JP7614052B2 - Map data creation device, map data evaluation device, and map data creation method - Google Patents

Description

The present invention relates to a map data creation device, a map data evaluation device, and a map data creation method.

Conventionally, there is technology that involves attaching a sensor to a moving object and creating map data of the surrounding environment based on information about the moving object's surroundings acquired by the sensor, while at the same time estimating the moving object's own position.

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

Patent Document 1 discloses a technology that creates a stationary object map in which only the position information of stationary objects is recorded by identifying a deletion target area, which is an area where no objects exist, and deleting the position information corresponding to the positions included in this deletion target area from the map data. This conventional technology can improve the quality of map data when there are moving objects (dynamic objects) around a moving object by deleting the area in which the dynamic objects exist.

JP 2020-166153 A

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

In other words, when acquiring the information necessary to create map data, there may be obstacles (moving objects), steep slopes (inclined sections), uneven ground, etc. (these obstacles are called "static noise objects") that exist temporarily (temporarily stationary) on the route traveled by the moving body. In this case, if the static noise objects are mistakenly recognized as stationary objects such as walls, a stationary object map will be created in which the static noise objects are reflected as stationary objects that do not actually exist in the area to be mapped.

Therefore, when creating map data, it is preferable to delete information about static noise objects acquired by the sensor from the information necessary to create the map data, thereby improving the accuracy (quality) of the map. For this reason, it is necessary to be able to determine whether or not information about static noise objects (also called "static noise") is included in the map data.

The present invention has been made to address the above-mentioned problems. That is, one of the objects of the present invention is to provide a map data creation device, a map data evaluation device, and a map data creation method that can determine whether or not information about static noise objects is included in map data.

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

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

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

The present invention makes it possible to determine whether information about static noise objects is included in map data.

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

Each embodiment of the present invention will be described in detail below with reference to the drawings.

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

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

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

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

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

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

Referring again to FIG. 1, the controller unit 103 includes, as functional blocks, a distance data processing unit 104, a movement control unit 105, and a map data processing unit 106. For example, each of the distance data processing unit 104, the movement control unit 105, and the map data processing unit 106 (a map creation unit 107 and a map evaluation unit 110 described below) is realized by the CPU 103a executing a program stored in the ROM 103b. The map data storage unit 108 described below is composed of a storage device (HDD) 103d, etc.

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

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

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

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

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

The map creation unit 107 stores the created map data in the map data storage unit 108. The map creation unit 107 can create an image of the map data by, for example, drawing figures based on the position information of the measurement points (for example, points corresponding to the position information of the measurement points, lines corresponding to the trajectory (set) of the position information of the measurement points, etc.) on a two-dimensional plane corresponding to the area for which the map is to be created. Therefore, the map creation unit 107 can display the image of the created map data on the display of the operation device 109 connected to the map data processing unit 106.

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

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

The map evaluation unit 110 evaluates the quality of the map data created by the map creation unit 107. The map evaluation unit 110 performs processing according to the evaluation results. This processing will be described in detail later.

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

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

<Map data and static noise overview>
In order to facilitate understanding of the present invention, an overview of map data and static noise will now be described with reference to Fig. 3.

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

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

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

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

The first light black area 207 is a light black area that draws a circle, and is a light black area that is drawn based on the position information of multiple measurement points obtained from a static noise object such as a protrusion on the ground, which will be described later.

The second light black area 208 is a light black area that draws a rectangle, and is a light black area that is drawn based on the position information of multiple measurement points obtained from a static noise object such as a sloped portion described below.

The third light black area 209 is a light black area that draws a wavy line and is drawn based on the position information of multiple measurement points obtained from a static noise object such as a moving object, which will be described later.

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

In this case, the laser distance sensor 102 tends to have a tendency for the emission direction (emission angle) of the laser light L11 to be not constant and to vary in the height direction due to the vibration of the moving body 101, the inclination of the moving body 101, the installation method of the laser distance sensor 102, etc. For example, when the moving body 101 vibrates, the emission direction of the laser light L11 also changes in response to the vibration of the moving body 101, and when the moving body 101 is inclined (when inclined relative to the ground), the emission direction of the laser light L11 may change in the height direction in response to the inclination of the moving body 101. Furthermore, for example, when the position of the laser distance sensor 102 is shifted relative to the moving body 101 in response to the movement of the moving body 101 due to the installation method of the laser distance sensor 102 (for example, due to a loose fixation state, etc.), the emission direction of the laser light L11 may change in the height direction in response to the movement of the moving body 101. In this way, the emission direction of the laser light L11 changes (varies) in the height direction in accordance with the movement of the mobile body 101, so that multiple measurement points are not acquired locally from the convex portion 301, but are acquired sporadically. For this reason, in the map data, the positions of the multiple measurement points acquired from the convex portion 301 are relatively scattered. Therefore, the convex portion 301 is included in the map data represented by an image as a first light black area 207 that is a light black color corresponding to the density of the positions of the multiple measurement points acquired from the convex portion 301.

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

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

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

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

<How to distinguish static noise>
A method for discriminating static noise will now be described. Figures 6 and 7 are diagrams for explaining a method for discriminating between static noise objects and stationary objects.

The second black line 204 shown in Figure 6 is an example of a figure that is displayed in the map data when a cylindrical stationary object is detected. Although not shown in the figure, the height of this cylindrical stationary object is higher than the height of the position of the laser light irradiation source of the laser distance sensor 102. Therefore, even if the emission direction of the laser light varies in the vertical direction, there is a tendency for measurement points to be obtained locally from this stationary object.

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

The first light black area 207 shown in FIG. 7 is an example of a figure that is displayed in the map data when a static noise object that is a hemispherical convex portion is detected. In the image of the map data, the first light black area 207 indicating the static noise object that is a hemispherical convex portion can be represented as a collection of multiple measurement points DP1 that are approximately perfect circles that correspond to the planar shape of the hemispherical convex portion when viewed in a planar view, as shown in block BR2.

When comparing the locus LC1 of the measurement points DP1 in Fig. 6 with the set Gr1 of the measurement points in Fig. 7, the positions of the measurement points DP1 on the locus LC1 are relatively dense, whereas the positions of the measurement points DP2 on the set Gr1 are relatively scattered. In other words, it can be said that in the map data, the density of the positions of the measurement points DP1 on the locus LC1 (set ) of the measurement points of a stationary object is relatively high, while the density of the positions of the measurement points DP2 on the set Gr1 of the measurement points of a static noise object is relatively low. Therefore, it can be seen that by using the density of the positions of the set of measurement points representing an object, it is possible to determine whether the object from which the measurement points are obtained (the object corresponding to the measurement points) is a static noise object or not.

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

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

<Specific operation>
8 is a flowchart showing a process flow executed by the map evaluation unit 110. In step 800, the map evaluation unit 110 acquires (reads) map data, starts determining static noise, and proceeds to step 801. When the map evaluation unit 110 proceeds to step 801, it performs a static noise determination process using the static noise determination method described above, thereby determining static noise in the map data.

Then, the map evaluation unit 110 proceeds to step 802 and determines whether static noise is present in the map data.

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

If it is determined that static noise is present in the map data, the map evaluation unit 110 determines "Yes" in step 802 and proceeds to step 803.

When the map evaluation unit 110 proceeds to step 803, it outputs map data to the operation device 109 and displays the map data including the static noise as an image on the display of the operation device 109. At this time, the map evaluation unit 110 displays the map data on the display in a display format that allows the static noise area to be distinguished on the screen. For example, in order to clearly indicate the static noise area on the image, the map evaluation unit 110 displays the map data on the display in a display format that indicates the static noise area with an arrow, a display format that surrounds the static noise area with a highlighted line, a display format that fills the static noise area with a specific color, etc.

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

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

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

Furthermore, the user may be able to operate the operation device 109 to select an area of static noise in the map data displayed on the display. In this case, the map evaluation unit 110 may delete the selected area of static noise from the map data based on the user's operation of the operation device 109.

If there is no request from the operation device 109 to modify the static noise area, the map evaluation unit 110 determines "No" in step 804 and proceeds directly to step 806.

When the map evaluation unit 110 proceeds to step 806, it determines whether to reacquire map data (data for creating a map) depending on whether there is a request to reacquire map data from the operation device 109. Note that this reacquisition request is generated, for example, by the user performing a predetermined operation on the operation device 109.

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

In response to this, if the map evaluation unit 110 determines that there is a request from the operation device 109 to re-acquire map data and that the map data should be re-acquired, it determines "Yes" in step 806 and proceeds to step 807.

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

Then, the map evaluation unit 110 proceeds to step 808 and determines whether the map data has been acquired again. If the map data has not been acquired again, the map evaluation unit 110 determines "No" in step 808 and executes the processing of step 808 again.

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

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

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

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

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

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

Therefore, the following explanation will focus on the above differences.

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

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

Then, the map evaluation unit 110 proceeds to step 902 and determines whether or not there is a set of measurement points that were determined in step 901 to be measurement points obtained from a non-stationary object.

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

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

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

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

Then, the map evaluation unit 110 proceeds to step 904 to determine whether or not difficult-to-determine noise is present in the map data. If difficult-to-determine noise is present in the map data, the map evaluation unit 110 determines "Yes" in step 904 and proceeds to step 905.

When the map evaluation unit 110 proceeds to step 905, it determines whether static noise is also present in the map data (i.e., whether static noise is present in addition to the difficult-to-determine noise in the map data).

If static noise is also present in the map data, the map evaluation unit 110 judges "Yes" in step 905 and proceeds to step 906.

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

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

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

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

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

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

In this case, the following processing may be performed before reading the map data in steps 800 and 900 and starting the static noise discrimination. That is, from the measurement points corresponding to the map creation data set, measurement points acquired while the mobile body 101 is moving (when in a moving state) may be extracted (discriminated), and the static noise discrimination in Figures 8 and 9 may be performed using only the extracted (discriminated) measurement points.

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

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

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

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

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

Claims (10)

a surroundings sensor mounted on a moving body, which detects a reflection point of the irradiation wave on an object as a measurement point by irradiating an irradiation wave around the moving body, and acquires position information indicating a position of the measurement point relative to the moving body;
an information processing device that creates object presence map data indicating the positions of the stationary objects, which are the objects that are stationary, by recording the positions of the stationary objects in map coordinates corresponding to the map creation target area based on the position information of the measurement points acquired by the surrounding sensors while the moving body is moving in the map creation target area;
Including,
The information processing device includes:
When the object presence map data is created, a measurement point density of a specific set of the measurement points in the created object presence map data is compared with a predetermined static noise threshold density to determine whether or not the position information of the specific set of the measurement points is static noise, which is information about the measurement points obtained from a static noise object that is a specific object other than the stationary object ;
When the measurement point density is equal to or less than the difficult-to-determine noise threshold density that is set to a density greater than the static noise threshold density,
If the measurement point density is equal to or less than the static noise threshold density, the position information of the specific set of the plurality of measurement points is determined to be static noise;
If the measurement point density is greater than the static noise threshold density, the position information of the set of the specific plurality of measurement points is determined to be difficult-to-determine noise that is difficult to determine as either the position information regarding the stationary object or the static noise.
It was configured as follows:
Map data creation device. 2. The map data creation device according to claim 1 ,
The information processing device includes:
displaying the object presence map data as an image on a display unit of a terminal connected to the information processing device;
It was configured as follows:
Map data creation device. 3. The map data creation device according to claim 2 ,
The information processing device includes:
the position information of the set of the specific plurality of measurement points determined to be the static noise is deleted from the object presence map data, and the object presence map data from which the position information has been deleted is displayed as an image on the display unit.
It was configured as follows:
Map data creation device. 4. The map data generating device according to claim 3 ,
The information processing device includes:
when a correction instruction request is received based on an operation on the terminal for the static noise of the object presence map data displayed as an image on the display unit, the position information of the specific set of the plurality of measurement points determined to be the static noise is deleted from the object presence map data.
It was configured as follows:
Map data creation device. 3. The map data creation device according to claim 2 ,
The information processing device includes:
when it is determined that the position information of the set of the specific plurality of measurement points is the static noise, and when there is a request to reacquire the measurement points for creating the object presence map data generated based on an operation on the terminal, notifying the terminal of a method for reacquiring the measurement points.
It was configured as follows:
Map data creation device. 2. The map data creation device according to claim 1 ,
The information processing device includes:
determining whether the measurement point density is equal to or less than the difficult-to-determine noise threshold density;
If the measurement point density is equal to or less than the difficult-to-determine noise threshold density, it is further determined whether or not the measurement point density is greater than the static noise threshold density.
It was configured as follows:
Map data creation device. 2. The map data creation device according to claim 1 ,
The information processing device includes:
The object presence map data is displayed as an image on a display unit of a terminal connected to the information processing device,
Furthermore, the information processing device
When the object presence map data is displayed as an image on the display unit,
displaying, in a first display mode, an area corresponding to the position information of the set of the specific plurality of measurement points determined to be the difficult-to-determine noise;
displaying an area corresponding to the position information of the set of the specific plurality of measurement points determined to be static noise in a second display manner different from the first display manner.
It was configured as follows:
Map data creation device. a surroundings sensor mounted on a moving body, which detects a reflection point of the irradiation wave on an object as a measurement point by irradiating an irradiation wave around the moving body, and acquires position information indicating a position of the measurement point relative to the moving body;
an information processing device that creates object presence map data indicating the positions of the stationary objects, which are the objects that are stationary, by recording the positions of the stationary objects in map coordinates corresponding to the map creation target area based on the position information of the measurement points acquired by the surrounding sensors while the moving body is moving in the map creation target area;
Including,
The information processing device includes:
When the object presence map data is created, the quality of the created object presence map data is evaluated by comparing the measurement point density of a specific set of the measurement points in the created object presence map data with a predetermined static noise threshold density to determine whether the position information of the specific set of the measurement points is static noise, which is information about the measurement points obtained from a static noise object that is a specific object other than the stationary object ;
When the measurement point density is equal to or less than the difficult-to-determine noise threshold density that is set to a density greater than the static noise threshold density,
If the measurement point density is equal to or less than the static noise threshold density, the position information of the specific set of the plurality of measurement points is determined to be static noise;
If the measurement point density is greater than the static noise threshold density, the position information of the set of the specific plurality of measurement points is determined to be difficult-to-determine noise that is difficult to determine as either the position information regarding the stationary object or the static noise.
It was configured as follows:
Map data evaluation device. 9. The map data evaluation device according to claim 8 ,
The information processing device includes:
When the position information of the set of the specific plurality of measurement points is determined to be static noise, a notification of a warning regarding the static noise is sent to a terminal connected to the information processing device.
It was configured as follows:
Map data evaluation device. a surroundings sensor mounted on a moving body, which detects a reflection point of the irradiation wave on an object as a measurement point by irradiating an irradiation wave around the moving body, and acquires position information indicating a position of the measurement point relative to the moving body;
an information processing device that creates object presence map data indicating the positions of the stationary objects, which are the objects that are stationary, by recording the positions of the stationary objects in map coordinates corresponding to the map creation target area based on the position information of the measurement points acquired by the surrounding sensors while the moving body is moving in the map creation target area;
A map data creation method using
By the information processing device,
When the object presence map data is created, a measurement point density of a specific set of the measurement points in the created object presence map data is compared with a predetermined static noise threshold density to determine whether or not the position information of the specific set of the measurement points is static noise, which is information about the measurement points obtained from a static noise object that is a specific object other than the stationary object;
When the measurement point density is equal to or less than the difficult-to-determine noise threshold density that is set to a density greater than the static noise threshold density,
If the measurement point density is equal to or less than the static noise threshold density, the position information of the specific set of the plurality of measurement points is determined to be static noise;
If the measurement point density is greater than the static noise threshold density, the position information of the set of the specific plurality of measurement points is determined to be difficult-to-determine noise that is difficult to determine as either the position information regarding the stationary object or the static noise.
How to create map data.

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