based on the three-dimensional information. [Effects of the Invention]

[0014] According to one aspect of the present invention, the processing load required to update a three-dimensional environmental map when there are geometric changes in the environment in which a moving object is traveling can be suppressed. [Brief explanation of the drawing]

[0015] [Figure 1] This is a schematic diagram showing an example of a three-dimensional map processing system 1 according to an embodiment. [Figure 2] This is a block diagram showing an example of a three-dimensional map processing system 1 according to an embodiment. [Figure 3] This figure shows an example of the processing performed by the server system 200 in the embodiment. [Figure 4]This flowchart shows an example of the process of updating a three-dimensional environmental map using the three-dimensional map processing system 1 in the embodiment. [Figure 5] This figure shows an example of the processing performed by the server system 200 in the embodiment. [Modes for carrying out the invention]

[0016] Hereinafter, a three-dimensional map processing system, a three-dimensional map processing method, and a three-dimensional map processing program to which the present invention is applied will be described with reference to the drawings.

[0017] (Configuration of 3D map processing system 1) Figure 1 is a schematic diagram showing an example of a three-dimensional map processing system 1 according to an embodiment, and Figure 2 is a block diagram showing an example of a three-dimensional map processing system 1 according to an embodiment. The three-dimensional map processing system 1 includes, for example, a mobile robot device 100, a server system 200, a flying robot device 300, and a terminal device 400. The mobile robot device 100 and the server system 200 have communication interfaces (not shown), such as NICs (Network Interface Cards) and wireless communication modules, enabling the exchange of various types of information via a communication network NW. The communication network NW may include, for example, a general-purpose network such as the Internet, and a private network such as local 5G or WiFi (registered trademark).

[0018] The three-dimensional map processing system 1 is an information processing system that, for example, is autonomously moved by a mobile robot device 100, and the movement of the mobile robot device 100 is controlled by a server system 200. The mobile robot device 100 is a robot device that realizes various services, such as moving inside a building to acquire various information about the building and transmitting the acquired information to the server system 200, or moving inside a building and performing predetermined actions when predetermined conditions are met. When updating the three-dimensional environmental map, the three-dimensional map processing system 1 makes the flying robot device 300 fly and causes the flying robot device 300 to image the target area.

[0019] The mobile robot device 100 creates a two-dimensional environmental map while detecting three-dimensional objects in the target area within the scan range of the distance measurement unit 102. Also, the mobile robot device 100 estimates its own position using the two-dimensional environmental map. The distance measurement unit 102 is, for example, a 2D LiDAR. The scan range of the distance measurement unit 102 is a two-dimensional range centered on the position of the mobile robot device 100. On the other hand, the flying robot device 300 flies over the target area and images three-dimensional objects in the target area. A plurality of captured images captured by the flying robot device 300 are used to update the three-dimensional environmental map. The imaging range of the flying robot device 300 is the range of the three-dimensional space that can be imaged by the imaging device of the flying robot device 300.

[0020] The mobile robot device 100 includes, for example, a communication unit 110, a light emitting unit 112 and a light receiving unit 114 included in the distance measurement unit 102, a control unit 116, and a drive unit 118. The communication unit 110 communicates with the server system 200 via the communication network NW. The light emitting unit 112 and the light receiving unit 114 are LRFs, for example, ToF type sensors such as LiDAR. The light emitting unit 112 includes, for example, a light emitting element that emits near infrared light. The light emitting unit 112 emits a predetermined number of pulsed lights at regular intervals. The light receiving unit 114 is, for example, a photodiode or a single photon avalanche diode (SPAD). The light receiving unit 114 receives the reflected light of the pulsed light emitted by the light emitting unit 112 and generates an electrical signal.

[0021] The distance measurement unit 102 detects the intensity of the electrical signal based on the reflected light received by the light receiving unit 114. The distance measurement unit 102 measures the distance between the mobile robot device 100 and the obstacle based on the intensity of the electrical signal.

[0022] The control unit 116 estimates the self-position of the mobile robot device 100 and creates a two-dimensional environmental map using a method called two-dimensional SLAM, which measures the distance from the self-position to obstacles. Specifically, the control unit 116 creates the two-dimensional environmental map by connecting the point clouds that exist at the measured distance from the self-position estimated when the mobile robot device 100 is moving. At this time, the control unit 116 creates the two-dimensional environmental map by connecting the point clouds using a method called ICP (Iterative Closest Point). In this embodiment, the two-dimensional environment map refers to a map of the environment sliced ​​parallel to the floor surface at the height of the distance measuring unit 102 (LiDAR) equipped on the mobile robot device 100. The two-dimensional environment map may also be created by having a virtual mobile robot travel within the three-dimensional environment map. Furthermore, the control unit 116 stores route information indicating the path taken by the mobile robot device 100 when the two-dimensional environmental map was created. The mobile robot device 100 may transmit the two-dimensional environmental map and route information to the server system 200.

[0023] The drive unit 118 generates a driving force to move the mobile robot device 100 according to the control of the control unit 116.

[0024] The communication unit 110 transmits the electrical signal of the reflected light detected by the light receiving unit 114, and electrical signal strength information indicating the strength of the electrical signal, to the server system 200, and transmits the position information of the mobile robot device 100 derived by the GPS processing unit (not shown) to the server system 200. The communication unit 110 receives distance information or a two-dimensional environmental map from the server system 200. Based on this, the control unit 116 controls the movement of the mobile robot device 100 based on the position information of the mobile robot device 100 and the distance information or two-dimensional environmental map.

[0025] The server system 200 is an information processing system that includes one or more server devices that communicate with the mobile robot device 100 and process requests received from the mobile robot device 100. The server system 200 includes, for example, a data transmission / reception unit 202, a map storage unit 204, a route generation unit 206, a difference detection unit 208, a coordinate position analysis unit 210, and an information processing unit 212. The data transmission / reception unit 202, the map storage unit 204, the route generation unit 206, the difference detection unit 208, the coordinate position analysis unit 210, and the information processing unit 212 are functional units that are realized by one or more computer devices such as server devices executing programs.

[0026] The data transmission / reception unit 202 receives a two-dimensional environmental map from the mobile robot device 100. The data transmission / reception unit 202 also transmits distance information to the mobile robot device 100, indicating the distance to obstacles based on electrical signal strength information. The data transmission / reception unit 202 also transmits two-dimensional environmental map information, which shows the two-dimensional environmental map stored in the map storage unit 204, to the mobile robot device 100. In this embodiment, the process of generating distance information indicating the distance from the mobile robot device 100 to the obstacle based on electrical signal strength information may be performed by the distance measuring unit 102 or by the information processing unit 212.

[0027] The map storage unit 204 stores two-dimensional environmental map information and three-dimensional environmental map information. The two-dimensional environmental map information includes, for example, information indicating the two-dimensional coordinates and the presence or absence of obstacles in the target area. The three-dimensional environmental map information includes, for example, information indicating the three-dimensional coordinates and the presence or absence of obstacles in the target area. The two-dimensional environmental map information is generated by the mobile robot device 100 as described above. The three-dimensional environmental map information is created, for example, by capturing images taken by a mobile body equipped with a three-dimensional shape measuring machine, such as a flying robot device 300, or by measuring the shape of objects included in the target area using a laser range sensor or the like.

[0028] The route generation unit 206 generates a route for the mobile robot device 100. The route generation unit 206 generates a route for the mobile robot device 100 based on the position of the mobile robot device 100, the destination, and two-dimensional environmental map information. The route information indicating the route generated by the route generation unit 206 is transmitted to the mobile robot device 100.

[0029] The difference detection unit 208 detects the difference between the first two-dimensional environmental map information and the second two-dimensional environmental map information acquired in the past. The first two-dimensional environmental map information is information indicating the two-dimensional environmental map acquired by the data transmission / reception unit 202, and the second two-dimensional environmental map information is information indicating the two-dimensional environmental map stored in the map storage unit 204. The difference detection unit 208 may detect the difference in the two-dimensional environmental map by image difference analysis processing such as OpenCV. Specifically, when the difference detection unit 208 analyzes the position coordinates between the nth two-dimensional environment map and the (n+1)th two-dimensional environment map, it performs the following processing. (1) The origin coordinates of the nth two-dimensional environment map and the (n+1th) two-dimensional environment map are made to coincide and superimposed. (2) The difference between the nth two-dimensional environment map and the (n+1)th two-dimensional environment map is calculated using the diff function or similar of the image difference analysis process. (3) Calculate the distance between each point (each pixel) in the area where a difference was found and the origin. (4) Extract the pixel group at the location where the difference occurred.

[0030] The coordinate position analysis unit 210 analyzes the coordinates indicating the detected location of the difference detected by the difference detection unit 208. The coordinate position analysis unit 210 stores the difference area coordinates, which indicate the coordinates of the area where the difference was detected as a result of the analysis, in the map storage unit 204. Generally, the origin coordinates of the two-dimensional environment map created by the two-dimensional SLAM of the mobile robot device 100 are often arbitrarily set for each mobile robot device 100 and server system 200. Similarly, the origin coordinates of the three-dimensional environment map are often arbitrarily set for each flying robot device 300 and server system 200. In this embodiment, by making the origin of the three-dimensional environment map and the origin of the two-dimensional environment map coincide, the coordinate systems of the three-dimensional environment map and the two-dimensional environment map can be processed in a unified manner.

[0031] The information processing unit 212 includes, for example, a flight control unit 220, a three-dimensional information acquisition unit 222, a three-dimensional map update unit 224, and a two-dimensional map update unit 226.

[0032] The flight control unit 220 controls the flight of the flying robot device 300. The flight control unit 220 causes the flying robot device 300 to fly over an area that includes the difference detection location and to image the difference detection location. Multiple images captured by the flying robot device 300 are acquired by the data transmission / reception unit 202. The area that includes the difference detection location includes the difference region coordinates stored by the coordinate position analysis unit 210. The flight control unit 220 may have one or more flying robot devices 300 fly in the area including the difference detection position. The flight control unit 220 will take images from above the area around the difference region coordinates so that each captured image overlaps.

[0033] The flight control unit 220 creates a three-dimensional path to the difference region coordinates using the three-dimensional environmental map stored in the map storage unit 204, and causes the flying robot device 300 to perform automatic flight along the created three-dimensional path while performing self-position estimation and distance detection (three-dimensional SLAM) in three-dimensional space using its laser range sensor and RGB-D camera. At this time, the flying robot device 300 may perform position correction using GPS outdoors or UWB indoors in order to perform stable flight for self-position estimation. The three-dimensional map created by the flying robot device 300 using three-dimensional SLAM includes captured image information and position information within the captured images.

[0034] The three-dimensional information acquisition unit 222 acquires three-dimensional information showing the three-dimensional shape, including the detection position of the difference detected by the difference detection unit, using multiple captured images taken by the flying robot device 300. The three-dimensional information acquisition unit 222 may create partial three-dimensional information including the difference region coordinates from multiple captured images taken by the imaging unit 304 attached to the flying robot device 300 around the difference region coordinates using a method such as SfM (Structure from Motion), or it may create partial three-dimensional information using an RGB-D sensor or a stereo camera.

[0035] The three-dimensional map update unit 224 updates the three-dimensional environmental map information stored in the map storage unit 204 based on the three-dimensional information. The three-dimensional map update unit 224 replaces the partial three-dimensional environmental map with the difference region coordinates on the three-dimensional environmental map stored in the map storage unit 204 using ICP, and completes the partially updated three-dimensional environmental map by performing point cloud integration processing. At this time, the three-dimensional map update unit 224 creates a three-dimensional image by stitching together the overlapping captured images, determines the pairs between the point clouds of the three-dimensional image and the point clouds of the three-dimensional environmental map, and repeats the calculation until the squared error of the distance between the corresponding point cloud pairs is minimized, thereby achieving precise point cloud alignment. In this way, the three-dimensional map update unit 224 can partially update the three-dimensional environmental map.

[0036] The two-dimensional map update unit 226 updates the two-dimensional environmental map information stored in the map storage unit 204 based on the two-dimensional environmental map acquired by the data transmission / reception unit 202. The two-dimensional map update unit 226 may generate route information using the three-dimensional environment map updated by the three-dimensional map update unit 224. For example, the two-dimensional map update unit 226 generates a route that travels near the updated area of ​​the three-dimensional environment map. The two-dimensional map update unit 226 causes the data transmission / reception unit 202 to transmit the generated route information to the mobile robot device 100. As a result, the server system 200 causes the mobile robot device 100 to travel according to the route information, and the mobile robot device 100 creates a two-dimensional environment map. As a result, the server system 200 can acquire the created two-dimensional environment map and update the two-dimensional environment map in the map storage unit 204.

[0037] The three-dimensional environmental map is updated whenever the two-dimensional environmental map changes due to changes in the environment of the target area by the mobile robot device 100, but is not limited to this. The mobile robot device 100 may be made to travel around the target area at predetermined time intervals to create a two-dimensional environmental map in order to update the three-dimensional environmental map. Furthermore, the range for updating the three-dimensional environmental map may be the range of the two-dimensional environmental map acquired from the start position to the end position of a route that the mobile robot device 100 periodically patrols.

[0038] Furthermore, if environmental changes such as changes in routes or the placement of objects in the target area are planned and updated accordingly, the three-dimensional environmental map can be updated in a planned and efficient manner by having the mobile robot device 100 run at the time of the environmental update to create a two-dimensional environmental map. Examples of situations where environmental changes are planned and updated include the delivery of objects such as packages to a facility.

[0039] The flying robot device 300 includes, for example, a communication unit 302, an imaging unit 304, a control unit 306, and a drive unit 308. The communication unit 110 communicates with the server system 200 via the communication network NW. The imaging unit 304 performs imaging and generates an image according to the control of the control unit 306. The control unit 306 causes the flying robot device 300 to fly using the drive unit 308 and the imaging unit 304 to perform imaging, in accordance with the control of the flight control unit 220. The drive unit 308 generates a driving force to fly the flying robot device 300 in accordance with the control of the control unit 306.

[0040] The terminal device 400 is, for example, an information processing device such as a personal computer or smartphone operated by the administrator of the target area. The terminal device 400 can, for example, acquire three-dimensional environmental map information and display the virtual space of the target area using the three-dimensional environmental map. In response to receiving an operation to move the mobile robot device 100 in the virtual space, the terminal device 400 can make the mobile robot device 100 move in the virtual space and have the mobile robot device 100 create a two-dimensional environmental map.

[0041] Figure 3 shows an example of the processing performed by the server system 200 in the embodiment. The server system 200 searches for the difference between the first two-dimensional environment map and the second two-dimensional environment map stored in the map storage unit 204. If a difference exists, it instructs the flying robot device 300 to image the difference location and acquire multiple images. The server system 200 then constructs a three-dimensional image from the multiple images and updates the three-dimensional environment map by superimposing the three-dimensional image onto the difference location of the three-dimensional environment map obtained by coordinate analysis of the difference location.

[0042] Figure 4 is a flowchart showing an example of the process of updating a three-dimensional environmental map using the three-dimensional map processing system 1 in the embodiment. First, the server system 200 creates a three-dimensional environmental map using the captured images of the target area and stores it in the map storage unit 204 (step S100), and then has the mobile robot device 100 create the nth two-dimensional environmental map and store it in the map storage unit 204 (step S102). Next, the server system 200 transmits three-dimensional environmental map information to the terminal device 400, and displays an avatar of the mobile robot device 100 in the virtual space corresponding to the three-dimensional environmental map in the terminal device 400 (step S104). In the processing example in Figure 3, the mobile robot device is displayed as an avatar in the virtual space, but the system is not limited to this, and the subsequent processing may be performed using a mobile robot device 100 that is actually located in the target area. Furthermore, the server system 200 may move the mobile robot device 100 in both the virtual space and the target area.

[0043] Next, the server system 200 causes the mobile robot device 100 to move and has the mobile robot device 100 create the (n+1)th two-dimensional environment map (step S106). Next, the server system 200 searches for the difference between the nth two-dimensional environment map and the (n+1)th two-dimensional environment map (step S108). The server system 200 determines whether or not there is a difference between the nth two-dimensional environment map and the (n+1)th two-dimensional environment map (step S110).

[0044] If there is no difference between the nth two-dimensional environment map and the (n+1)th two-dimensional environment map (step S110: NO), the server system 200 creates the (n+2)th two-dimensional environment map (step S112), searches for the difference between the nth two-dimensional environment map and the (n+2)th two-dimensional environment map (step S114), and returns to step S110.

[0045] If a difference exists between the nth two-dimensional environment map and the (n+1)th two-dimensional environment map (step S110: YES), the server system 200 analyzes the coordinates of the difference detection location (step S116) and flies the flying robot device 300 to the vicinity of the difference detection location coordinates (step S118). The server system 200 has the flying robot device 300 capture multiple images of the vicinity of the difference detection location (step S120) and acquires multiple captured images from the flying robot device 300.

[0046] The server system 200 constructs a three-dimensional image from multiple captured images acquired from the flying robot device 300 (step S122), superimposes the constructed three-dimensional image onto the difference detection locations on the three-dimensional environment map (step S124), and stores the partially updated three-dimensional environment map in the map storage unit 204 (step S126).

[0047] Figure 5 shows an example of the processing performed by the server system 200 in the embodiment. By performing the above processing, the server system 200, for example, when the first two-dimensional environment map is stored in the map storage unit 204 and the second two-dimensional environment map is acquired from the mobile robot device 100, detects the difference between the first two-dimensional environment map and the second two-dimensional environment map and causes the flying robot device 300 to image objects located at the difference location. The server system 200 constructs a three-dimensional image from multiple images of objects located at the difference location and superimposes it onto the three-dimensional environment map stored in the map storage unit 204, thereby partially updating the three-dimensional environment map. Subsequently, when the server system 200 acquires a third two-dimensional environment map from the mobile robot device 100, it detects the difference between the second two-dimensional environment map and the third two-dimensional environment map, has the flying robot device 300 image objects located at the difference location, constructs a three-dimensional image from multiple images of objects located at the difference location, and superimposes this image onto the three-dimensional environment map stored in the map storage unit 204, thereby partially updating the three-dimensional environment map. As a result, the three-dimensional map processing system 1 can suppress the processing load required to update the three-dimensional environmental map when there are geometric changes in the environment in which the mobile robot device 100 travels.

[0048] The functions of the server system 200 and the mobile robot device 100 in the above-described embodiment may be implemented using a computer. In that case, the functions may be implemented by recording a program for implementing these functions on a computer-readable recording medium, loading the program recorded on this recording medium into the computer system, and executing it. Here, "computer system" includes hardware such as the OS and peripheral devices. Furthermore, "computer-readable recording medium" refers to portable media such as flexible disks, magneto-optical disks, ROMs, CD-ROMs, and storage devices such as hard disks built into the computer system. Moreover, "computer-readable recording medium" may also include those that dynamically hold programs for a short period of time, such as communication lines used when transmitting programs via networks such as the Internet or communication lines such as telephone lines, and those that hold programs for a certain period of time, such as volatile memory inside the computer system that acts as a server or client in that case. Furthermore, the above-mentioned program may be for implementing a part of the functions described above, or it may be a program that can implement the above-mentioned functions in combination with a program already recorded in the computer system, or it may be implemented using a programmable logic device such as an FPGA (Field Programmable Gate Array).

[0049] Although various embodiments and variations have been described, these are merely examples and are not limited to these. For example, one embodiment or variation, or a part of one embodiment or variation, may be combined with one or more other embodiments or variations to realize one aspect of the present invention.

[0050] <Note> (1) One aspect of this embodiment is a three-dimensional map processing system (1) comprising: a map storage unit (204) that stores a three-dimensional environmental map and a two-dimensional environmental map of a target area; a two-dimensional environmental map acquisition unit (202) that acquires a two-dimensional environmental map of the target area; a difference detection unit (208) that detects the difference between a first two-dimensional environmental map acquired by the two-dimensional environmental map acquisition unit (202) and a second two-dimensional environmental map acquired in the past; a three-dimensional information acquisition unit (222) that acquires three-dimensional information showing a three-dimensional shape including the detection position of the difference detected by the difference detection unit (208); and a three-dimensional environmental map update unit (224) that updates the three-dimensional environmental map stored in the map storage unit (204) based on the three-dimensional information.

[0051] (2) In one embodiment of this embodiment, the three-dimensional map processing system comprises a two-dimensional environment map acquisition unit (202) which acquires the two-dimensional environment map from a first mobile body (100) traveling in the target area, a three-dimensional information acquisition unit (222) which acquires the three-dimensional information from a second mobile body (300) flying over the detected position, and a flight control unit (220) which causes the second mobile body to fly over an area including the detected position of the difference detected by the difference detection unit (208) and to image the detected position of the difference.

[0052] (3) One aspect of this embodiment includes a route generation unit (206) that generates a route for a first mobile body (100) using the three-dimensional environmental map, wherein the route generation unit (206) generates a route using the updated three-dimensional environmental map when the three-dimensional environmental map is updated by the three-dimensional environmental map update unit (224), and the two-dimensional environmental map acquisition unit (202) acquires a two-dimensional environmental map created by the first mobile body (100) that traveled the route generated using the updated three-dimensional environmental map. [Explanation of Symbols]

[0053] 100 Mobile Robot Devices 102 Distance measuring unit 110 Communications Department 112 Light-emitting part 114 Light receiving part 116 Control Unit 118 Drive Unit 200 Server Systems 202 Data transmission / reception unit 204 Map Storage Unit 206 Route generation unit 208 Difference detection unit 210 Coordinate position analysis section 212 Information Processing Unit 220 Flight Control Unit 222 3D information acquisition section 224 Three-Dimensional Map Update Department 226 Two-Dimensional Map Update Department 300 Flying Robot Devices 302 Communications Department 304 Imaging Unit 306 Control Unit 308 Drive Unit 400 terminal devices

Claims

1. A map storage unit that stores a three-dimensional environmental map and a two-dimensional environmental map of the target area, A two-dimensional environmental map acquisition unit acquires a two-dimensional environmental map of the target area, A difference detection unit detects the difference between a first two-dimensional environment map acquired by the aforementioned two-dimensional environment map acquisition unit and a second two-dimensional environment map acquired in the past. A three-dimensional information acquisition unit acquires three-dimensional information showing a three-dimensional shape including the detection position of the difference detected by the difference detection unit, A three-dimensional environmental map update unit updates the three-dimensional environmental map stored in the map storage unit based on the three-dimensional information, A three-dimensional map processing system equipped with the following features.

2. The two-dimensional environmental map acquisition unit acquires the two-dimensional environmental map from the first mobile body traveling in the target area. The three-dimensional information acquisition unit acquires the three-dimensional information from the second moving object flying at the detected position. The system includes a flight control unit that flies the second mobile body over an area including the location of the difference detected by the difference detection unit, and causes the difference detection location to be imaged. The three-dimensional map processing system according to claim 1.

3. The system includes a path generation unit that generates a path for a first moving object using the three-dimensional environmental map, The route generation unit generates a route using the updated three-dimensional environment map when the three-dimensional environment map is updated by the three-dimensional environment map update unit. The two-dimensional environment map acquisition unit acquires the two-dimensional environment map created by the first mobile body that traveled along the route generated using the updated three-dimensional environment map. The three-dimensional map processing system according to claim 1.

4. The server system stores a three-dimensional environmental map and a two-dimensional environmental map of the target area. The mobile robot device creates a two-dimensional environmental map of the target area, The server system performs the step of detecting the difference between the created first two-dimensional environment map and a second two-dimensional environment map acquired in the past. The server system acquires three-dimensional information showing the three-dimensional shape including the detected location of the difference. The server system updates the stored three-dimensional environment map based on the three-dimensional information. A three-dimensional map processing method, including the above.

5. On the computer, A step of storing a three-dimensional environmental map and a two-dimensional environmental map of the target area, The steps include obtaining a two-dimensional environmental map of the aforementioned target area, The steps include detecting the difference between the created first two-dimensional environment map and a second two-dimensional environment map acquired in the past, A step of obtaining three-dimensional information showing the three-dimensional shape including the detected location of the difference, The steps include updating the stored three-dimensional environment map based on the three-dimensional information, A three-dimensional map processing program that performs the following actions.

Images