JP2016217773A - Radio wave measurement system and base station - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique for actualizing shortening of a man-hour associated with improvement in radio wave state in an environment.SOLUTION: A radio wave measurement system 101 according to one embodiment has: a position attitude estimation and environmental model generation part 111 which generates an environmental model showing a shape of an environment and also calculates a measurement position and an attitude of radio wave data using geometric shape data of the environment obtained by a distance sensor part 103 at first time and radio wave data of the environment obtained by a radio wave sensor part 104 at the first time; and an operation input and display part 105 which presents radio wave data at each measurement position and attitude calculated by the position attitude estimation and environmental model generation part 111.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a radio wave measurement system for measuring radio waves and a base station.

  As background art, there exists patent document 1, for example. Patent Document 1 discloses a technology that enables real-time radio wave environment diagnosis in a certain space by monitoring radio wave environments at a plurality of bases and transmitting radio wave environment data monitored in parallel to a host device. It is disclosed.

JP 2008-236071 A

  The technology disclosed in Patent Document 1 enables real-time radio wave environment diagnosis in a certain space, but no consideration is given to improving the radio wave condition in the environment in a certain space based on the diagnosis result. .

  An object of the present invention is to provide a technique that realizes shortening of man-hours related to improvement of radio wave conditions in the environment.

  The above and other objects and novel features of the present invention will be apparent from the description of this specification and the accompanying drawings.

  Of the inventions disclosed in the present application, the outline of typical ones will be briefly described as follows.

  The radio wave measurement system according to an embodiment uses the environment geometric shape data obtained by the distance sensor at the first time and the environment radio wave data obtained by the radio wave sensor at the first time. A first processing unit that generates an environment model representing a shape, calculates a measurement position / orientation of the radio wave data, and a presentation unit that presents radio wave data at each measurement position / orientation calculated by the first processing unit; Have.

  In one embodiment, the base station receives from the radio wave measurement system at least one of its own position / posture and environment model data, and receives the position / posture and environment received by the receiver. And a holding unit that holds at least one data of the model.

  The effects obtained by typical ones of the inventions disclosed in the present application will be briefly described as follows.

  According to one embodiment, it is possible to reduce the man-hours related to the improvement of the radio wave condition in the environment.

It is a figure which shows an example of a structure of the electromagnetic wave measurement system in one embodiment of this invention. FIG. 3 is a diagram for explaining an example of radio wave / measurement position and orientation data in the radio wave measurement system of FIG. 1. It is a figure for demonstrating an example of the measurement of an environment in the electromagnetic wave measurement system of FIG. In the radio wave measurement system of FIG. 1, it is a figure for demonstrating an example of a display of an environmental model and a measurement position and attitude | position. FIG. 3 is a diagram for explaining an example of radio wave data interpolation processing in the radio wave measurement system of FIG. 1. FIG. 2 is a diagram for explaining an example of processing for detecting a place where a radio wave condition is bad in the radio wave measurement system of FIG. 1. FIG. 2 is a diagram for explaining an example of a display of an installation position / attitude of a base station in the radio wave measurement system of FIG. 1. FIG. 2 is a diagram for explaining an example of a configuration of a base station in the radio wave measurement system of FIG. 1.

  In the following embodiments, when it is necessary for the sake of convenience, the description will be divided into a plurality of sections or embodiments. However, unless otherwise specified, they are not irrelevant and one is the other. There are some or all of the modifications, details, supplementary explanations, and the like. Further, in the following embodiments, when referring to the number of elements (including the number, numerical value, quantity, range, etc.), especially when clearly indicated and when clearly limited to a specific number in principle, etc. Except, it is not limited to the specific number, and may be more or less than the specific number.

  Further, in the following embodiments, the constituent elements (including element steps and the like) are not necessarily indispensable unless otherwise specified and apparently essential in principle. Needless to say. Similarly, in the following embodiments, when referring to the shapes, positional relationships, etc. of the components, etc., the shapes are substantially the same unless otherwise specified, or otherwise apparent in principle. And the like are included. The same applies to the above numerical values and ranges.

[Outline of the embodiment]
First, an outline of the embodiment will be described. In the outline of the present embodiment, as an example, description will be given with the corresponding constituent elements and reference numerals of the embodiment in parentheses.

  The radio wave measurement system (radio wave measurement system 101) in one embodiment includes an environment geometric shape data obtained by a distance sensor (distance sensor unit 103) at a first time and a radio wave sensor (radio wave sensor unit at the first time). The first processing unit (position / orientation estimation / environment model) that generates the environment model representing the shape of the environment using the environment radio wave data obtained by (104) and calculates the measurement position / orientation of the radio wave data. And a presenting unit (operation input / display unit 105) for presenting radio wave data at each measurement position / orientation calculated by the first processing unit.

  The base station (base station 701) in one embodiment includes a receiving unit (receiving unit 801) that receives at least one of its position / posture and environmental model from the radio wave measurement system, and the receiving unit A holding unit (holding unit 802) that holds at least one data of the received position / posture and environmental model.

  Hereinafter, an embodiment based on the outline of the above-described embodiment will be described in detail with reference to the drawings. Note that components having the same function are denoted by the same reference symbols throughout the drawings for describing the embodiment, and the repetitive description thereof will be omitted.

[One Embodiment]
A radio wave measurement system and a base station according to an embodiment will be described with reference to FIGS. In this embodiment, a radio wave measurement system that measures radio waves from a radio wave transmission source will be described by taking a base station as an example of the radio wave transmission source.

<Configuration of radio wave measurement system>
First, the configuration of the radio wave measurement system according to the present embodiment will be described with reference to FIG. FIG. 1 is a diagram illustrating an example of a configuration of a radio wave measurement system.

  The radio wave measurement system 101 includes a controller unit 102, a distance sensor unit 103, a radio wave sensor unit 104, and an operation input / display unit 105. The controller unit 102 includes a sensor control unit 106, an operation input / display control unit 110, a position / orientation estimation / environment model generation unit 111, a radio wave data interpolation unit 112, a radio wave state calculation unit 113, a base station installation planning unit 114, and an installed base. The station position and orientation detection unit 115, the installed base station installation position and orientation transmission unit 116, the environment model 117, the radio wave / measurement position and orientation data 118, and the installed base station position and orientation data 119 are included.

  In the controller unit 102, the position / orientation estimation / environment model generation unit 111 is a model generation unit 107. The radio wave data interpolation unit 112, the radio wave state calculation unit 113, and the base station installation planning unit 114 are the radio wave state visualization unit 108. The installed base station position / orientation detection unit 115 and the installed base station installation / posture transmission unit 116 are the base station setting unit 109.

  The distance sensor unit 103 is a sensor that is controlled by the sensor control unit 106 and can measure the distance and color to the obstacle by photographing the environment. The radio wave sensor unit 104 is a sensor that is controlled by the sensor control unit 106 and can measure a received signal strength indicator (RSSI).

  The operation input / display unit 105 can input / output to / from the operation input / display control unit 110, accepts an operation input by an operator, and performs a process of displaying and presenting information to the operator. It is a presentation part.

  The sensor control unit 106 controls the distance sensor unit 103 and the radio wave sensor unit 104 to obtain environment geometric shape data obtained by the distance sensor unit 103 and environment radio wave data obtained by the radio wave sensor unit 104. And so on.

  The operation input / display control unit 110 can input / output between the operation input / display unit 105, the model generation unit 107, the radio wave state visualization unit 108, and the base station setting unit 109. It is a control part which performs processing etc. which control.

  The position / orientation estimation / environment model generation unit 111 can input from the sensor control unit 106 and can input the environment model 117, and uses the environment geometric shape data and the environment radio wave data to calculate the environment model. A first processing unit that generates and performs processing for calculating the measurement position and orientation of the radio wave data. The generated environment model is recorded as the environment model 117, and the calculated measurement position / posture of the radio wave data is recorded as radio wave / measurement position / posture data 118.

  The radio wave data interpolation unit 112 can input the radio wave / measurement position / attitude data 118, and the occupied / unoccupied / unknown data indicating the presence / absence of an obstacle recorded in each voxel when the environment model 117 is generated. Is a third processing unit that performs radio wave data interpolation processing and the like.

  The radio wave condition calculation unit 113 can receive an input from the radio wave data interpolation unit 112, and performs a process of presenting a place where the radio wave condition is bad on the environment model 117 generated by the position / orientation estimation / environment model generation unit 111. A second processing unit.

  The base station installation planning unit 114 can be input from the radio wave condition calculation unit 113, and is a fourth processing unit that performs a process of presenting a candidate for a base station installation location based on a place where the radio wave condition is bad. .

  The installed base station position / orientation detection unit 115 can be input from the sensor control unit 106, can be input to the environment model 117, and is based on the marker measured by the distance sensor unit 103, and the base on the environment model It is a fifth processing unit that performs processing for calculating the position and orientation of the station. The calculated position / posture of the base station on the environmental model is recorded as installed base station position / posture data 119.

  The installed base station installation position / orientation transmission unit 116 can receive an input from the installed base station position / orientation detection unit 115, and uses at least one of the position / orientation of the base station and the environment model serving as the reference as a base station. It is a sixth processing unit that performs processing for transmission and the like.

  Further, although not shown here, for example, hardware such as power supply / wiring, basic software such as OS (Operating System) and various firmware, and the like are necessary for each part to operate and cooperate. It shall be.

  Here, it is assumed that each unit in the controller unit 102 is implemented as software, and the others are implemented as hardware, but each unit in the controller unit 102 may be implemented as hardware. In addition, the units other than the distance sensor unit 103, the radio wave sensor unit 104, the operation input / display unit 105, and the power source necessary for driving these units may be partially located remotely if communication is possible. Moreover, the hardware and software which comprise the above each part may perform selection according to embodiment.

<Processing of each part of the radio wave measurement system>
While the operator moves the cart on which the radio wave measurement system 101 shown in FIG. 1 is moving in the room, the geometric shape and radio wave state of the environment are measured, and a base station is installed in a place where the radio wave state is poor. Assuming work as an example, processing of each part of the system at this time will be described.

  Now, it is assumed that basic processing relating to initialization, such as reading of an OS or the like necessary for system operation, is completed and measurement is started.

  At this time, first, measurement by each of the distance sensor unit 103 and the radio wave sensor unit 104 is performed. Here, the distance sensor unit 103 is assumed to be a sensor capable of measuring the distance to the obstacle and the color for each pixel of the image obtained by photographing the environment. For example, a depth camera or a stereo camera can be considered in which the distance to the obstacle for each pixel can be obtained together with the color from the time that the projected laser reflects from the obstacle and reciprocates. Suppose.

  Here, from the depth camera, the distance image data in which the distance to the obstacle for each pixel is recorded and the normal image data in which the color is recorded are obtained. This is converted into point cloud data in a three-dimensional coordinate system, and this is hereinafter referred to as geometric shape data. Note that other sensors having different measurement principles may be used as long as the same measurement is possible.

  In addition, although three-dimensional measurement is assumed here, a distance sensor that performs two-dimensional measurement may be used as long as the radio wave state is visualized on a two-dimensional plane. For example, a distance sensor that emits a laser beam radially by rotating a laser transmitter and measures the geometric shape of the environment around the sensor may be used. In this case, the distance sensor is moved so that the laser scanning plane is parallel to the above-described two-dimensional plane.

  In addition, regarding the radio wave sensor unit 104, a sensor capable of measuring RSSI is assumed here to determine whether the radio wave state is good or bad by a received signal strength indicator (RSSI). Further, data obtained by this is called radio wave data.

  In addition, as data other than RSSI for the determination of the radio wave condition, for example, if it is determined whether the radio wave condition is good or bad based on the throughput at each location or whether or not a specific wireless LAN network can be received, a sensor that can measure them is used. It is also possible to use the data obtained from this as radio wave data.

  Subsequently, the distance sensor unit 103 and the radio wave sensor unit 104 are controlled by the sensor control unit 106, and geometric shape data and radio wave data are obtained. It is assumed that the data at the same time is obtained by the interpolation processing. The obtained geometric shape data and radio wave data are used by the position / orientation estimation / environment model generation unit 111 and the installed base station position / orientation detection unit 115.

  In addition, in the acquisition time of sensor data, when acquisition of the geometric shape data and radio wave data at the same time is difficult, you may use combining geometric shape data and radio wave data with near time. Further, data at the same time may be obtained by interpolation or estimation based on the acquired geometric shape data or radio wave data.

<< Processing of position and orientation estimation / environment model generation unit >>
Next, processing of the position / orientation estimation / environment model generation unit 111 will be described. Here, first, the obtained geometric shape data is regarded as a partial environment model, and the next obtained geometric shape data is matched. Here, the matching refers to a process for obtaining a relative position / posture in which geometric shape data obtained when the environment is measured while moving are overlapped with the least deviation. Here, it is assumed that the relative position / orientation when the deviation becomes small is calculated based on ICP (Iterative Closest Point). However, if a similar effect can be obtained, other methods may be used.

  By accumulating the obtained relative positions / orientations, the position / orientation of each piece of geometric shape data, that is, the measurement position / orientation is calculated sequentially when the first piece of geometric shape data is used as a reference. Further, by calculating the measurement position / orientation and recording geometric shape data corresponding to the measurement position / orientation in a coordinate system based on the first geometric shape data, a three-dimensional model of the environment (hereinafter, Environment model 117).

  Here, the environment model 117 is expressed on a three-dimensional voxel, and each voxel is recorded with a point group forming geometric data, a center of gravity thereof, and a state flag. Note that voxels forming this three-dimensional model are referred to as model voxels.

  Here, the status flag is data representing the presence or absence of an obstacle found based on the measurement, and holds one of an occupied state, an unoccupied state, and an unknown state.

  Here, if a point group forming the geometric shape data is recorded, it can be considered that the model voxel is occupied by an obstacle, so “occupied” is recorded in the state flag. A model voxel corresponding to this is referred to as an occupied voxel.

  In addition, when the measurement position / orientation is currently calculated, the model voxel through which the line segment connecting the measurement position / orientation and the model voxel where the point forming the geometric shape data passes does not have an obstacle. I understand. These model voxels are recorded as “unoccupied” in the status flag. A model voxel corresponding to this is referred to as an occupied voxel.

  On the other hand, for the model voxel through which the line segment extended from the measurement position / orientation in the direction of the model voxel containing the geometric shape data passes, the presence or absence of the obstacle is unknown. Becomes unknown. These model voxels record “unknown” in the status flag. A model voxel corresponding to this is called an unknown voxel.

  Using the environmental model 117 as described above, in the next position / orientation estimation, matching is performed between this environmental model 117, more specifically, data consisting of the center of gravity of the point cloud for each model voxel forming the environmental model 117 and the geometric shape data. Thus, the measurement position / orientation in the coordinate system of the environment model 117 is calculated, and a series of processes for generating the environment model 117 is repeated.

  Processing in the position / orientation estimation / environment model generation unit 111 will be described with reference to FIGS. FIG. 3 is a diagram for explaining an example of environmental measurement. FIG. 4 is a diagram for explaining an example of the display of the environmental model and the measurement position / posture. Although the distance sensor assumes three-dimensional measurement, in FIG. 3, for simplicity, the distance sensor is represented in two dimensions looking down from above. Here, a wide hatched portion indicated by 301 indicates an area where an obstacle exists in the environment. Reference numeral 302 denotes a coordinate system (position (x, y) / posture (θ)), 303 denotes geometric shape data (the broken line portion is geometric shape data, and the line connecting the broken line portions is an auxiliary line for indicating a scanned range). 304 represent distance sensor scan regions (narrow hatched portions). Further, reference numeral 305 denotes a carriage, 306 denotes a radio wave measurement system (corresponding to the radio wave measurement system 101 in FIG. 1), 307 denotes a distance sensor (corresponding to the distance sensor unit 103 in FIG. 1), and 308 denotes a route.

  Further, it is assumed that the geometric shape data and the radio wave data of the environment are collected while a person moves the radio wave measurement system 306 mounted on the carriage 305 along the route 308. For example, when the measurement is performed with the position / orientation of the radio wave measurement system 306 shown in FIG. 3, the geometric shape data 303 is obtained. By integrating these with the above-described ICP or the like, the environment model as shown in FIG. Is obtained.

  In FIG. 4, for simplicity, each model voxel is not shown, but 401 is an area corresponding to an occupied voxel, 403 is an area corresponding to an unoccupied voxel, and 402 is an area corresponding to an unknown voxel. .

  Based on the obtained measurement position / orientation and the corresponding radio wave data, the radio wave state at each measurement position / orientation can be displayed. Now, it is assumed that voxels for recording radio wave data and measurement position / attitude data (hereinafter referred to as radio wave voxels) are separately provided and colored according to the strength of RSSI. Here, when the black radio wave voxel is a radio wave voxel with a good radio wave state and a radio wave voxel with a bad radio wave state as it becomes white, it is displayed as 404 in FIG. In FIG. 4, the radio wave voxel 404 is indicated by a rectangle, and three types of black display, hatching display, and white display are shown in order from the better radio wave state. The position / orientation when the radio wave data is measured is represented by an arrow 405. These are presented to the operator by the operation input / display unit 105 via the operation input / display control unit 110. For simplicity, FIG. 4 does not describe anything other than radio wave voxels in which radio wave data is recorded, but it is assumed that radio wave voxels are generated so as to include model voxels that form an environmental model.

  The obtained measurement position / posture data and radio wave data corresponding to the measurement position / posture data are recorded as radio wave / measurement position / posture data 118. The data at this time is shown in FIG. FIG. 2 is a diagram for explaining an example of the radio wave / measurement position / posture data 118. The radio wave / measurement position / orientation data 118 includes measurement time data 201, geometric shape data 202, image data 203, radio wave data 204, measurement position data 205 and measurement attitude data 206 obtained by the above-described processing. If the relative positions and orientations of the two can be considered to be the same, the position and orientation at the time of measurement and the radio wave state at that location are recorded in the coordinate system of the environmental model. Here, for the sake of simplicity, the distance sensor and the radio wave sensor are assumed to be the same, assuming that the distance sensor and the radio wave sensor are in the same posture, but the relative position and posture are the same. The position and orientation of the radio wave data can be obtained by performing coordinate conversion that adds the relative position and orientation of the radio wave sensor when the distance sensor is used as a reference to the attitude.

<< Processing of radio wave data interpolation unit >>
Next, radio wave data interpolation processing performed by the radio wave data interpolation unit 112 will be described with reference to FIG. FIG. 5 is a diagram for describing an example of radio wave data interpolation processing. For simplicity, FIG. 5 also uses two-dimensional notation. In FIG. 5, in order to describe the measurement position in an easy-to-understand manner, the measurement positions are indicated as 503 and 504 by hatching with horizontal lines instead of the color corresponding to the radio wave data shown in FIG. 4. The measurement position 503 corresponds to the radio wave voxel displayed in white in FIG. 4, and the measurement position 504 corresponds to the radio wave voxel displayed in black in FIG.

  Of the radio wave voxels, the radio wave data is copied to the radio wave voxels around the radio wave voxels in which the measurement position data is recorded (the radio wave voxel at the measurement position 503 and the radio wave voxel at the measurement position 504).

  For example, a three-dimensional window 501 centering on the radio wave voxel at the measurement position 503 in FIG. 5 is provided, and radio wave data is copied to the radio wave voxel located inside. If radio wave data has already been recorded, the average value is recorded. A window 501 in FIG. 5 shows an example of 9 (x) × 9 (y) = 81 radio wave voxels in two-dimensional notation.

  As a result, radio wave data in a certain range is interpolated around the measurement positions 503 and 504 as shown in FIG. Here, the position of the base station that is the radio wave transmission source is unknown, and if it is far from the base station, the fluctuation of the received radio wave is considered to be relatively small even if the measurement position fluctuates somewhat. Although simple interpolation is performed, linear interpolation, interpolation based on kernel density estimation, or other interpolation methods may be used.

  Here, as shown in 502, since the state of the environment is unknown for the voxel including the unknown voxel, the radio wave state is more difficult to predict, so the radio wave data is not copied (FIG. 6 described later). In FIG. 7, the radio wave voxel corresponding to this is omitted). As a result, the interpolation processing is reduced, and a reduction from the actual radio wave condition caused by interpolating the radio wave condition of an unknown environment is reduced.

  Up to this point, visualization of the radio wave condition in the environment is performed. In this example, since the measurement is performed while moving the carriage equipped with the sensor on a flat floor surface, the radio wave state in a two-dimensional plane at a certain height is shown in FIG. 6 and the like. . However, since position estimation using geometric shape data by depth sensors can estimate position and orientation in 3D space, it is possible to measure and visualize radio wave conditions in 3D space, not limited to 2D planes. Please note that.

  In this embodiment, since the radio wave state is recorded in a three-dimensional voxel, the distribution in the height direction can be displayed if the voxel is three-dimensionally displayed on the GUI.

<< Processing of radio wave condition calculation unit >>
Next, processing for detecting a place where the radio wave condition is bad performed by the radio wave condition calculating unit 113 will be described with reference to FIG. FIG. 6 is a diagram for explaining an example of processing for detecting a place where the radio wave condition is bad. Here again, a three-dimensional window is provided to scan the radio wave voxel. At this time, if the RSSI value recorded as the radio wave data in the window is within a preset range, it is detected as a place where the radio wave condition is bad. For example, in FIG. 6, if there are more white radio wave voxels, if the radio wave condition is worse, this is detected as in 601 and is highlighted to notify the operator. In FIG. 6, all radio wave voxels are not shown for simplicity, but in actual processing, all radio wave voxels corresponding to the environmental model are scanned by a window, and the radio wave state is poor. It is assumed that the location is notified to the operator via the operation input / display unit 105.

  Here, it is determined that a place where the RSSI falls within a specific range is determined to have a poor radio wave condition, and a process for searching for this is performed. However, the fluctuation of the radio wave condition is large due to a place where the radio wave condition is good or due to daily measurement. The location or the like may be detected and notified. Or you may search for the place which can receive the electromagnetic wave of a specific base station favorably. In addition, as a notification means, here, notification on an environmental model represented in a map shape is assumed, but a room name or the like may be used as long as the same effect can be obtained.

<< Processing of base station installation planning department >>
When notifying a worker of a location where the radio wave condition is poor as described above, the base station installation planning unit 114 performs a process of creating an improvement plan including candidates for the location of the base station. The improvement plan created by the base station installation planning unit 114 is presented to the operator by the operation input / display unit 105 via the operation input / display control unit 110.

<< Processing of installed base station position and orientation detection section >>
It will be described with reference to FIG. 7 that an operator has installed a base station that emits radio waves in accordance with a place with a poor radio wave condition, a candidate for a base station installation location, etc. presented in the improvement plan. FIG. 7 is a diagram for explaining an example of the display of the installation position / orientation of the base station. It is assumed that a marker 702 is attached to a base station 701 installed in a place with a poor radio wave condition.

  Subsequently, it is confirmed on the screen 703 shown in FIG. 7 that the base station 701 is within the measurement range of the distance sensor. From the sensor control unit 106, the installed base station position / orientation detection unit 115 receives the image data and Get geometric data.

  Subsequently, the installed base station position / orientation detection unit 115 stores data related to the shape of the marker 702 attached to the base station 701 in advance, and the distance sensor is used as a reference based on this data and the captured image of the marker 702. The relative position / posture of the marker 702 is calculated. In addition, the distance sensor is assumed to have calculated the position / posture of the distance sensor in the environmental model by matching the geometric shape data with the environmental model, and adds the relative position / posture of the marker 702 to the distance sensor. By doing so, it is assumed that the position and orientation of the marker 702 in the environmental model are calculated. If the marker 702 is used as a reference for the base station 701, the position / posture of the base station 701 is obtained as described above. The position / posture of the base station 701 is displayed as 705 on the screen 704. In FIG. 7, the position / posture 705 of the base station 701 is indicated by a circle and an arrow from the center of the circle. Thereby, the worker can confirm the position / posture 705 of the base station 701. If the same effect can be obtained, the presentation method may be another method. Further, the data of the position / posture 705 of the base station 701 obtained by the installed base station position / posture detection unit 115 is recorded as the installed base station position / posture data 119.

<< Processing of installed base station installation position and orientation transmitter >>
Subsequently, the installed base station installation position / orientation transmission unit 116 obtains the position / posture 705 of the base station 701 obtained by the installed base station position / orientation detection unit 115 and the environment model 117 corresponding to the position / posture 705. Sent to. The configuration of the base station 701 is shown in FIG. FIG. 8 is a diagram for explaining an example of the configuration of the base station. The base station 701 includes a receiving unit 801, a holding unit 802, and a transmitting unit 803. In the base station 701, the base station 701 itself receives the position / posture 705 of the base station 701 and the environment model 117 corresponding thereto from the installed base station installation position / posture transmission unit 116, and this is received by the internal holding unit 802. And transmitting as a radio wave from the transmission unit 803 as necessary. As a result, a device that communicates with the base station 701 can use the position / posture 705 of the base station 701 and the environment model 117 that serves as a reference for the position / posture when receiving radio waves. The position of the device can be estimated.

  Note that only one of the position / attitude 705 of the base station 701 and the environment model 117 may be transmitted from the base station 701 according to the application. Further, the base station 701 may receive only one of the position / posture 705 and the environment model 117 of the base station 701 itself. For example, when the data of the environmental model 117 is stored in advance in the storage unit 802 of the base station 701, the reception unit 801 receives the data of only its own position / posture 705, so that the position of the base station 701 is received. -It is possible to transmit the data of the posture 705 and the environment model 117.

<Modification>
In the above embodiment, the example in which the radio wave measurement system 101 is mounted on the carriage 305 has been shown. However, when a distance sensor capable of measuring geometric shape data in three dimensions is used, a person is required to use the radio wave measurement system. You may measure the environment by holding the In addition to the carriage 305, the radio wave measurement system 101 may be mounted on a vehicle, a ship, an aircraft, a robot, or the like for measurement.

<Effect>
According to the radio wave measurement system and the base station in the present embodiment described above, the radio wave condition in the environment is visualized together with the environmental model, and a place where the radio wave condition is bad is presented in the environment model. This will reduce the man-hours required to install the base station. As a result, it is possible to reduce the man-hours related to the improvement of the radio wave condition in the environment. More details are as follows.

  (1) The radio wave measurement system 101 includes a position / orientation estimation / environment model generation unit 111 and an operation input / display unit 105. Thus, the position / orientation estimation / environment model generation unit 111 uses the environment geometric shape data obtained by the distance sensor unit 103 at the first time and the environment radio wave data obtained by the radio wave sensor unit 104 at the same first time. Can be used to generate an environment model representing the shape of the environment and to calculate the measurement position and orientation of the radio wave data. The operation input / display unit 105 can present radio wave data at each measurement position / orientation calculated by the position / orientation estimation / environment model generation unit 111.

  (2) The radio wave measurement system 101 includes a radio wave state calculation unit 113. Thereby, the radio wave state calculation unit 113 can present a place where the radio wave state is bad on the environment model generated by the position / orientation estimation / environment model generation unit 111. Alternatively, the radio wave state calculation unit 113 can present a place where the radio wave state is good on the environment model generated by the position / orientation estimation / environment model generation unit 111.

  (3) The radio wave measurement system 101 includes a radio wave data interpolation unit 112. Thus, the radio wave data interpolation unit 112 performs radio wave data interpolation processing based on occupied / unoccupied / unknown data recorded in each voxel indicating the presence or absence of an obstacle at the time of generating an environmental model. Can do.

  (4) In the radio wave data interpolation process in the radio wave data interpolating unit 112, for the voxel in which the data of the measurement position is recorded, a three-dimensional window centering on this is provided, and the voxel inside this window is provided. Copy radio wave data for. If radio wave data has already been recorded at this time, an average value can be recorded and interpolation processing can be performed.

  (5) The radio wave measurement system 101 includes a base station installation planning unit 114. Thereby, the base station installation planning unit 114 can present a candidate for the installation location of the base station based on the location where the radio wave condition is bad.

  (6) The radio wave measurement system 101 includes an installed base station position / orientation detection unit 115. Thereby, the installed base station position and orientation detection unit 115 can calculate the position and orientation of the base station on the environment model based on the marker attached to the base station measured by the distance sensor unit 103. .

  (7) The radio wave measurement system 101 includes the installed base station installation position / orientation transmission unit 116. Thereby, the installed base station installation position / orientation transmission unit 116 can transmit at least one of the position / orientation of the base station and the environment model serving as the reference to the base station.

  (8) The base station 701 includes a receiving unit 801 and a holding unit 802. Thereby, the receiving unit 801 can receive at least one data of its own position / posture and environmental model from the radio wave measurement system 101. The holding unit 802 can hold data of at least one of its own position / posture and environmental model received by the receiving unit 801.

  (9) The base station 701 has a transmission unit 803. As a result, the transmission unit 803 can transmit at least one data of the position / attitude and the environment model held by the holding unit 802.

  (10) In the base station 701, when the holding unit 802 holds the environmental model data in advance, the receiving unit 801 receives the data of only its own position / posture, so that its own position / posture is received. And data on environmental models.

  As mentioned above, the invention made by the present inventor has been specifically described based on the embodiment. However, the present invention is not limited to the embodiment, and various modifications can be made without departing from the scope of the invention. Needless to say. For example, the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to one having all the configurations described. In addition, it is possible to add, delete, and replace other configurations for a part of the configuration of the embodiment.

DESCRIPTION OF SYMBOLS 101 Radio wave measurement system 102 Controller part 103 Distance sensor part 104 Radio wave sensor part 105 Operation input / display part 106 Sensor control part 110 Operation input / display control part 111 Position and orientation estimation / environment model generation part 112 Radio wave data interpolation part 113 Radio wave state calculation Unit 114 base station installation planning unit 115 installed base station position / orientation detection unit 116 installed base station installation / posture transmission unit 117 environmental model 118 radio wave / measurement position / posture data 119 installed base station position / posture data 701 base station 702 marker 801 Receiving unit 802 Holding unit 803 Transmitting unit

Claims (11)

Using the geometrical shape data of the environment obtained by the distance sensor at the first time and the environmental radio wave data obtained by the radio wave sensor at the first time, generating an environmental model representing the shape of the environment, A first processing unit for calculating a measurement position / attitude of the radio wave data;
A presentation unit for presenting radio wave data at each measurement position and orientation calculated by the first processing unit;
A radio wave measurement system. In the radio wave measurement system according to claim 1,
The radio wave measurement system further comprising a second processing unit that presents a place where the radio wave condition is bad on the environment model generated by the first processing unit. In the radio wave measurement system according to claim 1,
A radio wave further comprising a third processing unit that performs interpolation processing of the radio wave data based on occupied / unoccupied / unknown data that is recorded in each voxel and that indicates the presence / absence of an obstacle when the environmental model is generated Measuring system. In the radio wave measurement system according to claim 3,
In the radio wave data interpolation process, a three-dimensional window centered on the voxel in which the measurement position data is recorded is provided, and the radio wave data is copied to the voxel inside the window. In this case, the radio wave measurement system records the average value if radio wave data has already been recorded. The radio wave measurement system according to claim 2,
A radio wave measurement system further comprising a fourth processing unit for presenting a candidate for a base station installation location based on the location where the radio wave condition is bad. In the radio wave measurement system according to claim 1,
The distance sensor is capable of measuring a marker attached to a base station,
A radio wave measurement system, further comprising a fifth processing unit that calculates a position and orientation of the base station on the environmental model based on a marker measured by the distance sensor. In the radio wave measurement system according to claim 6,
A radio wave measurement system, further comprising a sixth processing unit that transmits at least one of the position / attitude of the base station and an environment model serving as a reference thereof to the base station. In the radio wave measurement system according to claim 1,
The radio wave measurement system further comprising a second processing unit that presents a place with a good radio wave state on the environment model generated by the first processing unit. A base station that can receive data from a radio measurement system,
The radio wave measurement system is
Using the geometrical shape data of the environment obtained by the distance sensor at the first time and the environmental radio wave data obtained by the radio wave sensor at the first time, generating an environmental model representing the shape of the environment, A first processing unit for calculating a measurement position / attitude of the radio wave data;
A presentation unit for presenting radio wave data at each measurement position and orientation calculated by the first processing unit;
A fifth processing unit that calculates the position and orientation of the base station on the environmental model based on the marker measured by the distance sensor;
A sixth processing unit that transmits to the base station at least one of the position / attitude of the base station and an environment model serving as a reference thereof;
Have
The base station
A receiving unit that receives at least one of the position / posture and the environmental model from the radio wave measurement system;
A holding unit that holds at least one of the position / posture of the device and the environmental model received by the receiving unit;
Having a base station. In the base station according to claim 9,
A base station further comprising a transmitting unit that transmits at least one of the position / attitude of the device and the environmental model held by the holding unit. In the base station according to claim 9,
When the holding unit holds data of the environmental model in advance, the receiving unit receives data of only its own position and orientation.

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