JP2015115648A - Radio wave propagation environment evaluation system and radio wave propagation environment evaluation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent interruption of radio communication of a robot even at a place where radio wave propagation environment is unknown.SOLUTION: The radio wave propagation environment evaluation system comprises: a movable robot; and an operation arithmetic unit capable of performing radio communication with the robot. The robot comprises: a distance measuring instrument for acquiring three-dimensional data around the robot; a radio communication part which transmits the three-dimensional data to the operation arithmetic unit, and receives an operation instruction accepted by the operation arithmetic unit; and a travel part which moves the robot based on the operation instruction. The operation arithmetic unit comprises: a radio communication part which transmits the operation instruction to the robot, and receives the three-dimensional data from the robot; a three-dimensional structural drawing creation part which creates a three-dimensional structural drawing around the robot based on the three-dimensional data acquired at a first position of the robot; and a radio wave propagation analysis part which performs radio wave propagation simulation at the first position by using the three-dimensional structural drawing.

Description

  The present invention relates to a radio wave propagation environment evaluation system and a radio wave propagation environment evaluation method for analyzing a radio wave situation related to a traveling path of a robot by performing a radio wave propagation simulation.

  In order to check the situation inside the building in places where people can not work, such as chemical weapon terrorism in underground shopping centers, petrochemical complexes and large-scale disasters at nuclear power plants, temperature, radiation dose, There is a growing need for robots that capture surrounding images. Wireless communication is used for operation of the robot and transmission of data collected by the robot.

  The places where robots are thrown in (plants, factories, power plants, underground malls, etc.) are limited places where humans cannot act in the event of a disaster, and there are restricted areas and management areas. Since these places have a high risk in the event of a disaster, training for predicting the occurrence of a disaster is performed. At this time, it is possible to conduct an indoor survey in advance, perform a radio wave propagation simulation using a building diagram, and analyze a robot's travel path and radio wave propagation environment.

The following Patent Document 1 (Japanese Patent Laid-Open No. 2012-173051) states that “a radio wave environment is created while autonomously moving a route designated by an administrator based on created map data of an indoor area. “Measure data”.
Patent Document 2 (Japanese Patent Laid-Open No. 2005-72654) below describes “a radio wave propagation simulation apparatus that performs a radio wave propagation simulation using a three-dimensional model created using a moving object”.

JP2012-173051A JP 2005-72654 A

  In a building at the time of a disaster, the environment for radio wave propagation as well as the robot's travel path may differ due to the effects of obstacles such as collapsed walls and other structures, equipment, and debris. In addition, the building may be renovated after a preliminary survey, and the robot's travel path and radio wave propagation environment may be different. Regarding the traveling of the robot, it is possible to directly check the traveling path by displaying the camera image and the laser scan result on the monitor, so that the robot can be operated. However, with regard to the environment for radio wave propagation, the location where wireless communication was possible in the preliminary survey will be changed to a location where wireless communication is difficult due to the occurrence of a disaster or the reasons mentioned above, and communication will be interrupted and operation becomes impossible. There is.

  An object of the present invention is to provide a technique capable of preventing the wireless communication of a robot from being interrupted even in a place where the environment of radio wave propagation is unknown.

A typical configuration of the present invention for solving the above problems is as follows. That is,
A radio wave propagation environment evaluation system comprising a movable robot and an operation arithmetic device capable of wireless communication with the robot,
The robot transmits a distance measuring device for obtaining three-dimensional data around the robot, and transmits the three-dimensional data to the operation calculation device, and receives an operation instruction from an operator received by the operation calculation device. A robot wireless communication unit, and a traveling unit that moves the robot based on the operation instruction,
The operation calculation device includes an operation input unit that receives the operation instruction, an operation calculation device wireless communication unit that transmits the operation instruction to the robot and receives the three-dimensional data from the robot, and a first of the robot A three-dimensional structure diagram creating unit for creating a three-dimensional structure diagram showing a three-dimensional structure around the robot based on the three-dimensional data acquired at the position; and a first position of the robot using the three-dimensional structure diagram A radio wave propagation environment evaluation system, comprising: a radio wave propagation analysis unit that performs radio wave propagation simulation in Japan.

Other typical configurations of the present invention are as follows. That is,
A radio wave propagation environment evaluation system comprising a movable robot and an operation device capable of wireless communication with the robot,
The operation device includes an operation input unit that receives an operation instruction from an operator, and an operation device wireless communication unit that transmits the operation instruction to the robot. The robot transmits the operation instruction transmitted from the operation device. Is acquired at a first position of the robot, a distance measuring device for acquiring three-dimensional data around the robot, a traveling unit that moves the robot based on the operation instruction, A three-dimensional structure diagram creating unit for creating a three-dimensional structure diagram showing a three-dimensional structure around the robot based on the three-dimensional data, and a first position of the robot using the created three-dimensional structure diagram A radio wave propagation analysis unit for performing radio wave propagation simulation,
A radio wave propagation environment evaluation system.

Other typical configurations of the present invention are as follows. That is,
A three-dimensional data acquisition step of acquiring three-dimensional data around the robot at a first position of the robot;
A three-dimensional structure diagram creating step for creating a three-dimensional structure diagram showing a three-dimensional structure around the robot based on the acquired three-dimensional data;
A radio wave propagation simulation step of performing a radio wave propagation simulation at the first position of the robot using the created three-dimensional structure diagram;
A radio wave propagation environment evaluation method comprising:

  According to the above configuration, it is possible to prevent the wireless communication of the robot from being interrupted even in a place where the radio wave propagation environment is unknown.

1 is a configuration diagram of a radio wave propagation environment evaluation system in a first embodiment of the present invention. It is a 1st figure explaining operation | movement of the electromagnetic wave propagation environment evaluation system in 1st Embodiment. It is a 2nd figure explaining operation | movement of the electromagnetic wave propagation environment evaluation system in 1st Embodiment. It is a 3rd figure explaining operation | movement of the electromagnetic wave propagation environment evaluation system in 1st Embodiment. It is a 4th figure explaining operation | movement of the electromagnetic wave propagation environment evaluation system in 1st Embodiment. It is a 5th figure explaining operation | movement of the electromagnetic wave propagation environment evaluation system in 1st Embodiment. It is a 6th figure explaining operation | movement of the electromagnetic wave propagation environment evaluation system in 1st Embodiment. It is a display example of the radio wave propagation environment evaluation system in the first embodiment. It is a block diagram of the electromagnetic wave propagation environment evaluation system in 2nd Embodiment of this invention. It is a block diagram of the electromagnetic wave propagation environment evaluation system in 3rd Embodiment of this invention. It is a figure explaining operation | movement of the electromagnetic wave propagation environment evaluation system in 3rd Embodiment. It is a block diagram of the electromagnetic wave propagation environment evaluation system in 4th Embodiment of this invention. It is a block diagram of the electromagnetic wave propagation environment evaluation system in 5th Embodiment of this invention. It is a figure explaining operation | movement of the electromagnetic wave propagation environment evaluation system in 5th Embodiment.

(First embodiment)
FIG. 1 is a configuration diagram of a radio wave propagation environment evaluation system in the first embodiment of the present invention.
As shown in FIG. 1, the radio wave propagation environment evaluation system of the first embodiment is configured to include, for example, a movable robot 10 for disaster countermeasures and an operation console 20 for an operator to operate the robot 10. Is done.

  The robot 10 includes a laser scanner 14, a camera 15, a sensor 16, a traveling unit 17, a control unit 11 that controls the robot 10, a storage unit 12 that stores various data, and a wireless communication unit 13.

  The laser scanner 14 is a distance measuring device for measuring a distance to an object around the robot 10 and acquiring three-dimensional data around the robot 10. The camera 15 is an imaging unit for imaging the surroundings of the robot 10. The sensor 16 is a detector for detecting the temperature, humidity, and radioactivity around the robot 10 and the state of the robot 10 itself. One or a plurality of laser scanners 14, cameras 15, and sensors 16 are provided. The traveling unit 17 is a moving unit that moves (runs, etc.) the robot 10.

  The storage unit 12 stores measurement data (three-dimensional data) measured by the laser scanner 14, camera image data captured by the camera 15, detection data detected by the sensor 16, travel history data of the travel unit 17, and the like. .

  The wireless communication unit 13 performs wireless communication between the robot 10 and the console 20 via the antenna 13a. For example, the wireless communication unit 13 transmits the three-dimensional data acquired by the laser scanner 14 to the console 20 and receives an operation instruction, which is an instruction from the operator received at the console 20, from the console 20. The communication information transmitted from the robot 10 to the console 20 includes the identification information of the robot 10 indicating the transmission source and the identification information of the console 20 indicating the transmission destination (destination).

  The control unit 11 controls the orientations of the laser scanner 14, the camera 15, and the sensor 16 based on instructions from the console 20. Further, the control unit 11 controls the traveling state and the stopped state, the traveling speed, and the traveling direction of the robot 10 via the traveling unit 17 based on an instruction from the console 20. Further, based on an instruction from the console 20, the control unit 11 measures the three-dimensional data around the robot 10 with the laser scanner 14 and stores the measurement data (three-dimensional data) in the storage unit 12. The control unit 11 also transmits measurement data measured by the laser scanner 14, camera image data captured by the camera 15, detection data detected by the sensor 16, travel data of the travel unit 17, and the like to the console 20. The wireless communication unit 13 and the antenna 13a are controlled so as to perform wireless communication between them.

  The console 20 includes a control unit 21 that controls the console 20, a storage unit 22 that stores various data, and a wireless communication unit 23 that performs wireless communication between the robot 10 and the console 20 via an antenna 23a. A display unit 24 that displays various data, an operation input unit 25 that receives operation instructions from an operator, a radio wave propagation analysis unit 26, and a 3D model creation unit (3D structure diagram creation unit) 27. .

  For example, the wireless communication unit 23 receives the three-dimensional data from the robot 10 and transmits an operation instruction from the operator received by the operation input unit 25 to the robot 10. As described above, the console 20 includes the operation device (operation input unit 25) and the arithmetic device (the radio wave propagation analysis unit 26 and the three-dimensional model creation unit 27).

  The three-dimensional model creation unit 27 creates a three-dimensional model indicating the three-dimensional structure in the building around the robot 10 based on the three-dimensional data measured by the laser scanner 14 of the robot 10. The three-dimensional model creation unit 27 then creates a three-dimensional model related to the building based on the created three-dimensional model and the original structure diagram that is a three-dimensional structure diagram related to the original building obtained by a preliminary survey or the like. A modified structure diagram is created, and the created modified structure diagram is stored in a later-described building drawing storage unit 22a. This three-dimensional corrected structure diagram (three-dimensional structure diagram) is a diagram showing a three-dimensional structure around the robot 10. Thus, the three-dimensional model creation unit 27 is a three-dimensional structural diagram creation unit.

  Upon receiving an instruction from the operator via the operation input unit 25, the radio wave propagation analysis unit 26 sets the position of the virtual radio wave emission source based on the instruction from the operator, and the three-dimensional model creation unit 27 Using the created modified structure diagram, radio wave propagation simulation around the robot 10 in the building is performed to grasp and analyze the radio wave propagation state. Specifically, in a three-dimensional modified structure diagram, a place where radio waves are strong or weak is specified. Then, the radio wave propagation analysis unit 26 stores the result of the radio wave propagation simulation, that is, the radio wave propagation analysis result specifying the place where the radio wave is strong or weak in the three-dimensional structure diagram in the radio wave propagation analysis result storage unit 22b described later. .

The storage unit 22 includes a building drawing storage unit 22a, a radio wave propagation analysis result storage unit 22b, a laser scan data storage unit 22c, and a camera image data storage unit 22d.
The building drawing storage unit 22a stores a three-dimensional original structure diagram obtained by a preliminary survey or the like and a corrected structure diagram obtained by correcting the original structure diagram. As described above, the corrected structure diagram is created by the 3D model creation unit 27 based on the 3D model created by the 3D model creation unit 27 and the original structure diagram.

The radio wave propagation analysis result storage unit 22b stores a radio wave propagation analysis result that is a result of the radio wave propagation simulation performed by the radio wave propagation analysis unit 26.
The laser scan data storage unit 22 c stores measurement data (three-dimensional data) measured by the laser scanner 14 of the robot 10 and transmitted from the robot 10.
The camera image data storage unit 22d stores camera image data captured by the camera 15 of the robot 10 and transmitted from the robot 10.

  Data stored in the building drawing storage unit 22a, the radio wave propagation analysis result storage unit 22b, the laser scan data storage unit 22c, and the camera image data storage unit 22d is received from the operator input to the operation input unit 25. Is displayed on the display unit 24 based on the instruction.

  The control unit 21 sends a three-dimensional data acquisition instruction for instructing the robot 10 to acquire three-dimensional data based on a three-dimensional structure drawing creation instruction from the operator via the operation input unit 25 via the wireless communication unit 23. Transmit to the robot 10. When receiving the three-dimensional data from the robot 10, the three-dimensional model creation unit 27 creates a three-dimensional model based on the received three-dimensional data, and based on the created three-dimensional model and the original structure diagram, A three-dimensional structure diagram is created by modifying the original structure diagram.

Further, the control unit 21 sets a virtual radio wave emission source to the radio wave propagation analysis unit 26 based on a radio wave propagation simulation execution instruction from the operator via the operation input unit 25, and uses a three-dimensional structure diagram. Run radio wave propagation simulation.
Alternatively, the control unit 21 transmits a three-dimensional data acquisition instruction to the robot 10 based on a radio wave propagation simulation execution instruction from the operator via the operation input unit 25, and three-dimensionally based on the three-dimensional data received from the robot 10. A structure diagram is created, and a radio wave propagation simulation using the three-dimensional structure diagram is executed.

  Further, the control unit 21 is configured to transmit the robot instruction information, which is an instruction for the robot 10, to the robot 10 based on an instruction from the operator via the operation input unit 25. 23a is controlled. The robot instruction information includes identification information of the console 20 indicating the transmission source and identification information of the robot 10 indicating the transmission destination (destination).

  The robot instruction information includes instructions for controlling the orientations of the laser scanner 14, the camera 15, and the sensor 16, a travel state and a stop state of the robot 10, a travel instruction for controlling the travel speed and travel direction, and a laser. An instruction to transmit measurement data measured by the scanner 14, camera image data captured by the camera 15, detection data detected by the sensor 16, traveling data of the traveling unit 17, etc. to the console 20, and three-dimensional to the robot 10. A three-dimensional data acquisition instruction or the like for instructing data acquisition is included.

FIG. 2 is a diagram for explaining the operation of the radio wave propagation environment evaluation system in the first embodiment.
FIG. 2A is a first diagram for explaining the operation of the radio wave propagation environment evaluation system in the first embodiment, and shows a plan view of a building before a disaster occurs. As a result of prior surveys and training, the 3D building structure diagram (original structure diagram), which is the building drawing before the disaster, has been obtained. FIG. 2A is a plan view of the original structural view as seen from above. The radio wave propagation simulation in the building before the occurrence of the disaster has been completed using the console 20 as a virtual radio wave emission source, and the radio wave propagation analysis result before the occurrence of the disaster is stored in the radio wave propagation analysis result storage unit of the console 20. 22b.

  In FIG. 2A, reference numerals 81 to 86 are structures that are made of concrete or the like and reflect without transmitting radio waves. 87w is a wall made of concrete or the like and reflecting a radio wave without transmitting. Portions other than 81-86 and 87w are paths through which the robot 10 can move. The antenna 23a of the console 20 is disposed at a position where the robot 10 can see through the movable path.

In the example of FIG. 2A, the robot 10 located at the point 201 is operated from the console 20 and moved to the point 202. Based on the preliminary investigation, the travel path on which the robot 10 should travel is clear, and the radio wave propagation analysis result of the radio wave propagation simulation performed using the console 20 as a radio wave emission source shows that the radio wave propagation path 302 and the movement destination on the travel path of the robot 10 The radio wave propagation environment relating to the radio wave propagation path 301 in the direction of the point 202 is good. Therefore, the operator can easily move the robot 10 from the point 201 to the point 202 while viewing the camera image of the robot 10 on the display unit 24 of the console 20.
The radio wave emission source in the radio wave propagation simulation is a virtual radio wave emission source, that is, a position on the assumption that radio waves are emitted from the position of the radio wave emission source.

  FIG. 2B is a second diagram for explaining the operation of the radio wave propagation environment evaluation system in the first embodiment, and shows a plan view of the building at the time of disaster occurrence. In the example of FIG. 2B, a state in which the debris 91 blocks a part of the passage due to destruction or collapse of the inside of the building is shown. The robot 10 at the position 201 can visually detect the debris 91 using a camera image, and can measure the distance to the debris 91 and the size of the debris 91 using the laser scanner 14. If wireless communication between the console 20 and the robot 10 is maintained, the operator moves the robot 10 from the position 201 to the position 202 while monitoring the camera image displayed on the console 20 and the data of the laser scanner 14. It is possible to move. However, when the radio wave propagation path 301 investigated in advance is blocked by the debris 91 and the point 202 to be moved has changed to a radio wave insensitive area 211 where the radio wave intensity is reduced and communication is impossible, Since only the current reception intensity of the robot is displayed on the operator console, if the robot suddenly enters the insensitive area 211 while traveling, the communication is cut off and the operation becomes impossible.

  FIG. 2C is a third diagram for explaining the operation of the radio wave propagation environment evaluation system in the first embodiment. At the time of occurrence of a disaster, a point 201 in front of the debris 91 that is an obstacle, This is an example of creating a three-dimensional corrected structure diagram.

  Based on an instruction from the console 20, the robot 10 acquires the three-dimensional data 201 d regarding 360 degrees around the point 201 by the laser scanner 14 and wirelessly transmits it to the console 20. Upon receiving the three-dimensional data 201d from the robot 10, the console 20 creates a three-dimensional model with the three-dimensional model creation unit 27 based on the received three-dimensional data 201d. Note that the robot 10 may acquire the three-dimensional data 201d using the camera 15 or using the laser scanner 14 and the camera 15 together.

  At the time of creating the three-dimensional model, the three-dimensional model creating unit 27 continues from the point 201 to the shadow portion 91s which is a shadow portion by the debris 91 in FIG. Consider it a thing.

  Then, the three-dimensional model creation unit 27 is based on the created three-dimensional model and the three-dimensional original structural diagram (the original structural diagram before the occurrence of the failure) stored in the indoor drawing storage unit 22a. Then, a first three-dimensional structure diagram in which the original structure diagram is corrected is created, and the first three-dimensional structure diagram is stored in the building drawing storage unit 22a.

  FIG. 2D is a fourth diagram for explaining the operation of the radio wave propagation environment evaluation system in the first embodiment. At the time of a disaster, the robot 10 is operated at the point 201 (that is, with the point 201 as a virtual radio wave emission source). This is an example in which a radio wave propagation simulation is performed according to an instruction from the console 20 by limiting the range in the traveling direction.

  Known radio wave propagation simulations include ray tracing methods such as ray tracing and ray launching, and electromagnetic field analysis methods such as the FDTD method (Finite-difference time-domain method). The radio wave propagation simulation of the present embodiment is not limited to a specific method.

  In the example of FIG. 2D, the first three-dimensional structure diagram created in FIG. 2C is read from the building drawing storage unit 22a, and the point 201 is set as a virtual radio wave emission source using the read first three-dimensional structure diagram. The radio wave propagation simulation in the traveling direction of the robot 10 is mainly performed, and the radio wave environment in the radio wave propagation in the traveling direction of the robot 10 is predicted. In this way, by limiting the radio wave propagation simulation area 92 that is the range of the radio wave propagation simulation to the traveling direction of the robot 10 at the point 201, radio wave propagation analysis can be performed in a short time.

  In the example of FIG. 2D, the radio wave propagation simulation region 92 is a perpendicular to the straight line 303 connecting the antenna 23a of the console 20 and the point 201, and is ahead of the perpendicular at the point 201 (in the direction of viewing the point 201 from the antenna 23a). It is an area.

  In the example of FIG. 2D, in the radio wave propagation analysis result that is the result of the radio wave propagation simulation at the point 201, the radio wave propagation path 303 in the straight direction of the robot 10 and the radio wave propagation environment of the radio wave propagation paths 304 and 305 are It turns out that it is good like the radio wave propagation analysis result of the previous radio wave propagation simulation.

  FIG. 2E is a fifth diagram for explaining the operation of the radio wave propagation environment evaluation system in the first embodiment. As a result of referring to the result of FIG. It is the state which moved to the point 203 which is a communication possible area in between. At the point 203, it is possible to confirm the point 202 of the planned moving destination that cannot be seen from the point 201 as a shadow of the debris 91. At the point 203, the robot 10 acquires the three-dimensional data 203 d around the point 203 by the laser scanner 14 based on an instruction from the console 20 and wirelessly transmits it to the console 20.

  Upon receiving the three-dimensional data 203d from the robot 10, the console 20 creates a three-dimensional model by the three-dimensional model creation unit 27 based on the received three-dimensional data 203d. The three-dimensional model creation unit 27 then creates the created three-dimensional model, the three-dimensional original structure diagram stored in the building drawing storage unit 22a (the structure diagram of the building before the failure), and the first A second three-dimensional structure diagram is created based on the three-dimensional structure diagram, and the second three-dimensional structure diagram is stored in the building drawing storage unit 22a.

  FIG. 2F is a sixth diagram for explaining the operation of the radio wave propagation environment evaluation system in the first embodiment. When a disaster occurs, the radio wave propagation is performed using the three-dimensional structure diagram created in FIGS. 2C and 2E described above. It is the figure which showed a mode that the simulation was performed.

  A virtual radio wave emission point source in the radio wave propagation simulation at this time is a point before moving to the point 203 and is a point 201 before the debris 91. In addition, the radio wave propagation simulation limits the range in the traveling direction of the robot 10 and is performed, for example, in the radio wave propagation simulation area 92. 2D, the radio wave propagation simulation region 92 is a perpendicular to the straight line connecting the antenna 23a of the console 20 and the point 201, and is forward of the perpendicular at the point 201 (direction in which the point 201 is viewed from the antenna 23a). ) Area.

  By performing this radio wave propagation simulation, the radio wave paths 307, 308, and 309 have a good radio wave environment, but there is a dead area 211 in which the radio wave intensity is reduced around the point 202 behind the radio wave path 309. It can be seen that the robot 10 cannot advance.

  As described above, a first three-dimensional structure diagram is created based on the three-dimensional data 201d acquired at the point 201 in front of the debris 91 (FIG. 2C), and the first three-dimensional structure diagram is used to create a point at the point 201. A radio wave propagation simulation is performed (FIG. 2D), and based on the result of the radio wave propagation simulation, the robot 10 is moved to a point 203 that is located ahead of the debris 91 and is not a radio wave insensitive region, and three-dimensional data 203d is acquired at the point 203. Since it did as (FIG. 2E), the 2nd three-dimensional structure figure in the tip of the rubble 91 can be created, and the state of the tip of the rubble 91 can be known in detail.

  Furthermore, since the radio wave propagation simulation is performed at the point 201 using the second three-dimensional structural diagram (FIG. 2F), the radio wave insensitive area located ahead of the debris 91 is known in detail, that is, the console 20 It is possible to know in detail the communicable area that can communicate between the two.

  Next, an example in which not only the radio wave propagation environment evaluation but also the result is displayed on the console 20 will be described. FIG. 3 is a display example of the radio wave propagation environment evaluation system in the first embodiment, and is an example showing the display screen 400 of the display unit 24 of the console 20.

  As shown in FIG. 3, a front camera image 401 of the robot 10 and a building drawing 402 are simultaneously displayed on the display screen 400. The front camera image 401 may be read from the camera image data storage unit 22d and displayed, or the camera image captured by the camera 15 of the robot 10 may be received by the console 20 and displayed in real time. The building drawing 402 is read from the building drawing storage unit 22a and displayed.

  As described above, when a disaster occurs, a 3D model around the robot 10 is created, a 3D structure diagram is created based on the created 3D model and the original structure diagram, and the created 3D structure diagram is created. Is used to set a radio wave emission source on the movement trajectory of the robot 10 and perform radio wave propagation analysis. The three-dimensional structure diagram is stored in the building drawing storage unit 22a, and the radio wave propagation analysis result is stored in the radio wave propagation analysis result storage unit 22b.

  In the example of FIG. 3, on the front camera image 401 of the robot 10 photographed with the image of the camera 15 based on an instruction from the operator via the operation input unit 25, the radio field intensity that is the radio field intensity in the traveling direction of the robot 10. A numerical display 403 is displayed in an overlapping manner. The radio wave intensity numerical value display 403 is read from the radio wave propagation analysis result storage unit 22b and displayed. In the radio wave intensity numerical display 403, as shown in the radio wave intensity legend 404, the received electric field intensity is stronger as the number is larger. In the front camera image 401, as shown in FIG. 2E, 82w1 and 82w2 are walls of the structure 82, and 87w is a wall of the building.

  In addition, the current position 203 of the robot 10 is displayed in an overlapping manner on the building drawing 402 which is a plan view of the three-dimensional structure diagram created after the disaster occurs. The building drawing 402 is read from the building drawing storage unit 22a and displayed.

In this way, by displaying the radio wave propagation analysis result superimposed on the camera image in the traveling direction of the robot 10, it becomes easy for the operator to visually predict the radio wave environment in the traveling direction of the robot 10. The robot 10 can be prevented from entering an area where the radio wave environment is bad.
At the same time, by displaying the current position of the robot 10 on the building drawing 402 in which the position and size of the obstacle 91 are displayed, the operator can easily grasp the current position of the robot 10. Further, it is possible to further prevent the robot 10 from entering an area where the radio wave environment is bad.
In this way, the operator confirms the current position of the robot 10 with the building drawing 402 and monitors the state of the obstacle in the traveling direction of the robot 10 and the radio wave propagation environment with the front camera image 401, thereby driving the robot 10. Can be controlled.

According to the first embodiment, at least the following effects can be obtained.
(A1) At the destination of the robot, a three-dimensional structure diagram around the robot is created based on the acquired data (three-dimensional data) of the robot itself, and a radio wave propagation simulation at the destination of the robot is performed using the three-dimensional structure diagram. Since it comprised so that it might perform, a robot can be moved, investigating the electromagnetic wave propagation environment. Therefore, the robot can be prevented from entering an area where the radio wave environment is bad.
(A2) A first three-dimensional structure diagram is created at a first point in front of an obstacle (for example, debris), and a first radio wave propagation simulation is performed using the first three-dimensional structure diagram. Based on the result of the radio wave propagation simulation, the robot is moved to the second point that is the position where the obstacle is ahead and can be communicated, and the second three-dimensional structure diagram is created at the second point. So you can know in detail the state of the obstacle ahead.
(A3) Furthermore, since the radio wave propagation simulation is performed at the first point using the second three-dimensional structural diagram, the radio wave insensitive area located at the tip of the obstacle is known in detail. It is possible to know in detail the communicable area in which communication is possible between the two.
(A4) Since the radio wave propagation analysis result is superimposed and displayed on the camera image in the moving direction of the robot, it becomes easy for the operator to visually predict the radio wave environment in the moving direction of the robot. , The robot can be prevented from entering an area where the radio wave environment is bad.
(A5) Since the radio wave propagation analysis result is superimposed and displayed on the camera image in the moving direction of the robot and the current position of the robot is displayed on the building drawing, the operator can display the current position of the robot. Can be easily grasped, and the robot can be further prevented from entering an area where the radio wave environment is bad.
(A6) Since the radio wave propagation simulation region is configured to be limited to the traveling direction of the robot, radio wave propagation analysis can be performed in a short time.

(Second Embodiment)
FIG. 4 is a configuration diagram of a radio wave propagation environment evaluation system in the second embodiment of the present invention. The second embodiment is an example in which the radio wave propagation environment evaluation is performed not by the console but by the arithmetic unit 50 outside the console.

As shown in FIG. 4, the radio wave propagation environment evaluation system in the second embodiment includes a robot 10, an operation console 120 that is an operation device for an operator to input, and an arithmetic device 50 outside the operation console. Composed. In the second embodiment, the functions of the radio wave propagation analysis unit 26 and the three-dimensional model creation unit (three-dimensional structural diagram creation unit) 27 of the console 20 of the first embodiment are respectively replaced with the radio wave propagation analysis unit 56 of the arithmetic device 50. And a three-dimensional model creation unit (three-dimensional structural diagram creation unit) 57. The other functions of the console 120 are the same as the functions of the console 20 of the first embodiment. That is, the functions of the control unit 121, the storage unit 122, the wireless communication unit 123, the display unit 124, and the operation input unit 125 of the second embodiment are respectively the control unit 21 and the storage unit 22 of the console 20 of the first embodiment. The functions of the wireless communication unit 23, the display unit 24, and the operation input unit 25 are the same.
The function of the robot 10 of the second embodiment is the same as the function of the robot 10 of the first embodiment. The same components as those described in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

  The computing device 50 installed outside is connected to the console 120 via the IF unit 53 in the computing device 50, the cable 60, and the IF unit 128 in the console 120. The IF unit 53 and the IF unit 128 are connection units (interfaces) for signal connection between the two parties.

  The radio wave propagation analysis unit 56 and the three-dimensional model creation unit (three-dimensional structural diagram creation unit) 57 of the arithmetic device 50 are respectively the radio wave propagation analysis unit 26 and the three-dimensional model creation unit 27 of the console 20 of the first embodiment. Same as function. The control unit 51 of the arithmetic device 50 controls the arithmetic device 50. The storage unit 52 of the computing device 50 is configured to include a building drawing storage unit 52a and a radio wave propagation analysis result storage unit 52b.

  When a radio wave propagation simulation execution instruction from the operator is received by the operation input unit 125 after the disaster occurs, the console 120 causes the robot 10 to acquire laser scan data (three-dimensional data) around the robot 10, Wireless transmission to the console 120. The position of the radio wave emission source is set in the radio wave propagation simulation execution instruction from the operator.

  The three-dimensional data wirelessly transmitted from the robot 10 to the console 120 is stored in the laser scan data storage unit 122c of the console 120 and transmitted to the computing device 50. Then, the computing device 50 creates a 3D model by the 3D model creation unit 57 based on the 3D data received from the console 120.

  Next, the computing device 50 reads the original structural diagram from the building drawing storage unit 52a of the computing device 50, and creates a three-dimensional structural diagram based on the original structural diagram and the created three-dimensional model. In the building drawing storage unit 52a, the original structure diagram is transmitted and stored in advance from the building drawing storage unit 122a of the console 120. The created three-dimensional structure diagram is stored in the building drawing storage unit 52a, transmitted to the console 120, and stored in the building drawing storage unit 122a.

  Further, the arithmetic unit 50 performs radio wave propagation simulation by setting a radio wave emission source on the movement locus of the robot 10 using the created three-dimensional structure diagram. A radio wave propagation analysis result, which is a result of the radio wave propagation simulation, is stored in the radio wave propagation analysis result storage unit 52b of the arithmetic device 50, transmitted to the console 120, and stored in the radio wave propagation analysis result storage unit 122b.

  In this way, especially when the capability of the CPU (Central Processing Unit) of the console that performs 3D structural drawing creation and radio wave propagation analysis (radio wave propagation simulation) is low, the high-speed CPU outside the console is used to generate radio waves. By creating a 3D structure diagram for propagation analysis and performing radio wave propagation analysis, the radio wave environment in the direction in which the robot should travel can be predicted in a short time, and the robot can be prevented from entering an area with poor radio wave environment. .

According to the second embodiment, at least the following effects can be obtained.
(B1) Since the functions for creating a three-dimensional structure diagram and performing radio wave propagation analysis are performed by an arithmetic device outside the console, the radio wave environment in the direction in which the robot should travel can be predicted in a shorter time.

(Third embodiment)
FIG. 5 is a configuration diagram of a radio wave propagation environment evaluation system in the third embodiment of the present invention.
In the third embodiment, an example will be described in which a memory for storing radio wave propagation analysis results is provided in the robot and the robot autonomously moves to a safe place.

As shown in FIG. 5, the radio wave propagation environment evaluation system in the third embodiment is configured to include a robot 110 and a console 20. In the third embodiment, a radio wave propagation analysis result storage unit 112a is added to the robot 10 of the first embodiment. Accordingly, the control unit 111 of the third embodiment has a partial function added to the function of the control unit 11 of the first embodiment. Other functions of the robot 110 are the same as the functions of the robot 10 of the first embodiment. That is, the functions of the measurement data storage unit 112b, the wireless communication unit 113, the laser scanner 114, the camera 115, the sensor 116, and the traveling unit 117 are the storage unit 12, the wireless communication unit 13, and the laser of the robot 10 of the first embodiment, respectively. The functions of the scanner 14, the camera 15, the sensor 16, and the traveling unit 17 are the same.
Moreover, the function of the console 20 of 3rd Embodiment is the same as the function of the console 20 of 1st Embodiment. The same components as those described in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

  In the third embodiment, the radio wave propagation analysis result obtained by radio wave propagation analysis using the three-dimensional drawing created on the console 20 is wirelessly transmitted to the robot 110 and stored in the radio wave propagation analysis result storage unit 112a of the robot 110. To do. Thereby, the robot 110 shares the radio wave propagation analysis result with the console 20.

  Thereafter, when the wireless communication between the console 20 and the robot 110 is interrupted as a result of the movement of the robot 110, the robot 110 reads out the radio wave propagation analysis result from the radio wave propagation analysis result storage unit 112a in the robot 110, By referring to the above, it is possible to autonomously move to a communicable area where communication with the console 20 is possible, that is, without moving based on an instruction from the console 20.

FIG. 6 is a diagram for explaining the operation of the radio wave propagation environment evaluation system in the third embodiment.
The example of FIG. 6 is a case where the robot 110 at the position 204 is operated by the console 20. For example, a radio wave propagation analysis result that is a simulation result of radio wave propagation at the point 201 in FIG. 2B is transmitted from the console 20 to the robot 110 at the position 204 and stored in the radio wave propagation analysis result storage unit 112a of the robot 110. .

  When the robot 110 at the position 204 is moved to the position 202 in the insensitive area 211 by the control from the console 20, and the wireless communication from the console 20 is interrupted, it is stored in the radio wave propagation analysis result storage unit 112a of the robot 110. Based on the radio wave propagation analysis result, for example, the robot moves autonomously, that is, without being based on an instruction from the console 20, to a position 205 where the radio wave situation with the console 20 is good.

According to the third embodiment, at least the following effects can be obtained.
(C1) Since the radio wave propagation analysis result is stored in the robot, when the wireless communication from the console is interrupted, the robot can return to the area where wireless communication with the console is possible. .

(Fourth embodiment)
FIG. 7 is a configuration diagram of a radio wave propagation environment evaluation system in the fourth embodiment of the present invention.
In the fourth embodiment, in contrast to the robot of the first embodiment, a memory for storing a building drawing and a radio wave propagation analysis result in the robot, a radio wave propagation analysis function, and a three-dimensional model creation function (three-dimensional structural diagram creation function) ) And an example in which the robot autonomously moves to a safe place.

  As shown in FIG. 7, the radio wave propagation environment evaluation system in the fourth embodiment is configured to include a robot 510 and a console 520. The robot 510 according to the fourth embodiment is different from the robot 10 according to the first embodiment in the radio wave propagation analysis unit 518, the three-dimensional model creation unit (three-dimensional structural diagram creation unit) 519, and the building drawing / analysis result storage unit. 512a is added. The console 520 of the fourth embodiment is similar to the console 20 of the first embodiment in that the radio wave propagation analysis unit 26, the three-dimensional model creation unit (three-dimensional structure diagram creation unit) 27, and the laser scan data storage unit. 22c is deleted.

  The functions of the wireless communication unit 513, the laser scanner 514, the camera 515, the sensor 516, and the traveling unit 517 of the robot 510 of the fourth embodiment are the same as the wireless communication unit 13, the laser scanner 14, and the camera of the robot 10 of the first embodiment, respectively. 15, the sensor 16, and the function of the traveling unit 17.

  The functions of the display unit 524, operation input unit 525, building drawing storage unit 522a, radio wave propagation analysis result storage unit 522b, camera image data storage unit 522d, and wireless communication unit 523 of the console 520 of the fourth embodiment are as follows. The same functions as those of the display unit 24, operation input unit 25, building drawing storage unit 22a, radio wave propagation analysis result storage unit 22b, camera image data storage unit 22d, and wireless communication unit 23 of the console 20 of the first embodiment, respectively. It is. The same components as those described in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

  In the fourth embodiment, the robot 510 receives the original structural diagram before the disaster occurs from the console 520 and stores it in the building drawing / analysis result storage unit 512a. Thereafter, when a 3D structural drawing creation instruction is received from the console 520, the 3D model creating unit 519 of the robot 510 at the first position based on the instruction is based on the measurement data (3D data) of the laser scanner 14. A three-dimensional model is created, the original structural diagram is modified using the created three-dimensional model, and the modified three-dimensional structural diagram is created. The three-dimensional model creation unit 519 stores the three-dimensional structure diagram in the building drawing / analysis result storage unit 512a and transmits the corrected structure diagram to the console 520. The console 520 stores the received modified structure diagram in the building drawing / analysis result storage unit 522a. As a result, the robot 510 shares the three-dimensional structure diagram with the console 520.

  Thereafter, when a radio wave propagation simulation execution instruction is received from the console 520, the radio wave propagation analysis unit 519 of the robot 510 at the second position based on the instruction (that is, with the second position as the position of the virtual radio wave emission source). However, the radio wave propagation simulation is performed using the created three-dimensional structure diagram, and the result of the radio wave propagation simulation (the radio wave propagation analysis result) is stored in the building drawing / analysis result storage unit 512a and the console 520. Send to. The second position where the radio wave propagation simulation is performed may be the same as or different from the first position where the three-dimensional structure diagram is created.

  The console 520 stores the received radio wave propagation analysis result in the radio wave propagation analysis result storage unit 522b of the robot 510. As a result, the robot 510 shares the radio wave propagation analysis result with the console 520.

Thereafter, the console 520 changes the position of the robot 510 as necessary, and causes the robot 510 to perform three-dimensional structural drawing creation and radio wave propagation simulation.
Thereafter, when the wireless communication between the console 520 and the robot 510 is interrupted, the robot 510 reads out the radio wave propagation analysis result from the building drawing / analysis result storage unit 512a in the robot 510, and refers to this. It is possible to autonomously move to a communicable area where communication with the console 520 is possible.

According to the fourth embodiment, at least the following effects can be obtained.
(D1) The robot is configured to have a memory for storing the building drawings and radio wave propagation analysis results, a radio wave propagation analysis function, and a three-dimensional structural drawing creation function, so that wireless communication with the console is possible. The robot can move autonomously into the area.

(Fifth embodiment)
In the fifth embodiment, an example will be described in which a robot is used as a repeater and other robots are safely thrown into a dead area.
FIG. 8 is a configuration diagram of a radio wave propagation environment evaluation system according to the fifth embodiment of the present invention, which is an example of a configuration diagram including two robots 410 (1) and 410 (2). The robots 410 (1) and 410 (2) have the same configuration, and when both are represented, they are referred to as the robot 410.

As shown in FIG. 8, the radio wave propagation environment evaluation system in the fifth embodiment is configured to include a robot 410 (1), a robot 410 (2), and a console 20. The functions of the robot 410 (1) and the robot 410 (2) are the same as the functions of the robot 10 of the first embodiment except for the functions of the first wireless communication unit 413a and the second wireless communication unit 413a. That is, the functions of the control unit 411, the storage unit 412, the laser scanner 414, the camera 415, the sensor 416, and the traveling unit 417 are the control unit 11, the storage unit 12, the laser scanner 14, the camera 15, and the sensor of the first embodiment, respectively. 16, the function of the traveling unit 17 is the same.
Moreover, the function of the console 20 of 5th Embodiment is the same as the function of the console 20 of 1st Embodiment. The same components as those described in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

  The robot 410 includes two wireless communication units in order to communicate with two communication partners. The two wireless communication units include a first wireless communication unit 413a and a second wireless communication unit 413b. The first wireless communication unit 413a of the robot 410 (1) communicates with the console 20 via the antenna 413aa (1), and the second wireless communication unit 413b of the robot 410 (1) uses the antenna 413ba (1). Via the robot 410 (2). The first wireless communication unit 413a of the robot 410 (2) communicates with the robot 410 (1) via the antenna 413aa (2).

  As described in the first embodiment, the communication information transmitted from the console 20 to the robot 410 includes the identification information of the console 20 indicating the transmission source, the identification information of the robot 410 indicating the transmission destination (destination), and the like. Is included. The communication information transmitted from the robot 410 to the console 20 or other robot 410 includes identification information of the robot 410 indicating the transmission source, and identification information of the console 20 or other robot 410 indicating the transmission destination (destination). Is included.

  Thus, the robot instruction information including the instruction from the console 20 to the robot 410 (2) is received by the first wireless communication unit 413a of the robot 410 (1), and the destination is the robot 410 (2). 410 (1) of the second wireless communication unit 413b. When the robot 410 (2) receives the robot instruction information transmitted from the robot 410 (1) by the first wireless communication unit 413a of the robot 410 (2), the destination is the robot 410 (2). Operates based on robot instruction information.

FIG. 9 is a diagram for explaining the operation of the radio wave propagation environment evaluation system in the fifth embodiment.
As illustrated in FIG. 9, the console 20 operates the robot 410 (1) at the position 201 and acquires three-dimensional data from the robot 410 (1) at the position 201. The console 20 creates a three-dimensional structure diagram based on the acquired three-dimensional data, and performs a radio wave propagation simulation at the position 201 using the three-dimensional structure diagram.

  When the dead zone 211 where the radio wave from the console 20 does not reach is detected by the radio wave propagation simulation at the position 201, the console 20 causes the robot 410 (1) to communicate with the radio wave from the console 20. Then, the robot 410 (1) is made to acquire three-dimensional data at the position 203. Then, the console 20 creates a three-dimensional structure diagram based on the acquired three-dimensional data, and performs a radio wave propagation simulation at the point 203 using the three-dimensional structure diagram.

  The console 20 relays the robot 410 (1) at the position 203 while referring to the result of the radio wave propagation simulation at the position 203, transmits a movement instruction to the robot 410 (2), and moves the robot 410 (2). , Move to a position 206 in the insensitive area 211. In this way, the console 20 relays the robot 410 (1) at the position 203 and operates the robot 410 (2) at the position 206 to move the robot 410 (2) into the insensitive area 211. A search such as acquisition of three-dimensional data in the region 211 is enabled.

  In the fifth embodiment described above, an example in which there are two robots has been described. However, there may be three or more robots.

According to the fifth embodiment, at least the following effects can be obtained.
(E1) Since the first robot is configured to relay the wireless communication between the second robot and the console, the second robot is operated in a region where wireless communication with the console is not possible. Can be made.

In addition, this invention is not limited to embodiment mentioned above, It can implement in various deformation | transformation and a combination.
In addition to the system and method for executing the processing according to the present invention, the present invention can be grasped as a program for realizing such a method and system, a recording medium for recording the program, and the like.
In addition, the present invention may be configured such that the CPU performs control by executing a control program stored in the memory, or may be configured as a hardware circuit that does not use the CPU.

    DESCRIPTION OF SYMBOLS 10 ... Robot, 11 ... Control part, 12 ... Memory | storage part, 13 ... Robot wireless communication part, 13a ... Antenna, 14 ... Laser scanner (distance measuring device), 15 ... Camera (imaging part), 16 ... Sensor (detector) DESCRIPTION OF SYMBOLS 17 ... Running | running | working part, 20 ... Console (operation arithmetic unit), 21 ... Control part, 22 ... Memory | storage part, 22a ... Building drawing storage part, 22b ... Radio wave propagation analysis result storage part, 22c ... Laser scan data storage part , 22d ... camera image data storage unit, 23 ... operation calculation device wireless communication unit, 23a ... antenna, 24 ... display unit, 25 ... operation input unit, 26 ... radio wave propagation analysis unit, 27 ... three-dimensional model creation unit (three-dimensional (Structure drawing creation unit), 50 ... arithmetic device, 51 ... control unit, 52 ... storage unit, 52a ... building drawing storage unit, 52b ... radio wave propagation analysis result storage unit, 53 ... IF unit, 56 ... radio wave propagation analysis unit, 57 ... 3 Original model creation unit (3D structural diagram creation unit), 60 ... cable, 81-86 ... structure, 82w1 ... wall, 82w2 ... wall, 87w ... wall, 91 ... rubble (obstacle), 91s ... shadow part, 92 ... Radio wave propagation simulation area, 110 ... Robot, 111 ... Control unit, 112 ... Storage unit, 112a ... Radio wave propagation analysis result storage unit, 112b ... Measurement data storage unit, 113 ... Wireless communication unit, 113a ... Antenna, 114 ... Laser scanner 115 ... Camera, 116 ... Sensor, 117 ... Traveling unit, 120 ... Console (operating device), 121 ... Control unit, 122 ... Storage unit, 122a ... Building drawing storage unit, 122b ... Radio wave propagation analysis result storage unit, 122c ... Laser scan data storage unit, 122d ... Camera image data storage unit, 123 ... Wireless communication unit, 123a ... Antenna, 124 ... Display unit, 12 ... operation input unit, 128 ... IF unit, 201-206 ... point, 201d ... three-dimensional data, 203d ... three-dimensional data, 211 ... dead area (non-communication area), 301-310 ... radio wave propagation path, 400 ... display Screen 401: Front camera image 402 Indoor map 403 Numeric radio wave intensity display 404 Radio wave legend Legend 410 Robot 411 Control unit 412 Storage unit 413a First wireless communication unit 413aa ... antenna, 413b ... second wireless communication unit, 413ba ... antenna, 414 ... laser scanner, 415 ... camera, 416 ... sensor, 417 ... running unit, 510 ... robot, 511 ... control unit, 512 ... storage unit, 512a ... Indoor drawing / analysis result storage unit, 512b ... measurement data storage unit, 513 ... robot wireless communication unit, 513a ... antenna, 514 ... Laser scanner, 515 ... camera, 516 ... sensor, 517 ... traveling unit, 518 ... radio wave propagation analyzing unit, 519 ... three-dimensional model creating unit (three-dimensional structural diagram creating unit), 520 ... console (operating device), 521 ... Control unit 522 ... Storage unit 522a ... Indoor drawing storage unit 522b ... Radio wave propagation analysis result storage unit 522c ... Laser scan data storage unit 522d ... Camera image data storage unit 523 ... Controller wireless communication unit 523a ... Antenna, 524 ... Display part, 525 ... Operation input part.

Claims (15)

A radio wave propagation environment evaluation system comprising a movable robot and an operation arithmetic device capable of wireless communication with the robot,
The robot transmits a distance measuring device for obtaining three-dimensional data around the robot, and transmits the three-dimensional data to the operation calculation device, and receives an operation instruction from an operator received by the operation calculation device. A robot wireless communication unit, and a traveling unit that moves the robot based on the operation instruction,
The operation calculation device includes an operation input unit that receives the operation instruction, an operation calculation device wireless communication unit that transmits the operation instruction to the robot and receives the three-dimensional data from the robot, and a first of the robot A three-dimensional structure diagram creating unit for creating a three-dimensional structure diagram showing a three-dimensional structure around the robot based on the three-dimensional data acquired at the position; and a first position of the robot using the three-dimensional structure diagram A radio wave propagation environment evaluation system, comprising: a radio wave propagation analysis unit that performs radio wave propagation simulation in Japan. The radio wave propagation environment evaluation system according to claim 1,
The operation calculation device transmits a movement instruction to move the robot to a second position, which is a communicable region, based on a first radio wave propagation simulation result that is a result of radio wave propagation simulation at the first position of the robot. And
When the robot receives the movement instruction, the robot moves to the second position, and then acquires second three-dimensional data around the robot at the second position, and transmits the second three-dimensional data to the operation calculation device. And
When receiving the second three-dimensional data, the operation calculation device creates a second three-dimensional structure diagram based on the received second three-dimensional data. The radio wave propagation environment evaluation system according to claim 1,
The operation calculation device, after creating the second three-dimensional structure diagram, performs the radio wave propagation simulation at the first position using the second three-dimensional structure diagram. Environmental evaluation system. The radio wave propagation environment evaluation system according to claim 1, further comprising:
The robot includes a camera that images the surroundings of the robot, transmits a camera image captured by the camera to the operation arithmetic device,
The operation calculation device includes a display unit for displaying various data, and displays the camera image received from the robot and the result of the radio wave propagation simulation by the radio wave propagation analysis unit on the display unit. Radio wave propagation environment evaluation system characterized by The radio wave propagation environment evaluation system according to claim 4,
The radio wave propagation environment evaluation system, wherein the operation calculation device displays the camera image and the radio wave propagation simulation result on the display unit so as to overlap each other, and displays the position of the robot. The radio wave propagation environment evaluation system according to claim 1,
The radio wave propagation analyzing unit limits a range for performing the radio wave propagation simulation to a traveling direction of the robot when performing the radio wave propagation simulation at the first position of the robot using the three-dimensional structure diagram. Radio wave propagation environment evaluation system. The radio wave propagation environment evaluation system according to claim 1,
The robot includes a radio wave propagation analysis result storage unit that stores a radio wave propagation analysis result that is a result of the radio wave propagation simulation, and when the robot moves to an incommunicable region where the operation instruction from the operation calculation device cannot be received, A radio wave propagation environment evaluation system, wherein the radio wave propagation environment evaluation system moves to a communicable area where the operation instruction from the operation arithmetic unit can be received based on the radio wave propagation analysis result stored in a propagation analysis result storage unit. The radio wave propagation environment evaluation system according to claim 1, further comprising a movable second robot in addition to the first robot that is the robot according to claim 1,
The second robot includes a second distance measuring device for acquiring three-dimensional data around the second robot, and a second robot that transmits the acquired three-dimensional data and receives the operation instruction. A wireless communication unit, and a second traveling unit that moves the second robot based on the operation instruction,
The operation calculation device transmits, to the first robot, a first movement instruction for moving the first robot to a second position based on the result of the first radio wave propagation simulation.
When the first robot receives the movement instruction, the first robot moves to the second position, then acquires second three-dimensional data at the second position, and uses the second three-dimensional data as the manipulation. Sent to the computing device,
Upon receiving the second three-dimensional data, the operation arithmetic device creates a second three-dimensional structure diagram based on the second three-dimensional data, and uses the second three-dimensional structure diagram to A second radio wave propagation simulation at a second position is performed, and based on the result of the second radio wave propagation simulation, a second movement instruction for moving the second robot is sent via the first robot. A radio wave propagation environment evaluation system for transmitting to a second robot. A radio wave propagation environment evaluation system comprising a movable robot and an operation device capable of wireless communication with the robot,
The operation device includes an operation input unit that receives an operation instruction from an operator, and an operation device wireless communication unit that transmits the operation instruction to the robot. The robot transmits the operation instruction transmitted from the operation device. Is acquired at a first position of the robot, a distance measuring device for acquiring three-dimensional data around the robot, a traveling unit that moves the robot based on the operation instruction, A three-dimensional structure diagram creating unit for creating a three-dimensional structure diagram showing a three-dimensional structure around the robot based on the three-dimensional data, and a first position of the robot using the created three-dimensional structure diagram A radio wave propagation analysis unit for performing radio wave propagation simulation,
A radio wave propagation environment evaluation system. A three-dimensional data acquisition step of acquiring three-dimensional data around the robot at a first position of the robot;
A three-dimensional structure diagram creating step for creating a three-dimensional structure diagram showing a three-dimensional structure around the robot based on the acquired three-dimensional data;
A radio wave propagation simulation step of performing a radio wave propagation simulation at the first position of the robot using the created three-dimensional structure diagram;
A radio wave propagation environment evaluation method comprising: The radio wave propagation environment evaluation method according to claim 10, further comprising:
Moving the robot to a second position that is a communicable region based on a first radio wave propagation simulation result that is a result of a radio wave propagation simulation at the first position;
A second three-dimensional data acquisition step of acquiring second three-dimensional data around the robot at the second position;
A second three-dimensional structure diagram creating step for creating a second three-dimensional structure diagram showing a three-dimensional structure around the robot based on the second three-dimensional data;
A radio wave propagation environment evaluation method comprising: The radio wave propagation environment evaluation method according to claim 11, further comprising:
A second radio wave propagation simulation step for performing radio wave propagation simulation at the first position using the second three-dimensional structure diagram;
A radio wave propagation environment evaluation method comprising: The radio wave propagation environment evaluation method according to claim 10, further comprising:
A camera image generation step of imaging the periphery of the robot with a camera and generating a camera image;
A display step of displaying the camera image and the result of the radio wave propagation simulation in an overlapping manner;
A radio wave propagation environment evaluation method comprising: The radio wave propagation environment evaluation method according to claim 13,
In the display step, the radio wave propagation environment evaluation method is characterized in that the camera image and the result of the radio wave propagation simulation are superimposed and displayed, and the position of the robot is displayed. The radio wave propagation environment evaluation method according to claim 10, further comprising:
A storage step in which the robot stores a first radio wave propagation simulation result that is a result of the radio wave propagation simulation at the first position of the robot;
The robot moving to a second position which is a communicable region based on the first radio wave propagation simulation result stored in the storing step;
A radio wave propagation environment evaluation method comprising:

Images