Information processing device, control method, program, and storage medium

Abstract

A controller 13 of an information processing device 1 acquires measurement data measured by a sensor group 2 as measurement devices. Then, the controller 13 determines a compression mode of the measurement data on the basis of compression-related information 11 about the compression mode of data according to a position or posture. Next, the controller 13 compresses the measurement data on the basis of the determined compression mode.

Description

[Technical field]

[0001] The present disclosure relates to processing of measured data. [Background technology]

[0002] Conventionally, there has been known a laser radar device that irradiates a detection space with a pulse of laser light and detects an object in the detection space based on the level of the reflected light. For example, Patent Document 1 discloses a lidar that scans the surrounding space by appropriately controlling the emission direction (scanning direction) of the repeatedly emitted light pulses and observes the return light to generate point cloud data representing information about objects existing in the surroundings, such as distance and reflectance. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-009831 A Summary of the Invention [Problem to be solved by the invention]

[0004] When point cloud data generated by a measurement device such as a lidar according to a predetermined measurement cycle is uploaded and collected and managed by a server device, the volume of the generated point cloud data is large, which causes problems such as excessive communication load and processing load on the server device. Also, when collecting point cloud data at a certain data rate in an aircraft such as a drone, the onboard storage quickly becomes full, which causes an issue that the aircraft can only fly for a relatively short time.

[0005] The present disclosure has been made to solve the above-mentioned problems, and has as its main object to provide an information processing device capable of preferably reducing the amount of measured data. [Means for solving the problem]

[0006] The claimed invention is An acquisition means for acquiring measurement data by a measurement device; a determination means for determining a compression mode of the measurement data based on compression-related information that specifies a compression mode related to a data compression ratio or a compression algorithm according to a position of the measurement device, or a measured position of the measurement data, or an attitude of the measurement device; a compression unit that compresses the measurement data based on the compression mode; having The measuring device is provided on a security robot, The compressed related information includes information regarding a security level of a store that is a security target, The determining means is an information processing device that determines the compression mode based on a security level corresponding to the store measured by the measuring device.

[0007] The claimed invention also includes: A computer-implemented control method, comprising: Acquire measurement data using a measuring device, determining a compression mode of the measurement data based on compression-related information that specifies a compression mode related to a data compression ratio or a compression algorithm according to the position of the measurement device, or the measured position of the measurement data, or the attitude of the measurement device; compressing the measurement data based on the compression mode; The measuring device is provided on a security robot, The compressed related information includes information regarding a security level of a store that is a security target, This is a control method in which the compression mode is determined based on a security level corresponding to the store measured by the measuring device.

[0008] The claimed invention also includes: Acquire measurement data using a measuring device, determining a compression mode of the measurement data based on compression-related information that specifies a compression mode related to a data compression ratio or a compression algorithm according to the position of the measurement device, or the measured position of the measurement data, or the attitude of the measurement device; compressing the measurement data based on the compression mode; The measuring device is provided on a security robot, The compressed related information includes information regarding a security level of a store that is a security target, The program causes a computer to execute a process for determining the compression mode based on a security level corresponding to the store measured by the measuring device. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram of a data collection system. [Diagram 2] FIG. 1 is a block diagram of an information processing device. [Diagram 3] 1 shows a map of a commercial facility in which an information processing device, which is a self-propelled robot, operates. [Figure 4] 11 is an example of a flowchart illustrating a processing procedure executed by an information processing device in a first application example. [Diagram 5] FIG. 13 is a diagram showing an outline of data collection in a second application example. [Figure 6] 13 is an example of a flowchart illustrating a processing procedure executed by an information processing device in a second application example. [Figure 7] 13 is an example of a flowchart illustrating a procedure of a measurement data update process in a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] According to a preferred embodiment of the present invention, an information processing device includes an acquisition unit that acquires measurement data from a measurement device, a determination unit that determines a compression mode of the measurement data based on compression-related information related to a data compression mode according to a position and / or orientation, and a compression unit that compresses the measurement data based on the compression mode. With this configuration, the information processing device can compress the measurement data appropriately according to the position and / or orientation.

[0011] In one aspect of the information processing device, the information processing device further includes a transmission unit that transmits the measurement data compressed by the compression unit to a data collection device. According to this aspect, the information processing device can suitably reduce the amount of data to be transmitted to the data collection device.

[0012] In another aspect of the information processing device, the information processing device further includes a self-location estimation unit that estimates a self-location, and the determination unit determines the compression mode based on the position and attitude estimated by the self-location estimation and the compression related information. With this aspect, the information processing device can suitably determine the compression mode of the measurement data according to the self-location estimation result.

[0013] In another aspect of the information processing device, the measurement device is mounted on an aircraft, the compression-related information is information that specifies at least the altitude of a data collection range, and the compression means determines whether or not it is necessary to store the measurement data based on the position and attitude estimated by the self-location estimation and the compression-related information. With this aspect, the information processing device can accurately determine whether or not it is necessary to store the measurement data depending on the altitude of the aircraft, and can suitably compress the amount of data to be stored.

[0014] In another aspect of the information processing device, the measurement device is provided in a security robot, the compression-related information includes information regarding a security level of a store to be guarded, and the determination means determines the compression mode based on the security level corresponding to the store measured by the measurement device. With this aspect, the information processing device can suitably determine the data compression mode based on the security level corresponding to the store when the security robot is guarding the store.

[0015] In another aspect of the information processing device, the measuring device is a plurality of types of external sensors, and the compression means selects, as the monitoring data, the measurement data output by the external sensors of a greater number as the security level becomes higher. With this aspect, the information processing device can suitably determine the types of external sensors to be used for monitoring according to the security level.

[0016] In another aspect of the information processing device, the compression means compresses the measurement data by excluding data corresponding to dynamic objects from the measurement data. With this aspect, the information processing device can handle data from which unnecessary data of dynamic objects have been suitably excluded when the purpose is to measure a structure or the like.

[0017] According to another preferred embodiment of the present invention, there is provided a control method executed by a computer, which acquires measurement data from a measurement device, determines a compression mode of the measurement data based on compression-related information related to a data compression mode according to a position and / or orientation, and compresses the measurement data based on the compression mode. By executing this control method, the computer can compress the measurement data appropriately according to the position and / or orientation.

[0018] According to another preferred embodiment of the present invention, a computer is caused to execute a process of acquiring measurement data from a measurement device, determining a compression mode of the measurement data based on compression-related information regarding a data compression mode according to a position and / or orientation, and compressing the measurement data based on the compression mode. By executing this program, the computer can suitably compress the measurement data according to the position and / or orientation. Preferably, the program is stored in a storage medium. EXAMPLES

[0019] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0020] (1) Overview of the data collection system 1 is a schematic diagram of a data collection system according to the present embodiment. The data collection system includes an information processing device 1 that processes data generated by a sensor group 2, and a data collection device 5 that is a server device that collects and manages data.

[0021] The information processing device 1 is electrically connected to the sensor group 2, compresses (including data selection) data output by the sensor group 2, and transmits the compressed data as upload information "Iu" to the data collection device 5. The information processing device 1 is, for example, a moving body such as a vehicle, a drone, or a self-propelled robot, or a computer that controls the moving body. The information processing device 1 may be, for example, a navigation device mounted on a moving body such as a vehicle or a ship, or an electronic control device built into the moving body.

[0022] The sensor group 2 includes an external sensor 3 and an internal sensor 4. The external sensor 3 is one or more sensors that sense the external world of the information processing device 1 or the mobile body on which the information processing device 1 is mounted. The external sensor 3 is, for example, a range sensor such as a lidar, a camera, an ultrasonic sensor, etc. The internal sensor 4 is one or more sensors that sense the internal world of the information processing device 1 or the mobile body on which the information processing device 1 is mounted. The internal sensor 4 is, for example, an angular velocity sensor, a GNSS (Global Navigation Satellite System) receiver, an acceleration sensor, an IMU (Inertial Measurement Unit), other autonomous positioning devices, etc. In this way, the sensor group 2 includes various sensors used for self-location estimation, obstacle detection, human detection, etc. Note that at least some of the sensors in the sensor group 2 may be sensors built into the information processing device 1.

[0023] The data collection device 5 is a device that collects measurement data by the lidar, receives upload information Iu from the information processing device 1, and stores the received upload information Iu. Note that, although only one pair of the information processing device 1 and the sensor group 2 is illustrated in Fig. 1, there may be a plurality of pairs of the information processing device 1 and the sensor group 2 instead. In this case, the data collection device 5 receives upload information Iu from each information processing device 1.

[0024] Here, the data transmitted from the information processing device 1 to the data collecting device 5 as the upload information Iu may be data output by all the external sensors 3, or may be data output by a specific sensor among the external sensors 3. As described later, in order to reduce the amount of data in the upload information Iu, the information processing device 1 may select a sensor to be used for generating the upload information Iu depending on the measurement situation, and include the data output by the selected sensor in the upload information Iu. Furthermore, the upload information Iu may include, in addition to the data output by the external sensors 3, information on the self-position and attitude (i.e., the measured position and attitude) estimated by the information processing device 1, information on the measurement time, and the like.

[0025] (2) Configuration of information processing device 2 is a block diagram showing an example of a hardware configuration of the information processing device 1. The information processing device 1 mainly includes an interface 11, a memory 12, and a controller 13. These elements are connected to each other via a bus line.

[0026] The interface 11 performs an interface operation related to the transmission and reception of data between the information processing device 1 and an external device. In this embodiment, the interface 11 acquires output data from the sensor group 2 and supplies it to the controller 13. The interface 11 also transmits upload information Iu generated by the controller 13 to the data collection device 5 based on the control of the controller 13. If the information processing device 1 is mounted on a moving body such as a vehicle, the interface 11 may also supply a signal related to the control of the moving body generated by the controller 13 to an electronic control unit (ECU: Electronic Control Unit) of the moving body. The interface 11 may be a wireless interface such as a network adapter for wireless communication, or may be a hardware interface for connecting to an external device via a cable or the like. The interface 11 may also perform an interface operation with various peripheral devices such as an input device, a display device, and a sound output device.

[0027] The memory 12 is composed of various types of volatile and non-volatile memories such as a RAM (Random Access Memory), a ROM (Read Only Memory), a hard disk drive, a flash memory, etc. The memory 12 stores a program for the controller 13 to execute a predetermined process. The program executed by the controller 13 may be stored in a storage medium other than the memory 12.

[0028] Furthermore, the memory 12 stores various information related to the processing executed by the controller 13. For example, the memory 12 stores compression related information I1.

[0029] The compression related information I1 is information that specifies the compression mode of the measurement data obtained from the sensor group 2 according to the measurement position or measured position of the information processing device 1. Here, the "information that specifies the compression mode" may be information that specifies the compression rate, information that specifies the compression algorithm (including lossless compression and lossy compression algorithms), or information that specifies the data (sensor type) to be included in the upload information Iu. The compression related information I1 is, for example, information that associates information related to a position with information that specifies the compression mode of the measurement data obtained when the information processing device 1 measures at that position (or when that position is the measurement target).

[0030] The compression related information I1 may be a part of map data. In this case, the compression related information I1 may be a part of map data in an area where the information processing device 1 moves. In this case, the map data includes information specifying the compression mode as a part of information representing attributes of features such as facilities.

[0031] The controller 13 includes one or more processors such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and a TPU (Tensor Processing Unit), and controls the entire information processing device 1. In this case, the controller 13 executes programs stored in the memory 12 or the like to perform various processes described later.

[0032] In addition, the controller 13 functionally includes a self-position estimation unit 14, a data processing unit 15, and an upload unit 16.

[0033] The self-position estimation unit 14 performs self-position estimation based on data generated by the sensor group 2, and generates information (hereinafter simply referred to as "current position information") representing the current position of the information processing device 1 and its attitude such as its direction (Yaw component) and inclination (Roll component, Pitch component). In this case, the self-position estimation unit 14 may generate the current position information by any self-position estimation method. For example, the self-position estimation unit 14 may generate the current position information based on the output of a GNSS receiver, an IMU, or the like included in the sensor group 2. In another example, the self-position estimation unit 14 may generate the current position information by executing a self-position estimation method using measurement data of the external sensor 3 and map data. Examples of such self-position estimation methods include a self-position estimation method based on measurement data of a landmark and map data of the landmark, and a self-position estimation method based on NDT (Normal Distribution Transform) matching using voxel data. In addition, the self-position estimation unit 14 may perform self-position estimation based on SLAM (Simultaneous Localization and Mapping).

[0034] The data processing unit 15 generates data (also simply called "compressed data") by compressing the data generated by the sensor group 2 based on the current location information and the compression-related information I1. Specifically, the data processing unit 15 specifies the compression mode associated with the position indicated by the current location information by referring to the compression-related information I1, and generates compressed data from the data generated by the sensor group 2 by applying the specified compression mode.

[0035] The upload unit 16 transmits upload information Iu including the compressed data generated by the data processing unit 15 to the data collecting device 5 via the interface 11. In this case, for example, the upload unit 16 may transmit the compressed data generated by the data processing unit 15 to the data collecting device 5 sequentially, or may transmit the compressed data collectively at predetermined time intervals to the data collecting device 5.

[0036] The controller 13 functions as an "acquisition means", a "determination means", a "compression means", a "self-position estimation means", a "transmission means", a computer that executes a program, and the like.

[0037] The processing executed by the controller 13 is not limited to being realized by software using a program, but may be realized by any combination of hardware, firmware, and software. The processing executed by the controller 13 may be realized by using an integrated circuit programmable by a user, such as a field-programmable gate array (FPGA) or a microcomputer. In this case, the program executed by the controller 13 in this embodiment may be realized by using this integrated circuit.

[0038] (3) Application Examples Next, application examples (first application example and second application example) illustrating specific processes of the information processing device 1 will be described.

[0039] (3-1) First application example: Security in commercial facilities As a first application example, a specific description will be given of a case where the information processing device 1 is a self-propelled robot used for security purposes in commercial facilities such as shopping malls. In the following description, the information processing device 1 itself will be described as a self-propelled robot, but this is not limiting, and the information processing device 1 may be a device that controls the self-propelled robot (including remote control via data communication).

[0040] FIG. 3 shows a map of a commercial facility where an information processing device 1, which is a self-propelled robot, operates. The information processing device 1 is a self-propelled robot that patrols and guards stores present within a predetermined range in the commercial facility, and is integrated with a sensor group 2 and a traveling mechanism. Each store has three security levels (security levels) set to "1" to "3" based on a contract for security services made in advance, and there are also stores that do not have a security contract (stores without a contract). In the example of FIG. 3, among stores A to H, store G has security level 1, stores A and H have security level 2, stores B, C, and F have security level 3, and store D has no contract for security services. The security levels are not limited to three levels, and may be set to a predetermined level of two or four or more levels.

[0041] When the information processing device 1 approaches a store that has contracted for a security service with a high security level, the information processing device 1 raises the level of information collection to collect high-resolution information and uses the collected data as surveillance data. Here, the "surveillance data" is data used for monitoring suspicious objects and suspicious people and / or generating upload information Iu. On the other hand, when the information processing device 1 approaches a store that has contracted for a service with a low security level, the information processing device 1 lowers the level of information collection and uses the data collected at the lowered level as surveillance data. In this case, the level of information collection is adjusted according to the number of types of sensors used for surveillance (i.e., sensors that output data used as surveillance data). Specifically, the higher the security level, the more types of sensors the information processing device 1 uses for surveillance. In other words, the higher the security level, the more measurement data the information processing device 1 selects as surveillance data output by the more types of external sensors 3. In addition, the information processing device 1 passes by without collecting information around stores that do not have a contract for a security service.

[0042] In the first application example, the compressed related information I1 includes information indicating the type of sensor to be used for monitoring for each security level, and information on the security level for each store (and whether or not there is a contract). The information processing device 1 then refers to the compressed related information I1 to identify the type of sensor to be used for monitoring in each store. In the first application example, for example, a facility map (map data) indicating the location of each store in a commercial facility that the information processing device 1 is to guard is stored in the memory 12 or the like, and the information processing device 1 identifies the location of each store by referring to the facility map. In this case, each store is assigned unique identification information (store ID), and the above-mentioned identification information is used in the facility map and the compressed related information I1.

[0043] Fig. 4 is an example of a flowchart showing a processing procedure executed by the information processing device 1 in the first application example. In Fig. 4, as an example, the information processing device 1 monitors each store according to the security level, and when a suspicious object or person is found, transmits data used for the monitoring as upload information Iu to the data collection device 5. Also, here, as an example, the information processing device 1 is assumed to include at least a camera, a lidar, and an ultrasonic sensor as the external sensor 3.

[0044] First, the information processing device 1 performs patrol driving along a security route (step S11). In this case, for example, security route information indicating a predetermined security route is stored in the memory 12 or the like, and the information processing device 1 performs driving control based on the security route information. In this case, the information processing device 1 may perform driving control so that the position of the information processing device 1 follows the security route based on the position of the information processing device 1 estimated in a self-position estimation process executed in step S13 described later.

[0045] Then, the information processing device 1 acquires data output by the sensor group 2 (step S12).Then, the information processing device 1 executes a self-position estimation process based on the data acquired in step S12 (step S13).

[0046] Then, the information processing device 1 determines whether or not it has approached the vicinity of a store (step S14). For example, the information processing device 1 determines whether or not a store is present within a predetermined distance based on the facility map and the position of the information processing device 1 estimated in step S13. The above-mentioned predetermined distance is a distance that takes into consideration the measurable distance of the external sensor 3, and is stored in advance in, for example, the memory 12. Then, when the information processing device 1 determines that it has not approached the vicinity of a store (step S14; No), it returns the process to step S11.

[0047] When the information processing device 1 determines that it is approaching the vicinity of a store (step S14; Yes), it determines the security level of the store that the information processing device 1 is approaching (including determining whether or not there is a contract for security services, the same applies below) (step S15). In this case, the information processing device 1 determines the security level of the store that the information processing device 1 is approaching by, for example, referring to the compressed related information I1.

[0048] Then, when the security level of the store (target store) that the information processing device 1 is approaching is the highest level 3 (step S15; level 3), the information processing device 1 collects data output from all external sensors 3 (including cameras, lidars, and ultrasonic sensors) as surveillance data (step S16). The surveillance data is used in determining suspicious objects and suspicious persons in step S21, which will be described later. Furthermore, the information processing device 1 may enter the target store and provide security within the store according to a contract with the store (step S17).

[0049] On the other hand, if the security level of the target store is level 2 (step S15; level 2), the information processing device 1 collects data output by the camera and ultrasonic sensor as surveillance data (step S18).If the security level of the target store is level 1 (step S15; level 1), the information processing device 1 collects data output by the camera as surveillance data (step S19).

[0050] Then, when the information processing device 1 executes any of step S17, step S18, or step S19, it determines whether or not a suspicious object or person has been found based on the monitoring data (step S20). In this case, the information processing device 1 may detect a suspicious object or person based on any suspicious object / person detection technology using an external sensor (for example, a technology adopted in an autonomous security robot that detects suspicious objects / persons).

[0051] Then, when the information processing device 1 detects a suspicious object or person (step S20; Yes), it transmits the data collected in step S17, step S18, or step S19 as upload information Iu to the data collection device 5 (step S21). In this case, the information processing device 1 may compress the data collected in step S17, step S18, or step S19 using any compression algorithm.

[0052] On the other hand, when the information processing device 1 determines that there is no contract for security services in determining the security level of the target store (step S15; no contract), it only monitors using a camera (step S22). In this case, the information processing device 1 does not transmit the data generated in step S22 to the data collection device 5.

[0053] Then, when the information processing device 1 does not detect a suspicious object or person (step S20; No), or after executing step S21 or step S22, it determines whether or not to end the process (step S23). In this case, the information processing device 1 determines that the process should be ended, for example, when it reaches the end point of the security route. Then, when the information processing device 1 determines that the process should be ended (step S23; Yes), it ends the process of the flowchart. In this case, the information processing device 1 returns, for example, to a predetermined storage position where charging is possible. On the other hand, when the information processing device 1 determines that the process should not be ended (step S23; No), it returns the process to step S11 and continues patrol driving.

[0054] According to the processing of this flowchart, the information processing device 1 transmits upload information Iu only when a suspicious object or person is detected, and by selecting data to be included in the upload information Iu according to the security level, the amount of data in the upload information Iu can be suitably reduced.

[0055] Next, a supplementary explanation will be given regarding the technical effects of the first application example.

[0056] Robot security is becoming a reality in commercial facilities such as shopping malls where multiple stores are tenants. Currently, security guards often patrol each store, but patrol security by security robots equipped with sensors is expected to become more common in the future. Currently, security robots often patrol common areas, collecting data regardless of location, and if they find a suspicious object or person, they report it to a security company and transmit the collected data. On the other hand, it is expected that security services will require different security levels for each store, rather than the same for all stores. In such cases, it will be necessary to take measures such as controlling the information collected in detail for each store and the information sent to the security company. It is difficult to provide such services unless each store can be individually identified.

[0057] Considering the above, in the first application example, the information processing device 1 performs information collection and transmission control according to the store based on information (facility map and compression related information I1) that links the store's location information with the security level (and the compression mode for each security level). This enables the information processing device 1 to reduce the processing load and data transmission amount.

[0058] (3-2) Second application example: Data collection by drones Next, as a second application example, a case where the information processing device 1 is a drone (unmanned aerial vehicle) equipped with a lidar and collects topographical (land feature) data according to altitude information and an area will be specifically described. In the following description, the information processing device 1 itself is a drone, but is not limited to this, and the information processing device 1 may be a device that controls the drone (including remote control via data communication).

[0059] FIG. 5 is a diagram showing an overview of data collection in the second application example. In the second application example, a data collection range according to the altitude of the drone is set, and the data collection rate is controlled according to the flight altitude. When the purpose is to collect topographical data, there is no problem in stopping data collection when the drone is flying at a position higher than the distance measurement range of the feature. In consideration of the above, in the second application example, the information processing device 1 stops data collection by the lidar when the altitude of the information processing device 1 is equal to or higher than a threshold, and performs data collection by the lidar only when the altitude is below the threshold. The above-mentioned threshold is set to be the upper limit of the altitude of the information processing device 1 at which the distance to the feature can be measured. This makes it possible for the information processing device 1 to reduce the processing load and the amount of data transmission. In addition, if data is always collected at a constant data rate regardless of the position, altitude, and speed of the drone, a problem occurs in that the capacity of the storage mounted on the drone reaches the upper limit and the drone can only fly for a relatively short time. In response to this, the information processing device 1 in the second application example sets a data collection range and determines whether or not it is necessary to store measurement data according to the data collection range. This makes it possible to suitably solve the problem of flight time based on the capacity limit of the memory 12.

[0060] In addition, when feature information (including information on the positions and heights of buildings) is stored in advance in the memory 12, the information processing device 1 may dynamically change the altitude threshold based on the current position information and the feature information. In this case, the information processing device 1 specifies the lidar's ranging range based on the position estimated by self-location estimation, and collects data by the lidar only when the specified lidar ranging range includes the position of the feature indicated by the feature information. In this case, for example, information on the maximum ranging distance of the lidar is stored in advance in the memory 12, etc., and the information processing device 1 considers the range within the above-mentioned maximum ranging distance from the position estimated by self-location estimation to be the lidar's ranging range.

[0061] The information processing device 1 may also determine whether data collection is necessary based on the inclination of its own attitude as an index other than the altitude. In this case, for example, the information processing device 1 may stop data collection when it is determined that a feature is not included in the field of view of the external sensor 3 such as a LIDAR based on the attitude estimated by self-location estimation. In this case, the information processing device 1 specifies the ranging range of the LIDAR based on the position and attitude estimated by self-location estimation, and collects data by the LIDAR only when the position of the feature indicated by the feature information is included in the specified ranging range of the LIDAR. In this way, the information processing device 1 may reduce the volume of collected data by dynamically controlling the amount of data collection based on its own attitude.

[0062] FIG. 6 is an example of a flowchart showing a processing procedure executed by the information processing device 1 in the second application example.

[0063] First, the information processing device 1 flies and acquires data measured by the lidar (step S31). In this case, when there is information that defines a target trajectory along which the information processing device 1 moves, the information processing device 1 may fly along the target trajectory, or may fly by receiving an external control signal based on a manual operation.

[0064] Next, the information processing device 1 acquires current location information indicating the current location including altitude based on data output by a GPS receiver included in the sensor group 2 (step S32). Then, the information processing device 1 determines whether the information processing device 1 is present within a data collection range (step S33). In this case, the data collection range is a range that specifies at least the altitude, and the information processing device 1 determines whether the current location indicated by the current location information belongs to the data collection range.

[0065] Then, when the information processing device 1 determines that the information processing device 1 is present within the data collection range (step S33; Yes), it stores the data acquired in step S31 in the memory 12 (step S34). Furthermore, the information processing device 1 transmits the data stored in the memory 12 to the data collection device 5 at a predetermined timing. On the other hand, when the information processing device 1 determines that the information processing device 1 is not present within the data collection range (step S33; No), it discards the data acquired in step S31 without storing it in the memory 12 (step S35). This allows the information processing device 1 to effectively compress the data to be stored and transmitted. Note that the information processing device 1 may lower the data collection rate by a predetermined rate instead of discarding the data measured when it is not present within the data collection range.

[0066] Then, the information processing device 1 determines whether the process has ended (step S36). If the information processing device 1 determines that the process has ended (step S36; Yes), the information processing device 1 ends the process of the flowchart. On the other hand, if the information processing device 1 determines that the process should not end (step S36; No), the information processing device 1 returns to step S31.

[0067] In this way, according to the second application example, the information processing device 1 determines whether or not it is necessary to store the measurement data based on the altitude at the time of measurement. This allows the information processing device 1 to suitably reduce the amount of data to be stored and transmitted.

[0068] As described above, the controller 13 of the information processing device 1 according to this embodiment acquires measurement data from the sensor group 2, which is a measurement device. Then, the controller 13 determines the compression mode of the measurement data based on the compression related information I1 regarding the compression mode of data according to the position and orientation. Then, the controller 13 compresses the measurement data based on the determined compression mode. This allows the controller 13 to suitably reduce the amount of measurement data.

[0069] (4) Variations The information processing device 1 may detect a dynamic object and exclude data corresponding to the dynamic object from data to be stored and transmitted.

[0070] For example, when the information processing device 1 is mounted on a vehicle and acquires measurement data required for generating map data while moving on a road, only data on roads and building structures is required, and information on dynamic objects such as trucks and bicycles is not required. Therefore, in this case, the information processing device 1 deletes the measurement data of dynamic objects from the measurement data generated by the external sensor 3, and stores and transmits the remaining measurement data to the data collection device 5.

[0071] Fig. 7 is an example of a flowchart showing the procedure of the measurement data update process according to this modification. The information processing device 1 executes the process of the flowchart shown in Fig. 7 in, for example, step S31 in Fig. 6 in the second application example.

[0072] First, the information processing device 1 acquires measurement data output by an external sensor 3 such as a lidar (step S41). Then, the information processing device 1 performs object recognition processing based on the measurement data acquired in step S41 (step S42). In this case, for example, the information processing device 1 recognizes the type of object present within the measurement range based on the measurement data by applying any object recognition technology.

[0073] Then, the information processing device 1 determines whether or not the measured objects include a dynamic object (step S43). In this case, when the information processing device 1 recognizes the type of the object in step S42, it regards an object of a specific type (e.g., a person, a car, etc.) as a dynamic object.

[0074] Then, when the information processing device 1 determines that the measured objects include a dynamic object (step S43; Yes), it discards the data corresponding to the dynamic object from the measured data acquired in step S41 (step S44). On the other hand, when the information processing device 1 determines that the measured objects do not include a dynamic object (step S43; No), it ends the processing of the flowchart. Thereafter, the information processing device 1 compresses the measured data according to the position (including data selection) by referring to the compression related information I1, stores the compressed data in the memory 12, and transmits it to the data collecting device 5.

[0075] According to the process of this flowchart, the information processing device 1 can suitably exclude data of dynamic objects from data to be stored and transmitted.

[0076] Here, a supplementary explanation will be given about this modified example. There are applications such as generating maps for automatic driving and creating three-dimensional spaces such as inside a store using point cloud data of a lidar. In order to generate such a space, basically only data of stationary structures is required, and it is desirable to acquire only data excluding dynamic objects such as vehicles and humans. In the case of a general road environment, it is difficult to acquire data completely excluding vehicles and humans, and in reality, after collecting data including dynamic objects, when the data collection device 5 performs processing to construct a space using SLAM or the like based on the upload information Iu, a method such as detecting and deleting dynamic objects is used. In this case, since the data collection device 5 needs to collect all data generated by the information processing device 1, including data of dynamic objects, there is a problem that it is difficult to reduce the amount of data transmission.

[0077] Taking the above into consideration, the information processing device 1 in the modified example can prevent the shortening of flight time due to limitations on the drone's memory capacity and effectively reduce the amount of data transmitted by excluding data corresponding to dynamic objects from the data to be stored and transmitted.

[0078] In the above-described embodiment, the program can be stored using various types of non-transitory computer readable media and supplied to a controller or the like that is a computer. The non-transitory computer readable medium includes various types of tangible storage media. Examples of the non-transitory computer readable medium include magnetic storage media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical storage media (e.g., magneto-optical disks), CD-ROM (Read Only Memory), CD-R, CD-R / W, and semiconductor memory (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory)).

[0079] Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention. In other words, the present invention naturally includes various modifications and corrections that a person skilled in the art could make in accordance with the entire disclosure, including the claims, and the technical ideas. In addition, the disclosures of the above cited patent documents and the like are incorporated herein by reference. [Explanation of symbols]

[0080] 1. Information processing device 2 Sensor Group 3 External Sensors 4 Internal Sensors 5. Data Collection Equipment

Claims

1. An acquisition means for acquiring measurement data by a measurement device; a determination means for determining a compression mode of the measurement data based on compression-related information that specifies a compression mode related to a data compression ratio or a compression algorithm according to a position of the measurement device, or a measured position of the measurement data, or an attitude of the measurement device; a compression unit that compresses the measurement data based on the compression mode; having The measuring device is provided on a security robot, The compressed related information includes information regarding a security level of a store that is a security target, The determination means determines the compression mode based on a security level corresponding to the store measured by the measurement device.

2. 2. The information processing apparatus according to claim 1, further comprising a transmitting unit for transmitting the measurement data compressed by the compressing unit to a data collecting device.

3. The vehicle further includes a self-location estimation unit for estimating a self-location, The information processing apparatus according to claim 1 , wherein the determining means determines the compression mode based on the position estimated by the self-position estimation, or the measured position or the attitude, and the compression-related information.

4. 4. The information processing apparatus according to claim 1, wherein the compression means compresses the measured data by excluding data corresponding to a dynamic object from the measured data.

5. A computer-implemented control method, comprising: Acquire measurement data using a measuring device, determining a compression mode of the measurement data based on compression-related information that specifies a compression mode related to a data compression ratio or a compression algorithm according to the position of the measurement device, or the measured position of the measurement data, or the attitude of the measurement device; compressing the measurement data based on the compression mode; The measuring device is provided on a security robot, The compressed related information includes information regarding a security level of a store that is a security target, A control method for determining the compression mode based on a security level corresponding to the store measured by the measuring device.

6. Acquire measurement data using a measuring device, determining a compression mode of the measurement data based on compression-related information that specifies a compression mode related to a data compression ratio or a compression algorithm according to the position of the measurement device, or the measured position of the measurement data, or the attitude of the measurement device; compressing the measurement data based on the compression mode; The measuring device is provided on a security robot, The compressed related information includes information regarding a security level of a store that is a security target, A program that causes a computer to execute a process of determining the compression mode based on a security level corresponding to the store measured by the measuring device.

7. A storage medium storing the program according to claim 6.

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