Map data creation device, map data evaluation device, and map data creation method

Abstract

To provide a map data creation device, a map data evaluation device, and a method for creating map data that can determine whether map data includes information on a static noise object.SOLUTION: The map data creation device includes a map data processing unit. When object existence map data is created, the map data processing unit determines whether positional information of a group of specific measurement points is static noise as information of measurement points acquired from a static noise object by comparing a measurement point density as the density per unit area in the position of each measurement point of the group of the specific measurement points and a predetermined static noise threshold density in the created object existence map data.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] 2. Description of the Related Art Conventionally, there is a technique in which a sensor is attached to a moving object, and map data of the surrounding environment is created based on information about the surroundings of the moving object acquired by the sensor, while at the same time estimating the position of the moving object itself.

[0003] Specifically, for example, the mobile body includes a sensor such as a laser scanner, and a rotation speed detection means for detecting the number of rotations of the wheels of the mobile body. The mobile body calculates (acquires) the position and orientation of the mobile body using the number of rotations detected by the rotation speed detection means. Furthermore, the mobile body acquires the distance between the mobile body and surrounding objects such as walls that exist around the mobile body using the sensor. Based on this acquired information, the mobile body estimates the position of the mobile body and creates map data of the mobile body's surrounding environment. This type of technology is also called SLAM (Simultaneous Localization and Mapping).

[0004] Patent Document 1 discloses a technology for creating a stationary object map in which only the position information of stationary objects is recorded by identifying a deletion target area, which is an area where no objects exist, and deleting the position information corresponding to the positions included in this deletion target area from the map data. This conventional technology can improve the quality of map data by deleting the area in which a moving object (dynamic object) exists when a moving object exists around a moving object. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2020-166153 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, with conventional technology, if an object that affects the quality of the map data (an object that the user does not intend to reflect in the map data) is present in the map creation target area for which map data is being created, it is not possible to delete information about that object from the map data.

[0007] That is, when acquiring information necessary for creating map data, there may be a temporary (temporarily stationary) obstacle (moving object), a steep slope (inclined portion), uneven ground, etc. (these obstacles are called "static noise objects." In this case, if the static noise object is mistakenly recognized as a stationary object such as a wall, a stationary object map will be created in which the static noise object is reflected as a stationary object that does not actually exist in the map creation target area.

[0008] Therefore, when creating map data, it is preferable to delete information about static noise objects acquired by sensors from information necessary for creating the map data, thereby improving the accuracy (quality) of the map. For this reason, it is required to be able to determine whether information about static noise objects (also called "static noise") is included in the map data.

[0009] The present invention has been made to address the above-mentioned problems. That is, an object of the present invention is to provide a map data creation device, a map data evaluation device, and a map data creation method that are capable of determining whether or not information about static noise objects is included in map data. [Means for solving the problem]

[0010] In order to solve the above-mentioned problems, the map data creation device of the present invention includes a surrounding sensor mounted on a moving body, which detects reflection points of the irradiation wave on an object as measurement points by irradiating an irradiation wave around the moving body, and acquires position information indicating the relative positions of the measurement points with respect to the moving body, and an information processing device which creates object presence map data indicating the positions of the stationary objects, which are the objects that are stationary, by recording the positions of the stationary objects, which are the objects that are stationary, in map coordinates corresponding to the map creation target area, based on the position information of the measurement points acquired by the surrounding sensor while the moving body moves in the map creation target area, and when the information processing device creates the object presence map data, the information processing device compares the measurement point density, which is the density per unit area of ​​the positions of each measurement point of a specific set of a plurality of the measurement points, with a predetermined static noise threshold density in the created object presence map data, thereby determining whether the position information of the specific set of a plurality of the measurement points is static noise, which is information regarding the measurement points acquired from a static noise object, which is a specific object other than the stationary object. It is structured as follows.

[0011] The map data evaluation device of the present invention includes a surrounding sensor mounted on a moving body, which detects reflection points of the irradiation wave on an object as measurement points by irradiating an irradiation wave around the moving body, and acquires position information indicating the relative position of the measurement point with respect to the moving body, and an information processing device which creates object presence map data indicating the position of the stationary object, which is an object that is stationary, by recording the position of the stationary object, which is an object that is stationary, in map coordinates corresponding to the map creation target area based on the position information of the measurement point acquired by the surrounding sensor while the moving body moves in the map creation target area. When the information processing device creates the object presence map data, it is configured to evaluate the quality of the created object presence map data by comparing the measurement point density, which is the density per unit area of ​​the positions of each measurement point of a specific set of a plurality of the measurement points, with a predetermined static noise threshold density in the created object presence map data, thereby determining whether the position information of the specific set of a plurality of the measurement points is static noise, which is information about the measurement points acquired from a static noise object, which is a specific object other than the stationary object.

[0012] The map data creation method of the present invention uses a surrounding sensor that is mounted on a moving body and that detects reflection points of the irradiation wave on an object as measurement points by irradiating an irradiation wave around the moving body, and acquires position information indicating the relative position of the measurement point with respect to the moving body, and an information processing device that creates object presence map data indicating the position of the stationary object, which is an object that is stationary, by recording the position of the stationary object, which is an object that is stationary, in map coordinates corresponding to the map creation target area, based on the position information of the measurement point acquired by the surrounding sensor while the moving body moves in the map creation target area, and when the object presence map data is created by the information processing device, it is determined whether the position information of the specific set of the specific set of the specific set of the measurement points is static noise, which is information about the measurement points acquired from a static noise object, which is a specific object other than the stationary object, by comparing the measurement point density, which is the density per unit area of ​​the positions of each measurement point of a specific set of the measurement points, with a predetermined static noise threshold density. Effect of the Invention

[0013] According to the present invention, it is possible to determine whether or not information regarding static noise objects is included in map data. [Brief description of the drawings]

[0014] [Figure 1] FIG. 1 is a schematic diagram showing an example of the configuration of a moving body equipped with a map data creation device according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram showing an example of the hardware configuration of the map data creation device. [Diagram 3] FIG. 3 is a diagram for explaining an overview of map data and static noise. [Figure 4] FIG. 4 is a diagram for explaining the causes of static noise. [Diagram 5] FIG. 5 is a diagram for explaining the causes of static noise. [Figure 6]FIG. 6 is a diagram for explaining a method for discriminating between static noise and a stationary object. [Figure 7] FIG. 7 is a diagram for explaining a method for discriminating between static noise and a stationary object. [Figure 8] FIG. 8 is a flowchart showing an example of a process flow executed by the map evaluation unit of the map data creation device according to the first embodiment of the present invention. [Figure 9] FIG. 9 is a flowchart showing an example of a process flow executed by a map evaluation unit of a map data creation device according to the second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Hereinafter, each embodiment of the present invention will be specifically described with reference to the drawings.

[0016] <<First embodiment>> FIG. 1 is a schematic diagram showing an example of the configuration of a mobile object 101 equipped with a map data creation device according to a first embodiment of the present invention (hereinafter referred to as a "first map data creation device").

[0017] The moving body 101 is, for example, a vehicle such as an automatic transport machine having a moving mechanism unit 101a. The moving body 101 may be a robot equipped with a traveling function. Although not shown in the figure, an example of the moving mechanism unit 101a is a mechanism required to move the moving body 101, and includes, for example, a motor, a power supply unit that supplies power to the motor, a drive shaft and drive wheels that are driven by the motor, etc. The moving mechanism unit 101a is not limited to these. Any mechanism that can move the moving body 101 can be applied to the moving mechanism unit 101a.

[0018] The moving object 101 includes a distance sensor unit 102 and a controller unit 103. The distance sensor unit 102 is configured, for example, with a laser distance sensor mounted on the moving object 101. Hereinafter, the distance sensor unit 102 may also be referred to as a "laser distance sensor 102." Furthermore, for convenience, the distance sensor unit 102 may also be referred to as an "ambient sensor."

[0019] The laser distance sensor 102 irradiates laser light, which is an electromagnetic wave, as an irradiation wave in a predetermined angular range around the laser distance sensor 102 (note that this angular range differs depending on the specifications of the laser distance sensor 102 used), and receives the reflected light reflected by surrounding objects. In this way, the distance sensor unit 102 measures the distance to a surrounding object (reflection point of the laser light on the object) and the angle of the object (reflection point) with the position of the laser distance sensor 102 as the origin. Note that in this specification, a point (reflection point) on an object measured by the laser distance sensor 102 is referred to as a "measurement point." A set of distance and angle of one measurement point represents the relative position of the measurement point with respect to the laser distance sensor 102 (mobile body), and is also referred to as "position information" of the measurement point.

[0020] The laser distance sensor 102 acquires distance and angle (position information) data of multiple measurement points for each measurement, and transmits the acquired distance and angle (position information) data of multiple measurement points to the distance data processing unit 104 inside the controller unit 103. At this time, a set of distances and angles of multiple measurement points acquired by the laser distance sensor 102 in one measurement is called "distance data". For example, when the laser distance sensor 102 performs one distance measurement in a predetermined angle range of 135° left and right (a total angle range of 270°), the acquired distance data is composed of sets of distances and angles (position information) of 271 measurement points. Since one measurement by the laser distance sensor 102 is completed in a very short time, it is possible to acquire distance data by continuing to perform measurements by the laser distance sensor 102 while moving, not only when the moving body 101 is stationary.

[0021] The controller unit 103 is configured using, for example, a computer shown in FIG. 2. The computer includes a CPU 103a, a ROM 103b, a RAM 103c, a readable / writable non-volatile storage device (HDD) 103d, and an interface (I / F) 103e. These are connected via a bus 103f. The CPU 103a is configured to realize various functions by executing instructions (programs, routines) stored in the ROM 103b. The controller unit 103 may be implemented by a programmable hardware circuit such as an FPGA. The controller unit 103 may be configured by multiple computers. The computer may also be called an "information processing device."

[0022] 1 again, the controller unit 103 includes, as functional blocks, a distance data processing unit 104, a movement control unit 105, and a map data processing unit 106. For example, the distance data processing unit 104, the movement control unit 105, and the map data processing unit 106 (a map creation unit 107 and a map evaluation unit 110 described below) are each realized by the CPU 103a executing a program stored in the ROM 103b. A map data storage unit 108 described below is configured with a storage device (HDD) 103d, etc.

[0023] The distance data processing unit 104 acquires (receives) distance data from the laser distance sensor 102. The distance data processing unit 104 transmits the acquired distance data to the movement control unit 105. Furthermore, when creating map data for a certain map creation target area, the distance data processing unit 104 collects (acquires, receives) distance data for multiple times required for map data creation, and transmits (transfers) a set of the collected distance data (hereinafter, may be referred to as a "cartography data set") to the map data processing unit 106.

[0024] The movement control unit 105 receives the distance data from the distance data processing unit 104. The movement control unit 105 controls the movement of the moving body 101 by controlling the moving mechanism unit 101a to control the traveling direction, moving speed, etc. of the moving body 101. Note that the movement control unit 105 may control the moving body 101 so that the moving body 101 travels autonomously based on the distance data, or may control the movement of the moving body 101 based on an operation by a user.

[0025] The map data processing unit 106 includes a map creation unit 107 , a map data storage unit 108 , and a map evaluation unit 110 .

[0026] The map creation unit 107 receives a set of distance data (mapping data set) for multiple times transmitted (transferred) from the distance data processing unit 104. The map creation unit 107 creates map data for a certain map creation target area based on the received set of distance data for multiple times.

[0027] The map creation unit 107 creates map data, for example, by SLAM technology, based on a set of distance data received multiple times. Since the method of creating such map data is publicly known, to briefly explain, the map creation unit 107 estimates the position of the moving body 101 on two-dimensional map coordinates corresponding to the map creation target area by a method such as scan matching based on the multiple distance data, and converts the position information of the object whose measurement point is acquired into two-dimensional map coordinates. In this way, the map creation unit 107 creates map data that represents the presence of an object in a certain map creation target area as a set of position information of the measurement point on a two-dimensional plane (two-dimensional map coordinates) corresponding to the map creation target area. For convenience, this map data may also be called "object presence map data" or "stationary object map".

[0028] The map creation unit 107 stores the created map data in the map data storage unit 108. The map creation unit 107 can create an image of the map data by, for example, drawing a figure based on the position information of the measurement points (for example, a point corresponding to the position information of the measurement points, a line corresponding to the locus (set) of the position information of the measurement points, etc.) on a two-dimensional plane corresponding to the map creation target area. Therefore, the map creation unit 107 can display the created image of the map data on the display of the operation device 109 connected to the map data processing unit 106.

[0029] The map data storage unit 108 stores (accumulates, saves) the map data created by the map creation unit 107. The map data processing unit 106 is connected to an operation device 109. The operation device 109 is an operation device that has a user interface capable of outputting map data and is configured to be operable by a user. The operation device 109 is, for example, a terminal having a display such as a notebook computer or a tablet terminal. In this example, the operation device 109 and the map data processing unit 106 are connected by a black solid line in FIG. 1, but this is an image of a wired connection. The connection method is not limited to a wired connection. The connection method (communication means) between the operation device 109 and the map data processing unit 106 may be a wireless connection method such as wireless LAN or LTE.

[0030] In response to a request from the operation device 109, the map data processing unit 106 outputs the map data stored in the map data storage unit 108 to the operation device 109. In this case, the map data is output to the operation device 109 as an image to be displayed on a display of the operation device 109 so that the user can visually confirm the data.

[0031] The map evaluation unit 110 evaluates the quality of the map data created by the map creation unit 107. The map evaluation unit 110 performs processing according to the evaluation result, which will be described in detail later.

[0032] <Summary of the Invention> As described above, the map data is created based on a set of distance data (cartography data set) obtained multiple times by the laser distance sensor 102. This set of distance data of measurement points also includes static noise. Here, static noise is information (distance data) that indicates the presence of obstacles and the surrounding environment that the user does not intend. In other words, it is position information of multiple measurement points related to objects (i.e., static noise objects) that the user does not intend to reflect in the map data.

[0033] If map data is created based on a set of distance data including static noise, there is a possibility that the map data created will include information about objects (static noise objects) that the user does not intend to reflect in the map data. Therefore, the map evaluation unit 110 determines (judges) whether or not static noise is present in the map data. In this way, the map evaluation unit 110 evaluates the quality of the map data. Then, the map evaluation unit 110 executes processing according to the evaluation result (judgement result).

[0034] <Map data and static noise summary> In order to facilitate understanding of the present invention, an overview of map data and static noise will now be described. Fig. 3 is a diagram for explaining map data and static noise.

[0035] 3, the map data (map data represented as an image) includes a first black line 203, a second black line 204, a third black line 205, a fourth black line 206, a first light black area 207, a second light black area 208, and a third light black area 209. Note that a person 210, a moving object 101, and a laser beam L1 are depicted superimposed on the map data for the convenience of explaining the map data.

[0036] A laser beam L1 indicated by an arrow is emitted from the laser distance sensor 102. Distance data is acquired based on the time from when the laser beam L1 is emitted, when it hits a measurement target (object (measurement point)), and when the reflected light is received by the laser distance sensor 102.

[0037] By acquiring position information (distance data) of a large number of measurement points by the laser light L1, the relative positions of the moving body 101 and its surrounding measurement points can be determined. As described above, the laser distance sensor 102 is mounted on the moving body 101. Therefore, the laser distance sensor 102 also moves together with the movement of the moving body 101. In this example, the moving body 101 is always moving. Therefore, the laser distance sensor 102 mounted on the moving body 101 also acquires measurement points while always moving together with the moving body 101. Therefore, the measurement points of the laser distance sensor 102 are always changing according to the movement of the moving body 101. That is, the positions indicated by the position information of the measurement points of the laser distance sensor 102 acquired while the moving body 101 is moving are always changing according to the movement of the moving body 101 (laser distance sensor 102). Therefore, for example, map data representing the object (object position) from which the measurement points were obtained can be created by estimating the position of the mobile body 101 and recording a plurality of measurement points whose positions change according to the movement of the mobile body 101 on a two-dimensional plane (two-dimensional map coordinates) corresponding to the area to be mapped. Furthermore, by drawing a figure so that the density of lines, areas, etc. is changed according to the density of the measurement point positions based on the position information of the plurality of measurement points whose positions change according to the movement of the mobile body 101, an image of map data can be created in which the object (object position) from which the measurement points were obtained is represented by black lines, light black areas, etc.

[0038] In the example of map data shown in FIG. 3, the first black line 203 is a black line that draws a crossroads, and is drawn based on position information of measurement points acquired from a stationary object such as a wall. The second black line 204 is a black line that draws a circumference, and is drawn based on position information of multiple measurement points acquired from a cylindrical stationary object. The third black line 205 is a black line that draws a rectangle, and is drawn based on position information of multiple measurement points acquired from a rectangular parallelepiped stationary object. The fourth black line 206 is a black line that draws a rectangle, and is drawn based on position information of multiple measurement points acquired from a rectangular parallelepiped stationary object.

[0039] The first light black region 207 is a light black region in which a circle is drawn, and is a light black region that is drawn based on position information of a plurality of measurement points acquired from a static noise object such as a protrusion on the ground, which will be described later.

[0040] The second light black region 208 is a light black region that draws a rectangle, and is a light black region that is drawn based on position information of a plurality of measurement points acquired from a static noise object such as an inclined portion, which will be described later.

[0041] The third light black region 209 is a light black region in which a wavy line is drawn, and is a light black region that is drawn based on position information of a plurality of measurement points acquired from a static noise object such as a moving object described below.

[0042] 4 and 5 are diagrams for explaining the causes of static noise. For example, as shown in Fig. 4, assume a situation in which a convex part 301 that the user does not intend to reflect in the map data is formed in the irradiation range of the laser light of the laser distance sensor 102. Note that the height of this convex part 301 is approximately the same as the height of the position of the irradiation source of the laser light of the laser distance sensor 102.

[0043] In this case, the laser distance sensor 102 tends to have a variation in the height direction rather than a constant emission direction (emission angle) of the laser light L11 due to the vibration of the moving body 101, the inclination of the moving body 101, the mounting method of the laser distance sensor 102, etc. For example, when the moving body 101 vibrates, the emission direction of the laser light L11 also changes according to the vibration of the moving body 101, and when the moving body 101 inclines (when inclined with respect to the ground), the emission direction of the laser light L11 may change in the height direction according to the inclination of the moving body 101. Furthermore, for example, when the position of the laser distance sensor 102 is shifted relative to the moving body 101 according to the movement of the moving body 101 due to the mounting method of the laser distance sensor 102 (for example, due to a loose fixing state, etc.), the emission direction of the laser light L11 may change in the height direction according to the movement of the moving body 101. In this way, since the emission direction of the laser light L11 changes (varies) in the height direction in accordance with the movement of the mobile object 101, the multiple measurement points are not acquired locally from the convex portion 301 but are acquired sporadically. Therefore, in the map data, the positions of the multiple measurement points acquired from the convex portion 301 are relatively scattered. Therefore, the convex portion 301 is included in the map data represented by an image as a first light black region 207 that is light black according to the density of the positions of the multiple measurement points acquired from the convex portion 301.

[0044] Further, for example, as shown in Fig. 5, a situation is assumed in which an inclined portion 302 that the user does not intend to reflect in the map data is formed in the irradiation range of the laser light of the laser distance sensor 102. Even in this case, since the emission direction of the laser light L21 changes (varies) in the height direction according to the movement of the mobile object 101, a plurality of measurement points are not acquired locally from the inclined portion 302 but are acquired sporadically. Therefore, in the map data, the positions of the plurality of measurement points acquired from the inclined portion 302 are relatively scattered. Therefore, the inclined portion 302 is included in the map data represented by an image as a second light black region 208 of light black color according to the density of the positions of the plurality of measurement points acquired from the inclined portion 302.

[0045] As described above, when measurement points are obtained from the convex portion 301 or the inclined portion 302 of the ground, the emission direction of the laser light varies in the height direction, and the positions of the measurement points obtained from the static noise object change according to the variation in the emission direction of the laser light. When measurement points are obtained from each of the convex portion 301 and the inclined portion 302, differences tend to occur in the angle and direction at which the laser light is reflected, which causes static noise. In addition to these static noise objects, the reflectivity of the object (substance) from which the measurement point is obtained may affect the laser light, and the obtained position information of the measurement point may become static noise.

[0046] Returning to FIG. 3, assume a situation in which a person 210, a moving object that the user does not intend to reflect in the map data, changes from a moving state to a temporarily stopped state in the irradiation range of the laser light of the laser distance sensor 102. In this case, when the person 210 is in a moving state, the positions of the measurement points also change as the person 210 moves (because the person does not stay in the same position), so that a plurality of measurement points are not acquired locally from the person 210 but are acquired sporadically. Furthermore, the area (the locus of the measurement points) formed by gathering the positions indicated by the plurality of measurement points acquired from the person 210 tends to have an irregular shape. Therefore, the person 210 is included in the map data represented by an image as a third light black area 209 in the form of an irregular wavy line.

[0047] As described above, if the map data contains static noise, which is the position information of the measurement points acquired from the static noise object described above, the first dim black area 207, the second dim black area 208, and the third dim black area 209 corresponding to the static noise object may end up being included in the map data represented by an image. That is, information about the static noise object (static noise) that the user does not intend to reflect in the map data may end up being reflected in the map data. Therefore, the first map data creation device determines (judges) whether or not static noise exists in the map data.

[0048] <How to identify static noise> A method for distinguishing static noise will now be described. Figures 6 and 7 are diagrams for explaining a method for distinguishing between static noise objects and stationary objects.

[0049] 6 is an example of a figure displayed on the map data when a cylindrical stationary object is detected. Although not shown in the figure, the height of this cylindrical stationary object is higher than the height of the position of the laser light irradiation source of the laser distance sensor 102. Therefore, even if the emission direction of the laser light varies in the height direction, there is a tendency for measurement points to be obtained locally from this stationary object.

[0050] In the image of the map data, the second black line 204 indicating the cylindrical stationary object can be expressed as a locus LC1 (a collection of a plurality of measurement points DP1) of measurement points DP1 that are approximately a perfect circle corresponding to the outer shape of the cylindrical stationary object when viewed in a plan view, as shown in block BR1. In other words, the second black line 204 is drawn based on the plurality of measurement points DP1.

[0051] 7 is an example of a figure displayed in map data when a static noise object that is a hemispherical convexity is detected. In the image of the map data, the first light black area 207 indicating the static noise object that is a hemispherical convexity can be expressed as a collection of multiple measurement points DP1 in a substantially perfect circle shape that corresponds to the planar shape of the hemispherical convexity when viewed in a plan view, as shown in block BR2.

[0052] Comparing the locus LC1 of the measurement points DP1 in FIG. 6 with the set Gr1 of the measurement points in FIG. 7, the positions of the measurement points DP1 on the locus LC1 are relatively dense, whereas the positions of the measurement points DP2 on the set Gr1 are relatively scattered. In other words, in the map data, the locus LC1 (set ) The density of the measurement points DP1 is relatively large, and the set of measurement points of the static noise object Gr1 of The density of the positions of the measurement points DP2 can be said to be relatively small. Therefore, the set of measurement points representing the object ofIt can be seen that the density of positions can be used to determine whether the object from which the measurement point was acquired (the object corresponding to the measurement point) is a static noise object or not.

[0053] Therefore, the map evaluator 110 evaluates a set of measurement points representing an object in the map data. of The density of the positions of the measurement points (hereinafter referred to as the "measurement point density") is calculated. The map evaluation unit 110 compares the measurement point density with a predetermined threshold density to determine whether the position information of a set of measurement points representing an object is static noise or not.

[0054] Specifically, if the measurement point density of a certain set of measurement points is equal to or less than a predetermined threshold density, the map evaluation unit 110 determines that the location information of the set of measurement points is static noise. On the other hand, if the measurement point density of a certain set of measurement points is greater than a predetermined threshold density, the map evaluation unit 110 determines that the location information of the set of measurement points is not static noise. Then, the map evaluation unit 110 performs processing according to the result of this determination. For convenience, this predetermined threshold density is also referred to as the "static noise threshold density."

[0055] <Specific operation> 8 is a flowchart showing a process flow executed by the map evaluation unit 110. In step 800, the map evaluation unit 110 acquires (reads) map data, starts discrimination of static noise, and proceeds to step 801. When proceeding to step 801, the map evaluation unit 110 discriminates static noise in the map data by performing a discrimination process of static noise according to the above-mentioned method of discriminating static noise.

[0056] Thereafter, the map evaluation unit 110 proceeds to step 802 and determines whether or not static noise exists in the map data.

[0057] If it is determined that no static noise exists in the map data, the map evaluation unit 110 determines "No" in step 802 and proceeds to step 895, where it temporarily ends this processing flow.

[0058] If it is determined that static noise exists in the map data, the map evaluation unit 110 determines “Yes” in step 802 and proceeds to step 803 .

[0059] When the map evaluation unit 110 proceeds to step 803, it outputs map data to the operation device 109 and displays the map data including static noise as an image on the display of the operation device 109. At this time, the map evaluation unit 110 displays the map data on the display in a display form that allows the static noise area to be distinguished on the screen. For example, in order to clearly indicate the static noise area on the image, the map evaluation unit 110 displays the map data on the display in a display form in which the static noise area is indicated by an arrow, in which the static noise area is surrounded by a highlighted line, in which the static noise area is filled with a specific color, or the like.

[0060] Thereafter, the map evaluation unit 110 proceeds to step 804, where it determines whether or not to perform processing to correct the static noise area, depending on whether or not there is a request to correct the static noise area from the operation device 109. Note that this correction request is generated, for example, by the user performing a predetermined operation on the operation device 109. Therefore, for example, if the user recognizes that there is static noise in the map data displayed on the display, the user can generate a request to correct the static noise area by performing a predetermined operation on the operation device 109. Therefore, the user can cause the map evaluation unit 110 to execute processing to correct the static noise area via the operation device 109.

[0061] If a request to modify the static noise area is received from the operation device 109, the map evaluation unit 110 judges "Yes" in step 804, executes the process of step 805 described below, and then proceeds to step 806.

[0062] Step 805: The map evaluation unit 110 automatically deletes static noise in the map data. Note that the user may operate the operation device 109 to specify an area including static noise in the image of the map data displayed on the display. In this case, the map evaluation unit 110 may delete static noise included in any area of ​​the map data specified based on the user's operation of the operation device 109 from the map data.

[0063] Furthermore, the user may be allowed to select an area of ​​static noise in the map data displayed on the display by operating the operation device 109. In this case, the map evaluation unit 110 may delete the selected area of ​​static noise from the map data based on the user's operation of the operation device 109.

[0064] If there is no request for modifying the static noise area from the operation device 109 , the map evaluation unit 110 determines “No” in step 804 and proceeds directly to step 806 .

[0065] When the map evaluation unit 110 proceeds to step 806, it determines whether or not to reacquire map data (data for creating a map) depending on whether or not there is a request to reacquire the map data from the operation device 109. Note that this reacquisition request is generated, for example, by the user performing a predetermined operation on the operation device 109.

[0066] If there is no request from the operation device 109 to reacquire map data and it is determined that the map data should not be reacquired, the map evaluation unit 110 determines "No" in step 806, proceeds to step 895, and temporarily ends this processing flow.

[0067] On the other hand, if the map evaluation unit 110 determines that there is a request from the operation device 109 to reacquire the map data and that the map data should be reacquired, the result of the determination in step 806 is “Yes” and the process proceeds to step 807 .

[0068] When the process proceeds to step 807, the map evaluation unit 110 uses the operation device 109 to present (instruct) the user on a measurement method for reacquiring map data of the static noise area. For example, the map evaluation unit 110 uses the operation device 109 to notify the user of a notification to draw the user's attention to a measurement environment or measurement method that may cause static noise. More specifically, for example, the map evaluation unit 110 displays on the display of the operation device 109 a method (information) for the mobile body 101 to reacquire distance data for creating map data that does not include static noise at the time of remeasurement. This allows the map evaluation unit 110 to present (instruct) the user on an appropriate method for the mobile body 101 to reacquire distance data for creating map data. One example of this method is to control the movement of the mobile body 101 so that the laser light is not irradiated only to areas corresponding to static noise.

[0069] Thereafter, the map evaluation unit 110 proceeds to step 808 and determines whether or not the map data has been acquired again. If the map data has not been acquired again, the map evaluation unit 110 determines "No" in step 808 and executes the process of step 808 again.

[0070] When the map data is acquired again, the map evaluation unit 110 judges "Yes" in step 808 and proceeds to step 809 to judge whether or not to perform the static noise discrimination process again. Note that this judgment is made based on whether or not there is a static noise re-discrimination request generated by, for example, the user performing a predetermined operation on the operation device 109.

[0071] If the static noise discrimination process is to be performed again, the map evaluation unit 110 judges "No" in step 809, proceeds to step 801, and repeats an appropriate process among the above-mentioned steps 801 to 809. If the static noise discrimination process is not to be performed again, the map evaluation unit 110 judges "Yes" in step 809, proceeds to step 895, and temporarily ends this processing flow.

[0072] <Effects> As described above, the first map data creation device can determine whether or not information about static noise objects (static noise) is included (exists) in the map data. This allows the first map data creation device to determine whether or not the quality of the map data is good. For convenience, such a first map data creation device may also be referred to as a "first map data evaluation device." For example, when the first map data creation device determines that information about static noise objects is included in the map data, it can determine that the quality of the map data is relatively poor. When the first map data creation device determines that information about static noise objects is not included in the map data, it can determine that the quality of the map data is relatively good.

[0073] Furthermore, when the first map data creation device determines that information on a static noise object is included (exists) in the map data, the first map data creation device can perform processing accordingly. For example, the first map data creation device can perform processing to delete the static noise from the map data as the processing in this case. Therefore, the first map data creation device can efficiently create map data of relatively high quality.

[0074] <<Second embodiment>> A map data creation device according to a second embodiment of the present invention (hereinafter referred to as a "second map data creation device") will be described. For convenience, the second map data creation device may also be referred to as a "second map data evaluation device."

[0075] The second map data creation device differs from the first map data creation device only in the following respects. The second map data creation device compares the measurement point density of a certain set of measurement points with the first threshold density to determine whether the certain set of measurement points is a set of measurement points acquired from a non-stationary object that is not a stationary object. Note that the determination of the measurement point density using the first threshold density may also be referred to as "first density determination." For convenience, the first threshold density may also be referred to as "difficult-to-determine noise threshold density." When a certain set of measurement points are measurement points acquired from a non-stationary object, the second map data creation device compares the measurement point density of the set of measurement points with the second threshold density to determine whether the position information of the set of measurement points is static noise or difficult-to-determine noise. "Difficult-to-determine noise" is the position information of a measurement point that cannot be determined as being information about a static object or information about a static noise object. Note that the determination of the measurement point density using this second threshold density may also be referred to as "second density determination." The second threshold density may also be referred to as "static noise threshold density" for convenience, similar to the above-mentioned threshold density. The second map data creation device performs processing according to the result of the determination.

[0076] Therefore, the following description will focus on the above differences.

[0077] <Specific operation> 9 is a flowchart showing a process flow executed by the map evaluation unit 110. In step 900, the map evaluation unit 110 acquires (reads) map data, starts determining static noise, and proceeds to step 901. In step 901, the map evaluation unit 110 performs a first density determination using a first threshold density.

[0078] Specifically, for each of a plurality of "certain sets of measurement points" in the imported map data, the map evaluation unit 110 determines whether the measurement point density of the set of measurement points is equal to or less than a first threshold density. If the measurement point density of a certain set of measurement points is equal to or less than the first threshold density, the map evaluation unit 110 determines that the set of measurement points is measurement points acquired from a non-stationary object. If the measurement point density of a certain set of measurement points is greater than the first threshold density, the map evaluation unit 110 determines that the set of measurement points is measurement points acquired from a stationary object.

[0079] Thereafter, the map evaluation unit 110 proceeds to step 902 and determines whether or not there is a set of measurement points that have been determined in step 901 to be measurement points acquired from a non-stationary object.

[0080] If there is no set of measurement points determined in step 901 to be measurement points obtained from a non-stationary object, the map evaluation unit 110 determines "No" in step 902 and proceeds to step 995, temporarily terminating this processing flow.

[0081] On the other hand, if there is a set of measurement points determined in step 901 to be measurement points acquired from a non-stationary object, the map evaluation unit 110 determines “Yes” in step 902 and proceeds to step 903 .

[0082] When the map evaluation unit 110 proceeds to step 903, it performs a second density determination using the second threshold density. The second threshold density is set to a value (density) smaller than the first threshold density. In other words, the first threshold density is set to a value (density) larger than the second threshold density.

[0083] Specifically, the map evaluation unit 110 judges whether the measurement point density of the set of measurement points determined to be acquired from a non-stationary object is greater than a second threshold density. If the measurement point density of the set of measurement points determined to be acquired from a non-stationary object is greater than the second threshold density, the map evaluation unit 110 judges that the location information of the set of measurement points is difficult-to-determine noise. If the measurement point density of the set of measurement points determined to be acquired from a non-stationary object is equal to or less than the second threshold density, the map evaluation unit 110 judges that the location information of the set of measurement points is static noise.

[0084] Thereafter, the map evaluation unit 110 proceeds to step 904 to determine whether or not difficult-to-determine noise is present in the map data. If difficult-to-determine noise is present in the map data, the map evaluation unit 110 determines “Yes” in step 904 and proceeds to step 905.

[0085] When the map evaluation unit 110 proceeds to step 905, it determines whether or not static noise is also present in the map data (that is, whether static noise is present in addition to the difficult-to-determine noise in the map data).

[0086] If static noise is also present in the map data, the map evaluation unit 110 determines “Yes” in step 905 and proceeds to step 906 .

[0087] When the map evaluation unit 110 proceeds to step 906, it displays the area on the image of the map data corresponding to the difficult-to-determine noise in a first display mode (e.g., a display mode in which the area is displayed in a first color) and displays the area on the image of the map data corresponding to the static noise in a second display mode (e.g., a display mode in which the area is displayed in a second color different from the first color). After that, the map evaluation unit 110 proceeds to step 995 and temporarily ends this processing flow.

[0088] On the other hand, if no static noise exists in the map data (i.e., only difficult-to-determine noise exists in the map data), the map evaluation unit 110 determines "No" in step 905 and proceeds to step 907. When the map evaluation unit 110 proceeds to step 907, it displays the area on the image of the map data that corresponds to the difficult-to-determine noise in the first display mode, and proceeds to step 995 to temporarily end this processing flow.

[0089] When the process of step 904 is executed, if there is no difficult-to-determine noise in the map data (i.e., only static noise is present in the map data), the map evaluation unit 110 determines "No" in step 904 and proceeds to step 908. When the map evaluation unit 110 proceeds to step 908, it displays the area on the image of the map data that corresponds to the static noise in the second display mode, and proceeds to step 995 to temporarily end this processing flow.

[0090] <Effects> As described above, the second map data creation device can determine whether or not static noise is included in the map data. Therefore, the second map data creation device can determine whether or not the quality of the map data is good. For example, when the second map data creation device determines that information on a static noise object is included in the map data, the second map data creation device can determine that the quality of the map data is relatively poor. When the second map data creation device determines that information on a static noise object is not included in the map data, the second map data creation device can determine that the quality of the map data is relatively good. Furthermore, the second map data creation device can display an area in the map data corresponding to an object that cannot be distinguished as either a stationary object or a static noise object in a first display mode different from the second display mode in which the static noise object is displayed. This allows the user to easily recognize that the object displayed in the first display mode is neither a stationary object nor a static noise object.

[0091] <<Modifications>> The present invention is not limited to the above-described embodiments, and various modifications can be adopted within the scope of the present invention. For example, in the above-described embodiments, the moving body 101 itself does not need to have a traveling function. For example, the moving body 101 does not need to have a power generating device (e.g., a motor, etc.) for moving the moving body 101, like a pushcart.

[0092] In the above-described embodiments, the moving body is always moving, but the moving body does not have to be always moving. In this case, in order to more accurately discriminate static noise, it is preferable to discriminate static noise using only the measurement points acquired by the laser distance sensor 102 while the moving body 101 is moving. In this case, it may be determined whether the measurement point is a measurement point that can be used to discriminate static noise as follows. That is, the measurement point also includes coordinate data required for identifying (estimating) the position of the moving body. When the value of this coordinate data is fluctuating, it can be determined that the moving body is moving, and when the value of the coordinate data is not fluctuating, it can be determined that the moving body is stopped. When discriminating static noise, the coordinate data of the measurement point is referred to, and the fluctuation of the value is confirmed to determine whether the measurement point is a measurement point that can be used to discriminate static noise.

[0093] In this case, the following process may be performed before reading the map data in steps 800 and 900 and starting the static noise discrimination. That is, from the measurement points corresponding to the cartography data set, measurement points acquired while the mobile object 101 is moving (while in a moving state) may be extracted (discriminated), and the static noise discrimination in Figs. 8 and 9 may be performed using only the extracted (discriminated) measurement points.

[0094] In each of the above embodiments, when the object presence map data is displayed on the display as an image, the area corresponding to the static noise may be automatically deleted and displayed without judging whether or not there is a correction request. Furthermore, in each of the above embodiments, when the object presence map data is displayed on the display as an image, when the area corresponding to the static noise is displayed, a warning about the static noise may be issued at the same time on a pop-up screen or the like.

[0095] In each of the above embodiments, it is assumed that operations are performed using the operation device 109 shown in FIG. 1, but the interface used by the user is not particularly limited as long as it can communicate with the controller unit 103 .

[0096] In the first embodiment, the map evaluation unit 110 may execute a processing flow in which the processes of steps 806 to 809 in Fig. 8 are omitted, instead of the processing flow in Fig. 8. In this case, only the object presence map data is corrected, and the map data is not reacquired.

[0097] In each of the above embodiments, for example, after a static noise area is displayed, it may be determined whether or not the user manually corrects the map data based on the user's operation of the operation device 109. If it is determined that the user manually corrects the map data, it may be possible to manually select an area of ​​the map data that the user wishes to delete on the GUI, and the selected area that the user wishes to delete may be deleted. Position information of pseudo measurement points may be added to the map data based on the user's operation of the operation device 109. [Explanation of symbols]

[0098] 101...moving body, 101a...moving mechanism section, 102...distance sensor section, 103...controller section, 104...distance data processing section, 105...movement control section, 106...map data processing section, 107...map creation section, 108...map data storage section, 109...operation device, 110...map evaluation section

Claims

1. a surroundings sensor mounted on a moving body, which detects a reflection point of the irradiation wave on an object as a measurement point by irradiating an irradiation wave around the moving body, and acquires position information indicating a relative position of the measurement point with respect to the moving body; an information processing device that creates object presence map data indicating the positions of the stationary objects, which are the objects that are stationary, by recording the positions of the stationary objects in map coordinates corresponding to the map creation target area based on the position information of the measurement points acquired by the surrounding sensors while the moving body is moving in the map creation target area; Including, The information processing device includes: When the object presence map data is created, a measurement point density of a specific set of the measurement points in the created object presence map data is compared with a predetermined static noise threshold density to determine whether or not the position information of the specific set of the measurement points is static noise, which is information about the measurement points obtained from a static noise object that is a specific object other than the stationary object; When the measurement point density is equal to or less than the difficult-to-determine noise threshold density that is set to a density greater than the static noise threshold density, If the measurement point density is equal to or less than the static noise threshold density, the position information of the specific set of the plurality of measurement points is determined to be static noise; If the measurement point density is greater than the static noise threshold density, the position information of the set of the specific plurality of measurement points is determined to be difficult-to-determine noise that is difficult to determine as either the position information regarding the stationary object or the static noise. It was configured as follows: Map data creation device.

2. 2. The map data creation device according to claim 1, The information processing device includes: displaying the object presence map data as an image on a display unit of a terminal connected to the information processing device; It was configured as follows: Map data creation device.

3. 3. The map data creation device according to claim 2, The information processing device includes: the position information of the set of the specific plurality of measurement points determined to be the static noise is deleted from the object presence map data, and the object presence map data from which the position information has been deleted is displayed as an image on the display unit. It was configured as follows: Map data creation device.

4. 4. The map data generating device according to claim 3, The information processing device includes: when a correction instruction request is received based on an operation on the terminal for the static noise of the object presence map data displayed as an image on the display unit, the position information of the specific set of the plurality of measurement points determined to be the static noise is deleted from the object presence map data. It was configured as follows: Map data creation device.

5. 3. The map data creation device according to claim 2, The information processing device includes: when it is determined that the position information of the set of the specific plurality of measurement points is the static noise, and when there is a request to reacquire the measurement points for creating the object presence map data generated based on an operation on the terminal, notifying the terminal of a method for reacquiring the measurement points. It was configured as follows: Map data creation device.

6. 2. The map data creation device according to claim 1, The information processing device includes: determining whether the measurement point density is equal to or less than the difficult-to-determine noise threshold density; If the measurement point density is equal to or less than the difficult-to-determine noise threshold density, it is further determined whether or not the measurement point density is greater than the static noise threshold density. It was configured as follows: Map data creation device.

7. 2. The map data creation device according to claim 1, The information processing device includes: The object presence map data is displayed as an image on a display unit of a terminal connected to the information processing device, Furthermore, the information processing device When the object presence map data is displayed as an image on the display unit, displaying, in a first display mode, an area corresponding to the position information of the set of the specific plurality of measurement points determined to be the difficult-to-determine noise; displaying an area corresponding to the position information of the set of the specific plurality of measurement points determined to be static noise in a second display manner different from the first display manner. It was configured as follows: Map data creation device.

8. a surroundings sensor mounted on a moving body, which detects a reflection point of the irradiation wave on an object as a measurement point by irradiating an irradiation wave around the moving body, and acquires position information indicating a relative position of the measurement point with respect to the moving body; an information processing device that creates object presence map data indicating the positions of the stationary objects, which are the objects that are stationary, by recording the positions of the stationary objects in map coordinates corresponding to the map creation target area based on the position information of the measurement points acquired by the surrounding sensors while the moving body is moving in the map creation target area; Including, The information processing device includes: When the object presence map data is created, the quality of the created object presence map data is evaluated by comparing the measurement point density of a specific set of the measurement points in the created object presence map data with a predetermined static noise threshold density to determine whether the position information of the specific set of the measurement points is static noise, which is information about the measurement points obtained from a static noise object that is a specific object other than the stationary object; When the measurement point density is equal to or less than the difficult-to-determine noise threshold density that is set to a density greater than the static noise threshold density, If the measurement point density is equal to or less than the static noise threshold density, the position information of the specific set of the plurality of measurement points is determined to be static noise; If the measurement point density is greater than the static noise threshold density, the position information of the set of the specific plurality of measurement points is determined to be difficult-to-determine noise that is difficult to determine as either the position information regarding the stationary object or the static noise. It was configured as follows: Map data evaluation device.

9. 9. The map data evaluation device according to claim 8, The information processing device includes: When the position information of the set of the specific plurality of measurement points is determined to be static noise, a notification of a warning regarding the static noise is sent to a terminal connected to the information processing device. It was configured as follows: Map data evaluation device.

10. a surroundings sensor mounted on a moving body, which detects a reflection point of the irradiation wave on an object as a measurement point by irradiating an irradiation wave around the moving body, and acquires position information indicating a relative position of the measurement point with respect to the moving body; an information processing device that creates object presence map data indicating the positions of the stationary objects, which are the objects that are stationary, by recording the positions of the stationary objects in map coordinates corresponding to the map creation target area based on the position information of the measurement points acquired by the surrounding sensors while the moving body is moving in the map creation target area; A map data creation method using By the information processing device, When the object presence map data is created, a measurement point density of a specific set of the measurement points in the created object presence map data is compared with a predetermined static noise threshold density to determine whether or not the position information of the specific set of the measurement points is static noise, which is information about the measurement points obtained from a static noise object that is a specific object other than the stationary object; When the measurement point density is equal to or less than the difficult-to-determine noise threshold density that is set to a density greater than the static noise threshold density, If the measurement point density is equal to or less than the static noise threshold density, the position information of the specific set of the plurality of measurement points is determined to be static noise; If the measurement point density is greater than the static noise threshold density, the position information of the set of the specific plurality of measurement points is determined to be difficult-to-determine noise that is difficult to determine as either the position information regarding the stationary object or the static noise. How to create map data.

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