Spatiotemporal information management device, spatiotemporal information management system, and spatiotemporal information management method

Abstract

The technology disclosed in this specification is a technology for flexibly and efficiently managing three-dimensional spatial information. The spatiotemporal information management device relating to the technology disclosed in this specification comprises a collection unit for sequentially collecting at least one piece of three-dimensional spatial information, a division unit for dividing the collected three-dimensional spatial information into divided spatial information in time units set based on the amount of change along the time series of the three-dimensional spatial information, a first recording unit for recording the divided spatial information, and a provision unit for providing the divided spatial information to an external party.

Description

Technical Field

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[0001] The technology disclosed in this specification relates to a technology for managing spatio-temporal information.

Background Art

[0002] Conventionally, there is a technology for digitizing various features in the real space using three-dimensional space information indicating the position and time of features in the three-dimensional space.

[0003] In recent years, technologies have been disclosed for comprehensively and continuously digitizing the real space, including not only features in the real space but also the space itself. For example, Patent Document 1 discloses a system for managing grid time-series data (such as temperature, flood, etc.) and point time-series data (such as human flow, traffic flow, etc.) required for real space data.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0008] According to at least a first aspect of the technology disclosed in this specification, three-dimensional spatial information can be managed flexibly and efficiently by dividing and recording it in time units set based on the amount of change along the time series.

[0009] Furthermore, the purposes, features, aspects, and advantages related to the technology disclosed in this specification will become even clearer from the detailed description and accompanying drawings provided below. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a conceptual diagram illustrating an example of the configuration of a spatiotemporal information management system according to an embodiment. [Figure 2] Figure 2 is a conceptual diagram illustrating an example of the configuration of the spatiotemporal information management device shown in Figure 1. [Figure 3] Figure 3 is a conceptual diagram illustrating an example of the configuration of a collection device. [Figure 4] Figure 4 is a conceptual diagram illustrating an example of the configuration of the application device. [Figure 5] Figure 5 is a conceptual diagram illustrating an example of partitioned spatial information. [Figure 6] Figure 6 shows an example of a method for dividing the partitioned spatial information shown in Figure 5. [Figure 7] Figure 7 shows an example of the contents of partitioned spatial information. [Figure 8] Figure 8 is a schematic diagram illustrating the hardware configuration when the spatiotemporal information management device shown as an example in Figure 2 is actually put into operation. [Figure 9] Figure 9 is a schematic diagram illustrating the hardware configuration when the spatiotemporal information management device shown as an example in Figure 2 is actually put into operation. [Modes for carrying out the invention]

[0011] The embodiments will be described below with reference to the attached drawings. In the following embodiments, detailed features will be shown for the purpose of explaining the technology, but these are illustrative, and not all of them are necessarily essential features for the embodiments to be implementable.

[0012] Please note that the drawings are for illustrative purposes only, and for the sake of clarity, some components may be omitted or simplified as appropriate. Furthermore, the relative sizes and positions of components shown in different drawings are not necessarily accurately represented and may be modified as appropriate. In addition, hatching may be used in drawings other than cross-sectional views, such as plan views, to facilitate understanding of the embodiment.

[0013] Furthermore, in the following explanations, similar components will be denoted by the same symbols, and their names and functions will also be the same. Therefore, detailed explanations of them may be omitted to avoid redundancy.

[0014] Furthermore, in the descriptions contained in this specification, when a certain component is described as "equipped with," "includes," or "has," unless otherwise specified, it is not an exclusive expression that excludes the existence of other components.

[0015] Furthermore, even if ordinal numbers such as "first" or "second" are used in the descriptions contained herein, these terms are used for convenience to facilitate understanding of the embodiments, and the contents of the embodiments are not limited to the order that may result from these ordinal numbers.

[0016] <Embodiment> Hereinafter, a spatio-temporal information management apparatus, a spatio-temporal information management system, and a spatio-temporal information management method according to this embodiment will be described.

[0017] <Configuration of the spatio-temporal information management system> FIG. 1 is a diagram conceptually showing an example of the configuration of a spatio-temporal information management system according to this embodiment.

[0018] As shown in the example of FIG. 1, the spatio-temporal information management system 1 includes a spatio-temporal information management apparatus 10, a collection apparatus 40, and a utilization apparatus 70. Here, the collection apparatus 40 and the utilization apparatus 70 may be realized within the same apparatus. Also, the collection apparatus 40 and the utilization apparatus 70 are not limited to one each, and a plurality of them may be provided.

[0019] FIG. 2 is a diagram conceptually showing an example of the configuration of the spatio-temporal information management apparatus 10 in FIG. 1.

[0020] As shown in the example of FIG. 2, the spatio-temporal information management apparatus 10 includes a collection unit 12, a division unit 14, a recording unit 16, and a provision unit 18. Further, the spatio-temporal information management apparatus 10 can further include an estimation unit 20, an expiration date setting unit 22, a synthesis unit 24, and a detection unit 26.

[0021] The collection unit 12 sequentially collects 3D spatial information from the collection device 40 in time. The collection unit 12 may sequentially collect 3D spatial information from one collection device 40 at different times for the same space, or it may sequentially collect 3D spatial information from multiple collection devices 40 at the same time for different or partially overlapping spaces. 3D spatial information is information indicating the position and time of features in 3D space. 3D spatial information includes not only specific features (people, equipment, robots, etc.) but also data that comprehensively represents the space itself. Examples of 3D spatial information include 3D point cloud data, which is a collection of point data with 3D coordinates; 3D mesh data, which is 3D shape data of a state where points in the point cloud are connected to form triangles or quadrilaterals; or 3D model data, which is data obtained by converting point cloud data into a 3D model. Furthermore, 3D spatial information is not limited to these and may also be depth image data that includes RGB and distance information in each pixel. In this case, point cloud data and depth image data will be used in combination. Furthermore, the 3D model data is not limited to data converted from point cloud data into a 3D model; it can also be data created by humans, such as CAD or BIM data.

[0022] The division unit 14 divides the 3D spatial information into specific time units to generate divided spatial information. The divided spatial information will be described later. In other words, the divided spatial information is information in which the 3D information has been divided into at least time units. However, the divided spatial information may be information in which the 3D information has been divided not only into time units but also into spatial units.

[0023] The recording unit 16 records the partitioned space information. The recording unit 16 may also record the partitioned space information in a compressed state.

[0024] The providing unit 18 provides segmented spatial information to the external utilization device 70. The provided segmented spatial information may be one or more segmented spatial information corresponding to a part of the 3D spatial information, or it may be multiple segmented spatial information corresponding to all of the 3D spatial information. The provided segmented spatial information is provided to the utilization device 70 with, for example, a position identifier and a time identifier attached. If the provided segmented spatial information is recorded in a compressed state in the recording unit 16, the providing unit 18 decompresses (decompresses) the segmented spatial information before providing it to the utilization device 70.

[0025] The estimation unit 20 estimates the position or time in real space of the collected 3D spatial information by comparing it with the segmented spatial information recorded in the recording unit 16. The 3D spatial information has position information and time information in 3D space, but in order to combine the sequentially collected 3D spatial information with the 3D spatial information recorded in the recording unit 16 (more specifically, the 3D spatial information as the sum of the segmented spatial information recorded), it is necessary to match the position information and time information of both.

[0026] The estimation unit 20 compares the position and time of the sequentially collected 3D spatial information with the segmented spatial information recorded in the recording unit 16. For example, it calculates a similarity based on the sum of distances between corresponding points in the point cloud data and estimates the position and time that result in the lowest similarity. Position or time estimation includes identifying the corresponding position or time by comparing it with the accumulated segmented spatial information when the collected 3D spatial information does not have corresponding position or time information, and correcting the position or time by comparing it with the accumulated segmented spatial information when the collected 3D spatial information does have corresponding position or time information. It is desirable that the segmented spatial information held by the recording unit 16 consists of accurate position and time information for 3D spatial information. Alternatively, it is desirable that the estimation unit 20 accurately corrects the position or time corresponding to the collected 3D spatial information.

[0027] When the estimation unit 20 estimates the position of sequentially collected 3D spatial information, it does so by comparing it with segmented spatial information divided into relatively long time units (time units larger than the threshold). This allows the position to be estimated based on segmented spatial information that changes little over time, thus improving the accuracy of position identification.

[0028] Furthermore, when the estimation unit 20 estimates the time of sequentially collected 3D spatial information, it estimates the time of the sequentially collected 3D spatial information by comparing it with segmented spatial information that has been divided into relatively short time units (time units smaller than the threshold). By doing so, it is possible to estimate the time based on segmented spatial information that has changed significantly over time, making it easier to distinguish 3D spatial information between different time points and improving the accuracy of time identification.

[0029] The expiration date setting unit 22 sets an expiration date for the divided spatial information based on the amount of change along the time series of the three-dimensional spatial information. Specifically, the expiration date setting unit 22 sets a shorter expiration date for the divided spatial information the larger the amount of change along the time series of the three-dimensional spatial information. Since the time unit is set shorter the larger the amount of change along the time series of the divided spatial information, the expiration date of the divided spatial information will be set shorter the shorter the corresponding time unit of the divided spatial information.

[0030] The above method for setting the expiration date may involve setting it so that the divided spatial information becomes invalid at a specific time, or it may involve weighting it so that its effectiveness gradually decreases over time.

[0031] Furthermore, the expiration date setting unit can also set the expiration date according to the corresponding spatial unit of the divided spatial information.

[0032] When multiple 3D spatial information is collected by the collection unit 12 (for example, when 3D spatial information with at least partially overlapping spatial ranges is collected from multiple collection devices 40), the synthesis unit 24 references the position or time of each 3D spatial information and superimposes the 3D spatial information corresponding to the position or time to synthesize the multiple 3D spatial information into a single 3D spatial information.

[0033] The detection unit 26 detects segmented spatial information whose amount of change along the time series is greater than or equal to a threshold. The threshold used by the detection unit 26 to identify the magnitude of the amount of change may be the same value as the similarity used by the estimation unit 20 to determine the comparison target when estimating position or time, or it may be a different value.

[0034] Figure 3 is a conceptual diagram showing an example of the configuration of the collection device 40. As shown in the example in Figure 3, the collection device 40 comprises a measuring unit 42 and a transmitting unit 44.

[0035] The measurement unit 42 is a measuring device that includes sensors, air conditioning equipment, security systems, drones or robots, and measures three-dimensional spatial information. Measurement methods include, for example, photogrammetry or three-dimensional surveying using a ground laser scanner.

[0036] The transmitting unit 44 transmits the three-dimensional spatial information acquired by measurement to the spatiotemporal information management device 10.

[0037] Figure 4 is a conceptual diagram showing an example of the configuration of the utilization device 70. As shown in the example in Figure 4, the utilization device 70 comprises a receiving unit 72 and an utilization unit 74. The utilization device 70 may further include a recording unit 76.

[0038] The receiving unit 72 receives segmented spatial information from the spatiotemporal information management device 10.

[0039] The utilization unit 74 utilizes the divided spatial information by performing control using the divided spatial information or by displaying the divided spatial information.

[0040] The recording unit 76 records segmented spatial information. In particular, if segmented spatial information corresponding to the location of segmented spatial information received from the spatiotemporal information management device 10 has already been recorded, it can be updated with the received segmented spatial information.

[0041] For example, if the divided space information 32 for a position corresponding to the divided space information whose amount of change along the time series detected by the detection unit 26 is greater than or equal to a threshold value is recorded in the recording unit 76, the receiving unit 72 can receive the divided space information 32 for the corresponding position from the spatiotemporal information management device 10 and update the divided space information 32 for the corresponding position in the recording unit 76.

[0042] <About partitioned space information> Figure 5 is a conceptual diagram illustrating an example of divided spatial information. As shown in the example in Figure 5, the divided spatial information 32 is information obtained by the division unit 14 by dividing the 3D spatial information 30 into time units and spatial units. The divided spatial information 32 may be any of the information obtained by dividing the 3D spatial information 30. The divided spatial information 32 is information of a specific time in the 3D spatial information 30 which is acquired sequentially over time, and is information that indicates a part of the space within the 3D space represented by the 3D spatial information 30. Note that the divided spatial information 32 may also be information obtained by dividing the 3D spatial information 30 into time units only. Furthermore, the divided spatial information 32 may be set according to the shape of features such as buildings or rooms in the 3D spatial model.

[0043] The divided spatial information 32 includes cases where no features such as buildings or rooms exist in three-dimensional space (in other words, empty space). As a method for measuring empty space, for example, when using a measuring instrument that uses laser light to measure time of flight (TOF) and calculate the distance to a feature, since there are no other features in the space until the TOF reaches the feature being measured, that space can be measured as empty space.

[0044] By including cases where the divided spatial information 32 represents empty space, the amount of change in the divided spatial information 32 over time can be detected with high accuracy. Furthermore, because it can accurately identify empty space, that space can be determined as the robot's movement path.

[0045] In Figure 5, in addition to the X, Y, and Z axes representing the three-dimensional space of the three-dimensional spatial information 30, a time axis (T axis) obtained by sequentially acquiring the three-dimensional spatial information 30 over time is also shown. In this way, the three-dimensional spatial information 30 can be divided along, for example, four axes. The divided spatial information 32 in Figure 5 is divided spatial information that represents the same space at different times (time t, time t+1, time t+2). Note that, as shown in the example in Figure 5, different spatial ranges may be acquired for the three-dimensional spatial information as a whole at times t, time t+1, and time t+2 (in other words, there may be unacquired divided spatial information 32 at any of time t, time t+1, or time t+2).

[0046] Figure 6 shows an example of a method for dividing the divided spatial information 32 shown in Figure 5. As shown in the example in Figure 6, the time unit for dividing the divided spatial information 32 by the division unit 14 varies based on the amount of change along the time series of the 3D spatial information. If the amount of change along the time series is large, the time unit for dividing the corresponding 3D spatial information becomes shorter.

[0047] The amount of change along a time series refers to the degree of similarity between sequentially collected 3D spatial information 30, or to the length of the duration of the change.

[0048] The similarity between sequentially collected 3D spatial information 30 can be obtained, for example, by superimposing 3D point cloud data as 3D spatial information 30 and calculating the sum of the distances between corresponding points. A large sum indicates low similarity, and the lower the similarity, the greater the amount of change in the 3D spatial information over time. For the similarity between divided spatial information 32, the similarity can be calculated as described above between the divided spatial information 32 at different time points.

[0049] Furthermore, the duration of change can be expressed as the time during which the similarity is below a threshold value, calculated by determining the similarity between the three-dimensional spatial information 30 acquired in a time series. The longer the time during which the similarity is below the threshold value, the greater the amount of change. The length of time here may be the time during which the change is continuous, or it may be the sum of the time when the change occurs intermittently. Note that the method for calculating the amount of change when obtaining the duration of change is not limited to the similarity-based method described above; for example, it may be calculated based on the change in the total amount of data of the three-dimensional spatial information along the time series.

[0050] When the amount of change along the time series calculated as described above is large, the time unit of division is shortened for the divided spatial information 32. In Figure 6, the divided spatial information 32a at time t+2.5 is shown when the divided spatial information 32 at time t changes continuously at time t+1 and time t+2 (for example, when the similarity is continuously below the threshold).

[0051] The partitioned spatial information 32a at time t+2.5 is partitioned spatial information divided into half the time units up to time t+2. The division time units were halved because the amount of change along the time series was large. However, the division time units do not necessarily have to be changed to half; for example, the range of variation in the division time units may be determined to be smaller based on the magnitude of the amount of change along the time series.

[0052] Furthermore, in Figure 6, the spatial units of the partitioned spatial information 32a are determined not only by the time units of the partitions but also by the magnitude of the change along the time series. Specifically, when the change along the time series is large, the spatial units of the partitions of the corresponding 3D spatial information become smaller, and the space represented by the eight partitioned spatial information 32a at time t+2.5 in Figure 6 corresponds to the space represented by the single partitioned spatial information 32 at time t+2. However, only the time units of the partitions may vary.

[0053] Figure 7 shows an example of the contents of the divided spatial information. As shown in the example in Figure 7, the divided spatial information 32 can represent the same space in a time series. However, in order to efficiently record it in the recording unit 16, for example, initial information (i.e., the information itself divided from the 3D spatial information) can be recorded as the divided spatial information corresponding to time t, and change information showing the history (i.e., information showing changes along the time series from the previously recorded time) can be recorded as the divided spatial information corresponding to time t+1 and later. With such a recording method, for example, for divided spatial information that has not changed along the time series, it is sufficient to record only the data that indicates it is the same, thus reducing the amount of data recorded compared to when all data is recorded in a time series.

[0054] The above change information can indicate one of the following: that the corresponding segmented space information has not been acquired (not measured) (for example, segmented space information 33 at time t+1 in Figure 7); that the corresponding segmented space information has not changed (for example, segmented space information 34 at time t+1 and segmented space information 32e at time t+1.5 in Figure 7); or that the corresponding segmented space information has changed (for example, segmented space information 32 at time t+1 and segmented space information 32b, 32c, and 32d at time t+1.5 in Figure 7).

[0055] If the corresponding segmented space information has not been acquired (measured), it may be recursively supplemented by acquiring (measuring) the corresponding segmented space information in a later time series.

[0056] If the corresponding partitioned space information has changed, the changed partitioned space information can be recorded as is.

[0057] By recording as described above, it is possible to record information including whether or not the corresponding segmented spatial information was acquired (measured), thus enabling the detection of changes in the segmented spatial information over time with high accuracy.

[0058] <Regarding the hardware configuration of the spatiotemporal information management device> Figures 8 and 9 schematically illustrate the hardware configuration when the spatiotemporal information management device shown as an example in Figure 2 is actually put into operation.

[0059] Note that the hardware configurations illustrated in Figures 8 and 9 may not match the configuration illustrated in Figure 2 in terms of numbers and other aspects. This is because the configuration illustrated in Figure 2 represents a conceptual unit.

[0060] Therefore, it is conceivable that at least one configuration illustrated in Figure 2 consists of multiple hardware configurations illustrated in Figures 8 and 9, that one configuration illustrated in Figure 2 corresponds to a part of the hardware configurations illustrated in Figures 8 and 9, and that multiple configurations illustrated in Figure 2 are provided within one hardware configuration illustrated in Figures 8 and 9.

[0061] Figure 8 shows the hardware configuration for realizing the collection unit 12, division unit 14, recording unit 16, provision unit 18, estimation unit 20, expiration date setting unit 22, synthesis unit 24, detection unit 26, etc. in Figure 2, which includes a processing circuit 1102A that performs calculations and a storage device 1103 that can store information.

[0062] Figure 9 shows the processing circuit 1102B, which performs calculations, as a hardware configuration for realizing the collection unit 12, division unit 14, recording unit 16, provision unit 18, estimation unit 20, expiration date setting unit 22, synthesis unit 24, detection unit 26, etc. in Figure 2.

[0063] The recording unit 16 is implemented by the storage device 1103 or another storage device (not shown here).

[0064] The storage device 1103 may be, for example, a volatile or non-volatile semiconductor memory such as a hard disk drive (i.e., HDD), random access memory (i.e., RAM), read-only memory (i.e., ROM), flash memory, erasable programmable read-only memory (EPROM), and electrically erasable programmable read-only memory (EEPROM), a memory (recording medium) including a magnetic disk, flexible disk, optical disk, compact disk, minidisc, or DVD, or any recording medium that may be used in the future.

[0065] The processing circuit 1102A may execute a program stored in the storage device 1103, an external CD-ROM, an external DVD-ROM, or an external flash memory. In other words, it may be, for example, a central processing unit (i.e., CPU), a microprocessor, a microcomputer, or a digital signal processor (i.e., DSP).

[0066] If the processing circuit 1102A executes a program stored in the storage device 1103, an external CD-ROM, an external DVD-ROM, or an external flash memory, the collection unit 12, splitting unit 14, providing unit 18, estimation unit 20, expiration date setting unit 22, synthesis unit 24, and detection unit 26 are realized by software, firmware, or a combination of software and firmware, which executes the program stored in the storage device 1103 by the processing circuit 1102A. The functions of the collection unit 12, splitting unit 14, providing unit 18, estimation unit 20, expiration date setting unit 22, synthesis unit 24, and detection unit 26 may be realized, for example, by the cooperation of multiple processing circuits.

[0067] The software and firmware may be written as a program and stored in the storage device 1103. In that case, the processing circuit 1102A realizes the above functions by reading and executing the program stored in the storage device 1103. That is, the storage device 1103 may store a program that, when executed by the processing circuit 1102A, ultimately realizes the above functions.

[0068] Furthermore, the processing circuit 1102B may be dedicated hardware. That is, for example, it may be a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an integrated circuit (application-specific integrated circuit, i.e., ASIC), a field-programmable gate array (FPGA), or a circuit combining these.

[0069] If the processing circuit 1102B is dedicated hardware, the data collection unit 12, splitting unit 14, supply unit 18, estimation unit 20, expiration date setting unit 22, synthesis unit 24, and detection unit 26 are realized by the operation of the processing circuit 1102B. Note that the functions of the data collection unit 12, splitting unit 14, supply unit 18, estimation unit 20, expiration date setting unit 22, synthesis unit 24, and detection unit 26 may be realized by separate circuits or by a single circuit.

[0070] Furthermore, the functions of the collection unit 12, the splitting unit 14, the supply unit 18, the estimation unit 20, the expiration date setting unit 22, the synthesis unit 24, and the detection unit 26 may be partially implemented in the processing circuit 1102A, which executes a program stored in the storage device 1103, and partially implemented in the processing circuit 1102B, which is dedicated hardware.

[0071] <Regarding the effects produced by the embodiments described above> Next, examples of the effects produced by the embodiments described above will be shown. In the following description, the effects will be described based on the specific configurations illustrated in the embodiments described above, but they may be replaced with other specific configurations illustrated in this specification to the extent that similar effects are produced. That is, for convenience, in the following, only one of the corresponding specific configurations may be described as representative, but the specific configuration described as representative may be replaced with another corresponding specific configuration.

[0072] According to the embodiment described above, the spatiotemporal information management device comprises a collection unit 12, a division unit 14, a first recording unit, and a provision unit 18. Here, the first recording unit corresponds to, for example, a recording unit 16. The collection unit 12 sequentially collects at least one piece of three-dimensional spatial information 30. The division unit 14 divides the collected three-dimensional spatial information 30 into divided spatial information 32 in time units set based on the amount of change along the time series of the three-dimensional spatial information 30. The recording unit 16 records the divided spatial information 32. The provision unit 18 provides the divided spatial information 32 to an external party.

[0073] Furthermore, according to the embodiments described above, the spatiotemporal information management device comprises a processing circuit 1102A that executes a program and a storage device 1103 that stores the program to be executed. The following operations are realized when the processing circuit 1102A executes the program.

[0074] In other words, at least one piece of 3D spatial information 30 is collected sequentially. The collected 3D spatial information 30 is then divided into segmented spatial information 32 at time units set based on the amount of change along the time series of the 3D spatial information 30. The segmented spatial information 32 is then recorded. The segmented spatial information 32 is then provided to an external source.

[0075] Furthermore, according to the embodiments described above, the spatiotemporal information management device includes a dedicated hardware processing circuit 1102B. The dedicated hardware processing circuit 1102B performs the following operations.

[0076] In other words, the dedicated hardware processing circuit 1102B sequentially collects at least one piece of 3D spatial information 30. The collected 3D spatial information 30 is then divided into segmented spatial information 32 in time and spatial units set based on the amount of change along the time series of the 3D spatial information 30. The segmented spatial information 32 is then recorded. Finally, the segmented spatial information 32 is provided to an external source.

[0077] With this configuration, by dividing and recording the 3D spatial information 30 in time units and spatial units set based on the amount of change along the time series, it is possible to flexibly and efficiently manage the 3D spatial information 30, such as by finely dividing data with large amounts of change and equalizing the amount of data between the divided spatial information 32, and also to balance data quality and data volume.

[0078] Furthermore, the same effect can be achieved even if other configurations exemplified in this specification are appropriately added to the above configuration, that is, if other configurations in this specification that are not mentioned as the above configuration are appropriately added.

[0079] Furthermore, according to the embodiments described above, the amount of change in the 3D spatial information 30 along the time series is a quantity based on the length of the duration of the change. With such a configuration, the 3D spatial information 30 can be managed flexibly and efficiently, such as by changing the time unit of division when the 3D spatial information 30 is changing continuously over time.

[0080] Furthermore, according to the embodiments described above, the division unit 14 divides the 3D spatial information 30 into spatial units set based on the amount of change along the time series of the 3D spatial information 30. With such a configuration, the 3D spatial information 30 can be managed flexibly and efficiently, such as by changing the spatial units in addition to the time units of division to reduce the amount of data when the 3D spatial information 30 is changing continuously over time.

[0081] Furthermore, according to the embodiments described above, the divided spatial information 32 is set in accordance with the shape of the features in the 3D spatial model. With this configuration, the 3D spatial information 30 can be managed flexibly and efficiently by recording the divided spatial information 32 set in accordance with the features while flexibly changing the time unit (and even the spatial unit) of the division.

[0082] Furthermore, according to the embodiments described above, the segmented space information 32 includes information indicating a space in three-dimensional space where no features exist. With this configuration, by recording segmented space information 32 that indicates empty space, three-dimensional space information 30 can be managed flexibly and efficiently. In addition, because empty space can be accurately captured, that space can be determined as the robot's movement path.

[0083] Furthermore, according to the embodiment described above, the recording unit 16 records initial information of the divided spatial information 32 and change information, which is information indicating changes in the divided spatial information 32 along the time series. With this configuration, for divided spatial information that has not changed along the time series, it is sufficient to record only data indicating that it is the same, so that the amount of data recorded can be suppressed while flexibly and efficiently managing the 3D spatial information 30.

[0084] Furthermore, according to the embodiments described above, the change information is information indicating at least one of the following: that the corresponding divided space information 32 has not been acquired, that the corresponding divided space information 32 has not changed, or that the corresponding divided space information 32 has changed. With such a configuration, the 3D spatial information 30 can be managed flexibly and efficiently, such as by recursively supplementing it with divided space information 32 acquired in later time series.

[0085] Furthermore, according to the embodiments described above, the spatiotemporal information management device includes an estimation unit 20. The estimation unit 20 estimates the position or time of the collected three-dimensional spatial information 30 by comparing it with the segmented spatial information 32 recorded in the recording unit 16. With this configuration, the three-dimensional spatial information 30 can be managed for each position or time by estimating and identifying the position or time of the recorded three-dimensional spatial information 30.

[0086] Furthermore, according to the embodiments described above, the estimation unit 20 estimates the position of the collected three-dimensional spatial information 30 by comparing it with segmented spatial information 32, which is divided into time units larger than a threshold. With this configuration, the position can be estimated based on position information that changes little over time, thus improving the accuracy of position identification.

[0087] Furthermore, according to the embodiment described above, the estimation unit 20 estimates the time of the collected 3D spatial information 30 by comparing it with segmented spatial information 32, which is divided into time units smaller than a threshold. With this configuration, the time can be estimated based on position information that changes significantly over time, making it easier to distinguish 3D spatial information between different time points and improving the accuracy of time identification.

[0088] Furthermore, according to the embodiments described above, the spatiotemporal information management device includes an expiration date setting unit 22. The expiration date setting unit 22 sets an expiration date for the divided spatial information 32 based on the amount of change along the time series of the three-dimensional spatial information 30. With this configuration, by setting an expiration date for the divided spatial information 32, the three-dimensional spatial information 30 can be managed flexibly and efficiently while excluding unnecessary divided spatial information 32.

[0089] Furthermore, according to the embodiments described above, the expiration date setting unit 22 sets a shorter expiration date for the divided spatial information 32 as the amount of change increases. With this configuration, by setting an expiration date for the divided spatial information 32, unnecessary divided spatial information 32 can be excluded while the three-dimensional spatial information 30 can be managed flexibly and efficiently.

[0090] Furthermore, according to the embodiments described above, the spatiotemporal information management device includes a synthesis unit 24. The synthesis unit 24 references the position or time of the multiple collected three-dimensional spatial information 30 and synthesizes the multiple three-dimensional spatial information 30 by superimposing the three-dimensional spatial information 30 whose positions or times correspond. With this configuration, the three-dimensional spatial information 30 can be managed flexibly and efficiently by synthesizing the multiple three-dimensional spatial information to expand it into a single three-dimensional spatial information, and then further dividing and recording it into divided spatial information 32.

[0091] Furthermore, according to the embodiment described above, the recording unit 16 compresses and records the divided spatial information 32. Then, the providing unit 18 decompresses the compressed divided spatial information 32 and provides it to the outside. With this configuration, the 3D spatial information 30 can be managed flexibly and efficiently while suppressing the amount of data by compressing and decompressing the divided spatial information 32.

[0092] Furthermore, according to the embodiment described above, the spatiotemporal information management system comprises the spatiotemporal information management device 10, a collection device 40 for collecting 3D spatial information 30 and transmitting it to the spatiotemporal information management device 10, and a utilization device 70 for receiving and utilizing segmented spatial information 32 from the spatiotemporal information management device 10. The collection device 40 comprises a measurement unit 42 for measuring the 3D spatial information 30 and a transmission unit 44 for transmitting the 3D spatial information 30 to the spatiotemporal information management device 10. The utilization device 70 comprises a receiving unit 72 for receiving segmented spatial information 32 from the spatiotemporal information management device 10 and a utilization unit 74 for performing control using the segmented spatial information 32 or displaying the segmented spatial information 32. With this configuration, the 3D spatial information 30, which is collected sequentially from the collection device 40 and managed by the spatiotemporal information management device 10, can be flexibly and efficiently utilized by the utilization device 70.

[0093] Furthermore, according to the embodiments described above, the spatiotemporal information management system includes a spatiotemporal information management device 10 equipped with a detection unit 26 for detecting segmented spatial information 32 whose change amount along the time series is greater than or equal to a threshold. The utilization device 70 also equipped with a second recording unit for recording the segmented spatial information 32. Here, the second recording unit corresponds to, for example, a recording unit 76. When segmented spatial information 32 at a position corresponding to the segmented spatial information 32 whose change amount along the time series is greater than or equal to a threshold detected by the detection unit 26 is recorded in the recording unit 76, the receiving unit 72 of the utilization device 70 receives the segmented spatial information 32 at the corresponding position from the spatiotemporal information management device 10 and updates the segmented spatial information 32 at the corresponding position in the recording unit 76. With this configuration, the three-dimensional spatial information 30 managed by the spatiotemporal information management device 10 can be flexibly and efficiently recorded in the recording unit 76 of the utilization device 70 while appropriately updating it.

[0094] According to the embodiment described above, in the spatiotemporal information management method, at least one 3D spatial information 30 is sequentially collected. The collected 3D spatial information 30 is then divided into divided spatial information 32 at time units set based on the amount of change along the time series of the 3D spatial information 30. The divided spatial information 32 is then recorded. The divided spatial information 32 is then provided to an external party.

[0095] With this configuration, the 3D spatial information 30 can be divided and recorded in time units set based on the amount of change along the time series. This allows for flexible and efficient management of the 3D spatial information 30, such as finely dividing data with large amounts of change and equalizing the amount of data between the divided spatial information 32.

[0096] Furthermore, the same effect can be achieved even if other configurations exemplified in this specification are appropriately added to the above configuration, that is, if other configurations in this specification that are not mentioned as the above configuration are appropriately added.

[0097] <Modifications of the embodiments described above> In the embodiments described above, the dimensions, shapes, relative arrangements, or conditions of implementation of each component may also be described, but these are all examples and not limiting.

[0098] Therefore, countless variations and equivalents not shown are envisioned within the scope of the art disclosed in this specification. For example, these include modifications, additions, or omissions of at least one component.

[0099] Furthermore, unless contradictory, when it is stated that "one" component is provided in the embodiments described above, "one or more" such components may be provided.

[0100] Furthermore, each component in the embodiments described above is a conceptual unit, and the scope of the technology disclosed in this specification includes cases where one component consists of multiple structures, where one component corresponds to a part of a structure, and where multiple components are provided in a single structure.

[0101] Furthermore, each component in the embodiments described above shall include structures having other structures or shapes, as long as they perform the same function.

[0102] Furthermore, the descriptions in this specification are referenced for all purposes related to the present technology and are not considered to be prior art.

[0103] Furthermore, each component described in the embodiments described above can be envisioned as software or firmware, or as corresponding hardware. As software, it may be referred to as, for example, a "part," and as hardware, it may be referred to as, for example, a "processing circuit."

[0104] The various aspects of this disclosure are summarized below as an appendix.

[0105] (Note 1) A collection unit for sequentially collecting at least one piece of 3D spatial information, A division unit for dividing the collected three-dimensional spatial information into divided spatial information at time units set based on the amount of change along the time series of the three-dimensional spatial information, A first recording unit for recording the aforementioned divided spatial information, The system includes a providing unit for providing the aforementioned divided spatial information to an external party. Spatio-temporal information management device.

[0106] (Note 2) This is a spatiotemporal information management device as described in Appendix 1. The amount of change along the time series of the three-dimensional spatial information is a quantity based on the length of the duration of the change. Spatio-temporal information management device.

[0107] (Note 3) A spatiotemporal information management device as described in Appendix 1 or 2, The division unit divides the three-dimensional spatial information into spatial units set based on the amount of change along the time series of the three-dimensional spatial information. Spatio-temporal information management device.

[0108] (Note 4) A spatiotemporal information management device as described in any one of the appendices 1 to 3, The aforementioned divided spatial information is set according to the shape of the features in the 3D spatial model. Spatio-temporal information management device.

[0109] (Note 5) A spatiotemporal information management device as described in any one of the appendices 1 to 4, The aforementioned divided spatial information includes information indicating a space in which no features exist in three-dimensional space. Spatio-temporal information management device.

[0110] (Note 6) A spatiotemporal information management device as described in any one of the appendices 1 to 5, The first recording unit records initial information of the divided spatial information and change information which is information indicating changes in the divided spatial information along a time series. Spatio-temporal information management device.

[0111] (Note 7) This is a spatiotemporal information management device as described in Appendix 6. The change information is information indicating at least one of the following: that the corresponding partitioned space information has not been acquired, that the corresponding partitioned space information has not changed, or that the corresponding partitioned space information has changed. Spatio-temporal information management device.

[0112] (Note 8) A spatiotemporal information management device as described in any one of the appendices 1 to 7, The system further comprises an estimation unit for estimating the position or time of the collected three-dimensional spatial information by comparing it with the segmented spatial information recorded in the first recording unit. Spatio-temporal information management device.

[0113] (Note 9) This is a spatiotemporal information management device as described in Appendix 8. The estimation unit estimates the position of the collected three-dimensional spatial information by comparing it with the divided spatial information, which is divided into time units larger than a threshold. Spatio-temporal information management device.

[0114] (Note 10) The spatiotemporal information management device described in Appendix 8 or 9, The estimation unit estimates the time of the collected three-dimensional spatial information by comparing it with the divided spatial information, which has been divided into time units smaller than a threshold. Spatio-temporal information management device.

[0115] (Note 11) A spatiotemporal information management device described in any one of the appendices 1 to 10, The system further includes an expiration date setting unit for setting an expiration date for the divided spatial information based on the amount of change along the time series of the three-dimensional spatial information. Spatio-temporal information management device.

[0116] (Note 12) This is a spatiotemporal information management device as described in Appendix 11. The expiration date setting unit sets the expiration date of the divided spatial information to be shorter the larger the amount of change. Spatio-temporal information management device.

[0117] (Note 13) A spatiotemporal information management device as described in any one of the appendices 1 to 12, The system further includes a synthesis unit for combining multiple sets of three-dimensional spatial information by referencing the position or time of multiple sets of three-dimensional spatial information and superimposing the three-dimensional spatial information corresponding to the position or time of each set. Spatio-temporal information management device.

[0118] (Note 14) A spatiotemporal information management device described in any one of the appendices 1 to 13, The first recording unit compresses and records the divided space information, The providing unit decompresses the compressed partitioned space information and provides it to the outside. Spatio-temporal information management device.

[0119] (Note 15) A spatiotemporal information management device described in any one of the appendices 1 to 14, A collection device for collecting the aforementioned three-dimensional spatial information and transmitting it to the aforementioned spatiotemporal information management device, The system includes a utilization device for receiving and utilizing the divided spatial information from the spatiotemporal information management device, The aforementioned collection device A measurement unit for measuring the aforementioned three-dimensional spatial information, The system includes a transmission unit for transmitting the three-dimensional spatial information to the spatiotemporal information management device, The aforementioned utilization device, A receiving unit for receiving the divided spatial information from the spatiotemporal information management device, The system includes an application unit for performing control using the divided spatial information or for displaying the divided spatial information, A spatiotemporal information management system.

[0120] (Note 16) This is the spatiotemporal information management system described in Appendix 15, The spatiotemporal information management device further comprises a detection unit for detecting the divided spatial information in which the amount of change along the time series is greater than or equal to a threshold value. The aforementioned utilization device further comprises a second recording unit for recording the divided spatial information, When the divided space information for a position corresponding to the divided space information for which the amount of change along the time series detected by the detection unit is greater than or equal to a threshold value is recorded in the second recording unit, the receiving unit of the utilization device receives the divided space information for the corresponding position from the spatiotemporal information management device and updates the divided space information for the corresponding position in the second recording unit. A spatiotemporal information management system.

[0121] (Note 17) At least one piece of 3D spatial information is collected sequentially, The collected three-dimensional spatial information is divided into segmented spatial information based on the amount of change along the time series of the three-dimensional spatial information, The aforementioned divided spatial information is recorded, The aforementioned divided spatial information is provided to the outside. Spatiotemporal information management method. [Explanation of Symbols]

[0122] 1 Spatiotemporal information management system, 10 Spatiotemporal information management device, 12 Collection unit, 14 Division unit, 16 Recording unit, 18 Provision unit, 20 Estimation unit, 22 Expiration date setting unit, 24 Synthesis unit, 26 Detection unit, 30 Three-dimensional spatial information, 32 Divisioned spatial information, 32a Divisioned spatial information, 32b Divisioned spatial information, 32c Divisioned spatial information, 32d Divisioned spatial information, 32e Divisioned spatial information, 33 Divisioned spatial information, 34 Divisioned spatial information, 40 Collection device, 42 Measurement unit, 44 Transmission unit, 70 Utilization device, 72 Receiving unit, 74 Utilization unit, 76 Recording unit, 1102A Processing circuit, 1102B Processing circuit, 1103 Storage device.

Claims

1. A collection unit for sequentially collecting at least one piece of three-dimensional spatial information, including data that comprehensively represents the space itself, A division unit for dividing the collected three-dimensional spatial information into divided spatial information at time units set based on the amount of change along the time series of the three-dimensional spatial information, A first recording unit for recording the aforementioned divided spatial information, The system includes a providing unit for providing the aforementioned divided spatial information to an external party. Spatio-temporal information management device.

2. The spatiotemporal information management device according to claim 1, The amount of change along the time series of the three-dimensional spatial information is a quantity based on the length of the duration of the change. Spatio-temporal information management device.

3. A spatiotemporal information management device according to claim 1 or 2, The division unit divides the three-dimensional spatial information into spatial units set based on the amount of change along the time series of the three-dimensional spatial information. Spatio-temporal information management device.

4. A spatiotemporal information management device according to claim 1 or 2, The aforementioned divided spatial information is set according to the shape of the features in the three-dimensional spatial model. Spatio-temporal information management device.

5. A spatiotemporal information management device according to claim 1 or 2, The aforementioned divided spatial information includes information indicating a space in which no features exist in three-dimensional space. Spatio-temporal information management device.

6. A spatiotemporal information management device according to claim 1 or 2, The first recording unit records initial information of the divided spatial information and change information which is information indicating changes in the divided spatial information along a time series. Spatio-temporal information management device.

7. The spatiotemporal information management device according to claim 6, The change information is information that indicates at least one of the following: that the corresponding partitioned space information has not been acquired, that the corresponding partitioned space information has not changed, or that the corresponding partitioned space information has changed. Spatio-temporal information management device.

8. A spatiotemporal information management device according to claim 1 or 2, The system further includes an estimation unit for estimating the position or time of the corresponding three-dimensional spatial information by comparing the collected three-dimensional spatial information with the divided spatial information recorded in the first recording unit. Spatio-temporal information management device.

9. A collection unit for sequentially collecting at least one piece of three-dimensional spatial information, A division unit for dividing the collected three-dimensional spatial information into divided spatial information at time units set based on the amount of change along the time series of the three-dimensional spatial information, A first recording unit for recording the aforementioned divided spatial information, The system includes a providing unit for providing the aforementioned divided spatial information to an external party, The system further includes an estimation unit for estimating the position or time of the corresponding three-dimensional spatial information by comparing the collected three-dimensional spatial information with the divided spatial information recorded in the first recording unit. The estimation unit estimates the position of the corresponding three-dimensional spatial information by comparing the position of the collected three-dimensional spatial information with the divided spatial information, which has been divided into time units larger than a threshold. Spatio-temporal information management device.

10. The spatiotemporal information management device according to claim 8, The estimation unit estimates the time of the corresponding three-dimensional spatial information by comparing the collected three-dimensional spatial information with the divided spatial information, which has been divided into time units smaller than a threshold. Spatio-temporal information management device.

11. A collection unit for sequentially collecting at least one piece of three-dimensional spatial information, A division unit for dividing the collected three-dimensional spatial information into divided spatial information at time units set based on the amount of change along the time series of the three-dimensional spatial information, A first recording unit for recording the aforementioned divided spatial information, The system includes a providing unit for providing the aforementioned divided spatial information to an external party, The system further includes an expiration date setting unit for setting an expiration date for the divided spatial information based on the amount of change along the time series of the three-dimensional spatial information. Spatio-temporal information management device.

12. The spatiotemporal information management device according to claim 11, The expiration date setting unit sets the expiration date of the divided spatial information to be shorter the larger the amount of change. Spatio-temporal information management device.

13. A spatiotemporal information management device according to claim 1 or 2, The system further includes a synthesis unit for combining multiple three-dimensional spatial pieces of information by referencing the position or time of the collected three-dimensional spatial pieces of information and superimposing the three-dimensional spatial pieces of information whose positions or times correspond to each other. Spatio-temporal information management device.

14. A spatiotemporal information management device according to claim 1 or 2, The first recording unit compresses and records the divided space information, The providing unit decompresses the compressed partitioned space information and provides it to the outside. Spatio-temporal information management device.

15. A spatiotemporal information management device according to claim 1 or 2, A collection device for collecting the aforementioned three-dimensional spatial information and transmitting it to the aforementioned spatiotemporal information management device, The system includes a utilization device for receiving and utilizing the divided spatial information from the spatiotemporal information management device, The aforementioned collection device A measurement unit for measuring the aforementioned three-dimensional spatial information, The system includes a transmission unit for transmitting the three-dimensional spatial information to the spatiotemporal information management device, The aforementioned utilization device, A receiving unit for receiving the divided spatial information from the spatiotemporal information management device, The system includes an application unit for performing control using the divided spatial information or for displaying the divided spatial information, A spatiotemporal information management system.

16. The spatiotemporal information management system according to claim 15, The spatiotemporal information management device further comprises a detection unit for detecting the divided spatial information in which the amount of change along the time series is greater than or equal to a threshold value. The aforementioned utilization device further comprises a second recording unit for recording the divided spatial information, When the divided space information for a position corresponding to the divided space information for which the amount of change along the time series detected by the detection unit is greater than or equal to a threshold value is recorded in the second recording unit, the receiving unit of the utilization device receives the divided space information for the corresponding position from the spatiotemporal information management device and updates the divided space information for the corresponding position in the second recording unit. A spatiotemporal information management system.

17. We sequentially collect at least one 3D spatial information set that comprehensively represents the space itself, The collected three-dimensional spatial information is divided into segmented spatial information based on the amount of change along the time series of the three-dimensional spatial information, The aforementioned divided spatial information is recorded, The aforementioned divided spatial information is provided to the outside. Spatiotemporal information management method.