Construction site map update system and program

Abstract

This invention provides a construction site map update system and program that can identify obstacles at a construction site and update the environmental map of the construction site according to the identified obstacles. [Solution] The construction site map update system according to the present invention is characterized by comprising: a control means that calculates route information indicating the movement route of a mobile body based on map information showing a map of the construction site, and moves the mobile body within the construction site based on the calculated route information; an acquisition means that acquires environmental information indicating the surrounding environment of the mobile body detected by a sensor mounted on the mobile body; a determination means that determines obstacle information indicating an obstacle based on the environmental information acquired by the acquisition means; and an update means that updates the map information based on the obstacle information determined by the determination means.

Description

【Technical Field】 【0001】 The present invention relates to a map update system and program for a construction site. 【Background Art】 【0002】 In recent years, for example, in construction sites such as civil engineering, the introduction of ICT (Information and Communication Technology) technology has been demanded. For this reason, a mobile robot that patrols the construction site is required. This mobile robot is used, for example, for inspecting abnormal locations at the construction site, monitoring the physical condition of workers, or guarding the construction site. For this reason, a position estimation device for a mobile robot, such as that shown in Patent Document 1, has attracted attention. 【0003】 In Patent Document 1, a measurement unit that measures existing objects in a space, a storage unit that stores construction data related to a construction object in the space, an extraction unit that extracts construction data of a construction object that can be measured by the measurement unit from the construction data stored in the storage unit to obtain mapping information, and a position estimation unit that calculates its own position in the space based on the measurement data acquired by the measurement unit and the mapping information are disclosed. 【Prior Art Documents】 【Patent Documents】 【0004】 【Patent Document 1】 Japanese Unexamined Patent Application Publication No. 2018-164966 【Summary of the Invention】 【Problems to be Solved by the Invention】 【0005】 On the other hand, the mobile robot sets a patrol route to avoid obstacles according to an environmental map showing the construction site environment that has been acquired in advance. However, the arrangement of obstacles at the construction site changes constantly. Therefore, it is necessary to update the environmental map of the construction site according to the situation. At this time, it is necessary to update the environmental map according to the obstacles. 【0006】 However, the position estimation device disclosed in Patent Document 1 is not designed to detect obstacles at a construction site and update the environmental map of the construction site accordingly. Therefore, the position estimation device disclosed in Patent Document 1 has the problem that it cannot detect obstacles at a construction site and update the environmental map of the construction site accordingly. 【0007】 Therefore, the present invention was devised in view of the above-mentioned problems, and its objective is to provide a construction site map update system and program that can determine obstacles at a construction site and update the environmental map of the construction site according to the determined obstacles. [Means for solving the problem] 【0008】 The construction site map update system according to the first invention includes: a control means for calculating route information indicating the movement route of a mobile body based on map information showing a map of the construction site, and for moving the mobile body within the construction site based on the calculated route information; an acquisition means for acquiring environmental information indicating the surrounding environment of the mobile body detected by a sensor mounted on the mobile body; and based on the environmental information acquired by the acquisition means, Obstacle The system comprises a determination means for determining obstacle information, and an update means for updating the map information based on the obstacle information determined by the determination means. The acquisition means acquires two or more temporally continuous image or point cloud pieces of information indicating the surrounding environment of the moving object as the environmental information; the determination means determines whether the obstacle is a moving object or a stationary object based on the two or more temporally continuous environmental pieces of information acquired by the acquisition means; the update means updates the map information if the obstacle information determined by the determination means indicates a stationary object; and the calculation means further calculates information on a temporarily impassable area indicating an area that is temporarily impassable based on the obstacle information if the obstacle information determined by the determination means indicates a moving object; and the control means newly calculates route information based on the map information updated by the update means and the information on the temporarily impassable area calculated by the calculation means. It is characterized by the following: 【0012】 The 2The construction site map update program according to the invention includes a control step of moving the mobile object within the construction site based on map information showing a map of the construction site, and the calculation of route information showing the movement route of a mobile object based on the calculated route information. Environmental information indicating the surrounding environment of the mobile object is acquired by sensors mounted on the mobile object. The computer is made to perform an acquisition step, a determination step to determine obstacle information indicating the obstacle based on the image information acquired in the acquisition step, and an update step to update the map information based on the obstacle information determined in the determination step. The acquisition step acquires two or more temporally consecutive image or point cloud information indicating the surrounding environment of the moving object as the environmental information; the determination step determines whether the obstacle is a moving object or a stationary object based on the two or more temporally consecutive environmental information acquired in the acquisition step; the update step updates the map information if the obstacle information determined by the determination means indicates a stationary object; if the obstacle information determined in the determination step indicates a moving object, the computer further executes a calculation step to calculate information on a temporarily impassable area indicating an area that is temporarily impassable based on the obstacle information; and the control step newly calculates route information based on the map information updated in the update step and the information on the temporarily impassable area calculated in the calculation step. It is characterized by the following: [Effects of the Invention] 【0013】 First Invention ~ 2 According to the invention, the construction site map update system and program of the present invention update map information based on obstacle information determined by the determination means. Therefore, it is possible to determine obstacles at the construction site and update the environmental map of the construction site according to the determined obstacles. 【0014】 In particular, 1 According to the invention, the construction site map update system of the present invention determines obstacle information based on two or more time-continuous pieces of environmental information. This makes it possible to determine whether or not an obstacle is a moving object that moves over time. Therefore, it is possible to determine obstacle information with higher accuracy. 【0015】 In particular, 1 According to the invention, the construction site map update system of the present invention updates the map information with obstacle information when the obstacle information indicates a stationary object. This allows the map to be updated without updating if the detected obstacle is a moving object such as a worker, but can be updated if the obstacle is a stationary object such as a structure. Therefore, it is possible to detect obstacles at the construction site and update the environmental map of the construction site more appropriately according to the detected obstacles. [Brief explanation of the drawing] 【0016】 [Figure 1]FIG. 1 is a diagram showing the configuration of a map update system to which the present embodiment is applied. [Figure 2] FIG. 2 is a diagram showing the configuration of a map update apparatus to which the present embodiment is applied. [Figure 3] FIG. 3 is a diagram showing the functions of a map update apparatus to which the present embodiment is applied. [Figure 4] FIG. 4 is a flowchart showing the operation of a map update system to which the present embodiment is applied. [Figure 5] FIG. 5 is a diagram showing the input / output of a map update apparatus. [Figure 6] FIG. 6(a) is a diagram showing a construction site. FIG. 6(b) is a diagram showing an environmental map. 【Mode for Carrying Out the Invention】 【0017】 Hereinafter, an example of a map update system in an embodiment to which the present invention is applied will be described with reference to the drawings. 【0018】 FIG. 1 is a schematic diagram showing an example of the configuration of a map update system 100 in the present embodiment. As shown in FIG. 1, for example, the map update system 100 includes a map update apparatus 1, a server 3, and a mobile body 2 provided at a construction site 5, which are connected via a public communication network 4. 【0019】 The server 3 is a storage medium that stores various information transmitted from the map update apparatus 1 and the mobile body 2. Further, the server 3 transmits the stored various information to the map update apparatus 1 and the mobile body 2 as necessary. The server 3 may include at least some of the functions provided in the map update apparatus 1, and may perform at least some of the processes instead of the map update apparatus 1. 【0020】 The public communication network 4 is, for example, the Internet network to which the map update apparatus 1 is connected via a communication circuit. The public communication network 4 may be constituted by a so-called optical fiber communication network. Further, the public communication network 4 may be realized by a known communication technology such as a wireless communication network in addition to a wired communication network. 【0021】 The mobile body 2 is, for example, a robot that patrols the construction site 5. The mobile body 2 may be, for example, a quadruped robot, a four-wheel drive robot, a drone, or the like. A plurality of mobile bodies 2 may be provided. The mobile body 2 uses a self-position estimation method called SLAM (Simultaneous Localization and Mapping) to patrol the construction site 5. 【0022】 SLAM is a technology that simultaneously recognizes the surrounding environment with the sensor 6 mounted on the robot and accurately estimates its own position and orientation, and is a technology that generates an environmental map while estimating its own position. In SLAM, the robot combines a plurality of sensors to perform environmental recognition. 【0023】 The sensor 6 varies depending on the robot, but a distance measuring sensor, a camera, a gyro sensor, a magnetic sensor, an acceleration sensor, a radar sensor (scanner), a bumper sensor, etc. are used. 【0024】 As an example of self-position estimation using the sensor 6, an example of a quadruped robot (hereinafter referred to as a patrolling robot) for the purpose of patrolling the construction site 5 will be described. For example, the patrolling robot has, as the sensor 6, for example, a laser scanner and a bumper sensor. The laser scanner is a sensor that detects surrounding walls and obstacles, and by using the laser scanner, the situation of the construction site 5 can be determined by detecting the reflection markers placed at the four corners of the patrolling area. In addition, since the patrolling robot moves within the patrolling area along a path that can patrol all of the patrolling area surrounded by, for example, reflection markers, the movement path can be automatically generated within the patrolling area. The bumper sensor is a sensor that detects contact with an obstacle and detects and avoids obstacles within the patrolling area. 【0025】 The robot constantly monitors its surroundings at its own location through self-position estimation, and moves by referring to map information such as an environmental map of the construction site 5. In self-position estimation, the robot uses sensors 6 to compare the positions of obstacles such as structures in the real space, and obtains a self-position estimation result from the comparison results. Here, differences or errors may occur between the environmental map shown in the map information and the environmental information showing the environment in the real space. Specifically, there may be differences or errors between obstacles in the construction site 5 in the real space and obstacles included in the map information obtained by simulation. Obstacles may be, for example, fixed, stationary structures such as equipment 23, or moving objects such as workers 20 or heavy machinery not shown. The arrangement of these obstacles in the construction site 5 in the real space changes due to movement, addition, and use during construction. In such cases, differences or errors will occur between the obstacles in the real space and the obstacles included in the map information. Difference refers to a situation where the arrangement of placed obstacles changes due to movement, addition, and use, and the number and arrangement of obstacles in space differ from the map information. An error refers to a situation where the placement of obstacles in the map information differs from the placement of obstacles in real space. The robot detects these differences or errors using the map information and its own localization estimation results. Based on the detection results, it updates the placement of obstacles in the map information to reflect the actual situation of the obstacles. This corrects the coordinate information of obstacles included in the map information, making it possible to improve the accuracy of the map information for robot control. 【0026】 Furthermore, the mobile device 2 is connected to the map update device 1 via the public communication network 4. The mobile device 2 may be equipped with electronic devices such as a personal computer or a tablet terminal. The mobile device 2 may also transmit image information of the construction site 5 captured by the sensor 6 to the map update device 1, etc., via the public communication network 4. The mobile device 2 may be equipped with at least some of the functions of the map update device 1, for example. 【0027】 The map update device 1 updates map information showing the construction site 5 based on image information. The map update device 1 may be an electronic device such as a personal computer (PC), or it may be an electronic device such as a smartphone, tablet terminal, wearable terminal, IoT (Internet of Things) device, or a single-board computer such as Raspberry Pi®. 【0028】 Figure 2 is a schematic diagram showing an example of the configuration of the map update device 1 in this embodiment. The map update device 1 includes, for example, a housing 10, a CPU (Central Processing Unit) 101, a ROM (Read Only Memory) 102, a RAM (Random Access Memory) 103, a storage unit 104, and I / F 105 to 107, as shown in Figure 2. The CPU 101, ROM 102, RAM 103, storage unit 104, and I / F 105 to 107 are connected by an internal bus 110. 【0029】 The CPU 101 controls the entire map update device 1. The ROM 102 stores the operation code of the CPU 101. The RAM 103 is a work area used when the CPU 101 is operating. The storage unit 104 stores various information such as environmental information and map information. The storage unit 104 can be a data storage device such as an HDD (Hard Disk Drive), SSD (Solid State Drive), SD card, or miniSD card. For example, the map update device 1 may also have a GPU (Graphics Processing Unit), which is not shown. 【0030】 I / F105 is an interface for sending and receiving various types of information via the public communication network 4. I / F106 is an interface for sending and receiving information with the input unit 108. For example, a keyboard is used as the input unit 108, and users of the map update device 1 input various types of information or control commands for the map update device 1 via the input unit 108. I / F107 is an interface for sending and receiving various types of information with the display unit 109. The display unit 109 outputs various types of information stored in the storage unit 104, or the processing status of the map update device 1. A display is used as the display unit 109, and for example, a touch panel type may be used. 【0031】 Next, an example of the map update device 1 and mobile body 2 in this embodiment will be described with reference to Figure 3. Figure 3 is a schematic diagram showing an example of the functions of the map update device 1 and mobile body 2 in this embodiment. The functions of the map update device 1 and mobile body 2 only need to be provided in either the map update device 1 or the mobile body 2. 【0032】 As shown in Figure 3, the map update device 1 comprises an acquisition unit 11, an extraction unit 12 connected to the acquisition unit 11, a motion determination unit 13 connected to the extraction unit 12, a detection unit 14 connected to the motion determination unit 13, and a storage unit 15 connected to each function. These various configurations are realized, for example, by the CPU 101 executing a program stored in the storage unit 104, etc., using the RAM 103 as a working area, and may be controlled, for example, by artificial intelligence. 【0033】 The mobile unit 2 comprises a calculation unit 21 connected to the detection unit 14, a control unit 22 connected to the calculation unit 21, and a sensor 6 connected to the control unit 22. These various configurations can be realized, for example, by the CPU 101 executing a program stored in the storage unit 104, etc., using the RAM 103 as a working area, and may be controlled, for example, by artificial intelligence. 【0034】 The calculation unit 21 calculates route information indicating the movement route of the mobile body 2 based on map information showing a map of the construction site 5. 【0035】 The control unit 22 controls the movement of the mobile body 2 and the operation of the sensor 6, etc. For example, the control unit 22 controls the mobile body 2 to move based on the route information calculated by the calculation unit 21. 【0036】 The acquisition unit 11 acquires various types of information. For example, the acquisition unit 11 acquires environmental information indicating the surrounding environment of the moving object 2 detected by the sensor 6. For example, the acquisition unit 11 acquires image information or point cloud information captured by the sensor 6. The acquisition unit 11 may also acquire image information from the moving object 2, etc., via the public communication network 4. The acquisition unit 11 may output the acquired information to the extraction unit 12, etc. 【0037】 The extraction unit 12 extracts obstacle information indicating obstacles based on the image information output from the acquisition unit 11. The extraction unit 12 may, for example, refer to a three-dimensional environment model stored in the storage unit 15 and extract obstacle information based on the image information. The extraction unit 12 extracts obstacle information based on a comparison between map information and environment information based on the image information output from the acquisition unit 11. The extraction unit 12 outputs the extracted obstacle information to the motion determination unit 13. 【0038】 The motion determination unit 13 determines motion information indicating whether an obstacle is moving or stationary, based on the obstacle information output from the extraction unit 12. The motion determination unit 13 determines motion information based, for example, on two or more time-consecutive pieces of obstacle information. The motion determination unit 13 outputs the determined motion information to the detection unit 14. 【0039】 The detection unit 14 detects update information for updating the map information based on the outputted obstacle information and movement information. 【0040】 Next, the operation of the map update system 100 to which this embodiment of the present invention is applied will be explained using Figures 4 to 6. Figure 4 is a flowchart of the operation of the map update system 100 to which this embodiment is applied. Figure 5 is a diagram showing the input and output of the map update device 1. Figure 6(a) is a diagram showing environmental information of the construction site. Figure 6(b) is a diagram showing the environmental map. 【0041】 First, in step S11, the mobile unit 2 calculates route information indicating the travel route based on map information showing a map of the construction site 5. The map information is information showing a map of the construction site 5. The map information may also be information showing the construction site 5 in a virtual three-dimensional or two-dimensional space. The map information may also be an environmental map including obstacles within the construction site 5, as shown in Figure 6(b), for example. 【0042】 Route information is information that indicates the movement route of the mobile unit 2. Route information may also be information that indicates a movement route A that patrols the construction site 5, for example, as shown in Figure 6. 【0043】 In step S11, for example, the calculation unit 21 calculates route information so as to bypass obstacles indicated by the map information stored in the storage unit 15 and transmitted from the map update device 1. 【0044】 Next, in step S12, the control unit 22 moves the mobile body 2 within the construction site 5 based on the route information calculated in step S11. 【0045】 Next, in step S13, the acquisition unit 11 acquires environmental information. Also in step S13, the acquisition unit 11 acquires, for example, image information or point cloud information including obstacles on the movement route A as environmental information. Environmental information is information that shows the surrounding environment of the moving body 2 detected by the sensor 6. Environmental information includes, for example, image information or point cloud information. Image information is image information that includes obstacles such as workers 20 or structures 23 on the movement route A. Image information is an image that shows the surrounding environment of the moving body 2. Image information may also be information that shows a video consisting of two or more images that are consecutive in time. Point cloud information is a point cloud that shows the surrounding environment of the moving body 2. Point cloud information is point cloud information that includes obstacles such as workers 20 or structures 23 on the movement route A. Point cloud information may also be information that shows a video consisting of two or more point clouds that are consecutive in time. Point cloud information may include information that shows the distance to the target point. 【0046】 In step S13, if the moving body 2 detects an obstacle on the travel route A, for example, using the bumper sensor of sensor 6, it captures image information using a camera or radar sensor, transmits it to the map update device 1 via the public communication network 4, and the acquisition unit 11 acquires the image information. 【0047】 Next, in step S14, the extraction unit 12 extracts obstacle information indicating obstacles based on the environmental information acquired in step S13. The obstacle information may include information indicating the type, name, attributes, and location of the obstacle. The obstacle information may also include information indicating whether the obstacle is a dynamic or static obstacle. In step S14, the extraction unit 12 may compare the environmental information acquired in step S13 with the map information and extract obstacle information based on the difference between the map information and the environmental information. In step S14, the extraction unit 12 may extract obstacle information indicating the temporal change of obstacles based on two or more temporally consecutive image information or point cloud information acquired in step S13. 【0048】 Next, in step S15, the motion determination unit 13 may determine motion information indicating whether the obstacle is a dynamic obstacle (a moving object) or a static obstacle (a stationary object) based on the time change of the obstacle extracted in step S14. In such a case, for example, the motion determination unit 13 may determine the obstacle is a moving object if there is a time change in the position of the obstacle indicated by the obstacle information, and determine the obstacle is a stationary object if there is no time change in the position of the obstacle indicated by the obstacle information. If the motion information indicates a moving object, the map update system 100 proceeds to step S18, and if the motion information indicates a stationary object, it proceeds to step S16. 【0049】 Next, in step S16, the detection unit 14 detects update information for updating the map information based on the obstacle information extracted in step S14. The update information is information for updating the map information. For example, the update information indicates the location, name, type, attributes, etc., of obstacles to be newly reflected in the map information or deleted from the map information. 【0050】 Next, in step S17, the memory unit 15 updates the map information based on the update information and stores it. 【0051】 Furthermore, in step S18, the detection unit 14 detects update information indicating that the map information will not be updated, and the storage unit 15 does not update the map information based on the update information. 【0052】 Next, the map update system 100 proceeds to step S11 again and calculates route information based on the map information newly updated in step S17. Alternatively, in this case, the calculation unit 21 may calculate new route information based on the map information and the obstacle information extracted in step S14. For example, if the obstacle information extracted in step S14 indicates a moving object, the calculation unit 21 calculates route information to bypass the obstacles indicated by the map information and the obstacles indicated by the obstacle information extracted in step S14, since the map information does not reflect the obstacle information extracted in step S14. For example, as shown in Figure 6(b), the calculation unit 21 sets the location of the moving object in the obstacle information extracted in step S14 as a temporary impassable area 24, and the obstacles indicated by the map information as an impassable area 25, and calculates route information to bypass these. This makes it possible to calculate appropriate route information without updating the map information for moving objects such as workers 20 whose positions change over time. Therefore, even when multiple mobile units 2 are patrolling within the construction site 5, for example, the map information only reflects stationary objects such as structures 23, without reflecting moving objects such as temporary obstacles like workers 20, and this information can be shared among the mobile units 2. This makes it possible to update the environmental map of the construction site 5 at a lower cost. 【0053】 This completes the operation of the map update system 100 in this embodiment. The map update system 100 of the present invention updates map information based on obstacle information. Therefore, it is possible to determine obstacles at the construction site 5 and update the environmental map of the construction site 5 according to the determined obstacles. 【0054】 While embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims of the invention and its equivalents. [Explanation of symbols] 【0055】 1. Map update device 2 Mobile Units 3 servers 4 Public communication network 5. Construction site 6 sensors 10 cabinets 11 Acquisition Department 12 Extraction part 13. Motion / Status Determination Unit 14 Detection unit 15 Storage section 20 workers 21 Calculation Section 22 Control Unit 23 Structures 24 Temporarily closed area 25 Impassable area 100 Map update system 101 CPU 102 ROM 103 RAM 104 Preservation Department 105 I / F 106 I / F 107 I / F 108 Input section 109 Display section 110 Internal bus

Claims

[Claim 1] A control means that calculates route information indicating the movement route of a mobile object based on map information showing a map of the construction site, and moves the mobile object within the construction site based on the calculated route information, An acquisition means for acquiring environmental information indicating the surrounding environment of the mobile body detected by a sensor mounted on the mobile body, A determination means for determining obstacle information indicating an obstacle based on environmental information acquired by the acquisition means, The system includes an update means for updating the map information based on the obstacle information determined by the determination means, The acquisition means acquires two or more temporally continuous image pieces or point cloud pieces representing the surrounding environment of the moving object as environmental information. The determination means determines whether the obstacle is a moving object or a stationary object based on two or more temporally consecutive pieces of environmental information acquired by the acquisition means, The update means updates the map information when the obstacle information determined by the determination means indicates a stationary object. If the obstacle information determined by the determination means indicates a moving object, the system further includes a calculation means for calculating information on a temporary impassable area, which indicates an area where passage is temporarily impossible, based on the obstacle information. The control means calculates new route information based on the map information updated by the update means and the information on the primary no-passable area calculated by the calculation means. A construction site map update system featuring the following characteristics. [Claim 2] A control step involves calculating route information indicating the movement route of a mobile object based on map information showing a map of the construction site, and moving the mobile object within the construction site based on the calculated route information. An acquisition step of acquiring environmental information indicating the surrounding environment of the mobile body detected by a sensor mounted on the mobile body, A determination step in which, based on the environmental information acquired in the acquisition step, an obstacle information indicating the obstacle is determined, The computer is instructed to perform an update step, which updates the map information based on the obstacle information determined in the determination step. The acquisition step involves acquiring two or more temporally continuous image or point cloud information representing the surrounding environment of the moving object as environmental information. The determination step determines whether the obstacle is a moving object or a stationary object based on two or more temporally consecutive pieces of environmental information obtained in the acquisition step, The update step updates the map information if the obstacle information determined by the determination means indicates a stationary object. If the obstacle information determined in the above determination step indicates a moving object, the computer is further instructed to perform a calculation step to calculate information on a temporary impassable area, which indicates an area where passage is temporarily impossible, based on the obstacle information. The control step calculates new route information based on the map information updated in the update step and the information on the primary no-passable area calculated in the calculation step. thing A map update program for construction sites featuring the following characteristics.

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