JP2003179538A - Radio communication system, radio communication repeater, mobile control method, mobile control program and medium storing mobile control program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a good communication quality constantly for a radio communication apparatus. <P>SOLUTION: An autonomous mobile robot 2 moves automatically in such a direction as the electric field strength of communication waves transmitted from a master unit 3 and a slave unit 4 increases so that radio communication is repeated at a place where the communication wave can be transmitted/ received well between the master unit 3 and the slave unit 4. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

The present invention relates to a wireless communication system,
Regarding a wireless communication relay device, a movement control method, a movement control program, and a movement control program storage medium, for example, a wireless L
It is suitable for application to an autonomous mobile robot that relays wireless communication in an AN (Local Area Network) system.

[0002]

2. Description of the Related Art Conventionally, in a wireless LAN system,
The wireless LAN system and the wired LAN (Local Area Net)
work) and a master unit that functions as a bridge by connecting to a system, and a slave unit that is used by being connected to a personal computer and that provides a wireless communication function to the personal computer, and transmits and receives communication waves that are electromagnetic waves. Then, there is one in which the master unit and the slave unit are configured to perform wireless communication.

In such a wireless LAN system, for example, when an obstacle exists between the master unit and the slave unit, the electric field strength of a communication wave transmitted from the slave unit around the master unit is reduced, and The electric field strength of the communication wave transmitted from the parent device is reduced around the child device, and the communication quality is significantly deteriorated.

In order to avoid such a state, a wireless communication relay device (that functions as a repeater) that amplifies and retransmits after receiving a communication wave exchanged between a master unit and a slave unit is appropriate. There is a method to prevent the decrease of the electric field strength by installing it in a different place.

[0005]

By the way, such a wireless L
In the AN system, for example, when the master unit or the slave unit is moved or the obstacle is moved, the electric field strength of the communication wave is reduced around the master unit and the slave unit, and the communication quality is deteriorated again. there were.

The present invention has been made in consideration of the above points, and a wireless communication system, a wireless communication relay device, a movement control method, and a movement control program capable of always providing good communication quality to a wireless communication apparatus. The present invention also proposes a movement control program storage medium.

[0007]

In order to solve such a problem, according to the present invention, in a wireless communication relay device that relays a plurality of communication signals transmitted and received between a plurality of wireless communication devices, Relay means for respectively receiving and retransmitting a plurality of transmitted communication signals, signal level measuring means for measuring signal levels of the plurality of communication signals at a plurality of points, and a plurality of signal level measuring means based on the measurement results of the signal level measuring means. Direction detecting means for detecting a direction in which each signal level of the communication signal of is higher than the current position of the wireless communication relay device, and movement for moving the wireless communication relay device from the current position to the direction detected by the direction detecting means. And means.

Since the plurality of communication signals transmitted and received between the plurality of wireless communication devices are automatically moved in the direction in which the signal levels thereof are increased, the communication signals can be favorably transmitted to and received from the plurality of wireless communication devices. Wireless communication can be relayed at a place.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described in detail below with reference to the drawings.

(1) Overall Configuration of Wireless LAN System to which the Present Invention is Applied As shown in FIG. 1, reference numeral 1 denotes a wireless LAN system to which an autonomous mobile robot 2 as a wireless communication relay device according to the present invention is applied, and a master unit. 3 and the slave 4 perform wireless communication by transmitting and receiving communication waves as communication signals via the autonomous mobile robot 2 having a function of relaying wireless communication.

The base unit 3 is connected to the Internet 5 via a cable.
Connected with. A notebook personal computer connected to the child device 4 (hereinafter referred to as a notebook computer)
The data communication device 10 is adapted to perform data communication with various information processing devices (not shown) such as a mail server and a content server connected to the Internet 5 via the master device 3.

Here, in the wireless LAN system 1,
In an information processing terminal such as the notebook computer 10 or various information processing devices (not shown), data to be transmitted / received is divided into a predetermined size to generate a packet, and the generated packet is conveyed by a communication wave to generate data. Communication is realized. As shown in FIG. 2, such a packet is composed of a header section in which destination information and source information are written, and a data section composed of data divided into a predetermined size.

When the master unit 3 and the slave unit 4 perform wireless communication via the autonomous mobile robot 2, the master unit 3 has the antenna element 8
The downlink communication wave S1 is transmitted via. The autonomous mobile robot 2 receives the downlink communication wave S1 via the antenna element 7, amplifies the received downlink communication wave S1, and transmits the amplified downlink communication wave S1 via the antenna element 7 as a relay downlink communication wave S3. Then, the child device 4 receives the relay downlink communication wave S3 via the antenna element 9.

The handset 4 also transmits the upstream communication wave S2 via the antenna element 9. The autonomous mobile robot 2 receives the upstream communication wave S2 via the antenna element 7 and then amplifies it, and transmits it as the relay upstream communication wave S4 via the antenna element 7. The base unit 3 has the antenna element 8
The relay upstream communication wave S4 is received via.

In this manner, the autonomous mobile robot 2 receives and amplifies the downlink communication wave S1 and the uplink communication wave S2 transmitted from the master unit 3 and the slave unit 4, and relays the amplified communication waves respectively as relay downlink communication waves. The wireless communication is relayed by transmitting as S3 and the relay upstream communication wave S4.

When a predetermined movement command is given, the autonomous mobile robot 2 operates the walking function unit 6 to move in the direction designated by the movement command.

(2) Circuit Configuration of Autonomous Mobile Robot As shown in FIG. 3, the autonomous mobile robot 2 has a CPU (Central) for centrally controlling various functions of the autonomous mobile robot 2.
Processing Unit) 11 to RO via control line 22
M (Read Only Memory) 12, RAM (Random Access Mem)
ory) 13, operation unit 14, display control unit 15, sound emission control unit 1
6, the communication control unit 17, the walking control unit 18, and the geomagnetic sensor 19 are connected. ROM12, RAM13,
The display control unit 15, the sound emission control unit 16, the communication control unit 17, and the walking control unit 18 are connected to each other via a data line 23.

The CPU 11 appropriately reads out various programs such as the basic program and the mobile radio communication relay program stored in the ROM 12, expands them in the RAM 13, and controls each circuit block based on the expanded program to execute various processes. Has been done.

When a predetermined activation operation is performed via the operation unit 14, the CPU 11 starts supplying power from a battery (not shown) to each circuit block, and at the same time, the battery remaining capacity is determined based on the terminal voltage of the battery. Measure the quantity. Then, the CPU 11 displays a symbol indicating the remaining battery level on the display unit 20 via the display control unit 15 based on the measurement result.

By the way, the symbol showing the battery remaining amount is
It is classified into three levels: Level 1, Level 2 and Level 3. Level 1 is a state in which the remaining battery level is high, and relay processing and movement processing are executable among mobile wireless communication relay processing (which will be described later) consisting of relay processing and movement processing. It is located between the level 3 and the level 3 and is in a state where only the relay processing can be executed.
Indicates that the battery level is low and neither relay processing nor movement processing can be executed.

The CPU 11 has a battery level 3
When it has decreased to a certain level, predetermined music that warns that is output from the speaker 21 via the sound emission control unit 16.

Under the control of the CPU 11, the geomagnetic sensor 19 recognizes the pointing direction of the autonomous mobile robot 2 with respect to the ground axis and notifies the CPU 11 of the recognized pointing direction.

Then, for example, when a predetermined straight movement command is given, the CPU 11 operates the walking function unit 6 via the walking control unit 18 to move the autonomous mobile robot 2 in the pointing direction notified from the geomagnetic sensor 19. .

When the wireless communication between the master unit 3 and the slave unit 4 is started, the CPU 11 executes a mobile wireless communication relay process including a relay process and a move process (described later) based on the mobile wireless communication relay program. To do.

In practice, the wireless communication between the master unit 3 and the slave unit 4 via the autonomous mobile robot 2 is performed by the CDMA (CDS) based on the DS (Direct Sequence) method corresponding to the IS95 standard.
odeDivision Multiple Access) is done based on the method.

When the downlink communication wave S1 is received via the antenna element 7, for example, as the relay processing, the CPU 11 sends the received downlink communication wave S1 to the communication control unit 17, and the communication control unit 17 receives the downlink communication wave. For S1,
After multiplying by PN (Pseude Noise) code as despreading processing, QPSK (Quadrature
Phase shift keying) Demodulates the downlink communication wave S
The information signal carried by 1 (hereinafter referred to as the downlink communication wave information signal) is generated. At this time CPU1
The communication controller 17 measures the electric field strength of the generated downlink communication wave information signal and stores the measurement result in the RAM 13 as the electric field strength value of the downlink communication wave S1.

Then, the CPU 11 causes the communication controller 17 to perform QPSK as a modulation process for the downlink communication wave information signal.
After the modulation, the PN code is multiplied as a spreading process, and the obtained relay downlink communication wave S3 is amplified and then transmitted via the antenna element 7.

Here, in the wireless LAN system 1,
For the downlink communication wave S1 and the relay uplink communication wave S4 transmitted / received between the base unit 3 and the autonomous mobile robot 2, the base unit P is used.
The N code PN1 is used to perform the spreading process and the despreading process for the upstream communication wave S2 and the relay downlink communication wave S3 transmitted and received between the slave 4 and the autonomous mobile robot 2 by using the slave PN code PN2. Is defined as
The defined information is ROM as PN code definition information
12 is stored in advance.

On the other hand, the CPU 11 executes the relay process as a moving process at the current position of the autonomous mobile robot 2 and at two different points separated by a predetermined distance from the current position.
The electric field strengths of the downlink communication wave S1 and the uplink communication wave S2 are measured, and based on the measurement results, the direction in which the electric field strengths of the downlink communication wave S1 and the uplink communication wave S2 are both higher than the current position is detected, and the walking function The part 6 is activated to automatically move in the detected direction.

(3) Basic processing As the basic processing, the CPU 11 controls the start and stop of the self-supporting mobile robot 2 and various processing. That is, the CPU 11 follows the basic program as shown in FIG.
The basic processing procedure RT1 shown in is started from step SP1.

At step SP1, the CPU 11 makes R
Based on the PN code definition information stored in the OM12,
When wirelessly communicating with the master 3, the master PN code PN1 is used, and when wirelessly communicating with the slave 4, the slave PN code PN2 is used.
Recognize that the spreading process and despreading process are performed using
The PN code sending unit 26 and the PN code sending unit 27 (described later in FIG. 6) are set to send the parent device PN code PN1 and the child device PN code PN2, respectively, and the process proceeds to the next step SP2. .

In step SP2, the CPU 11 shifts to a standby state in which execution of various processes is set as a standby mode, and proceeds to the next step SP3.

In step SP3, the CPU 11 waits for reception of a wireless communication start signal indicating that wireless communication has started between the master unit 3 and the slave unit 4 from the master unit 3 or the slave unit 4, When the wireless communication start signal is received, the process proceeds to the next step SP4.

Here, in the wireless LAN system 1, communication control signals such as a wireless communication start signal and a wireless communication end signal (which will be described later) are transmitted by communication waves obtained by subjecting the communication control signals to QPSK modulation only. ing.
Therefore, when the CPU 11 receives the communication wave via the antenna element 7, the CPU 11 sends the communication wave to the communication control unit 17 and performs QPSK demodulation to recognize these communication control signals.

In step SP4, the CPU 11 starts a mobile radio communication relay process including a relay process and a moving process (described later) based on the mobile radio communication relay program. When the CPU 11 receives a wireless communication end signal indicating that the wireless communication between the master unit 3 and the slave unit 4 is completed from the master unit 3 or the slave unit 4, the mobile wireless communication relay process is terminated. , Go to next step SP5.

In step SP5, the CPU 11 measures the remaining battery amount, and as a result of the measurement, determines whether or not the state of the remaining battery amount is higher than level 3. If a negative result is obtained here, this means that the relay processing and the movement processing cannot be executed. At this time, the CPU 11
Moves to the end step SP6, notifies the user that predetermined music is output through the speaker 21 to start and stop, and then terminates various processes executed in the autonomous mobile robot 2 and causes each circuit block from the battery. The power supply to the device is stopped and the basic processing procedure RT1 is ended.

On the other hand, when a positive result is obtained, this means that at least the relay process can be executed, and at this time, the CPU 11 causes the above-mentioned step SP2.
Return to and shift to standby mode.

(4) Mobile wireless communication relay processing (4-1) Relay processing When the mobile wireless communication relay processing is started in step SP4 of the basic processing procedure RT1 described above, the CPU 11 relays according to the mobile wireless communication relay program. The process and the move process are executed in parallel at the same time. That is, the CPU 11 starts the relay processing procedure RT2 shown in FIG. 5 from step SP10 as the relay processing.

At step SP10, the CPU 11
It is determined whether the wireless communication end signal is received. If an affirmative result is obtained here, this means that the wireless communication between the master unit 3 and the slave unit 4 has ended, and at this time, the CPU 11 moves to ending step SP28 and repeats the relay processing procedure RT2. To finish.

On the other hand, when a negative result is obtained, this means that the wireless communication between the master unit 3 and the slave unit 4 is continuously performed, and at this time, the CPU 11
Moves to the next step SP11.

At step SP11, the CPU 11
When the communication wave relayed from the master unit 3 or the slave unit 4 is received, the received communication wave is despreader 2 of the communication controller 17 shown in FIG.
4 and the despreader 25, and next step SP12
Move to A and step SP12B.

In step SP12A, the CPU 11
In the despreading unit 24, the despreading process is performed on the communication wave received by using the PN code PN1 for the master unit sent from the PN code sending unit 26, and the communication wave subjected to the despreading process is demodulated by the demodulating unit. Then, the process proceeds to step SP13A.

In step SP13A, the CPU 11
In the demodulation section 28, the communication wave subjected to the despreading processing is subjected to QPSK demodulation processing, the obtained information signal is sent to the data processing section 30 as the information signal S5, and the process proceeds to the next step SP14.

On the other hand, in step SP12B, the CPU1
In the despreading unit 25, the despreading unit 1 performs despreading processing on the communication wave received using the slave unit PN code PN2, and demodulates the despreading processed communication wave. It is sent to the unit 29, and the process proceeds to the next step SP13B.

In step SP13B, the CPU 11
In the demodulation unit 29, the communication wave subjected to the despreading process is subjected to QPSK demodulation processing, the obtained information signal is sent to the data processing unit 30 as the information signal S6, and the process proceeds to the next step SP14.

At step SP14, the CPU 11
In the data processing section 30, it is determined whether the content of the information signal S5 is in an appropriate state in which it can be processed.

If a positive result is obtained here, this means that the received communication wave is the downlink communication wave S1 transmitted from the base unit 3.
And that it is possible to generate an appropriate downlink communication wave information signal (that is, the information signal S5) that can be processed from the downlink communication wave S1. In this case, the CPU
11, since the relay destination of the received communication wave is the slave unit 4,
When performing the spreading process described later, the PN code selecting / transmitting unit 33 is set so as to transmit the slave unit PN code PN2, and the process proceeds to the next step SP15.

At step SP15, the CPU 11
In the data processing unit 30, the electric field strength of the generated downlink communication wave information signal is measured, and the measurement result is stored in the RAM 13 as the electric field strength value of the downlink communication wave S1. It is sent to 31 and it moves to the following step SP16.

At step SP16, the CPU 11
In the modulator 31, the QPS is applied to the downlink communication wave information signal.
K modulation processing is performed, the downlink communication wave information signal that has been QPSK modulated is transmitted to the spreading unit 32, and the next step SP1
Move to 7.

At step SP17, the CPU 11
In the spreading unit 32, the downlink communication wave information signal QPSK-modulated by using the PN code PN2 for the slave unit transmitted from the PN code selecting / transmitting unit 33 is subjected to spreading processing to generate the relay downlink communication wave S3, and Moves to step SP18.

At step SP18, the CPU 11
The generated relay downlink communication wave S3 is amplified, the amplified relay downlink communication wave S3 is transmitted via the antenna element 7, and the process returns to step SP10 described above.

On the other hand, if a negative result is obtained in step SP14, this means that the received communication wave was not the downlink communication wave S1 transmitted from the master unit 3 or a communication wave having a defect was received. , Which indicates that it is not possible to generate an appropriate information signal that can be processed from the communication wave. At this time, the CPU 11 advances to the next step SP19.

At step SP19, the CPU 11
In the data processing unit 30, it is determined whether the content of the information signal S6 is in an appropriate state in which it can be processed.

If a positive result is obtained here, this means that the received communication wave is the upstream communication wave S2 transmitted from the slave unit 4.
And that it is possible to generate an appropriate upstream communication wave information signal (that is, the information signal S6) that can be processed from the upstream communication wave S2. In this case, the CPU
11, since the relay destination of the received communication wave is the master device 3,
When performing the spreading process described later, the PN code selection / transmission unit 33 is set to transmit the PN code PN1 for the master unit, and the process proceeds to the next step SP20.

At step SP20, the CPU 11
In the data processing unit 30, the electric field strength of the generated upstream communication wave information signal is measured, and the measurement result is stored in the RAM 13 as the electric field strength value of the upstream communication wave S2. It is sent to 31 and it moves to the following step SP21.

At step SP21, the CPU 11
In the modulator 31, the QPS is applied to the upstream communication wave information signal.
K modulation processing is performed, the upstream communication wave information signal that has been QPSK modulated is transmitted to the spreading unit 32, and the next step SP2
Move to 2.

At step SP22, the CPU 11
In the spreading unit 32, the upstream communication wave information signal QPSK-modulated by using the master unit PN code PN1 transmitted from the PN code selecting / transmitting unit 33 is subjected to spreading processing to generate the relay upstream communication wave S4, and Moves to step SP23.

At step SP23, the CPU 11
The generated relay upstream communication wave S4 is amplified, the amplified relay upstream communication wave S4 is transmitted via the antenna element 7, and the process returns to step SP10 described above.

On the other hand, if a negative result is obtained in step SP19, this means that the communication wave having the defect has been received from the master unit 3 or the slave unit 4, and an appropriate information signal processable from the communication wave is received. Is not generated, the CPU 11 moves to the next step SP24 at this time.

At step SP24, the CPU 11
The data processing unit 30 generates a retransmission request signal requesting retransmission of the received communication wave, sends the generated retransmission request signal to the modulation unit 31, and proceeds to the next step SP25.

At step SP25, the CPU 11
In the modulation unit 31, the retransmission request signal is subjected to QPSK modulation processing, the QPSK-modulated retransmission request signal is transmitted to the spreading unit 32, and the process proceeds to the next step SP26.

At step SP26, the CPU 11
Using the master PN code PN1 transmitted from the PN code selecting / transmitting unit 33, the retransmission request signal subjected to the QPSK modulation processing is subjected to spreading processing to generate a retransmission request communication wave for the master 3, and Using the slave unit PN code PN2 transmitted from the PN code selection transmitting unit 33, the retransmission request signal subjected to the QPSK modulation process is subjected to spreading processing to generate a retransmission request communication wave for the slave unit 4, Step S
Move to P27.

At step SP27, the CPU 11
The generated retransmission request communication wave for the master device 3 and the generated retransmission request communication wave for the slave device 4 are transmitted via the antenna element 7, and the process returns to step SP10 described above.

In this way, the autonomous mobile robot 2 receives and amplifies the downlink communication wave S1 and the uplink communication wave S2, and transmits the amplified communication waves as the relay downlink communication wave S3 and the relay uplink communication wave S4, respectively. Thus, the wireless communication between the master unit 3 and the slave unit 4 is relayed.

(4-2) Moving Process The CPU 11 starts the moving process executed in parallel with the above-mentioned relay process in the mobile radio communication relay process from step SP30 of the move process procedure RT3 shown in FIG.

At step SP30, the CPU 11
The counter variable K, which is a criterion for determining whether or not to shift to the standby relay process (described later), is set to 0, and the next step SP
Move to 31.

In step SP31, the CPU 11 measures the remaining battery amount, and as a result of the measurement, determines whether or not the state of the remaining battery amount is level 1.

If a negative result is obtained here, this means that the moving process cannot be executed, and at this time, the CPU 11 executes the standby relay process of the subroutine SRT5.

On the other hand, when an affirmative result is obtained, this means that the moving process can be executed, and at this time the CPU 11 advances to the next step SP32.

At step SP32, the CPU 11
It is confirmed whether or not the above-mentioned relay processing is continuously executed.

When a negative result is obtained here, this means that the wireless communication between the master unit 3 and the slave unit 4 has ended, and at this time, the CPU 11 ends the movement processing procedure RT3. , The above-mentioned basic processing procedure RT1 (FIG. 4)
Return to step SP5.

On the other hand, when an affirmative result is obtained, this means that the wireless communication between the master unit 3 and the slave unit 4 is continuing, and at this time, the CPU 11 executes the next subroutine SRT4. The electric field strength measurement process is executed.

In this electric field strength measurement processing, the CPU 11
Interlocks with the above-described relay process that is capable of measuring the electric field strength, and at the current position of the autonomous mobile robot 2 and at two different points separated by a predetermined distance from the current position, the downlink communication wave S1 and the uplink communication wave S1. The electric field strength of the communication wave S2 is measured. That is, the CPU 11 starts the electric field strength measurement processing procedure SRT4 shown in FIG. 8 from step SP40.

At step SP40, the CPU 11
As shown in FIG. 9, the current position of the autonomous mobile robot 2 is set as a point.
Assuming that P1 is used, the downlink communication wave S1 is generated at the point P1.
And the electric field strength of the upstream communication wave S2 are measured.
Then, for example, when the CPU 11 obtains a measurement result in which the electric field strength value of the downlink communication wave S1 is −80 dB and the electric field strength value of the uplink communication wave S2 is −60 dB, it is stored in the RAM 13 as the electric field strength value R1 and the electric field strength value R2, respectively. And next step S
Move to P41.

At step SP41, the CPU 11
The pointing direction of the autonomous mobile robot 2 at the point P1 is set as the reference pointing direction. Then, the CPU 11 sets a straight line passing through the point P1 and having the positive reference pointing direction as the Y axis, and sets a straight line passing through the point P1 and orthogonal to the set Y axis and having the positive direction to the right as the X axis. The setting is made, and the process proceeds to the next step SP42.

At step SP42, the CPU 11
Using the walking function unit 6, the autonomous mobile robot 2 is moved to a point Py1 which is a predetermined distance away from the point P1 in the positive direction of the Y axis, and the process proceeds to the next step SP43.

At step SP43, the CPU 11
At the point Py1, the downlink communication wave S transmitted from the base unit 3
The electric field strength of 1 is measured again. Then, when the CPU 11 obtains a measurement result in which the electric field strength of the downlink communication wave S1 is −70 dB, the CPU 11 stores this in the RAM 13 as the electric field strength value R1 ′, and proceeds to the next step SP44.

At step SP44, the CPU 11
The autonomous mobile robot 2 is moved from the point Py1 by using the walking function unit 6 and once returned to the point P1, and the next step SP45.
Move to.

At step SP45, the CPU 11
The walking function unit 6 is used to move the autonomous mobile robot 2 to a point Px1 that is a predetermined distance away from the point P1 in the positive direction of the X axis, and the process proceeds to the next step SP46.

At step SP46, the CPU 11
At the point Px1, the upstream communication wave S transmitted from the handset 4
The electric field strength of 2 is measured again. Then, for example, when the CPU 11 obtains a measurement result in which the electric field strength of the upstream communication wave S2 is −50 dB, the CPU 11 stores this in the RAM 13 as the electric field strength value R2 ′, and proceeds to the next step SP47.

At step SP47, the CPU 11
The autonomous mobile robot 2 is moved from the point Px1 and returned to the point P1 using the walking function unit 6, and the next ending step SP48.
In, the electric field strength measurement processing procedure SRT4 is ended, and the process proceeds to step SP33 of the movement processing procedure RT3 (FIG. 7).

At step SP33, the CPU 11
Based on the electric field strength values measured at the current position (point P1) of the autonomous mobile robot 2 and at two different points (point Py1 and point Px1) separated by a predetermined distance from the current position, the downlink communication wave S1 and the uplink communication wave The direction in which the electric field strength of S2 is higher than the current position is detected.

Here, the downlink communication wave S1 and the uplink communication wave S
The direction in which the electric field strengths of 2 are both higher than the current position is represented by an angle θ with respect to the X axis, and the angle θ is calculated by the method described in detail below.

Current position of autonomous mobile robot 2 (point P1)
The electric field strength value R1 of the downlink communication wave S1 at the position and the position moved by a predetermined distance in the Y axis direction from the current position (point Py1)
Field strength difference RΔ which is the difference from the field strength value R1 ′ at
y is represented by Formula (1).

[0085]

[Equation 1]

For example, as shown in FIG. 9, when the electric field strength value R1 is -80 dB and the electric field strength value R1 'is -70 dB, the electric field strength difference RΔy is 10 dB.

Similarly, the electric field strength value R2 of the upstream communication wave S2 at the current position (point P1) of the autonomous mobile robot 2
Then, the electric field intensity difference RΔx, which is the difference between the electric field intensity value R2 ′ at the position (point Px1) that is moved by a predetermined distance in the X-axis direction from the present position is expressed by equation (2).

[0088]

[Equation 2]

For example, when the electric field strength value R2 is -60 dB and the electric field strength value R2 'is -50 dB as shown in FIG. 9, the electric field strength difference RΔx is 10 dB.

Next, as a result of calculation based on the above equations (1) and (2), when the electric field strength difference RΔx is 0 and the electric field strength difference RΔy is a positive value, the angle θ is 90. It becomes degree. On the other hand, when the electric field intensity difference RΔx is 0 and the electric field intensity difference RΔy is a negative value, the angle θ is 270 degrees. When the electric field intensity difference RΔx and the electric field intensity difference RΔy are both 0, the angle θ does not exist and the autonomous mobile robot 2 does not move.

On the other hand, when the electric field intensity difference RΔx is not 0 and the electric field intensity difference RΔy is a positive value, the angle θ is
Formula (3)

[0092]

[Equation 3]

If the electric field strength difference RΔx is not 0 and the electric field strength difference RΔy is a negative value, the angle θ
Is the expression (4)

[0094]

[Equation 4]

It is represented by When the electric field intensity difference RΔy is 0 and the electric field intensity difference RΔx is a positive value, the angle θ is 0 degree. On the other hand, when the electric field strength difference RΔy is 0 and the electric field strength difference RΔx is a negative value, the angle θ
Is 180 degrees.

Therefore, when the electric field intensity difference RΔx is 10 dB and the electric field intensity difference RΔy is 10 dB, the movement angle θ is calculated to be 45 degrees in accordance with the above-mentioned equation (3).

In this way, the CPU 11 calculates according to the equations (1) to (4) based on the electric field strength values measured at the current position of the autonomous mobile robot 2 and two different points separated by a predetermined distance from the current position. By doing
It is possible to detect the direction in which the electric field strength values of the downlink communication wave S1 and the uplink communication wave S2 are both higher than the measurement result at the current position, that is, the direction in which the reception states of the downlink communication wave S1 and the uplink communication wave S2 are both good. .

Next, in step SP34, the CPU 11
Determines whether or not the absolute values of the electric field intensity difference RΔx and the electric field intensity difference RΔy calculated according to the above equations (1) and (2) exceed a predetermined value.

When a positive result is obtained here, this means that in the vicinity of the autonomous mobile robot 2, the master unit 3 and the slave unit 4
Since the change in the electric field strength of the communication wave transmitted from
This indicates that there is a high possibility that the reception state of such communication waves can be improved to a predetermined level or higher by moving, and at this time the CPU 11 moves to the next step SP35.

At step SP35, the CPU 11
A counter variable K, which is a criterion for determining whether or not to shift to a standby relay process (described later), is initialized to 0, and the next step S
Move to P38.

On the other hand, when a negative result is obtained in step SP34, this means that the change in the electric field strength of the communication waves transmitted from the master unit 3 and the slave unit 4 in the vicinity of the autonomous mobile robot 2 is small, so By doing so, it is unlikely that the reception state of such communication waves can be improved to a predetermined level or higher. At this time, the CPU 11
Moves to the next step SP36.

At step SP36, the CPU 11
One is added to the counter variable K, which serves as a criterion for determining whether or not to shift to the standby relay process, and the process proceeds to the next step SP37.

At step SP37, the CPU 11
It is determined whether or not the counter variable K, which is a criterion for determining whether or not to shift to the standby relay process, is 3.

When an affirmative result is obtained here, this continues to move by repeatedly executing the moving process, and the absolute values of the electric field intensity difference RΔx and the electric field intensity difference RΔy measured at the respective movement destinations are three times. This indicates that the state is continuously smaller than the predetermined value. At this time, the CPU 11
In the vicinity of the autonomous mobile robot 2, the change in the electric field strength of the communication wave transmitted from the master unit 3 and the slave unit 4 is small, and even if the mobile unit further moves, the reception state of the communication wave can be improved to a predetermined level or higher. When it is determined that the wireless communication is not possible, the standby relay process is performed to wait for the current position and relay the wireless communication.

On the other hand, when a negative result is obtained, this means that the moving process is repeatedly executed to continue the movement, and the absolute values of the electric field intensity difference RΔx and the electric field intensity difference RΔy measured at the respective movement destinations are three times. It indicates that the state is not continuously smaller than the predetermined value, and at this time, the CPU 1
1 indicates that there is a place near the autonomous mobile robot 2 where the electric field strength value of the communication wave transmitted from the parent device 3 and the child device 4 is large, and it is highly possible that the user can move to that place. Then, the process proceeds to next step SP38.

At step SP38, the CPU 11
The walking function unit 6 is used to move a predetermined distance in the direction detected in step SP33, and the process returns to step SP31.

The CPU 11 also executes the above-mentioned step SP3.
When the negative result is obtained in step 1 or when the positive result is obtained in step SP37 described above, the standby relay process is started from step SP50 of the standby relay process procedure SRT5 shown in FIG.

At step SP50, the CPU 11
The remaining battery level is measured, and as a result of the measurement, it is determined whether or not the state of the remaining battery level is higher than level 3.

If a negative result is obtained here, this means that the relay processing and the movement processing cannot be executed because the remaining battery level is low, and at this time, the CPU 11 causes the basic processing procedure RT1 (see FIG. 4) Step SP5
Return to.

On the other hand, when an affirmative result is obtained, this means that there is at least the remaining battery power capable of executing the relay process, and at this time, the CPU 11 moves to step SP51.

At step SP51, the CPU 11
When it is determined whether the relay process is being executed and a negative result is obtained here, this means that the wireless communication between the master unit 3 and the slave unit 4 is completed, The process returns to step SP5 of the basic processing procedure RT1 (FIG. 4) described above.

On the other hand, when an affirmative result is obtained, this means that the wireless communication between the master unit 3 and the slave unit 4 is continuing, and at this time, the CPU 11 causes the next step SP52. Move to.

In step SP52, the CPU 11 measures the remaining battery amount, and as a result of the measurement, determines whether the state of the remaining battery amount is level 1.

If a negative result is obtained here, this means that the moving process cannot be executed because the remaining battery level is insufficient. At this time, the CPU 11 returns to step SP50 described above.

On the other hand, if an affirmative result is obtained, this means that the moving process can be executed because the remaining battery level is sufficient. At this time, the CPU 11 advances to the next step SP53.

At step SP53, the CPU 11
At the current position of the autonomous mobile robot 2, the downlink communication wave S
The electric field strength of 1 and the electric field strength of the upstream communication wave S2 are measured,
Move to next step SP54.

Here, when the CPU 11 repeats the standby relay process and executes step SP53 a plurality of times, the CPU 11 shifts from the above-described movement process to the standby relay process, and firstly measures the electric field strength of the downlink communication wave S1 and the upstream communication. The electric field strength of the wave S2 is set as the electric field strength value R1 and the electric field strength value R2, respectively, and the results of the current measurement are stored in the RAM 13 as the electric field strength value R1 ′ and the electric field strength value R2 ′, respectively.

At step SP54, the CPU 11
Based on the electric field intensity value measured in step SP53, the electric field intensity difference RΔx and the electric field intensity difference RΔy are calculated according to the above-described equations (1) and (2). And CP
U11 is the calculated electric field strength difference RΔx and electric field strength difference R
It is determined whether or not the absolute value of Δy exceeds a predetermined value.

If a positive result is obtained here, this is measured at the time of shifting from the moving process to the standby relay process, for example, because the master unit 3 or the slave unit 4 has been moved or an obstacle has been moved. Compared with the result, the electric field strength measured this time has changed by a predetermined value or more, so that the autonomous mobile robot 2 moves and performs relay processing at the destination, thereby improving the communication quality of wireless communication to a predetermined level or higher. It is highly possible that the CPU 11 returns to the subroutine SRT4 of the movement processing procedure RT3 described above.

On the other hand, when a negative result is obtained, the electric field strength measured this time has not changed by a predetermined value or more as compared with the result measured when the above-mentioned movement processing shifts to the standby relay processing, so that the autonomous mobile robot 2 indicates that there is a low possibility that the communication quality of the wireless communication can be improved to a predetermined level or higher by performing the relay processing at the destination, and at this time, the CPU 11 causes the CPU 11 to perform the above-mentioned step SP.
Return to 50.

Thus, as shown in FIG. 11, the autonomous mobile robot 2 moves from the current position of the autonomous mobile robot 2, point P1, to point P2 and point P3, and from the master unit 3 and the slave unit 4. It is designed to automatically move to a place where the reception state of transmitted communication waves is good.

Therefore, the autonomous mobile robot 2 is able to receive the downlink communication wave S1 and the uplink communication wave S2 in a deteriorated state due to, for example, the transfer of the parent device 3 and the child device 4 or the transfer of obstacles. Since it automatically moves in a direction in which the reception state of these communication waves is good, it is a place where the reception states of the downlink communication wave S1 and the uplink communication wave S2 are always good, that is, the master unit 3 and the slave unit. The wireless communication can be relayed in a place where the communication wave can be favorably transmitted to and received from the communication terminal 4.

(5) Operation and Effect In the above configuration, the autonomous mobile robot 2 has a wireless LA in which the parent device 3 and the child device 4 transmit and receive communication waves to perform wireless communication.
In the N system 1, the downlink communication wave S1 and the uplink communication wave S2 transmitted from the master unit 3 and the slave unit 4 are received, the received downlink communication wave S1 and the uplink communication wave S2 are amplified, and the amplified communication wave is The wireless communication between the master unit 3 and the slave unit 4 is relayed by transmitting as the relay downlink communication wave S3 and the relay uplink communication wave S4, respectively.

At this time, the autonomous mobile robot 2 measures the electric field strengths of the downlink communication wave S1 and the uplink communication wave S2 at the current position and at two different points separated by a predetermined distance from the current position at the same time as relaying the wireless communication. Based on the measurement result, the direction in which the electric field strength values of the downlink communication wave S1 and the uplink communication wave S2 are both higher than the measurement result at the current position is detected, and the walking function unit 6 is operated to move in the detected direction. By doing so, the wireless communication can be relayed at a place where the communication wave can be favorably transmitted to and received from the parent device 3 and the child device 4.

According to the above configuration, the autonomous mobile robot 2
At a location where communication waves can be favorably transmitted to and received from the master unit 3 and the slave unit 4 by automatically moving in a direction in which the electric field strengths of the communication waves transmitted from the master unit 3 and the slave unit 4 both increase. , Wireless communication can be relayed.

(6) Other Embodiments In the above embodiment, the autonomous mobile robot 2 is used.
However, the present invention is not limited to this, and the autonomous mobile robot 2 may use, for example, the W (Wideband) -CDMA system, the TDMA (TDMA (T)
wireless communication such as ime Division Multiple Access)
IEEE (Institute of Electrical and Electronics En
Other types of wireless communication such as short-range wireless communication such as Home RF defined by gineers or infrared communication according to IrDA (Infrared Data Association) standard may be relayed.

Further, in the above-mentioned embodiments, the case where the present invention is applied to the autonomous mobile robot 2 integrally including the wireless communication relay function and the walking function unit 6 as the moving means has been described. Not limited to this, as long as it has a wireless communication relay function and can move in a direction in which the reception state of the communication wave transmitted from the parent device 3 and the child device 4 is good, it is considered as a moving device having moving means. The present invention may be applied to various wireless communication relay devices such as a device in which a network device such as a repeater, which is a separate housing, is attached to a robot or the like.

Further, in the above-described embodiment, the wireless L composed of the parent device 3 and the child device 4 as wireless communication devices.
The AN system 1 is assumed, but the present invention is not limited to this.
If it has a wireless communication function, it is assumed to be a wireless communication system including a plurality of various wireless communication devices such as a network device such as a router, a PDA (Personal Digital Assistance), a personal computer, and a mobile phone. You may.

Further, in the above-mentioned embodiment, FIG.
As shown in, the autonomous mobile robot 2 moves from the point P1 to the point
After moving to Py1 and measuring the electric field strength at point Py1,
Return to point P1, then move from point P1 to point Px1,
After measuring the electric field strength at x1, return to point P1 again, measure the electric field strength at two different points that are a predetermined distance from the current position, and move from point P1 to the direction detected based on the measurement result. However, the present invention is not limited to this, and the autonomous mobile robot 2 moves from the point P1 to the point Py1, measures the electric field strength at the point Py1, and then moves directly to the point Px1 at the point Px1. As the electric field strength is measured, the electric field strength is measured at two different points separated by a predetermined distance from the current position, and the point Px1 is measured.
Therefore, it is also possible to move in the detected direction according to various other procedures such as moving in the detected direction based on the measurement result. In this case, since the moving distance of the autonomous mobile robot 2 in the mobile wireless communication relay process is shortened, the power consumption of the self-supporting mobile robot 2 can be reduced.

Furthermore, in the above-described embodiment, the autonomous mobile robot 2 measures the electric field strengths of the downlink communication wave S1 and the uplink communication wave S2 at the current position and at two different points separated by a predetermined distance from the current position. However, the present invention is not limited to this, and if the electric field strength can be measured at a point other than the current position in order to compare with the measurement result of the electric field strength at the current position, the autonomous mobile robot 2 , At the current position and at one point separated from the current position by a predetermined distance or at three or more different points,
The number of points at which the electric field strength is measured may be changed, for example, by measuring the electric field strengths of the downlink communication wave S1 and the uplink communication wave S2.

Further, in the above-described embodiment, the autonomous mobile robot 2 uses the downlink communication wave S1 and the uplink communication wave S2.
In the above description, the case of moving a predetermined distance with respect to the direction in which the reception state is good is described. , Electric field strength difference RΔx and electric field strength difference RΔy
You may make it move the distance according to. In this case, when the absolute values of the electric field strength difference RΔx and the electric field strength difference RΔy are large, the moving distance is increased, and the moving distance is changed according to the reception state of the downlink communication wave S1 and the uplink communication wave S2. It is possible to efficiently move to a place where communication waves can be favorably transmitted to and received from the parent device 3 and the child device 4.

Furthermore, in the above-described embodiment, the criterion for determining whether or not to execute the standby relay process is set to 3 in step SP37 of the movement process procedure RT3 (FIG. 7), and the value of the counter variable K is set to 3. In this case, the standby relay process is executed, but the present invention is not limited to this.
The criterion may be changed to another number.

Further, in the above-described embodiment, the case where the autonomous mobile robot 2 executes the mobile radio communication relay processing based on the mobile radio communication relay program as the movement control program stored in the ROM 12 in advance has been described. The present invention is not limited to this, and the mobile wireless communication relay process described above may be executed by installing a program storage medium in which the mobile wireless communication relay program is recorded in the autonomous mobile robot 2.

In order to install the mobile radio communication relay program as the movement control program for executing the mobile radio communication relay processing described above in the autonomous mobile robot 2 so that the autonomous mobile robot 2 can execute the mobile radio communication relay program. The program storage medium used for
For example, floppy disk, CD-ROM (Compact
Disc Read Only Memory), DVD (Digital Video Dis)
Not only the package medium such as c) but also a semiconductor memory or a magnetic disk in which the program is temporarily or permanently stored may be realized. As a means for storing the program in these program storage media, wired and wireless communication media such as a local area network, the Internet and digital broadcasting may be used, and the programs may be stored via various communication interfaces such as routers and modems. It may be done.

[0135]

As described above, according to the present invention, a wireless communication relay device for relaying a plurality of communication signals transmitted and received between a plurality of wireless communication devices is a plurality of communication devices transmitted from a plurality of wireless communication devices. By receiving and retransmitting each signal, the wireless communication between the plurality of wireless communication devices is relayed, the signal levels of the plurality of communication signals are measured at a plurality of points, and a plurality of communication is performed based on the measurement result. By detecting the direction in which each signal level of the signal becomes higher than the current point of the wireless communication relay device, and activating the moving means to move from the current point to the detected direction,
A wireless communication system and a wireless communication relay device capable of relaying such wireless communication at a place where communication signals can be satisfactorily transmitted / received to / from a plurality of wireless communication devices and thus can always provide good communication quality to the wireless communication device. , A movement control method, a movement control program, and a movement control program storage medium can be realized.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing an overall configuration of a wireless LAN system to which the present invention is applied.

FIG. 2 is a schematic diagram showing a configuration of a bucket.

FIG. 3 is a block diagram showing a circuit configuration of an autonomous mobile robot according to the present invention.

FIG. 4 is a flowchart showing a basic processing procedure.

FIG. 5 is a flowchart showing a relay processing procedure.

FIG. 6 is a block diagram showing an internal configuration of a communication control unit.

FIG. 7 is a flowchart showing a movement processing procedure.

FIG. 8 is a flowchart showing a procedure of electric field strength measurement processing.

FIG. 9 is a schematic diagram showing a state of electric field strength around an autonomous mobile robot.

FIG. 10 is a flowchart showing a standby relay processing procedure.

FIG. 11 is a schematic diagram showing how the autonomous mobile robot moves.

[Explanation of symbols]

1 ... Wireless LAN system, 2 ... Autonomous mobile robot,
3 ... Parent device, 4 ... Child device, 5 ... Internet, 6 ...
... Walking function part, 7,8,9 ... antenna, 10 ... notebook PC, 11 ... CPU, 12 ... ROM, 13 ...
... RAM, 14 ... Operation part, 15 ... Display control part, 16
...... Sound emission control unit, 17 ...... Communication control unit, 18 ...... Walking control unit, 19 ...... Geomagnetic sensor, 20 ...... Display unit, 21 ...
... speaker, 22 ... control line, 23 ... data line, 24,25 ... despreading section, 26,27 ... PN code sending section, 28,29 ... demodulation section, 30 ... data processing section, 31 ...... Modulation unit, 32 ・ ・ ・ Spreading unit, 33 ・ ・ ・ PN code selection transmission unit, RT1 …… Basic processing procedure, RT2 …… Relay processing procedure, RT3 …… Movement processing procedure, SRT4 …… Field strength measurement processing procedure, SRT5 ... Standby relay processing procedure.

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Osamu Osakai             Sony 6-735 Kitashinagawa, Shinagawa-ku, Tokyo             Within the corporation (72) Inventor Yuichiro Saito             Sony 6-735 Kitashinagawa, Shinagawa-ku, Tokyo             Within the corporation (72) Inventor Naohiro Takahashi             Sony 6-735 Kitashinagawa, Shinagawa-ku, Tokyo             Within the corporation F term (reference) 5K067 DD42 DD44 EE02 EE06 EE10                       HH11 HH22

Claims (9)

[Claims] 1. A wireless communication system comprising a plurality of wireless communication devices and a wireless communication relay device for relaying a plurality of communication signals transmitted and received between the plurality of wireless communication devices, wherein the wireless communication relay device comprises: , Receiving the communication signal transmitted from one of the plurality of wireless communication devices, and receiving the communication signal to any of the wireless communication devices other than the one wireless communication device. Retransmitting means, signal level measuring means for measuring the signal levels of the plurality of communication signals at a plurality of points, and signal levels of the plurality of communication signals based on the measurement results of the signal level measuring means. Direction detecting means for detecting a direction in which the wireless communication relay device is higher than the current point, and A wireless communication system comprising: a moving unit that moves in the direction detected by the direction detecting unit. 2. A wireless communication relay device for relaying a plurality of communication signals transmitted and received between a plurality of wireless communication devices, each receiving and retransmitting a plurality of the communication signals transmitted from the plurality of wireless communication devices. Relaying means, signal level measuring means for respectively measuring the signal levels of the plurality of communication signals at a plurality of points, and each signal level of the plurality of communication signals is based on the measurement result of the signal level measuring means. A direction detecting means for detecting a direction higher than the current position of the communication relay device; and a moving means for moving the wireless communication relay device in the direction detected by the direction detecting means from the current position. A characteristic wireless communication relay device. 3. The signal level measuring means respectively measures the signal levels of the plurality of communication signals at the current point and a reference point which is a predetermined distance away from the current point in a predetermined direction, and the direction detecting means is the above-mentioned. The wireless communication relay apparatus according to claim 2, wherein the direction is detected based on a level difference between the signal levels at the current point and the reference point. 4. A movement control method of a wireless communication relay device for moving a wireless communication relay device, which relays a plurality of communication signals transmitted and received between a plurality of wireless communication devices, to a position suitable for the relay, comprising: A signal level measuring step for measuring the signal levels of the plurality of communication signals, respectively, based on the measurement result of the signal level measuring step, the signal level of the plurality of communication signals is higher than the current position of the wireless communication relay device. And a moving step of moving the wireless communication relay device from the current position to the direction detected in the direction detection step. Control method. 5. The signal level measuring step respectively measures the signal levels of the plurality of communication signals at the present point and a reference point which is a predetermined distance away from the present point in a predetermined direction, and the direction finding step includes the step of detecting the direction. The movement control method for a wireless communication relay apparatus according to claim 4, wherein the direction is detected based on a level difference between the signal levels at the current point and the reference point. 6. A wireless communication relay device for relaying a plurality of communication signals transmitted and received between a plurality of wireless communication devices, to a mobile device for moving to a point suitable for the relay, via a predetermined signal level measuring means. A signal level measuring step of measuring the signal levels of the plurality of communication signals at a plurality of points respectively, and based on the measurement result of the signal level measuring step, the signal levels of the plurality of communication signals of the wireless communication relay device are A movement control program for executing a direction detection step of detecting a direction higher than the current position, and a movement step of moving the wireless communication relay device from the current position to the direction detected in the direction detection step. 7. The signal level measuring step respectively measures the signal levels of the plurality of communication signals at the current point and a reference point which is a predetermined distance away from the current point in a predetermined direction, and the direction detecting step comprises: The movement control program according to claim 6, wherein the direction is detected based on a level difference between the signal levels at the current point and the reference point. 8. A wireless communication relay device for relaying a plurality of communication signals transmitted and received between a plurality of wireless communication devices to a mobile device for moving to a point suitable for the relay, via predetermined signal level measuring means. A signal level measuring step of measuring the signal levels of the plurality of communication signals at a plurality of points respectively, and based on the measurement result of the signal level measuring step, the signal levels of the plurality of communication signals of the wireless communication relay device are A movement characterized by comprising a direction detection step of detecting a direction higher than the current position, and a movement step of moving the wireless communication relay device from the current position to the direction detected in the direction detection step. A movement control program storage medium for executing a control program. 9. The signal level measuring step respectively measures the signal levels of the plurality of communication signals at the current point and a reference point which is a predetermined distance away from the current point in a predetermined direction. 9. The movement control program storage medium according to claim 8, wherein the direction is detected based on a level difference between the signal levels at the current point and the reference point.