阅读说明：本技术 地图创建设备、地图创建方法和程序 (Map creation device, map creation method, and program ) 是由 鹤见辰吾 于 2020-02-19 设计创作，主要内容包括：提供了一种地图创建设备,该地图创建设备包括：地图内位置控制单元,其基于与移动体或环境有关的信息来设置移动体的位置坐标,所述坐标被设置在地图空间上,其中,对空间划界的边界和在与所述边界相对的一侧的边界连接；以及感测反映单元,其通过使由移动体感测到的环境信息被反映在地图空间中来创建与移动体周围的环境对应的环境地图。(There is provided a map creation apparatus including: an in-map position control unit that sets position coordinates of a moving body, which are set on a map space, on the basis of information on the moving body or an environment, wherein a boundary demarcating the space and a boundary on a side opposite to the boundary are connected; and a sensing reflection unit that creates an environment map corresponding to an environment around the moving body by causing the environment information sensed by the moving body to be reflected in the map space.)

1. A map creation apparatus comprising:

an in-map position control unit that sets position coordinates of a moving body, which are set on a map space, on the basis of information on the moving body or an environment, wherein a boundary demarcating the space and a boundary on a side opposite to the boundary are connected; and

a sensing reflection unit that creates an environment map corresponding to an environment around the moving body by causing environmental information sensed by the moving body to be reflected to the map space.

2. The map creation device of claim 1, wherein,

the in-map position control unit sets position coordinates of the mobile body in the map space based on a movement plan or a movement speed of the mobile body.

3. The map creation device of claim 2, wherein,

the in-map position control unit sets the position coordinates of the moving body to coordinates resulting from moving the position coordinates of the moving body from the center of the map space in a direction opposite to the moving direction of the moving body or in a direction opposite to the direction of the arrival position in the movement plan.

4. The map creation device of claim 3, wherein,

the in-map position control unit sets the position coordinates of the moving body to coordinates resulting from moving the position coordinates of the moving body from the center of the map space only by a distance according to the moving speed of the moving body.

5. The map creation device of claim 3, wherein,

the map space includes a basic map space and an extended map space, and

the in-map position control unit sets the position coordinates of the moving body to coordinates resulting from moving the position coordinates of the moving body from the center of the basic map space in a direction opposite to the moving direction of the moving body or in a direction opposite to the direction of the arrival position in the movement plan.

6. The map creation device of claim 5, wherein,

the extended map space is provided adjacent to the basic map space in the moving direction of the moving body or in the direction of the arrival position in the movement plan.

7. The map creation device of claim 5, wherein,

the size of the extended map space is equal to the size of the basic map space.

8. The map creation device of claim 1, wherein,

the in-map position control unit sets position coordinates of the moving body in the map space based on information on audio from an environment.

9. The map creation device of claim 1, wherein,

the environment information includes information on distances from the moving body to respective objects present in the environment.

10. The map creation device of claim 9, wherein,

the map space is divided into grid cells each having a predetermined size, and

the sensing reflection unit determines whether the grid cell is an occupied area or an empty area based on an occupation probability of each object for the grid cell.

11. The map creation device of claim 10, wherein,

the sensing reflection unit increases the probability of occupation of the grid cells including the respective objects based on the environmental information sensed by the moving body.

12. The map creation device of claim 10, wherein,

in a case where the moving range of the moving body exceeds the grid cell, the sensing reflection unit updates the environment map by changing a grid cell on a side opposite to the moving direction of the moving body in the environment map to an unknown area.

13. The map creation device of claim 1, wherein,

the map space includes a ring buffer.

14. The map creation device of claim 1, wherein,

setting an orientation of the map space such that the orientation of the mobile body is fixed with respect to the map space.

15. The map creation device of claim 1, wherein,

the map space includes a three-dimensional space, an

The mobile body includes an aircraft.

16. The map creation device of claim 1, wherein,

displaying the environment map by wirelessly manipulating a transmitting/receiving apparatus of the mobile body.

17. The map creation device of claim 16, wherein,

the transmission/reception device displays a captured image of an environment captured by the moving body together with the environment map.

18. A map creation method, comprising:

by means of an arithmetic device:

setting position coordinates of a moving body, which are set on a map space, on the basis of information on the moving body or an environment, wherein one boundary demarcating the space and another boundary on a side opposite to the one boundary are connected; and

creating an environment map corresponding to an environment around the moving body by causing environmental information sensed by the moving body to be reflected to the map space.

19. A program for causing a computer to function as:

an in-map position control unit that sets position coordinates of a moving body, which are set on a map space, on the basis of information on the moving body or an environment, wherein one boundary demarcating the space and another boundary on a side opposite to the one boundary are connected; and

a sensing reflection unit that creates an environment map corresponding to an environment around the moving body by causing environmental information sensed by the moving body to be reflected to the map space.

Technical Field

The present disclosure relates to a map creation device, a map creation method, and a program.

Background

In recent years, in a moving body such as a robot apparatus, an unmanned aerial vehicle, or an automobile, the ability to create a movement plan by recognizing the environment around the moving body and move by following the created movement plan becomes important.

In such a moving body, for example, a movement plan is created by creating an environment map reflecting information on the surrounding environment and detecting an obstacle region and a region that can move therethrough. Therefore, in order to create a highly accurate movement plan more efficiently, a technique for creating an environment map more efficiently has been considered.

For example, the following patent document 1 discloses the following technique: the technique is used to reduce costs associated with the maintenance and updating of an environment map represented by an occupancy grid map in order to efficiently use limited computing and memory resources in a robotic device or the like.

[ list of references ]

[ patent document ]

[ patent document 1] JP 2003-

Disclosure of Invention

[ problem ] to

With the technique disclosed in patent document 1 described above, an environment map can be created for a limited range around a moving body. However, for example, in conjunction with higher moving speeds of moving bodies in recent years, it is necessary to further increase the range of the created environment map.

Accordingly, the present disclosure proposes the following new and improved map creation apparatus, map creation method, and program: which enables creation of an environment map suitable for mobile planning and for a wider range while suppressing increase in memory consumption and processing load.

[ means for solving the problems ]

By means of the present disclosure, there is provided a map creation apparatus including: an in-map position control unit that sets position coordinates of the moving body based on information about the moving body or the environment, the position coordinates being set on a map space in which a boundary demarcating the space and a boundary on a side opposite to the boundary are connected; and a sensing reflection unit that creates an environment map corresponding to an environment around the moving body by causing the environment information sensed by the moving body to be reflected to the map space.

In addition, by means of the present disclosure, there is provided a map creation method including: by means of an arithmetic device: setting position coordinates of a moving body, the position coordinates being set on a map space, on the basis of information on the moving body or an environment, wherein one boundary demarcating the space and another boundary on a side opposite to the one boundary are connected; and creating an environment map corresponding to an environment around the moving body by causing the environment information sensed by the moving body to be reflected to the map space.

Further, with the aid of the present disclosure, there is provided a program for causing a computer to function as an in-map position control unit that sets position coordinates of a moving body based on information relating to the moving body or an environment, the position coordinates being set on a map space, wherein one boundary demarcating the space and another boundary on a side opposite to the one boundary are connected; the sensing reflection unit creates an environment map corresponding to an environment around the moving body by causing environmental information sensed by the moving body to be reflected to a map space.

Drawings

Fig. 1 is a block diagram for describing an internal configuration of a control apparatus including a map creation apparatus according to an embodiment of the present disclosure.

Fig. 2 is a block diagram for describing an internal configuration of a map creation unit according to an embodiment.

Fig. 3A is a graph showing a distance sensing result in an ideal sensor model.

Fig. 3B is a graph showing a distance sensing result in a stereo camera.

Fig. 4 is an explanatory view for describing position control of a moving body in a map space according to an embodiment.

Fig. 5 is an explanatory view for describing a method of reflecting distance information to a map space.

Fig. 6A is a graphical view showing an example of an occupancy probability threshold for determining an occupied area or a free area of a grid cell.

Fig. 6B is a graphical view showing an example of updating the grid cell occupation probability.

Fig. 7 is an explanatory view for describing a ring buffer in a three-dimensional map space.

Fig. 8 is an explanatory view for describing reflection of distance information in a three-dimensional map space.

Fig. 9 is a flowchart for describing an example of the operation flow of the map creation unit according to the embodiment.

Fig. 10A is an explanatory view showing each of environment maps created by a modification of the map creating unit and an example of correspondence with the environment around a moving body.

Fig. 10B is an explanatory view showing each of the environment maps created by the modification of the map creating unit and an example of correspondence with the environment around the moving body.

Fig. 10C is an explanatory view showing each of the environment maps created by the modification of the map creating unit and an example of correspondence with the environment around the moving body.

Fig. 10D is an explanatory view showing each of the environment maps created by the modification of the map creating unit and an example of correspondence with the environment around the moving body.

Fig. 11 is a flowchart for describing an example of the operation flow of the map creation unit according to the modification.

Fig. 12 is a block diagram for describing a configuration of a controller in which an environment map is displayed.

Fig. 13A is an explanatory view showing a display example of an environment map in a case where the mobile body moves at a low speed.

Fig. 13B is an explanatory view showing a display example of an environment map in the case where the mobile body moves at high speed.

Fig. 14 is a flowchart for describing a flow for creating an occupancy grid map.

Fig. 15 is an explanatory view for describing a method of updating information in an occupancy grid map.

Detailed Description

A description is given below in detail of preferred embodiments of the present disclosure with reference to the accompanying drawings. Note that in the present specification and the drawings, the same reference numerals are applied to components having substantially the same functional configuration, so that overlapping description is omitted.

Note that the description will be given in the following order.

1. Background of the invention related to the disclosure

2. Configuration of control devices

3. Configuration of map creation unit

4. Operation of a map creation unit

5. Modification examples

5.1 configuration of the modification

5.2 operation of the variant

6. Display examples

<1. background Art associated with the present disclosure >

A map creation device according to one embodiment of the present disclosure creates an environment map that reflects information about the environment around a moving body using an occupancy grid map. First, referring to fig. 14, a description is given about the occupancy grid map.

The occupancy grid map is an example of a technique in which a moving body detects an area through which the moving body can move and an obstacle area. Specifically, the occupation grid map is the following technique: a free area through which a movement is possible and an occupied area in which an obstacle is present are detected by dividing a space into grid cells of a square shape and a target occupation probability is set for each grid cell based on a sensing result from a moving body.

For example, the occupancy grid map may be created by the flow shown in fig. 14. Fig. 14 is a flowchart for describing a procedure for creating an occupancy grid map. According to the flow shown in fig. 14, first, a map space is set which represents the environment around the moving body by the grid cells of a square and is centered on the moving body (S10).

Next, a sensor model of a distance sensor that observes the environment around the moving body is defined (S20). This is because the distance sensor that observes the environment around the moving body has different observation result characteristics according to the method of sensing the distance. For example, the larger the distance from the object using the distance sensor of the stereo camera, the larger the error included in the observation result. Therefore, by defining a sensor model suitable for the distance sensor used, the accuracy and reliability of the environment map to be created can be improved.

Subsequently, the distance sensor is used to observe (sense) the environment around the moving body (S30), and the sensing result is reflected to the map space (S40). Specifically, for each grid cell, an occupancy probability representing a probability that an object exists in the grid cell is set, and the occupancy probability of the grid cell including the object is increased based on information on a distance between an observed moving body and the object. Meanwhile, the grid cell between the moving body and the object does not include the object, and thus the occupation probability is reduced.

Further, after reflecting the sensing result, the occupancy probability of each grid cell is updated (S50). By increasing or decreasing the probability of occupation according to S40 for each sensing result, the probability of occupation of the grid cells including the object gradually increases, and the probability of occupation of the grid cells not including the object gradually decreases. By so doing, it is possible to determine, as an obstacle region, a grid cell whose probability of occupation has increased above a threshold value for determining the obstacle region. In addition, a grid cell whose occupancy probability has become lower than a threshold for determining a region through which movement is possible may be determined as a region through which movement is possible.

By repeating the operations of step S30 through step S50 described above until the mobile body stops, the mobile body can create an environment map that reflects information about the surrounding environment, and create a movement plan based on the created environment map.

Here, for the reference coordinate system occupying the grid map, two modes can be considered: a fixed world coordinate system and a fixed body coordinate system.

The fixed world coordinate system is the coordinate system that occupies the grid map is fixed to the environment. In the case of using a fixed world coordinate system, the occupancy grid map may be created by reflecting each sensing result observed from the moving body to the map space in consideration of the position/orientation of the moving body. For example, the occupancy grid map may be created by mapping the coordinates of the moving body to a map space in the world coordinate system and additionally adding the observation result from the moving body to the map space.

However, the case where a large-scale environment is represented by an occupancy grid map as a fixed world coordinate system may result in creating an occupancy grid map including information about the entire environment, and therefore, a large-capacity memory is required to hold the occupancy grid map. In the three-dimensional occupancy map grid, a method (generally referred to as an OctoMap) of suppressing memory consumption by holding information on each grid cell in a tree structure is considered, but this method tracks the tree structure when reading out the information on each grid cell, and therefore, the processing load increases.

In contrast, the fixed body coordinate system is a coordinate system that fixes the coordinate system occupying the grid map to the position/orientation of the moving body. In the case of using a fixed body coordinate system, an occupancy grid map may be created by subjecting past information on the occupancy grid map to coordinate conversion according to a change in the position/orientation of the mobile body, reflecting the past information to a map space, and additionally reflecting a sensing result observed from the mobile body to the map space. For example, the occupancy grid map may be created by performing reverse conversion on the body coordinate system occupancy grid map once in the past in accordance with a change in the position of the moving body and adding the current observation result to the reverse-converted occupancy grid map.

However, in the case where the grid map is occupied by the fixed body coordinate system, the processing load becomes high because information on the occupied grid map is subjected to coordinate conversion every time the position/orientation of the mobile body changes. Therefore, in the case of a fixed body coordinate system, a method of configuring a map space by a ring buffer to reduce the physical load has been considered. Referring to fig. 15, a description is given about the occupied mesh map configured by the ring buffer. Fig. 15 is an explanatory diagram for describing a method of updating information in an occupied grid map.

The ring buffer is the following buffer: in this buffer, by connecting both ends of the linear buffer, in the case of writing information beyond the end, the information beyond the end is written after returning to the beginning. In other words, the map space G is a space in which one boundary is connected to another boundary on the opposite side.

As shown in fig. 15, the position coordinate Mt of the moving body at time t is set on the map space G represented by the occupied grid map, and consideration is given to the case where the moving body has moved to the position coordinate Mt +1 at time t + 1.

In the case where the map space is not a ring buffer (upper side when facing fig. 15), the environment map may be updated by adding a row of mesh cells gFW set as an unknown region yet to be observed before the forefront row of mesh cells in the moving direction of the moving body in conjunction with the movement of the moving body and deleting the rearmost row of mesh cells gBW in the direction opposite to the moving direction of the moving body. By so doing, even when the moving body has moved, it is possible to create an environment map that supports the environment around the moving body.

In contrast, in the case where the map space G is a ring buffer (lower side in the case of fig. 15), the environment map can be updated by resetting the rearmost row of the mesh cells gBW in the direction opposite to the moving direction of the moving body to an unknown area yet to be observed in conjunction with the movement of the moving body. In other words, in the ring buffer, the mesh cells ahead of the mesh cells in the forefront row in the moving direction of the moving body become the mesh cells gBW in the rearmost row in the direction opposite to the moving direction of the moving body. Therefore, by repeatedly using the rearmost row of grid cells gBW (the frequency of use of which can be regarded as low) as the grid cells of the unknown area added in conjunction with the movement of the moving body, the amount of storage consumed by the map space G can be reduced.

However, in the grid map occupied by the fixed body coordinate system, the range of the created environment map is only the range around the moving body. In such a case, it is difficult for a mobile body to create a movement plan for moving along a long distance. In addition, in the case where the mobile body moves at a high speed, the mobile body will likely experience a delay in obstacle discovery.

As described above, although various techniques have been considered, in an occupancy grid map to be used for creating a movement plan of a moving body, it is difficult to create an environment map suitable for low memory consumption and low processing compliance.

In particular, in combination with a change in the moving speed of the mobile body to a higher speed and an increase in complexity of the movement plan, in the case of creating the movement plan for a wide range, it is requested to create the environment map for the wide range while suppressing an increase in memory consumption and processing load.

For example, in the case where the mobile body is an aircraft such as an unmanned aerial vehicle, since the occupation grid map and the movement plan of the mobile body will be three-dimensional, the complexity of the movement plan and the amount of information occupying the grid map significantly increase, and the memory consumption and the processing load also significantly increase. Therefore, in such a case, it becomes important to suppress memory consumption and processing load when creating an environment map and a movement plan.

Based on the above-described circumstances, the inventors have conceived a technique according to the present disclosure. A detailed description is given below regarding a technique according to the present disclosure, which enables creation of an environment map suitable for movement planning and for a wider range while suppressing increase in memory consumption and processing load.

<2. configuration of control apparatus >

First, referring to fig. 1, a description is given about a control apparatus including a map creation apparatus according to an embodiment of the present disclosure. Fig. 1 is a block diagram for describing an internal configuration of a control apparatus including a map creation apparatus according to the present embodiment.

As shown in fig. 1, the control apparatus 100 creates a movement plan of the moving body based on the environment map created from the information obtained from the sensor 200, and controls the movement of the moving body based on the created movement plan. The control apparatus 100 is provided with, for example, a self-position calculation unit 110, a map creation unit 120, an obstacle detection unit 130, a movement planning unit 140, an action planning unit 150, and an action control unit 160.

The self-position calculation unit 110 calculates the position/orientation of the moving body based on information obtained from the sensor 200 mounted on the moving body. Specifically, the self-position calculation unit 110 first obtains image information captured by an image sensor 210 mounted to the moving body, the image sensor 210 being an RGB camera, a grayscale camera, or the like, and obtains information on the position/orientation of the moving body from an IMU (inertial measurement unit) 220, the IMU (inertial measurement unit) 220 including an acceleration sensor, a gyro sensor, a magnetic sensor, or the like. Next, the self-position calculation unit 110 calculates the position, orientation, velocity, angular velocity, and the like of the moving body based on the image information captured by the moving body and the information on the position/orientation of the moving body (hereinafter, the information on these parameters may be collectively referred to as self information). Since a well-known method can be used for the method of calculating the position, orientation, velocity, angular velocity, etc. of the mobile body by the self-position calculation unit 110, a detailed description is omitted here. Note that the self-position calculation unit 110 may also obtain information on the sensing result from another sensor mounted to the moving body as necessary to calculate the position, orientation, velocity, angular velocity, and the like of the moving body.

The map creation unit 120 corresponds to the map creation apparatus according to the present embodiment, and creates an environment map corresponding to the environment around the moving body based on the distance information on the object obtained from the sensor 200 (specifically, the distance sensor 230) attached to the moving body and the self information of the moving body calculated by the self position calculation unit 110. The environment map created by the map creating unit 120 is a fixed body coordinate system ring buffer area occupying grid map, and each grid cell of the environment map is set to any one of an occupied area whose occupation probability is high, an empty area whose occupation probability is low, and an unknown area yet to be observed. Referring to fig. 2, a description is given below regarding a detailed configuration and operation of the map creation unit 120.

The obstacle detecting unit 130 detects an obstacle existing in the environment map created by the map creating unit 120. Specifically, the obstacle detection unit 130 detects the presence or absence of an obstacle with respect to the moving body by evaluating each occupied area and each vacant area in the environment map according to the body characteristics or the motion characteristics of the moving body. Note that, for example, the body characteristic or the motion characteristic of the moving body may be determined based on the self information of the moving body calculated by the self position calculation unit 110.

For example, in the case where the moving body is a motor vehicle that moves by wheels, the obstacle detection unit 130 may determine that an object having a height that the wheels cannot travel through is an obstacle. In addition, in the case where the moving body is a robot apparatus that moves by legs, the obstacle detection unit 130 may determine that an object having a height that can be spanned by legs is not an obstacle. Further, in the case where the mobile body is an aircraft such as a drone, the obstacle detection unit 130 may determine that an object existing at a position lower than the height at which the mobile body can fly is not an obstacle.

The movement planning unit 140 plans a route for the moving body to the destination based on the own information of the moving body and the environment map created by the map creation unit 120. Specifically, the mobile planning unit 140 may plan the optimal route by applying a graph search algorithm, such as an algorithm of Dijkstra or an a-x algorithm, to the environment map, which is the occupancy grid map and is created by the map creation unit 120. At this time, the movement planning unit 140 may apply the map search algorithm after determining the obstacle region and the region that can move therethrough in the environment map based on the presence or absence of the obstacle detected by the obstacle detecting unit 130.

The action planning unit 150 plans an action for the mobile body based on the own information of the mobile body, the movement plan of the movement planning unit 140, and the information on the obstacle detected by the obstacle detecting unit 130. Specifically, based on, for example, an instruction from the user, the own information of the mobile body, the movement plan, or the information about the obstacle, the action plan unit 150 creates an action plan about an action of the mobile body other than the movement. For example, the action planning unit 150 may create an action plan that includes an environment captured by an image sensor 210 mounted to a moving body. In addition, the motion planning unit 150 may create a motion plan including loading or unloading goods to or from the mobile body or the person who enters or leaves the mobile body.

The motion control unit 160 controls the actual motion of the mobile body based on the own information of the mobile body, the movement plan, and the motion plan created by the motion planning unit 150. Specifically, the motion control unit 160 compares the state of the mobile body determined from the own information of the mobile body with the state of the mobile body according to the movement plan or the motion plan, and outputs a drive command for bringing the state of the mobile body close to the planned state to a drive unit (e.g., a motor or the like) of the mobile body. Note that the motion control unit 160 may generate control commands output to the drive unit of the mobile body in a hierarchical manner.

<3. configuration of map creation Unit >

Next, referring to fig. 2, a description is given about a specific configuration of the map creating unit 120 included in the control apparatus 100. Fig. 2 is a block diagram for describing the internal configuration of the map creation unit 120.

As shown in fig. 2, the map creation unit 120 is provided with a position/orientation update unit 121, a velocity vector obtaining unit 122, a sensor model application unit 123, an in-map position control unit 124, and a sensing reflection unit 125.

The position/orientation updating unit 121 calculates the coordinates of the moving body in the environment map based on the information on the position/orientation of the moving body. Specifically, the position/orientation updating unit 121 calculates the current coordinates of the moving body in the environment map based on the past coordinates of the moving body in the environment map, the past position/orientation of the moving body, and the information on the current position/orientation of the moving body. In other words, the position/orientation updating unit 121 calculates the amount of change in the position/orientation between the past and present of the moving body, and calculates the current coordinates of the moving body in the environment map based on the calculated amount of change.

The velocity vector obtaining unit 122 obtains information on the velocity vector of the moving body from the own position calculation unit 110. Specifically, the velocity vector obtaining unit 122 obtains a velocity vector of the moving body including a moving speed and a moving direction from the own position calculation unit 110.

The sensor model application unit 123 applies a sensor model selected based on the sensing method of the distance sensor 230 to the distance information of the object.

Here, with reference to fig. 3A and 3B, a description is given about a sensor model in the distance sensor 230. Fig. 3A is a graph showing a sensing result of a distance in an ideal sensor model, and fig. 3B is a graph showing a sensing result of a distance in a stereo camera.

As shown in fig. 3A, in the ideal sensor model, in the case where an object exists at a Distance (Distance) zt, a Probability of existence (Proavailability) of the object can be obtained as a sensing result having a pulse-like peak at the Distance zt. In addition, in an ideal sensor model, the error in the sensing result is constant and does not depend on the distance to the object.

In contrast, as shown in fig. 3B, for a sensor model of a stereo camera or the like, in the case where an object exists at a Distance (Distance) zt, a Probability (Probability) of existence of the object can be obtained as a sensing result having a distributed peak at the Distance zt. In addition, in a sensor model of a stereo camera or the like, the larger the distance to an object, the larger the error of the sensing result.

Accordingly, the sensor model application unit 123 can improve the reliability on the distance information by correcting the characteristic difference of the sensing result occurring due to the sensing method of the distance sensor 230. In other words, the sensor model applying unit 230 may improve reliability on the distance information by applying the sensor model of the distance sensor 230 to the distance information of the object. By so doing, the map creation unit 120 can create an environment map with higher reliability for the setting of occupied areas and free areas.

The in-map position control unit 124 controls the position coordinates of the moving body in the map space based on the coordinates of the moving body in the environment map and the velocity vector of the moving body.

Here, referring to fig. 4, a more detailed description is given about the movement of the coordinates of the moving body in the map space. Fig. 4 is an explanatory view for describing position control of a moving body in a map space.

As shown in fig. 4, the in-map position control unit 124 first updates the environment map based on the coordinates of the moving body in the environment map so that the moving body M is placed at the center of the map space G. Subsequently, the in-map position control unit 124 moves the coordinates of the moving body M from the center of the map space G based on the velocity vector V of the moving body M. Specifically, the in-map position control unit 124 moves the coordinates of the moving body M from the center of the map space G in the direction opposite to the direction of the velocity vector V of the moving body M (in other words, in the moving direction of the moving body M). By so doing, the in-map position control unit 124 can expand the range in which the environment map is created in the moving direction of the moving body, and therefore, it becomes possible to create the movement plan more smoothly by the movement planning unit 140. For example, the moving amount SS of the moving body from the center of the map space G may be determined based on the magnitude of the velocity vector V of the moving body.

The in-map position control unit 124 may control the movement amount SS of the moving body M from the center of the map space G according to the magnitude of the velocity vector V of the moving body M. In other words, the in-map position control unit 124 may control the coordinates of the moving body M such that the larger the magnitude of the velocity vector V of the moving body M, the larger the movement amount SS from the center of the map space G. In addition, in the case where the magnitude of the velocity vector V of the moving body M is greater than or equal to the threshold value, the in-map position control unit 124 may move the coordinates of the moving body M from the center of the map space G by only a predetermined amount or an amount according to the magnitude of the velocity vector V of the moving body M in the direction opposite to the direction of the velocity vector V of the moving body M.

In addition, the in-map position control unit 124 may move the coordinates of the moving body from the center of the map space based on the movement plan of the moving body instead of the velocity vector of the moving body. Specifically, the in-map position control unit 124 may move the coordinates of the moving body from the center of the map space in a direction opposite to the destination (or arrival position) direction of the moving body in the movement plan of the moving body. At this time, the amount of movement of the coordinates of the moving body may be a predetermined amount, and may be, for example, an amount based on the magnitude of the moving speed of the moving body. By so doing, the in-map position control unit 124 can expand the range of creating the environment map in the direction to the destination of the moving body, and thus the movement planning unit 140 can create a longer distance or a more complicated movement plan.

Further, the in-map position control unit 124 may move the coordinates of the moving body from the center of the map space based on the information about the environment instead of the velocity vector of the moving body. Specifically, the in-map position control unit 124 may move the coordinates of the moving body from the center of the map space in the direction opposite to the direction in which the voice of the person is detected by the microphone or in the direction opposite to the direction in which the person or the obstacle is detected by the image capturing apparatus. At this time, the amount of movement of the coordinates of the moving body may be a predetermined amount, and may be, for example, an amount based on the magnitude of the moving speed of the moving body. By doing so, the in-map position control unit 124 can expand the range in which the environment map is created in a direction in which the possibility of the presence of a person or an obstacle is high and it is found that more careful movement is required. Accordingly, the in-map position control unit 124 may improve the security of the movement plan created by the movement planning unit 140.

Therefore, the map creation apparatus according to the present embodiment can dynamically change the range in which the environment map is created by moving the position of the mobile body in the map space by the in-map position control unit 124. By doing so, the map creation device according to the present embodiment can create an environment map for a range in which focusing is more desirable without causing memory consumption or an increase in processing load.

Further, the map creation apparatus according to the present embodiment can create a larger-scale fixed world coordinate system environment map by collecting the positions of moving bodies and environment maps created at the positions from a plurality of moving bodies and pasting together the collected environment maps.

The sensing reflection unit 125 creates an environment map by reflecting information on a distance from the moving body to the object to the map space based on distance information to which the sensor model is applied and information on the coordinates/orientation of the moving body in the map space. The reflection of the sensing result to the map space by the sensing reflection unit 125 may be performed, for example, by using a line drawing algorithm of Bresenham (Bresenham) or the like.

Here, with reference to fig. 5 to 6B, a description is given about the creation of the environment map by the sensing reflection unit 125. Fig. 5 is an explanatory view for describing a method of reflecting distance information to a map space.

Fig. 6A is a graphical view showing an example of an occupancy probability threshold for determining whether a grid cell is an occupied area or a free area, and fig. 6B is a graphical view showing an example of updating a grid cell occupancy probability.

As shown in fig. 5, the sensing reflection unit 125 updates the grid cell occupation probability and creates the environment map by reflecting information on the distance from the sensor So mounted on the moving body to the object Ob to the map space G.

Specifically, the sensing reflection unit 125 draws a line segment connecting the sensor So and the object Ob in the map space G based on information on the distance from the sensor So to the object Ob. At this time, the sensing reflection unit 125 raises the probability of occupation of the mesh unit gO including the object Ob by a predetermined value only, and reduces the probability of occupation of the mesh unit gF including a line segment connecting the sensor So and the object Ob by a predetermined value only. In contrast, the grid cell gU through which the line segment connecting the sensor So and the object Ob does not pass is an unknown region yet to be observed, and therefore, the occupancy probability thereof is not made to change.

The sensing reflection unit 125 updates the occupation probability of each mesh cell by respectively causing information on the distance to the observed object to be reflected to the map space to thereby increase or decrease the occupation probability of the mesh cell. For example, a binary bayesian filtering algorithm may be used to perform the increase or decrease of the probability of occupation of the grid cell. With the binary bayesian filtering algorithm, the probability of occupancy at a particular time can be represented by logarithms, and thus, the probability of occupancy over time can be combined by adding together the logarithms of the probability of occupancy (LOG _ ODDS).

For example, as shown in fig. 6A, for the logarithm of the occupation probability, the maximum value (MAX) may be set to "3.5", the threshold value (TH _ OCC) for determining the occupied area may be set to "0.85", the threshold value (TH _ FREE) for determining the FREE area may be set to "-0.4", and the minimum value (MIN) may be set to "-2.0". Note that, based on the sensor model, the initial value (INI) of the logarithm of the occupancy probability may be set to an appropriate value between the threshold (0.85) for determining the occupied area and the threshold (-0.4) for determining the free area. .

By so doing, for the grid cell in which the object is present, it can be seen that, as shown by case 1 in fig. 6B, since the occupancy probability gradually increases, the occupancy probability exceeds the threshold (TH _ OCC) at which the occupancy region is determined, and reaches the maximum value (MAX). In addition, for the grid cell in which there is no object, it can be seen that, as shown by case 2 in fig. 6B, since the occupancy probability gradually decreases, the occupancy probability exceeds the threshold (TH _ FREE) at which the FREE area is determined, and reaches the minimum value (MIN). Further, for the grid cell through which the moving object passes, it can be seen that, as shown by case 3 in fig. 6B, the occupancy probability temporarily increases as the object passes therethrough, but decreases after the object has passed therethrough and finally reaches the minimum value (MIN).

Accordingly, the sensing reflection unit 125 may set an occupancy probability for each mesh cell of the map space based on the distance information, and determine an occupied area and a free area based on the set occupancy probability. Accordingly, the sensing reflection unit 125 may create an environment map in which each mesh cell of the map space is classified as any one of an occupied area, a free area, or an unknown area.

In the above-described embodiment, the case where the map space and the environment map are two-dimensional matrix meshes has been exemplified, but the map creation device according to the present embodiment can be applied to a three-dimensional space. Referring to fig. 7 and 8, a description is given about application of the map creation apparatus according to the present embodiment to a three-dimensional space. Fig. 7 is an explanatory view for describing a ring buffer in a three-dimensional map space. Fig. 8 is an explanatory view for describing reflection of distance information in a three-dimensional map space.

As shown in fig. 7, in the ring buffer of the three-dimensional map space 3DG, one boundary surface is connected with the other boundary surface on the opposite side. Therefore, for example, in a case where a moving body existing at the coordinate Mt at time t moves 1 in the Y direction to reach the coordinate Mt +1 at time t +1, the environment map is updated by resetting the mesh (also referred to as voxel in the case of three dimensions) gU at the outermost surface of the map space 3DG in the-Y direction to an unknown region yet to be observed. Therefore, even in the case of the three-dimensional map space 3DG, the ring buffer can be used similarly to the two-dimensional map space.

In addition, as shown in fig. 8, even in the three-dimensional map space 3DG, the sensing reflection unit 125 may reflect the sensing result to the map space 3DG by using a straight line drawing algorithm such as brayton hamm. Specifically, the sensing reflection unit 125 may draw a line segment connecting the sensor So and the objects Ob1 and Ob2 in the map space 3DG based on information on distances from the sensor So to the objects Ob1 and Ob 2.

Therefore, the sensing reflection unit 125 may raise the probability of occupation of voxels including the object Ob1 and the object Ob2p by only a predetermined value, and reduce the probability of occupation of voxels including line segments connecting the sensor So and the objects Ob1 and Ob2p by only a predetermined value. Note that since a voxel including the object Ob2 exists outside the map space 3DG, the above-described processing is performed using the intersection Ob2p between the side face of the map space 3DG and the line segment connecting the sensor So and the object Ob2, instead of the object Ob 2. By so doing, even in the case of the three-dimensional map space 3DG, the sensing result can be reflected similarly to the two-dimensional map space.

The map creation unit 120 or the control apparatus 100 including the map creation unit according to the present embodiment described above may be realized by cooperation between hardware and software. The map creation unit 120 or the control device 100 may be implemented by using a CPU, a ROM, and a RAM as hardware, for example.

The CPU functions as an arithmetic processing device and controls the overall operation of the control device 100 or the map creation unit 120 according to various types of programs stored in the ROM. The ROM stores arithmetic parameters and programs used by the CPU. The RAM temporarily stores programs used in execution by the CPU, parameters appropriately changed in the execution, and the like.

In addition, a computer program for causing these hardware components to execute functions equivalent to the respective configurations of the control apparatus 100 or the map creation unit 120 according to the present embodiment described above may also be created. In addition, a storage medium having the computer program stored therein may also be provided.

<4. operation of map creation Unit >

Next, with reference to fig. 9, a description is given about an example of the operation of the map creating unit 120 included in the control apparatus 100. Fig. 9 is a flowchart for describing an example of the operation flow of the map creation unit 120.

As shown in fig. 9, first, in the map creating unit 120, a velocity vector of the moving body is obtained (S101), and it is determined whether the magnitude of the velocity vector of the moving body is greater than or equal to a threshold value (S103). In the case where the magnitude of the velocity vector is greater than or equal to the threshold value (S103/yes), the coordinates of the moving body are set after the coordinates of the moving body are moved from the center of the map space in the direction opposite to the direction of the velocity vector (S105). Meanwhile, in the case where the magnitude of the velocity vector is smaller than the threshold (S103/no), the coordinates of the moving body are set as the center of the map space (S106). Subsequently, an environment map is created by reflecting the sensing result of the distance information to the map space (S107).

As a result of such an operation as described above, the map creation unit 120 can dynamically change the range of the created environment map. Accordingly, the map creation unit 120 can create an environment map for a range where focusing is more desirable without causing memory consumption or an increase in processing load.

<5. modification >

(5.1. configuration of modification)

Next, with reference to fig. 10A to 10D, a description is given about a modification of the map creating unit 120. Fig. 10A to 10D are explanatory views showing examples of an environment map created by a modification of the map creating unit 120 and a correspondence with the environment around the moving body, respectively.

As shown in fig. 10A to 10D, in the present modification, the map space includes a basic map space G and an extended map space G_E. The basic map space G is a map space G in which coordinates of a moving body are set. Specifically, in the basic map space G, the coordinates of the moving body are set as coordinates that have been moved from the center in the direction opposite to the moving direction of the moving body. In addition, the map space G is expanded_EIs a map space disposed adjacent to or overlapping the basic map space G. Basic map space G and extended map space G_EActing as a ring buffer as a whole. Note that map space G is expanded_EMay be an occupied grid map having a size similar to that of the basic map space G.

In the present modification, the setting of the extended map space G relative to the basic map space G therealong is controlled based on information about the environment or the moving body_EIn the direction of (a). Note that whether or not the extended map space G is set with respect to the basic map space G may be decided based on whether or not the magnitude of the velocity vector of the moving body is greater than or equal to a threshold value_E。

As shown in fig. 10A to 10D, setting the extended map space G relative to the basic map space G therealong can be controlled based on the moving direction of the moving body_EIn the direction of (a). Specifically, the moving body M moves at a velocity vector V_ATo V_DIn the case of movement, the velocity vector V may be followed relative to the basic map space G_ATo V_DIs arranged adjacent to the basic map space G_E. As a result thereof, the environment map created for the map space becomes the following map: the map has an object Ob existing in the moving direction of the moving body M_AAnd Ob_BAnd both. Therefore, by creating a movement plan using such an environment map, smoother movement of the mobile body M can be achieved.

For example, the velocity vector V at the moving body M_AIn the case of the direction of (b) as shown in fig. 10A, the expanded map space G may be set in front of the basic map space G_E. Velocity vector V at moving body M_AAnd V_BAs in the case of obliquely forward direction shown in fig. 10B and 10C, the expanded map space G may be set obliquely forward of the basic map space G_E. For example, the velocity vector V at the moving body M_DIn the case of the direction of (b) shown to the left in fig. 10D, an extended map space G may be provided on the left side of the basic map space G_E. With the map creation unit 120 according to the present modification, it is possible to create an environment map having a map space that extends in the direction of the range in which focusing is more desirable, while suppressing increases in memory consumption and processing load.

In addition, it is possible to control the setting of the extended map space G relative to the basic map space G therealong based on the movement plan of the mobile body_EIn the direction of (a). Specifically, with respect to the basic map space G, the extended map space G may be set adjacent to or overlapping the basic map space G in the direction of the destination (or arrival position) in the movement plan of the mobile body_E. Accordingly, the map creation unit 120 can create an environment map having a map space that expands in the direction of the range in which focusing is more desirable, while suppressing an increase in memory consumption and processing load.

Further, setting the extended map space G relative to the basic map space G therealong may be controlled based on the environment-related information_EIn the direction of (a). Specifically, with respect to the basic map space G, the extended map space G may be set adjacent to or overlapping the basic map space G in the direction in which the voice of a person is detected by a microphone or in the direction in which a person or an obstacle is detected by an image capturing apparatus_E. As a result thereof, the map creation unit 120 can create an environment map having a map space that is expanded in a direction in which the possibility of a person or obstacle existing is high and it is found that more careful movement is required. Accordingly, the map creation unit 120 can improve the security of the movement plan created based on the environment map.

With the present modification, the range of the created environment map can be dynamically expanded based on information about the environment or the moving body. Accordingly, the map creation unit 120 can create an environment map that enables creation of a smoother movement plan of a moving body while suppressing memory consumption and processing load.

(5.2 operation of modification)

Next, with reference to fig. 11, a description is given about an example of the operation of the map creating unit 120 according to the present modification. Fig. 11 is a flowchart for describing an example of the operation flow of the map creating unit 120 according to the present modification.

As shown in fig. 11, first, in the map creating unit 120, a velocity vector of the moving body is obtained (S201). Next, it is determined whether the magnitude of the velocity vector of the moving body is greater than or equal to a threshold value (S203). In the case where the magnitude of the velocity vector is greater than or equal to the threshold value (S203/yes), the extended map space is also set with respect to the basic map space in the direction of the velocity vector (S209). Next, after the coordinates of the moving body are moved from the center of the basic map space in the direction opposite to the direction of the velocity vector, the coordinates of the moving body are set (S205). Subsequently, an environment map is created by reflecting the sensing result of the distance information to the basic map space and the extended map space (S207).

Meanwhile, in the case where the magnitude of the velocity vector is smaller than the threshold (S203/no), the coordinates of the moving body are set as the center of the basic map space (S206). Subsequently, an environment map is created by reflecting the sensing result of the distance information to the basic map space (S208).

Through the above operation, the map creation unit 120 can more dynamically change the range of the created environment map. Accordingly, the map creation unit 120 can create the environment map for a range in which focusing is more desirable while suppressing memory consumption and processing load.

<6. display example >

With reference to fig. 12 to 13B, a description is given below regarding an example of displaying an environment map created by the map creating apparatus according to the present embodiment. Fig. 12 is a block diagram for describing a configuration of a controller in which an environment map is displayed. Fig. 13A and 13B are explanatory views showing an example of displaying an environment map.

As shown in fig. 12, the control apparatus 100 including the map creation apparatus according to the present embodiment is a control apparatus that controls the operation of the moving body 10. Specifically, the control apparatus 100 controls the movement and the like of the mobile body 10 by creating an environment map based on information obtained from the sensors 200 and controlling the actuator 400 based on a movement plan created from the environment map. For example, the mobile body 10 may be an aircraft such as a drone, and the actuator 400 may be, for example, a motor for rotating a rotor or the like of the aircraft.

Here, the destination of the movement of the mobile body 10 and the like may be input to the controller 20 through the communication devices 310 and 320 capable of wireless communication with each other. The controller 20 is, for example, a transmitting/receiving apparatus that wirelessly manipulates the mobile body 10, and is provided with a display apparatus 500 and an input apparatus 600.

The input device 600 includes an input mechanism such as a button, a switch, or a joystick to which a user can input information, and an input control circuit for generating an input signal based on the input information and outputting the input signal to the communication device 320. The display device 500 includes a display device such as a liquid crystal display device or an OLED (organic light emitting diode) display device. For example, the display apparatus 500 may display an environment map or the like created by the control apparatus 100 of the mobile body 10. The user can manipulate the moving body 10 with higher accuracy by visually recognizing the environment map created by the control apparatus 100.

For example, as shown in fig. 13A and 13B, the controller 20 is provided with a display device 500 and an input device 600, and a captured image 510 captured by the moving body 10 and an image 520 of an environment map created by the control device 100 may be displayed on the display device 500 of the controller 20.

The display example of the display apparatus 500 shown in fig. 13A is a display example for a case where the moving body 10 moves at a low speed. Therefore, in the image 520 of the environment map, the coordinates of the moving body M are set to the center of the map space G, and the environment map uniformly including the environment around the moving body M is shown. Therefore, only the object Ob is included in the map space G of the image 520 of the environment map_A. However, referring to the captured image 510, it can be confirmed that the object Ob is present_AThere is an object Ob behind that is not shown in the map space G_B. When the moving body 10 moves at a low speed, the object Ob_BThe probability of affecting the movement plan of the mobile body 10 is low, and therefore, the display apparatus 500 can display an environment map that uniformly indicates the environment around the mobile body 10.

The display example of the display apparatus 500 shown in fig. 13B is a display example for a case where the moving body 10 moves at high speed. Therefore, in the image 520 of the environment map, the coordinates of the moving object M are along the velocity vector V from the center of the map space G_HSets the coordinates of the mobile body M after moving in the direction opposite to the moving direction of the mobile body M, and shows an environment map more widely including the environment on the moving direction side of the mobile body M. Thus, the map space G of the environmental map of image 520 includes the object Ob in the captured image 510_AAnd confirmed on the object Ob_AObject Ob behind_BBoth of which are described below. When the moving body 10 moves at a high speed, the object Ob_BThe probability of affecting the movement plan of the mobile body 10 is high, and therefore, the display apparatus 500 can display an environment map widely showing the environment in the moving direction of the mobile body 10.

The detailed description about the preferred embodiments of the present disclosure has been given above with reference to the accompanying drawings, but the technical scope of the present disclosure is not limited to the corresponding examples. It is apparent that those skilled in the art of the present disclosure can conceive various modifications or corrections within the scope of the technical idea set forth in the claims and it should be understood that these modifications or corrections are unknowingly within the technical scope of the present disclosure.

In addition, the effects described in this specification are merely descriptive or illustrative, and not restrictive. In other words, in addition to or instead of the above-described effects, other effects that are apparent to those skilled in the art from the description of the present specification may be achieved by the technology according to the present disclosure.

Note that configurations such as the following also belong to the technical scope of the present disclosure.

(1) A map creation apparatus comprising:

an in-map position control unit that sets position coordinates of a moving body, which are set on a map space, on the basis of information on the moving body or an environment, wherein a boundary demarcating the space and a boundary on a side opposite to the boundary are connected; and

a sensing reflection unit that creates an environment map corresponding to an environment around the moving body by causing environmental information sensed by the moving body to be reflected to the map space.

(2) The map creating apparatus according to the above (1), wherein,

the in-map position control unit sets position coordinates of the mobile body in the map space based on a movement plan or a movement speed of the mobile body.

(3) The map creating apparatus according to the above (2), wherein,

the in-map position control unit sets the position coordinates of the moving body to coordinates resulting from moving the position coordinates of the moving body from the center of the map space in a direction opposite to the moving direction of the moving body or in a direction opposite to the direction of the arrival position in the movement plan.

(4) The map creating apparatus according to the above (3), wherein,

the in-map position control unit sets the position coordinates of the moving body to coordinates resulting from moving the position coordinates of the moving body from the center of the map space only by a distance according to the moving speed of the moving body.

(5) The map creating apparatus according to the above (3), wherein,

the map space includes a basic map space and an extended map space, and

the in-map position control unit sets the position coordinates of the moving body to coordinates resulting from moving the position coordinates of the moving body from the center of the basic map space in a direction opposite to the moving direction of the moving body or in a direction opposite to the direction of the arrival position in the movement plan.

(6) The map creating apparatus according to the above (5), wherein,

the extended map space is provided adjacent to the basic map space in the moving direction of the moving body or in the direction of the arrival position in the movement plan.

(7) The map creating apparatus according to the above (5) or (6), wherein,

the size of the extended map space is equal to the size of the basic map space.

(8) The map creating apparatus according to any one of the above (1) to (7), wherein,

the in-map position control unit sets position coordinates of the moving body in the map space based on information on audio from an environment.

(9) The map creating apparatus according to any one of the above (1) to (8), wherein,

the environment information includes information on distances from the moving body to respective objects present in the environment.

(10) The map creation device according to the above (9), wherein,

the map space is divided into grid cells each having a predetermined size, and

the sensing reflection unit determines whether the grid cell is an occupied area or an empty area based on an occupation probability of each object for the grid cell.

(11) The map creating apparatus according to the above (10), wherein,

the sensing reflection unit increases the probability of occupation of the grid cells including the respective objects based on the environmental information sensed by the moving body.

(12) The map creating apparatus according to the above (10) or (11), wherein,

in a case where the moving range of the moving body exceeds the grid cell, the sensing reflection unit updates the environment map by changing a grid cell on a side opposite to the moving direction of the moving body in the environment map to an unknown area.

(13) The map creating apparatus according to any one of the above (1) to (12), wherein,

the map space includes a ring buffer.

(14) The map creating apparatus according to any one of the above (1) to (13), wherein,

setting an orientation of the map space such that the orientation of the mobile body is fixed with respect to the map space.

(15) The map creating apparatus according to any one of the above (1) to (14), wherein,

the map space includes a three-dimensional space, an

The mobile body includes an aircraft.

(16) The map creating apparatus according to any one of the above (1) to (15), wherein,

displaying the environment map by wirelessly manipulating a transmitting/receiving apparatus of the mobile body.

(17) The map creating apparatus according to the above (16), wherein,

the transmission/reception device displays a captured image of an environment captured by the moving body together with the environment map.

(18) A map creation method, comprising:

by means of an arithmetic device:

setting position coordinates of a moving body, which are set on a map space, on the basis of information on the moving body or an environment, wherein one boundary demarcating the space and another boundary on a side opposite to the one boundary are connected; and

creating an environment map corresponding to an environment around the moving body by causing environmental information sensed by the moving body to be reflected to the map space.

(19) A program for causing a computer to function as:

an in-map position control unit that sets position coordinates of a moving body, which are set on a map space, on the basis of information on the moving body or an environment, wherein one boundary demarcating the space and another boundary on a side opposite to the one boundary are connected; and

a sensing reflection unit that creates an environment map corresponding to an environment around the moving body by causing environmental information sensed by the moving body to be reflected to the map space.

[ list of reference numerals ]

10 moving body

20 controller

100 control device

110 self position calculating unit

120 map creation unit

121 position/orientation update unit

122 velocity vector obtaining unit

123 sensor model application unit

124 in-map position control unit

125 sensing reflection unit

130 obstacle detection unit

140 movement planning unit

150 action planning unit

160 motion control unit

200 sensor

210 image sensor

220 IMU

230 distance sensor

310. 320 communication device

400 actuator

500 display device

600 input device