Map data providing device, storage medium, and map data providing method

1 . A map data providing device comprising at least one processor or circuit configured to function as:

an attribute data acquisition unit configured to acquire attribute data of a movable apparatus;

a first map data generation unit configured to generate first map data based on the attribute data, the first map data being used when the movable apparatus autonomously operates;

an activity range data acquisition unit configured to acquire activity range data indicating an activity range in which the movable apparatus operates autonomously;

a second map data generation unit configured to generate second map data by deleting portions of the first map data which are unnecessary for the movable apparatus to operate autonomously based on the activity range;

a determination unit configured to determine a coordinate system and origin of map data to be provided to the movable apparatus based on the activity range data;

a third map data generation unit configured to generate third map data by correcting a coordinate system of the second map data based on the determined coordinate system and the origin of the map data; and

a map data providing unit configured to provide the third map data to the movable apparatus.

2 . The map data providing device according to claim 1 , wherein, when a planar wall exists in the activity range, the determination unit determines the coordinate system of the map data to be a coordinate system having an axis parallel to the planar wall.

3 . The map data providing device according to claim 2 , wherein, when a plurality of the planar walls exists in the activity range, the determination unit determines the coordinate system of the map data to be a coordinate system having an axis parallel to a longest planar wall that is in contact with a floor with a longest length among the plurality of planar walls.

4 . The map data providing device according to claim 1 , wherein, when a columnar object exists in the activity range, the determination unit determines the coordinate system of the map data to be a coordinate system based on the columnar object.

5 . The map data providing device according to claim 4 , wherein, when a plurality of the columnar objects exists in the activity range, the determination unit determines the coordinate system of the map data to be a coordinate system having an axis along an alignment of the plurality of columnar objects.

6 . The map data providing device according to claim 1 , wherein the at least one processor or circuit configured to further function as, a coordinate system data reception unit configured to receive coordinate system data for designating the coordinate system of the map data,

wherein the determination unit determines the coordinate system of the map data based on the coordinate system data.

7 . A non-transitory computer-readable storage medium configured to store a computer program comprising instructions for executing following processes:

acquiring attribute data of a movable apparatus;

generating first map data based on the attribute data, the first map data being used when the movable apparatus autonomously operates;

acquiring activity range data indicating an activity range in which the movable apparatus operates autonomously;

generating second map data by deleting portions of the first map data which are unnecessary for the movable apparatus to operate autonomously based on the activity range;

determining a coordinate system and origin of map data to be provided to the movable apparatus based on the activity range data;

generating third map data by correcting a coordinate system of the second map data based on the determined coordinate system and the origin of the map data; and

providing the third map data to the movable apparatus.

8 . A map data providing method comprising:

acquiring attribute data of a movable apparatus;

generating first map data based on the attribute data, the first map data being used when the movable apparatus autonomously operates;

acquiring activity range data indicating an activity range in which a movable apparatus operates autonomously;

generating second map data by deleting portions of the first map data which are unnecessary for the movable apparatus to operate autonomously based on the activity range;

determining a coordinate system and origin of map data to be provided to the movable apparatus based on the activity range data; and

generating third map data by correcting a coordinate system of the second map data based on the determined coordinate system and the origin of the map data; and

providing the third map data to the movable apparatus.