3D spatial information management system and collection device

Abstract

This enables the automation and efficiency of point cloud data acquisition. [Solution] The data acquisition device 10 includes a movement function unit 12 that moves the data acquisition device 10 above the floor, a measurement unit 13 that measures the three-dimensional space of the floor, and a communication unit 15 that transmits the measurement data obtained. The data storage and analysis device 30 includes a recording unit 33 that holds reference data, a communication unit 32 that receives measurement data, a determination unit 34 that determines whether or not to update the reference data based on the degree of difference between the measurement data and the reference data, and an update unit 35 that updates the reference data with the measurement data.

Description

Technical Field

[0001] The present disclosure relates to a three-dimensional space information management system, a collection device, and an update device.

Background Art

[0002] In recent years, the use of point cloud data obtained by three-dimensionally measuring space has been expanding (Non-Patent Document 1). Indoor point cloud data is useful, for example, in retail for optimizing product placement and customer flow in store layout design. Also, in offices and factories, it can be used for efficient space utilization planning of equipment placement and work areas. Furthermore, its application range is steadily expanding, such as being used for obstacle recognition and safe route selection in the automatic movement of robots indoors.

Prior Art Documents

Non-Patent Documents

[0003]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] As a method for acquiring point cloud data, a method of moving a robot equipped with measurement means (such as radar or LiDAR) within a floor is common. However, this method has several problems. For example, it requires manual operation of the robot, there are restrictions on the time zones when data can be acquired, and the timing for detecting layout changes and updating data is unclear. Also, dealing with floor surfaces where robot travel is difficult, and dealing with rooms where robot movement is not desirable, such as clean rooms or areas where privacy considerations are required, are also problems.

[0005] This disclosure is made in view of the above and aims to realize the automation and efficiency of acquiring 3D spatial information. [Means for solving the problem]

[0006] A three-dimensional spatial information management system according to one aspect of the present disclosure is a three-dimensional spatial information management system for managing indoor three-dimensional spatial information, comprising a collection device and an update device, wherein the collection device comprises a movement function unit for moving the collection device above the indoor space, a measurement unit for measuring the indoor three-dimensional space, and a transmission unit for transmitting first three-dimensional spatial information obtained by measurement, and the update device comprises a recording unit for holding reference three-dimensional spatial information of the indoor space, a receiving unit for receiving the first three-dimensional spatial information, a determination unit for determining whether or not to update the reference three-dimensional spatial information based on the degree of difference between the first three-dimensional spatial information and the reference three-dimensional spatial information, and an update unit for updating the reference three-dimensional spatial information with the first three-dimensional spatial information. [Effects of the Invention]

[0007] According to this disclosure, it is possible to automate and streamline the acquisition of 3D spatial information. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 shows an example of the configuration of a point cloud data acquisition and updating system. [Figure 2] Figure 2 is a sequence diagram showing an example of the processing flow of a data acquisition device. [Figure 3] Figure 3 shows an example of a measurement plan. [Figure 4] Figure 4 shows an example of route information. [Figure 5] Figure 5 shows an example of a route. [Figure 6] Figure 6 is a sequence diagram showing an example of the processing flow of a data storage and analysis device. [Figure 7]Figure 7 shows an example of information about the target area. [Figure 8] Figure 8 shows an example of the target area. [Figure 9] Figure 9 shows an example of information from point cloud data. [Figure 10] Figure 10 shows an example of reference data. [Figure 11] Figure 11 shows an example of measurement data. [Figure 12] Figure 12 shows an example of how to calculate the difference between reference data and measured data. [Figure 13] Figure 13 is a diagram illustrating the difference rate. [Figure 14] Figure 14 shows an example of a target area. [Figure 15] Figure 15 shows an example of a route. [Figure 16] Figure 16 shows an example of a route. [Modes for carrying out the invention]

[0009] [Configuration of the point cloud data acquisition and updating system] Figure 1 shows an example of the configuration of the point cloud data acquisition and updating system of this embodiment. The point cloud data acquisition and updating system shown in the figure comprises a data acquisition device 10 and a data storage and analysis device 30.

[0010] The data collection device 10 is a device that collects three-dimensional spatial information (such as a point cloud) without being affected by the floor conditions (for example, while moving above the floor). The three-dimensional spatial information is not limited to the point cloud and may also be mesh data or voxels. The data collection device 10 may be mounted on a drone and move in the air above the floor, or may move along rails laid on the ceiling or wall surface. Alternatively, the data collection device 10 may be fixed within the floor such as the ceiling, floor, and wall surface. In FIG. 1, only one data collection device 10 is illustrated, but it is not limited thereto, and a plurality of data collection devices 10 may be provided. A plurality of types of data collection devices 10 with different movement methods (including the fixed method) may be provided.

[0011] The data storage and analysis device 30 receives the point cloud data collected by the data collection device 10 and updates the point cloud data held by itself with the collected point cloud data if necessary. Each part included in the data storage and analysis device 30 may be constituted by at least one or more computers equipped with an arithmetic processing device, a storage device, etc., and the processing of each part may be executed by a program. This program is stored in the storage device included in the data storage and analysis device 30, and it is also possible to record it on a non-temporary recording medium readable by a computer such as a magnetic disk, an optical disk, or a semiconductor memory, or to provide it through a network. Further, the data storage and analysis device 30 may be constructed in a cloud environment. Hereinafter, each part of the data collection device 10 and the data storage and analysis device 30 will be described.

[0012] [Configuration of Data Collection Device] The data collection device 10 includes a control unit 11, a movement function unit 12, a measurement unit 13, a recording unit 14, a communication unit 15, and a power supply unit 16.

[0013] Based on the measurement plan, the control unit 11 controls each part of the data collection device 10 at a specified time to collect the point cloud data of the floor. For example, based on the measurement plan, the control unit 11 controls the movement function unit 12 to move the data collection device 10 along the route, controls the measurement unit 13 to measure the three-dimensional space of the floor, and transmits the point cloud data obtained by the measurement to the communication unit 15.

[0014] The measurement plan includes the measurement start time and route information. The measurement plan may be set in the data collection device 10 by the operator, or may be received from the data storage and analysis device 30.

[0015] The movement function unit 12 moves the data collection device 10 along the route. For example, the movement function unit 12 is a drone and autonomously moves along the set route over the floor to be measured. The movement function unit 12 may also be a moving body such as a trolley that moves along a rail laid on the upper part of the floor or on the wall surface. In the case of a fixed method, the data collection device 10 may not include the movement function unit 12.

[0016] The measurement unit 13 includes measurement equipment for measuring the space and records the point cloud data (hereinafter also referred to as measurement data) obtained by the measurement in the recording unit 14. For example, the measurement unit 13 may include measurement equipment such as a LiDAR or a radar scanner to measure the distance to an object, or may include a stereo camera to take a stereo video.

[0017] The recording unit 14 records the measurement data. The recording unit 14 may record the route data at the time of collecting the point cloud data. For example, the route data is the time-series data of the self-position of the data collection device 10.

[0018] The communication unit 15 transmits the measurement data to the data storage and analysis device 30. The communication unit 15 may also transmit the route data together with the measurement data to the data storage and analysis device 30.

[0019] The power supply unit 16 is a so-called battery and supplies power to the mobile function unit 12. The power supply unit 16 may also supply power to each part of the data acquisition device 10. The power supply unit 16 may also receive power from an energized rail or the like.

[0020] [Configuration of data storage and analysis equipment] The data storage and analysis device 30 comprises a control unit 31, a communication unit 32, a recording unit 33, a determination unit 34, and an update unit 35.

[0021] The control unit 31, upon receiving measurement data from the data acquisition device 10, controls each part of the data storage and analysis device 30 to update the point cloud data (hereinafter also referred to as reference data) held by the recording unit 33.

[0022] The communication unit 32 receives measurement data from the data acquisition device 10 and stores it in the recording unit 33.

[0023] The recording unit 33 holds reference data. The recording unit 33 may also hold measurement data received from the data acquisition device 10.

[0024] The determination unit 34 determines whether to update the reference data with the measured data for each target area, based on the degree of difference between the reference data and the measured data. Specifically, the determination unit 34 calculates the proportion of space occupied by point clouds that are not included in both the reference data and the measured data (hereinafter referred to as the difference rate), and determines that the reference data for the target area should be updated if the difference rate is greater than or equal to a threshold. The difference rate is an index that represents the degree of agreement between the reference data and the measured data, and the larger the difference rate, the greater the difference between the reference data and the measured data.

[0025] The target area refers to the range within which the point cloud data set for the floor will be updated. The entire floor may be set as a single target area, or target areas may overlap with each other. For example, target areas can be set for each layout change unit of the floor section, and measurement data can be acquired more frequently by the data acquisition device 10 for target areas with a high frequency of layout changes. By setting target areas, it becomes unnecessary to acquire the point cloud data for the entire floor at once, and point cloud data can be updated efficiently for each target area.

[0026] The update unit 35 updates the reference data for the target area with the measurement data according to the judgment result.

[0027] [Data acquisition device processing] Referring to the sequence diagram in Figure 2, an example of the processing flow of the data acquisition device 10 will be explained.

[0028] In step S101, the control unit 11 receives the measurement plan and route settings from the operator. The control unit 11 may receive the measurement plan and route settings from the data storage and analysis device 30 via the communication unit 15, or it may read the measurement plan and route settings recorded in the recording unit 14.

[0029] Figure 3 shows an example of a measurement plan. The measurement plan shown in the figure includes a plan ID, a measurement start time, and a route ID. The plan ID is an identification number used to identify the measurement plan. The measurement start time is the time when the data acquisition device 10 starts the measurement. The route ID is an identification number used to identify the measurement route.

[0030] Figure 4 shows an example of route information. In Figure 5, the route is illustrated on the floor plane. The route information in Figure 4 includes a route ID, route data, and the corresponding point cloud data ID. The route data is information that describes the route. For example, the route data includes the start and end points of the route, and the points that pass through. In the example in Figure 4, the route data is specified in two-dimensional coordinates on the floor plane, assuming that the drone flies at a predetermined altitude. The route data may include altitude information, as well as information on the speed at which the drone moves along the route and information on the time taken to move along the route. If the mobile function unit 12 moves along a rail, the route data may be the identification number of the rail being moved.

[0031] The corresponding point cloud data ID is the identification number of the reference data held by the data storage and analysis device 30, and is the identification number of the reference data that is updated with the point cloud data collected along the route. The route information may also include information about the target area corresponding to the point cloud data collected along the route.

[0032] In step S102, the control unit 11 commands the movement function unit 12 and the measurement unit 13 to start moving along the path and taking measurements.

[0033] In step S103, the power supply unit 16 starts supplying power to the mobile function unit 12.

[0034] In step S104, the mobile function unit 12 moves along the path, and in step S105, the measuring unit 13 performs measurements. Movement and measurement are performed as needed.

[0035] In step S106, the measurement unit 13 transmits the measurement data to the recording unit 14, and in step S107, the recording unit 14 records the measurement data. Measurement data is recorded as it progresses. The recording unit 14 may also record route data in addition to the measurement data.

[0036] When movement along the path is completed, in step S108, the movement function unit 12 notifies the measurement unit 13 that the movement has ended. Upon receiving the notification, the measurement unit 13 ends the measurement and notifies the control unit 11 that the measurement has ended.

[0037] In step S109, the control unit 11 commands the communication unit 15 to transmit data.

[0038] In steps S110 and S111, the communication unit 15 reads the measurement data from the recording unit 14 and transmits the measurement data to the data storage and analysis device 30. The communication unit 15 may also transmit routing data in addition to the measurement data.

[0039] [Data storage and analysis equipment processing] Referring to the sequence diagram in Figure 6, an example of the processing flow of the data storage and analysis device 30 will be explained.

[0040] In step S301, the determination unit 34 receives the target area and threshold settings from the operator.

[0041] Figure 7 shows an example of information about the target area. In Figure 8, the target area is illustrated on the floor plane. The information about the target area shown in Figure 7 includes the target area ID, the corresponding point cloud data ID, the target area data, and a threshold. The target area data is information that indicates the target area. In the example in Figure 7, the target area data is specified as a two-dimensional coordinate on the floor plane. The target area data may also include height information. The threshold is the judgment criterion of the judgment unit 34. If the difference rate of the target area is greater than or equal to the threshold, the judgment unit 34 determines that the reference data of the target area should be updated with the measurement data.

[0042] When the measurement by the data acquisition device 10 is completed, in step S302 the communication unit 32 receives the measurement data from the data acquisition device 10, and in step S303 the recording unit 33 records the measurement data.

[0043] The recording unit 33 stores point cloud data information for each target area. Figure 9 shows an example of point cloud data information stored by the recording unit 33. The point cloud data information in Figure 9 is for a certain target area and includes the point cloud data ID and point cloud data file name. In the example in Figure 9, the recording unit 33 stores information regarding reference data, measurement data, and update data for a certain target area as point cloud data information. The reference data is the reference point cloud data for that target area. The measurement data is the point cloud data received from the data acquisition device 10. The update data is the point cloud data created by the update unit 35.

[0044] In step S304, the control unit 31 commands the determination unit 34 to start the determination process.

[0045] In steps S305 and S306, the determination unit 34 reads the reference data and measurement data from the recording unit 33 and calculates the difference rate of the target area.

[0046] Here, with reference to Figures 10 to 13, an example of a method for calculating the difference rate will be explained.

[0047] Figure 10 shows the reference data, and Figure 11 shows the measurement data collected by the data acquisition device 10. Figures 10 and 11 illustrate the point cloud data for the entire floor and the range of the target area 100.

[0048] As shown in Figure 12, the determination unit 34 extracts point clouds that exist only in the reference data of the target region 100, point clouds that exist only in the measurement data, and point clouds that exist in both the reference data and the measurement data. The determination unit 34 may also calculate the size of the space occupied by the point clouds that are included only in the reference data, the size of the space occupied by the point clouds that are included only in the measurement data, and the size of the space occupied by the point clouds that are included in both the reference data and the measurement data. Although Figure 12 shows each point cloud on a plan view, the point cloud data extends into three-dimensional space, so the difference between the reference data and the measurement data, including the height direction, is calculated.

[0049] As shown in Figure 13, the determination unit 34 calculates the difference rate as the ratio of the total size of the space occupied by the point cloud included only in the reference data or measurement data to the total size of each space. The difference rate is an index that represents the degree of agreement between the reference data and the measurement data, and the larger the difference rate, the greater the difference between the reference data and the measurement data.

[0050] In step S307, the determination unit 34 determines whether the calculated difference rate exceeds a threshold and notifies the control unit 31 of the determination result. If the difference rate is less than the threshold, the process is terminated.

[0051] In step S308, the control unit 31 commands the update unit 35 to start the update process. The control unit 31 may also notify the operator that an update is necessary instead of issuing an update command. The operator, upon receiving the notification, decides whether or not to update the point cloud data. If the operator decides to update the point cloud data, the process from step S308 onward may be resumed.

[0052] In steps S309 to S311, the update unit 35 reads reference data and measurement data from the recording unit 33, generates update data, and transmits the generated update data to the recording unit 33. For example, the update unit 35 extracts point cloud data corresponding to the target area from the measurement data and uses it as update data.

[0053] In step S312, the recording unit 33 records the updated data. The recording unit 33 may also replace the reference data with the updated data.

[0054] [Modified Point Cloud Data Acquisition and Update System] In the example above, a path was set for each target region, but it is also possible to set a single path for multiple target regions and collect point clouds from multiple target regions using a single path (one measurement).

[0055] For example, as shown in Figure 14, multiple target areas 100 and 110 are set within a single floor, and as shown in Figure 15, a path is set that includes both target areas 100 and 110 and moves across the entire floor. In a measurement plan with the path specified in Figure 15, measurement data for the entire floor can be obtained.

[0056] The data storage and analysis device 30 receives measurement data for the entire floor and then determines whether or not to update the point cloud data for each target area 100 and 110, and updates the point cloud data. For example, if the difference rate of target area 100 is less than the threshold and the difference rate of target area 110 is greater than or equal to the threshold, the data storage and analysis device 30 updates the point cloud data for target area 110.

[0057] As another example, a single path is set for multiple target regions, point clouds are collected coarsely for each region, and a decision is made whether or not to update the point cloud data for each region. For regions where it is determined that the point cloud data should be updated, a path is set to measure that region in more detail, and updated data is generated using the measurement data obtained in more detail along that path. For example, a more detailed measurement would be a measurement with a higher density of points measured than the coarse measurement, or a measurement that includes measurements from directions that cannot be measured with the coarse measurement.

[0058] For example, coarse measurement data is collected along the path shown in Figure 15, and a decision is made as to whether or not to update the point cloud data of the target regions 100 and 110 using the obtained measurement data. For example, if the difference rate of the target region 110 is greater than or equal to a threshold, the path shown in Figure 16 is set, detailed point cloud data of the target region 110 is collected, and updated data for the target region 110 is generated. In this case, the update unit 35 may instruct the data acquisition device 10 to collect detailed point cloud data of the target region 110.

[0059] As described above, the data acquisition device 10 includes a movement function unit 12 that moves the data acquisition device 10 above the floor, a measurement unit 13 that measures the three-dimensional space of the floor, and a communication unit 15 that transmits the measurement data obtained. The data storage and analysis device 30 includes a recording unit 33 that holds reference data, a communication unit 32 that receives measurement data, a determination unit 34 that determines whether or not to update the reference data based on the degree of difference between the measurement data and the reference data, and an update unit 35 that updates the reference data with the measurement data. This enables the automation of point cloud data acquisition and updating, and allows for efficient management of point cloud data.

[0060] The determination unit 34 calculates, for each target area, the ratio (difference rate) of the space occupied by point clouds not included in either the reference data or the measurement data to the space occupied by point clouds included in either the reference data or the measurement data. If the difference rate is greater than or equal to a threshold, it determines that the reference data should be updated. By calculating the difference rate only for the target area, it becomes possible to detect appropriate layout changes.

[0061] As the data acquisition device 10 moves along a specified path and measures the three-dimensional space of the floor, the viewing angle of the point cloud data remains constant, thus improving the accuracy of calculating the difference rate. [Explanation of Symbols]

[0062] 10 Data Acquisition Device 11 Control Unit 12 Movable Function Unit 13 Measuring part 14 Records Section 15 Communications Department 16 Power supply section 30 Data storage and analysis devices 31 Control Unit 32 Communications Department 33 Records Section 34 Judgment section 35 Update section

Claims

1. A three-dimensional spatial information management system that manages indoor three-dimensional spatial information, comprising a collection device and a updating device, The aforementioned collection device is A mobile function unit for moving the collection device above the indoor space, The aforementioned measuring unit for measuring the three-dimensional space inside the building, It comprises a transmitting unit that transmits first three-dimensional spatial information obtained by measurement, The update device is A recording unit that holds the aforementioned indoor standard three-dimensional spatial information, A receiving unit that receives the first three-dimensional spatial information, A determination unit that determines whether or not to update the reference three-dimensional spatial information based on the degree of difference between the first three-dimensional spatial information and the reference three-dimensional spatial information, The system includes an update unit that updates the aforementioned three-dimensional spatial information with the first three-dimensional spatial information. 3D spatial information management system.

2. A three-dimensional spatial information management system according to claim 1, The collection device measures the three-dimensional space inside the building while moving along a designated route. 3D spatial information management system.

3. A three-dimensional spatial information management system according to claim 1, The determination unit calculates, for each target area set within the indoor space, the ratio of space that is not included in either the standard three-dimensional spatial information or the first three-dimensional spatial information to space included in either the standard three-dimensional spatial information or the first three-dimensional spatial information, and determines that the standard three-dimensional spatial information should be updated if the ratio is equal to or greater than a threshold. The update unit updates the reference three-dimensional spatial information of the target region that has been determined to be updated with the first three-dimensional spatial information. 3D spatial information management system.

4. A three-dimensional spatial information management system according to claim 3, The collection device, with respect to the target region for which it has been determined that the three-dimensional spatial information of the standard needs to be updated, measures the three-dimensional space of the target region in more detail. The update unit updates the reference three-dimensional spatial information with three-dimensional spatial information obtained from more detailed measurements. 3D spatial information management system.

5. A collection device, A mobile function unit for moving the collection device in the upper part of the building, The aforementioned measuring unit for measuring the three-dimensional space inside the building, It comprises a transmitting unit that transmits first three-dimensional spatial information obtained by measurement, The update device determines whether or not to update the reference three-dimensional spatial information based on the degree of difference between the first three-dimensional spatial information and the reference three-dimensional spatial information held by the update device, and updates the reference three-dimensional spatial information with the first three-dimensional spatial information. Collection device.

6. A collection device according to claim 5, The aforementioned mobile function unit is a drone that flies above the interior of the building or a mobile body that moves along rails laid on the ceiling or walls of the building. Collection device.

7. It is an update device, A recording unit that holds standard three-dimensional spatial information for indoor use, A receiving unit that receives the first three-dimensional spatial information of the indoors measured by the collection device, A determination unit that determines whether or not to update the reference three-dimensional spatial information based on the degree of difference between the first three-dimensional spatial information and the reference three-dimensional spatial information, The system includes an update unit that updates the aforementioned three-dimensional spatial information with the first three-dimensional spatial information. Update device.

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