# US 10,766,616 B2 · Environment map automatic creation device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,766,616 B2 - Document ID: US10766616B2 - Status: Granted - Kind: B2 - Application number: 15/746,931 - Filed: 2016-07-22 - Published: 2020-03-12 - Granted: 2020-09-08 - Earliest claimed: 2015-08-31 - Assignees: Hitachi, Ltd. - Applicants: Hitachi, Ltd. - Inventors: Yusuke Hieida; Takuya Naka - Web page: https://patentgrep.com/patent/US10766616B2 ## CPC - G01C 21/005: {with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence)} - G01C 21/20: Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence) - G09B 29/00: Maps; Plans; Charts; Diagrams, e.g. route diagram (star maps G09B27/04; devices for holding or supporting maps A47B97/02; for computing purposes G06G1/14, G09B1/16; display boards G09F) - B64U 10/14: with four distinct rotor axes, e.g. quadcopters - B64U 2101/30: for imaging, photography or videography - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G09B: EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS (devices for psychotechnics or for testing reaction times A61B5/16; games, sports, amusements A63; projectors, projector screens G03B) - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract Provided is an environment map automatic creation device using a flying object. The environment map automatic creation device includes a travelable area extraction unit that extracts a travelable area where a vehicle can travel in a certain area based on three-dimensional shape information of an area for creating an environmental map, which is acquired by a sensor in a flying object, an area category determination unit that determines a category of the travelable area, a complementary portion determination unit that determines whether or not to measure a complementary portion which complements the travelable area based on the travelable area and the category, and a complementary measurement portion presentation unit that presents the complementary measurement portion. ## Claims ### Claim 1 An environment map automatic creation device comprising: a travelable area extraction unit that acquires three-dimensional shape information of an area, which is acquired by a sensor in a flying object, determines one or more obstacles within the area based on the three-dimensional shape information, determines a travelable area devoid of the determined one or more obstacles and generates an environmental map; an area category determination unit that determines a category of a portion of the travelable area among a plurality of categories including a category indicating there is insufficient three-dimensional shape information for a respective portion of the travelable area; a complementary portion determination unit that determines there is a complementary portion within the area which complements the travelable area based on portions of the travelable area and the category of the portions of the travelable area indicating there is insufficient three-dimensional shape information; and a complementary measurement portion presentation unit that displays the complementary measurement portion on a display. ### Claim 2 (depends on 1) The environment map automatic creation device according to claim 1, wherein the area category determination unit determines a category of the travelable area based on a shape of the traveling area. ### Claim 3 (depends on 1) The environment map automatic creation device according to claim 1, wherein the area category determination unit determines a category of the travelable area based on a color of the traveling area. ### Claim 4 (depends on 1) The environment map automatic creation device according to claim 1, wherein the category of the travelable area include a road and a square, and wherein upon determining an end of the road is not connected to the square, the complementary portion determination unit determines that the complementary portion includes at least a portion of the end of the road. ### Claim 5 (depends on 1) The environment map automatic creation device according to claim 1, wherein the road and the square are included in the category of the travelable area, and in a case where any one of the areas determined by the area category determination unit as the square is not connected to the road, the complementary portion determination unit determines a boundary portion of the travelable area of the area determined as the square to be the complementary portion. ### Claim 6 (depends on 1) The environment map automatic creation device according to claim 1, wherein the complementary portion is measured by an unmanned vehicle. ### Claim 7 (depends on 1) The environment map automatic creation device according to claim 1, further comprising: a complementary three-dimensional shape information storage unit that stores complementary three-dimensional shape information serving as the three-dimensional shape information of the complementary portion; a measurement information integration unit that matches the complementary three-dimensional shape information and the three-dimensional shape information; and a map updating unit that updates the environmental map based on the three-dimensional shape information matched by the measurement information integration unit.