JP2019192030A - Apparatus and method for determining moving path of autonomously movable information processing apparatus - Google Patents

Abstract

To efficiently update a radio environment map representing a radio communication state of a moving range of an autonomously movable information processing apparatus.SOLUTION: The apparatus determines a moving path to a target area, among a plurality of areas constituting a moving range of an autonomously movable information processing apparatus which performs wireless communication, that has a relatively high frequency of becoming an area of a destination of the information processing apparatus, and, for areas on the determined moving path, updates a communication state indicated by a radio environment map (information that indicates a communication state in each of a plurality of areas and that is referred to for determining a moving path to a destination area of the information processing apparatus) based on a communication state measured by the information processing apparatus in that area.SELECTED DRAWING: Figure 1

Description

  The present invention generally relates to determination of a movement route of an information processing apparatus capable of autonomous movement.

  There are the following prior arts as background art of this technical field. Patent Document 1 (Japanese Patent Application Laid-Open No. 2008-87102) states that “a movement control unit drives and controls a leg portion or a movement mechanism corresponding to the leg portion based on a task command transmitted from a wireless master device through wireless communication. Thus, in a mobile robot that moves autonomously, a wireless environment map that associates map data of a moving area with comprehensive wireless environment data configured by a plurality of wireless environment data related to the wireless environment in the moving area. The stored wireless environment map storage means, the position recognition means for recognizing the self position in the moving area, the monitoring means for monitoring the state of the wireless environment, and the state of the wireless environment monitored by the monitoring means, Search means for searching for a recovery position to which the wireless communication can be connected based on the wireless environment map when the wireless communication is disconnected, and the recognition And a self-position movement instructing means for instructing the movement control means to move from the determined self-position to the recovery position searched by the search means. " Yes.

JP 2008-87102 A

  Since the state of wireless communication changes depending on the surrounding environment, even if it is in a good state at the start of movement, it may be in a bad state after that. On the other hand, even if it is in a bad state at the start of operation, it is in a good state after that Sometimes it becomes. For this reason, it is necessary to update information for managing the state of wireless communication.

  According to Patent Document 1, when the value of the wireless environment data for the current position of the mobile robot is different from the value of the wireless environment data indicated by the wireless environment map for the current position, the wireless environment map is updated.

  However, Patent Document 1 does not disclose or suggest any technology related to efficient update of the wireless environment map. If the update of the wireless environment map is not performed efficiently (for example, if the update is not performed efficiently when the initial state has changed to a good place), the robot will move to the destination. And cannot pass through the optimal route. As a result, the quality of the robot work is reduced. For example, when the business is a guidance business, the user, that is, the person guided to the destination by the robot makes a detour, or when the business is a transportation business, the transportation takes more time than originally required.

  Such a problem may also occur when the information processing apparatus capable of autonomous movement is an apparatus other than a robot (for example, an autonomous mobility system such as an automobile that can automatically travel).

  An object of the present invention is to efficiently update a wireless environment map which is information indicating a communication state of a moving range of an information processing apparatus capable of autonomous movement that performs wireless communication.

  A typical example of the invention disclosed in the present application is as follows. That is, the movement route to the target area, which is an area where the frequency of the movement of the information processing device among the plurality of areas constituting the movement range of the autonomously movable information processing device that performs wireless communication, is relatively high. The wireless environment map (information indicating the communication state in each of the plurality of areas and the information referred to for determining the movement route to the target area of the information processing apparatus is determined for the area on the determined movement route. ) Is updated based on the communication state measured by the information processing device in the area.

  The communication state indicated by the wireless environment map can be preferentially updated with respect to an area on the movement route to the target area, which is an area with a relatively high frequency of movement, that is, an area with a relatively high frequency of passing. That is, the wireless environment map can be updated efficiently.

  Issues, configurations, and effects other than those described above will be described in detail below.

It is a block diagram of the control system in a 1st Example. It is a block diagram of the control server in a 1st Example. It is explanatory drawing of an example of the several area which comprises the movement range in a 1st Example. It is explanatory drawing of the radio | wireless environment map in a 1st Example. It is a figure which shows an example of the movement path | route to the destination area in a 1st Example. It is a figure which shows the concept of the vertical distance from the shortest path | route in a 1st Example. It is a figure which shows an example of the movement path | route to the standby area in a 1st Example. It is a figure which shows another example of the movement path | route to the standby area in a 1st Example. It is a block diagram of the robot in a 1st Example. It is a flowchart of the movement path | route determination in a 1st Example. It is explanatory drawing of an example of the standby area and destination area in a 2nd Example. It is a flowchart of the movement path | route determination in a 2nd Example. It is explanatory drawing of an example of the standby area and the target area in a 3rd Example. It is explanatory drawing of another example of the standby area and the target area in a 3rd Example. It is a flowchart of the movement path | route determination in a 3rd Example. It is a figure which shows an example of the relationship between the robot operation | work and area area in a 4th Example. It is explanatory drawing of an example of the several area which comprises the movement range in a 4th Example.

  Hereinafter, some embodiments of the present invention will be described with reference to the drawings.

  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, but they are not irrelevant unless otherwise specified. Some or all of the modifications, details, supplementary explanations, and the like are related. Each embodiment may be implemented individually or in combination.

  Also, in the following examples, when referring to the number of elements (including the number, numerical value, quantity, range, etc.), unless otherwise specified, or in principle limited to a specific number in principle. It is not limited to the specific number, and may be a specific number or more.

  Further, in the following embodiments, it is needless to say that the constituent elements (including element steps and the like) are not necessarily indispensable unless otherwise specified and apparently indispensable in principle. Yes.

  Similarly, in the following examples, when referring to the shape, positional relationship, etc. of the component, etc., the shape, etc. substantially, unless otherwise specified, or otherwise apparently not in principle. Including those that are approximate or similar to. The same applies to numerical values and ranges.

  In the following description, the “interface unit” may be one or more interfaces. The one or more interfaces may be one or more similar communication interface devices (for example, one or more NIC (Network Interface Card)) or two or more different types of communication interface devices (for example, NIC and HBA (Host Bus Adapter)). )).

  In the following description, the “memory unit” is one or more memories, and typically a main storage device. At least one memory in the memory unit may be a volatile memory or a non-volatile memory.

  In the following description, the “PDEV unit” is one or more PDEVs, and may typically be an auxiliary storage device. "PDEV" means a physical storage device (Physical storage DEVice), and is typically a non-volatile storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive).

  In the following description, the “storage unit” is at least one of the memory unit and at least a part of the PDEV unit (typically at least the memory unit).

  In the following description, the “processing unit” is one or more processors. The at least one processor is typically a microprocessor such as a CPU (Central Processing Unit), but may be another type of processor such as a GPU (Graphics Processing Unit). At least one processor may be a single core or a multi-core. The at least one processor may be a processor in a broad sense such as a hardware circuit (for example, a field-programmable gate array (FPGA) or an application specific integrated circuit (ASIC)) that performs part or all of the processing.

  In the following description, information that can be output with respect to an input may be described using an expression such as “xxx table”. The information may be data of any structure, and may be output with respect to an input. A learning model such as a neural network that generates Therefore, the “xxx table” can be referred to as “xxx information”. An example of “xxx information” is a wireless environment map. In the following description, the configuration of each table is an example, and one table may be divided into two or more tables, or all or part of the two or more tables may be one table. good.

  In the following description, the function may be described by the expression “kkk part” (excluding the interface part, the storage part, and the processing part). However, the function is executed by one or more computer programs by the processing part. Alternatively, it may be realized by one or more hardware circuits (for example, a field-programmable gate array (FPGA) or an application specific integrated circuit (ASIC)). When the function is realized by the program being executed by the processing unit, since the predetermined processing is appropriately performed using the storage unit and / or the interface unit, the function is at least part of the processing unit. May be. The processing described with the function as the subject may be processing performed by the processing unit or a device having the processing unit. The program may be installed from a program source. The program source may be, for example, a program distribution computer or a computer-readable recording medium (for example, a non-transitory recording medium). The description of each function is an example, and a plurality of functions may be combined into one function, or one function may be divided into a plurality of functions.

  In the following embodiments, a robot capable of autonomous traveling is employed as an autonomously movable information processing device that performs wireless communication. However, in the present invention, an autonomously movable information processing device is a device other than such a robot. It may be a device. For example, the information processing apparatus capable of autonomous movement may be an autonomous mobility system such as an electric vehicle capable of autonomous traveling or a flying object capable of autonomous flight (for example, a drone).

  In the following embodiments, the movement range of the information processing apparatus capable of autonomous movement is a two-dimensional range. However, in the present invention, a three-dimensional range may be used. For this reason, each of the plurality of areas constituting the movement range may be a two-dimensional area or a three-dimensional area.

  In the following, an autonomously-movable information processing device that performs guidance work for guiding people to the target area or transporting goods to the target area while performing wireless communication with the control device is a “robot”, and controls the operation of the robot. The control device that performs the communication is referred to as “control server”, and the device that is connected to the control server so as to perform wireless communication with the robot is referred to as “wireless communication device”. A system including a robot, a wireless communication device, and a control server as constituent elements is referred to as a “control system”.

  FIG. 1 is a configuration diagram of a control system 100 according to a first embodiment of the present invention.

  The first embodiment includes a robot 101, a control server 103, a wireless communication device 102, and other servers 107. Although not explicitly shown in the figure, a wireless device is mounted in the robot 101 in order to communicate with the control server 103 and other servers 107 wirelessly. Hereinafter, the wireless device mounted on the robot 101 is referred to as a “wireless slave”. At least the other server 107 may not be provided. The robot 101 wirelessly communicates with external devices such as the control server 103 and other servers 107 via a wireless communication device 102 (for example, a wireless LAN access point).

  The robot 101 operates within the movement range 104 including movement. The movement range 104 is composed of a plurality of areas defined by dividing the movement range 104. Normally, the robot 101 waits in the waiting area 301S among a plurality of areas, and when it becomes necessary to guide the user to the user's destination area 301E, the robot 101 is guided to the destination area 301E and waits after the guidance work is completed. Move to area 301S (return).

  While moving toward the target area 301E and the standby area 301S, the robot 101 performs wireless communication with the control server 103 and other servers 107 to measure the wireless communication state (specifically, the wireless communication state is directly or A numerical value that is indirectly represented (for example, radio wave intensity) is measured, and data indicating a measured wireless communication state (a numerical value that directly or indirectly represents a wireless communication state) can be referred to as “measurement data”. The state measurement can also be called collection of measurement data The robot 101 transmits the collected measurement data to the control server 103, and the control server 103 uses the measurement data to set a plurality of movement ranges 104 of the robot 101. A wireless environment map is created and held, which represents a communication state (for example, communication quality) of wireless communication for each area. Each of the number of areas may be a predefined area.

  Whether the control server 103 is in a state where the robot 101 is engaged in work such as guidance or is in a state outside work such as guidance (for example, a state where the work is finished (moved (returned) to the standby area 301S). The route along which the robot 101 moves is determined based on the robot operating state and the measurement data collection status for each area.

  The other server 107 shown in FIG. 1 may be equipped with functions necessary for the robot 101 to detect the user and talk with the user, such as a voice recognition unit and an image recognition unit. Such a function may be implemented in the control server 103 instead of the other server 107.

  Further, the control server 103 may have a function of remotely managing the robot 101 in addition to the function of creating a wireless environment map and determining the movement path of the robot 101. For example, the control server 103 receives from the robot 101 a function for collecting and managing information (for example, numerical values) indicating the state of the robot 101 such as information indicating the remaining battery level of the robot 101, and a signal notifying the abnormality of the robot 101. In such a case, the robot 101 may have a function of transmitting a forced operation stop signal of the robot 101 to the robot 101 or notifying the administrator of an abnormality of the robot 101.

  Hereinafter, an example of functions implemented in the control server 103 will be described with reference to FIG.

  In this embodiment, the control server 103 is a computer system composed of one or more physical computers (for example, general-purpose computers). The control server 103 includes an interface unit 51, a storage unit 52, and a processing unit 53 connected thereto. Wireless communication with the robot 101 is performed via the interface unit 51. The control server 103 may be, for example, a software-defined server that is realized by installing and executing predetermined software on each of one or more physical computers.

  In the control server 103, one or more programs stored in the storage unit 52 are executed by the processing unit 53, for example, the following functions, that is, the map creation / updating unit 200, the operation state management unit 209, and the location management A unit 202, a route determination unit 204, and a route notification unit 206 are implemented. The map creation / updating unit 200 creates and updates the wireless environment map 400. The wireless environment map 400 is stored in the storage unit 52. The map creation / update unit 200 includes an area management unit 201 and a map management unit 208. The map management unit 208 includes an effective measurement management unit 205 and a communication state management unit 203.

  As shown in FIG. 3, the area management unit 201 divides the movement range 104 of the robot 101 into a plurality of areas 301 and assigns an ID to each area 301. In the example of FIG. 3, the movement range 104 is a square and is divided into 10 × 10 = 100 areas 301. Along the columns, capital letters A to J of the English alphabet are given, and numbers 1 to 10 are given along the rows. The area ID of each area 301 is a combination of capital letters and numbers. The area ID of the standby area 301 of the robot 101 is “A6”. Hereinafter, an area may be expressed by an area ID instead of a reference symbol.

  The effective measurement management unit 205 manages the conditions of measurement data used for calculating a value (for example, a numerical value or a level) indicating a wireless communication state. The conditions referred to here are hereinafter referred to as “effective measurement conditions”, and the measurement data matching the effective measurement conditions is referred to as “effective data”. The wireless communication state changes even in the same area due to fading or shadowing. That is, even in the wireless communication state acquired in the same area, the wireless communication state also changes when the surrounding environment changes. Therefore, the validity of the data may differ between the data one minute ago and the data one week ago. Therefore, in the present embodiment, the valid data is not all measurement data from the past, but measurement data that conforms to a condition that can be regarded as effective for deriving the wireless communication state. The “effective measurement condition” may be a time during which the measurement data can be regarded as valid, for example, a condition of the past one hour from the present. The effective measurement condition may be input from the outside. In addition, the effective measurement management unit 205 may estimate a time that can be regarded as effective in accordance with the operation environment of the robot 101 from past measurement data, and the estimated time may be used as an effective condition. Further, the measurement data may be data indicating a numerical value that directly or indirectly represents the wireless communication state, for example, at least one of radio wave intensity, communication speed, number of errors, and number of retransmissions.

  The communication state management unit 203 manages the wireless environment map 400 shown in FIG. The wireless environment map 400 is, for example, tabular information, and an area ID 401, a wireless communication state 402, an effective measurement count 403, and an update priority 404 are associated with each area. Hereinafter, the information elements 401 to 404 will be described with reference to FIG. 4 by taking one area as an example (“area of interest” in this paragraph). An area ID 401 indicates an area ID assigned to the attention area. The wireless communication state 402 indicates the value of the wireless communication state of the area of interest. The wireless communication state 402 may be an absolute value or a relative value, may be a numerical value, or may be a level to which the numerical value belongs. In the present embodiment, as an example, the wireless communication state 402 is expressed by four levels of “excellent”, “good”, “acceptable”, and “impossible”. The wireless communication state 402 may be the strength of radio waves received from the wireless communication device 102 received by the wireless slave device mounted on the robot 101, or the robot 101 may perform a round trip of test signal transmission to the control server 103 and other servers 107. It may be a time or another value representing a wireless communication state such as the number of packet losses. Similarly, the effective measurement count 403 and the update priority 404 may also be absolute values, relative values, or levels divided for each fixed range. In the present embodiment, the effective measurement count 403 is an absolute value, and the update priority 404 is expressed in three levels of “high”, “medium”, and “low”. In this embodiment, for the attention area, the wireless communication state is repeatedly measured by the robot 101, but the wireless communication state 402 is an average value of a plurality of measured values obtained by the repeated measurement. The effective measurement number 403 indicates the number of effective data measurements (that is, the number of times data corresponding to the effective data is measured) out of all the measurement times for the attention area. The update priority 404 indicates the update priority determined based on the effective measurement count 403 for the area of interest. “Update priority” is a priority for updating the wireless communication state 402 of the area of interest. The smaller the number of effective measurements 403 in the area of interest, the less effective data, and therefore the accuracy of the wireless communication state 402 in the area of interest is considered to be low, and as a result, the priority of updating the wireless communication state 402 in the area of interest is high Is considered preferable. At least one of the effective measurement count 403 and the update priority 404 of the attention area is an example of communication state accuracy that is a value related to the accuracy of the communication state of the attention area. One of the effective measurement count 403 and the update priority 404 may also serve as the other (that is, the other may not be in the wireless environment map 400).

  Measurement data of past wireless communication states is accumulated in the storage unit 52 (or an external storage unit such as an external storage). The communication state management unit 203 extracts effective data that is measurement data meeting the effective conditions determined by the effective measurement management unit 205 from the past measurement data, and the wireless communication state calculated from the extracted effective data; The extracted number of effective data measurements is registered in the wireless environment map 400 as a wireless communication state 402 and an effective measurement number 403, respectively.

  Furthermore, the communication state management unit 203 manages the update priority of the wireless communication state of each area, and inputs the result to the update priority 404. As described above, since the wireless communication state changes, in this embodiment, the robot 101 repeatedly measures the wireless communication state of the area where the robot 101 is located, and the wireless communication state 402 is determined from the average value. The For this reason, an area with a relatively small effective measurement count 403 is considered to be less accurate in the wireless communication state 402 than an area with a relatively large effective measurement count 403. For this reason, the update priority 404 becomes high. Therefore, in this embodiment, the effective measurement count 403 is managed for each area, and the communication state management unit 203 determines the update priority 404 of the wireless communication status 402 from the effective measurement count 403.

  In this embodiment, the robot 101 performs wireless communication during movement or stop, measures data related to the wireless communication state, and transmits the measurement data to the control server 103. The control server 103 updates the wireless communication state 402 and the update priority by using the measurement data transmitted from the robot 101 every time measurement data is transmitted from the robot 101 or at regular intervals. 404 is updated.

  The above is merely an example, and the calculation method of the wireless communication state may be changed as appropriate according to the operating environment of the robot 101 as in the case of the effective condition. In this embodiment, the communication state management unit 203 determines the wireless communication state 402 from the average value of the measurement data. However, in an environment where an extremely large value or an extremely small value is generated, the median value is not the average value. May be used.

  Furthermore, the wireless communication state of each area 301 may change significantly before and after the layout change due to the layout change in the movement range 104. Therefore, if there is a layout change, the measurement data before the layout change and the wireless environment map 400 are discarded, and the map creation / updating unit 200 again collects the measurement data and creates the wireless environment map 400. good. Also, in an environment where the wireless communication status varies depending on the time zone such as morning, afternoon, night, etc., but the same wireless communication status varies depending on the time zone even if the date is different, for example, calculation of the wireless communication status in the morning In addition, morning measurement data on different dates may also be considered valid.

  Further, the update of the wireless environment map 400 will be described.

  The operating state management unit 209 of the control server 103 indicates that the robot 101 is in business (for example, performing guidance business) or out of business (for example, moving to the standby area A6 or waiting in the standby area). The operating state of the robot 101 is grasped and managed. The operating state of the robot 101 may be specified based on information received from the robot 101 in wireless communication with the robot 101 (information relating to the operating state of the robot 101), or a camera that captures the movement range 104 of the robot 101 ( It may be specified based on a photographed image from (not shown).

  The position management unit 202 manages the position where the robot 101 is located, where the robot 101 is to be guided when guidance work occurs. The route determination unit 204 determines the movement route of the robot 101 (which route the robot 101 moves through) according to the operating state of the robot 101. The route notification unit 206 notifies the robot 101 of the determined moving route.

  FIG. 5 is a diagram illustrating an example of a movement route to the destination area J6 when the robot 101 performs a guidance job for guiding the user to the destination area J6 in the first embodiment.

  The movement route of the robot 101 is determined by the route determination unit 204 based on the operation state managed by the operation state management unit 209 shown in FIG.

  In the present embodiment, the route through which the robot 101 guides the user to the destination area J6 is an area in which the wireless communication state 402 is one of “excellent”, “good”, and “possible”. In FIG. 5, the area G6 is an area in which the wireless communication state 402 is “impossible”, that is, a passage prohibited area. According to the determined movement path 502 in this case, the robot 101 goes straight from the waiting area A6 to the area F6, avoids the area G6 (for example, through the area G5), proceeds to the area H6, and from the area H6. The destination area J6 is reached through the area I6.

  From the viewpoint of wireless communication, it is desirable to pass through an area where the wireless communication state is better. However, in order to avoid unnecessary circuitousness as a guidance service, areas other than the area where the wireless communication state 402 is “impossible” can be passed. It is. Therefore, the route determination unit 204 prioritizes the shortest route from the standby area A6 to the destination area J6 as a travel route. In this embodiment, since the area G6 is a passage prohibition area, the area G5 is used as a part of the movement route instead of the area G6. Of the areas G5 and G7, the one with the better wireless communication state moves. It may be a part of the route.

  Next, with reference to FIG. 6 to FIG. 8, a movement route when the robot 101 finishes the guidance work and moves to the standby area A6 will be described. In the present embodiment, when the robot 101 moves to the standby area A6, the route determination unit 204 passes through an area where there is a high necessity for updating the wireless communication state 402 for the purpose of updating the wireless environment map 400. Determine the travel route. When moving to the waiting area A6, only the robot 101 moves. For this reason, the movement is movement outside the business. When moving outside the work, there are fewer restrictions on the selection of areas that make up the movement route and on the time required to move to the standby area A6 compared to movements during work (movement to the target area J6). In addition, since processing other than movement (for example, dialogue with the user) does not occur, even if communication delay or packet loss occurs when the wireless communication state temporarily passes through the area, movement during business There is little influence compared to. When the robot 101 moves outside such business, the wireless communication state 402 of the area belonging to the movement route in the movement is updated, so that the wireless environment map 400 can be updated efficiently. In this embodiment, the standby area A6 is an area as the home position of the robot 101, but the meaning of the “standby area” is used in a broad sense, that is, the movement destination area of the robot 101 outside the work. Is possible. Therefore, the waiting area may be dynamically defined instead of or in addition to being defined in advance. The standby area is an example of a target area that is an area where the frequency of movement of the robot 101 is relatively high among a plurality of areas.

  The movement route to the standby area A6 is determined based on the update priority 404 (an example of communication state accuracy) of each of the two or more areas to the standby area A6. For example, an area where the update priority 404 is high (communication state accuracy is low) is preferentially made part of the movement route. Thereby, it is possible to update the wireless communication state 402 in an area where the communication state accuracy is low with priority.

  More specifically, in the present embodiment, the degree of necessity for updating is higher than each of two or more areas including the area constituting the physical shortest path 601 between the target area J6 and the standby area A6 shown in FIG. Is determined using a function including a vertical distance 602 (vertical distance 602 from the shortest path 601) and an update priority 404 for each of the one or more areas. Thereby, it can be expected to keep the route of the route to return to the standby area A6 short while maintaining the wireless environment map 400 efficiently updated. Of the “two or more areas including the area forming the shortest path 601”, the area outside the shortest path 601 may be all areas other than the shortest path 601, or the vertical distance from the shortest path 601. 602 may be an area of a certain distance or less. The vertical distance 602 is “1” for the area constituting the shortest path 601, “2” for the area adjacent to the shortest path 601, and the number of areas intervening between the shortest path 601 and thereafter. It can be a numerical value.

  In guidance work, in order to prevent the user from making a detour, it is originally desirable that the robot 101 guides the destination area J6 along the shortest route. For this reason, for each area, the probability that the robot 101 passes is higher as it is closer to the shortest route (for example, the probability that it passes through the area constituting the shortest route is highest), and is lower as it is farther from the shortest route. Therefore, in the wireless environment map 400 for guidance work, it is desirable that the wireless communication state 402 is more accurate in an area closer to the shortest route. Thus, the need for updating varies depending on the vertical distance from the shortest path.

  Further, as shown in FIG. 6, for example, there are 16 areas (areas B8 to I8 and areas B4 to I4) including the area E8 as the area at the same vertical distance 602 as the area E8.

  Therefore, in this embodiment, the route determination unit 204 determines the movement route to the standby area A6 in consideration of the update priority 404 in addition to the vertical distance 602 from the shortest route 601, in other words, the wireless communication state The necessity of updating 402 is calculated. In FIG. 4, since the update priority 404 is displayed at the levels of “low”, “medium”, and “high”, the route determination unit 204 converts the update priority 404 into a numerical value representing a relative value ( For example, “low” is converted to “10”, “medium” is converted to “5”, and “high” is converted to “1”), the update priority 404 (the converted numerical value), and the vertical distance 602 from the shortest path The necessity of updating each area is calculated by a function including the following two terms.

  As an example, the function is “vertical distance × coefficient 1 + update priority × coefficient 2”. Coefficient 1 and coefficient 2 are determined such that both “vertical distance × coefficient 1” and “update priority × coefficient 2” become smaller as update priority 404 is higher. The area where the calculation result of the above function is the smallest is the area where the update is most necessary.

  From the calculation result by the above function, for example, as shown in FIG. 7, when the area C8 is the area that needs the highest update, the route determination unit 204 uses the movement path to the standby area A6 of the robot 101 as A moving route constituted by a set of a shortest route 702 from the target area J6 to the area C8 and a shortest route 703 from the area C8 to the standby area A6 is determined. Information indicating the movement route determined by the route determination unit 204 is transmitted from the route determination unit 204 to the route notification unit 206, and the information is transmitted from the route notification unit 206 to the robot 101. The robot 101 that has received the information indicating the movement route moves according to the movement route indicated by the information.

  In this way, the robot 101 moves from the target area J6 to the standby area A6 while measuring the wireless communication state (a numerical value that directly or indirectly represents the wireless communication state). Therefore, in the example shown in FIG. 7, the robot 101 can measure the wireless communication state of each of the areas J6, I6, H6, H7, G7, F7, E7, E8, D8, C8, and B7. The wireless communication state measurement data acquired by the robot 101 is transmitted from the robot 101 to the control server 103, and the control server 103 updates the wireless environment map 400 based on the measurement data. Further, not only when moving to the standby area A6 but also when moving to the target area J6, the robot 101 may acquire measurement data of the wireless communication state. For example, when moving to the target area J6 along the movement route shown in FIG. 5, the robot 101 uses the measurement data of the wireless communication state of each of the areas B6, C6, D6, E6, F6, G5, H6, and I6. Good to get.

  By performing such control, an area that is passed when the robot 101 moves to the standby area A6 (instead of or in addition, an area that passes when the robot 101 moves to the target area J6) is acquired. Based on the measured data, the effective measurement count 403, the wireless communication state 402, and the update priority 404 are updated.

  As a result, there is a possibility that the movement route when the robot 101 next moves to the standby area A6 after guiding the user to the destination area J6 (returns) is different from the previous movement route. When moving to the standby area A6 through a different movement route from the previous time, the wireless communication state 402 of the area different from the previous time can be updated.

  In this way, the probability that the robot 101 passes by determining the movement route to the standby area A6 in consideration of the operating state of the robot 101 (for example, whether it is in business or out of business) and the necessity of updating the area. The wireless communication state 402 in an area where the accuracy of the wireless communication state 402 needs to be improved can be preferentially updated.

In the above description, the route determination unit 204 determines the movement route so as to pass through the area C8 having the highest update necessity. For example, the result of calculating the update necessity of each area using the above function. When the area having the highest necessity for updating is area C8, the second highest area is area E6, and the third highest area is area G5, as shown in FIG. 8, the areas C8, E6 and G5 You may determine the movement path | route which can acquire the measurement data of three areas. That is, the area constituting the movement route to the standby area A6 (an example of the movement destination area) is an area other than the two areas such as the target area J6 (an example of the movement source area) and the standby area A6. It may be selected according to a predetermined rule regarding the need for updating. The predetermined rule may be, for example, any of the following or a combination.
Of the areas other than the two areas such as the target area J6 and the standby area A6, the top p areas that require updating (p is a natural number)
For each of all area lines or a part of area lines (for example, area lines other than two area lines such as area line J including target area J6 and area line A including standby area A6) Of these, the top q areas that need to be updated (q is a natural number).

  As described above, when the robot 101 moves to the target area J6 for guidance work, the route determination unit 204 passes through an area with a good wireless communication state so that at least communication with the control server 103 is not interrupted. Determine the route. On the other hand, when the robot 101 finishes the guidance work and moves to the standby area A6, the route determination unit 204 uses a function including the vertical distance 602 from the shortest route to the standby area A6 and the update priority 404 as terms. From the calculated result, a moving route passing through an area having a high update necessity is determined. Thereby, the probability that the robot 101 passes for guidance work is high, and the wireless communication state 402 can be updated regardless of whether the wireless communication state 402 in the initial state is good or bad.

  As a result, as an initial value, the wireless communication state can be updated even in an area where the wireless communication state 402 is poor and the user cannot pass when guiding the user to the destination area J6. Therefore, if the communication state of the area has changed from “impossible” to “excellent”, “good”, and “possible” due to changes in the surrounding environment, the robot 101 thereafter performs the operation in the area. Can also pass through. As a result, the probability that the robot 101 can determine the optimal travel route in the wireless environment map 400 when moving to the destination area J6 is increased, so that unnecessary travel due to a detour can be reduced, and service quality is improved. Probability of improvement increases.

  FIG. 9 is a configuration diagram of the robot 101 in the first embodiment.

  The robot 101 has a physical calculation resource group that is one or more physical calculation resources. The physical computing resource group includes an interface unit 91, a storage unit 92, and a processing unit 93 connected thereto. Wireless communication is performed through the interface unit 91. Further, the physical calculation resource group includes a sensor group 94 that is one or more sensors and an I / O device group 95 that is one or more I / O (Input / Output) devices. The sensor group 94 may include a camera, for example. The I / O device group 95 may include a microphone and a speaker.

  In the robot 101, one or more programs stored in the storage unit 92 are executed by the processing unit 93 so that, for example, the following function is performed, that is, whether the robot 101 is performing guidance work or moving to a standby area. An operation state management unit 902 that grasps and manages an operation state such as a position, a position management unit 903 that manages a position such as a position where the robot 101 is located and a position where guidance is performed when a guidance operation occurs, and a peripheral state of the robot 101 by a camera A video collection unit 904 that collects the user's voice and surrounding sounds with a microphone, a speech collection unit 906 for the robot 101 to speak, and a sensing unit 907 such as obstacle detection using the sensor group 94 A wireless communication unit 910 for wirelessly communicating with the control server 103 and the like, and a wireless communication state within the movement range 104 of the robot 101 The communication state measuring unit 909 creates a measurement data transmitting measured in the control server 103 and the mobile unit 908 for moving the robot 101, are mounted. The robot 101 detects the user with the sensing unit 907. In addition, the robot 101 transmits information acquired by the video collection unit 904 and the audio collection unit 905 to the control server 103 (or other server 107) that processes the audio and video by the wireless communication unit 910. The control server 103 (or other server 107) performs speech recognition and semantic understanding on the user's utterance, and the result is fed back to the utterance unit 906. The utterance unit 906 determines a reply suitable for the user's fed back conversation content, and utters.

  In the first embodiment, the map is created, managed, and updated by the control server 103. However, this function may be installed in the robot 101 so that the robot can create, manage, and update the map. That is, as indicated by a broken line in FIG. 9, the robot 101 may include a map creation / update unit 200 and a route determination unit 204.

  FIG. 10 is a flowchart for determining a movement route in the first embodiment.

  The route determination unit 204 determines whether or not the operating state of the robot 101 is a movement to the standby area A6 (an example outside the business) (S1001). The operation state of the robot 101 is managed by the operation state management unit 209.

  When the determination result in S1001 is true (S1001: YES), the route determination unit 204 calculates the update priority 404 for each area constituting the moving range 104 based on the effective measurement count 403 (S1002). The route determination unit 204 calculates the update priority 404 calculated for each area constituting the movement range 104 and the vertical distance from the current area of the robot 101 (the target area in the example of FIG. 6) to the shortest route to the standby area. Based on the above, the update necessity is calculated (S1003). The route determination unit 204 determines an area having the highest update necessity calculated from a plurality of areas (S1004). Based on the shortest route from the current area to the standby area and the area determined in S1004, the route determination unit 204 determines a movement route that returns to the standby area A6 via the area (S1005). The route determination unit 204 notifies the robot 101 of information indicating the determined movement route (S1008). As a result, the robot 101 moves to the standby area A6 along the determined movement route, and in the movement, the measurement data related to the wireless communication state is acquired and transmitted to the control server 103 for each area that passes.

  When the determination result of S1001 is false (S1001: NO), that is, when the robot 101 is in business, the route determination unit 204 refers to the wireless environment map 400 and refers to all areas permitted to pass (that is, wireless). All areas in which the communication status 402 is “excellent”, “good” or “possible” are extracted (specified) (S1006). Of the areas extracted in S1006, the route determination unit 204 has the shortest distance from the current area (standby area in the example of FIG. 5) to the destination area (target area in the example of FIG. 5) of the robot 101. Is determined as a movement route (S1007). The route determination unit 204 notifies the robot 101 of information indicating the determined movement route (S1008).

  A second embodiment of the present invention will be described with reference to FIGS. At that time, differences from the first embodiment will be mainly described, and description of common points with the first embodiment will be omitted or simplified.

  In the second embodiment, the robot 101 includes a plurality of areas as candidate areas for user guidance, for example, a target area J2 and a target area J10 in addition to the target area J6 as shown in FIG. The movement range 104 is divided for each of a plurality of candidate areas by a sub movement range 1004 including the candidate area and the standby area. A sub movement range 1004 as an actual movement range of the robot 101 is selected from the plurality of sub movement ranges 1004. For example, since the destination area J10 is less frequently guided by the user than the destination areas J6 and J2, the sub movement range 1004C including the destination area J10 is sub-range 1004B including the destination area J6. The probability of being selected as the actual movement range of the robot 101 is lower than the sub movement range 1004A including the target area J2. For this reason, the frequency | count of update of the radio | wireless communication state 402 of each area which belongs to the sub movement range 1004C decreases.

  Therefore, in the present embodiment, as shown in FIG. 12, the route determination unit 204 in the control server 103 last time the measurement related to the wireless communication state of at least one area belonging to the sub movement range 1004C having a low number of updates. If N hours have passed since (hereinafter referred to as the previous measurement time) (N> 0), the standby area passes through the at least one area to update at least one area belonging to the sub movement range 1004C having a low number of updates. The movement route to return to A6 is determined. In the present embodiment, as an example, the sub movement range 1004C with a small number of updates is updated at regular time intervals. Instead, the area belonging to the sub movement range 1004C becomes the update target area of the wireless communication state 402. Other conditions may be adopted as the update conditions that are conditions. For example, the update condition for the sub movement range 1004C is a condition (for example, update) where the number of times of movement from the target area J6 to the standby area A6 (that is, the number of updates of the wireless communication state 402 for the sub movement range 1004B) M is used as an index. (The condition that the wireless communication state 402 for the sub movement range 1004C is updated once every number of times M = 5). That is, even if the update condition for the sub movement range 1004C is a condition related to any element such as time and the number of updates, the movement route to the standby area A6 is not limited to the communication state accuracy such as the update priority 404, but wireless communication The update frequency of the state 402 is determined based on the update frequency of the sub movement range 1004C that is relatively low. As a result, the wireless communication state 402 of the area belonging to the sub movement range 1004C is also updated even if it is not as large as the areas belonging to the other sub movement ranges 1004A and 1004B. The update condition of the sub movement range 1004C may be configured to be given from outside the control server 103. Each sub movement range 1004 may be determined in advance or may be dynamically determined. The sub movement range 1004 exists for each candidate area as a guidance destination. The sub movement range 1004 includes two or more areas from the standby area A6 to the candidate area. Some of the two or more sub movement ranges 1004 may overlap.

  With reference to FIG. 12, the movement route determination in the present embodiment will be described.

  When the robot 101 moves to the standby area A6 (S1001: YES), if the time at that time has passed N hours from the previous measurement time (S1201: YES), the route determination unit 204 uses the low update area. A movement route is determined using the function (S1202). On the other hand, if N hours have not elapsed since the previous measurement time (S1201: NO), the route determination unit 204 determines a movement route using the general area function (S1203). In the present embodiment, two functions are prepared, and an example in which the function selected by the elapsed time from the previous measurement time is different has been described. However, the movement route via the area of the sub movement range 1004C with a small number of updates is determined. The example to be done is not limited to this. For example, regardless of the elapsed time from the previous measurement time, there is one function selected when moving to the standby area A6, and there may be a term relating to time in the function, and the function In this case, for a specific time (for example, a time when the elapsed time from the previous measurement time is N hours or more, or a time in which the current time belongs to a specific time zone), a coefficient used for calculating the update necessity The value of (weight) may change, and as a result, an update of an area with a low update count (an area belonging to the sub movement range 1004C) is executed at a specific time (movement including the area) The control server 103 may be configured (so that the route is determined). Note that the measurement time may be recorded in the storage unit 52 in a predetermined unit, for example, for each sub movement range 1004 or for each area. The “low update area function” is a function used to determine a movement route passing through at least one area belonging to the sub movement range 1004C. When this function is used, even if the target area is either area J6 or J2 (that is, even if the robot 101 is not in the sub movement range 1004C), the determined movement to the standby area A6 The route is a route including at least one area belonging to the sub movement range 1004C. The “general area function” is a function that is selected in the case of S1201: NO (that is, when the update condition for the sub movement range 1004C is not satisfied), and is the same function as in the first embodiment. is there. That is, S1203 corresponds to S1002 to S1005 in FIG.

  Furthermore, in the second embodiment, the route determination unit 204 determines whether or not the operation state grasped by the operation state management unit 209 has changed from outside the business to the business start, for example, the robot 101 has moved to the standby area A6. In the middle, it is determined (monitored) whether or not a new guidance service has been started (S1204). The determination (monitoring) in S1204 is performed until the robot 101 arrives at the standby area A6 (S1204: NO and S1205). If the robot 101 has arrived at the standby area A6 (S1205: YES), the process ends. On the other hand, if the result of the determination in S1204 is true (S1204: YES), the route determination unit 204 determines a travel route using the guidance service function (S1206). The “guidance function” is a function used to determine a movement route to the destination area. That is, S1206 corresponds to S1006 to S1007 in FIG.

  In this embodiment, the robot 101 detects the user using the sensing unit 907, the video collection unit 904, the audio collection unit 905, and the like in the robot 101. If the robot 101 (for example, the operating state management unit 902) determines that the guidance work needs to be started by conversation with the user or the like, the determination result in S1204 becomes true. The start of a new guidance service may be notified from the robot 101 to the control server 103, or as a result of the other server 107 performing voice recognition and meaning understanding on the voice collected by the robot 101, The start may be detected and notified to the control server 103.

  When the operation state management unit 209 of the control server 103 receives a signal indicating a change in the operation state of the robot 101, the operation state management unit 209 notifies the route determination unit 204 of the change in the operation state, and the route determination unit 204 performs a new movement. A route is determined, and the route notification unit 206 notifies the robot 101 of information indicating a new movement route.

  According to the second embodiment, it is possible to update the wireless communication state 402 of the area that is passed to guide the destination area J10 that is guided less frequently than others. In addition, by starting guidance to a new destination area (for example, destination area J10) while moving to standby area A6, an area with a low probability of passing between standby area A6 and destination area J10 can be used. In addition, the wireless communication state 402 can be updated. Note that S1204 and S1205 may be performed in the first embodiment.

  A third embodiment of the present invention will be described with reference to FIGS. At that time, the differences from the first and second embodiments will be mainly described, and the description of the common points with the first and second embodiments will be omitted or simplified.

  In the third embodiment, the movement range 104 is a movement range common to the plurality of robots 101. Each robot uses a different area as a standby area, and the main guidance target areas are also different.

  According to the example of FIG. 13, the robot 101A waits in the standby area A6 and mainly performs guidance to the destination area J6. Therefore, by wireless communication with the robot 101A, an area belonging to the sub movement range 1301A (solid line frame) composed of an area constituting the shortest physical path between the standby area A6 and the target area J6 and its surrounding area. The wireless communication state 402 is updated. Similarly, the robot 101B stands by in the standby area A2, and mainly provides guidance to the destination area J2. Therefore, by wireless communication with the robot 101B, an area belonging to the sub movement range 1301B (broken line frame) composed of the area that forms the shortest physical path between the standby area A2 and the target area J2 and the surrounding area. The wireless communication state 402 is updated. The robot 101C stands by in the standby area A9 and mainly provides guidance to the destination area J9. Therefore, by wireless communication with the robot 101C, it belongs to the sub movement range 1301C (one-dot chain line frame) composed of the area constituting the shortest physical path between the standby area A9 and the target area J9 and the surrounding area. The wireless communication state 402 is updated for the area.

  In the third embodiment, the wireless environment map 400 is managed and updated, and the control server 103 also manages the position of each robot 101 and determines the route. With this configuration, for example, the wireless environment map 400 updated with information (for example, measurement data) collected by the robot 101A can be developed and shared with the robot 101B and the robot 101C (that is, from the robot 101A). Based on the wireless environment map 400 updated based on the information, it is possible to determine the movement path to the destination area J2 of the robot 101B or the movement path to the destination area J9 of the robot 101C. Thus, in the third embodiment, for at least one area of a plurality of areas, the wireless communication state 402 of the area is replaced with the wireless communication state 402 based on data measured by a certain robot 101 for the area. Or in addition, a wireless communication state 402 based on data measured by one or more other robots 101 for the area. As a result, the measurement data from the two or more robots 101 can be effectively used for the overlapping areas of the sub movement ranges 1301 for the two or more robots 101. For example, according to the example of FIG. 13, in particular, regarding the overlapping range 1302A of the sub moving ranges 1301A and 1301B, the probability that both the robot 101A and the robot 101B move is relatively high, and the overlapping of the sub moving ranges 1301A and 1301C In the range 1302B, there is a high probability that both the robot 101A and the robot 101C move.

  In addition, when the control server 103 also manages the movement route, the movement route (for example, each movement route of the two or more robots 101 is changed to another movement) that reduces the probability that the two or more robots 101 interfere with each other. It can be expected that a route that does not intersect the route, or a route in which two or more robots 101 are not located in the intersection area at the same time even if they intersect.

  Further, the standby areas of two or more robots 101 may be common as illustrated in FIG. Specifically, in any of the robots 101A to 101C, the standby area may be the area A6. In such a case, the moving path of a certain robot 101 to the standby area A6 is a moving path for map update (that is, a detour to the standby area A6) only when there is another robot 101 in the standby area A6. Travel route) may be employed.

  For example, the robot 101A is as follows.

  That is, as shown in FIG. 15, the operating state of the robot 101A is movement to the standby area (S1001: YES), but if the other robots 101B and 101C are waiting in the standby area A6 (S1502: YES). The route determination unit 204 determines a travel route using the map update function (S1504). The “map update function” is a function used for determining a movement route to the standby area A6, specifically, the function described in the first embodiment or the second embodiment. This is the general area function (and the low update area function) described in the above.

  If the operating state of the robot 101A is the movement to the standby area (S1001: YES), and the other robots 101B and 101C are not waiting in the standby area A6 (S1502: NO), the route determination unit 204 The shortest physical path from the area where 101A is currently located to the standby area A6 is determined as a movement path (S1503).

  During movement along the movement route by the map update function (from the start of movement to before arrival at the standby area A6), the route determination unit 204 receives a movement start notification of another robot 101B or 101C in the standby area A6. It is determined (monitored) whether or not it has been done (S1505). “The movement start notification has been received” may be that a notification indicating movement start has been received from the robot 101B or 101C that has started moving, or the operating state of the robot 101B or 101C has changed from standby to work start. May be received from the operating state management unit 209. If the determination result in S1505 is true (S1505: YES), the route determination unit 204 determines the physical shortest route from the area where the robot 101A is currently located to the standby area A6 as the movement route (S1506).

  In FIG. 15, the determination in S1204 in FIG. 12 or S1206 may be performed. In FIG. 15, when S1502: NO and S1503, the determination (monitoring) of S1502 is performed, and when S1502: YES is reached (that is, before the robot 101A returns to the standby area A6, the other robot 101B or 101C has arrived at the standby area A6), S1504 may be performed (that is, a detour route from the middle of the shortest route to the standby area A6 may be used as the movement route).

  With such a configuration, the wireless environment map 400 can be updated without affecting the guidance service to the user. That is, if there is no robot 101 in the standby area A6, each robot outside the work returns to the standby area A6 through the shortest path until any one robot 101 returns to the standby area A6. For this reason, at least one robot 101 can be in a standby state in the standby area A6 as soon as possible.

In the third embodiment, for example, at least one of the following may be employed for each of the plurality of robots 101.
The moving speed of the robot 101 may be the same as or different from that of the other robots 101.
The moving speed of the robot 101 may be different depending on the gender and age of the user.
The moving speed of the robot 101 may be registered in the storage unit 52 of the control server 103.
The movement path of the robot 101 may be determined based on the movement speed of the robot 101 and the movement speed of the other robot 101.

  Next, a fourth embodiment of the present invention will be described with reference to FIGS. In this case, differences from the first to third embodiments will be mainly described, and descriptions of points common to the first to third embodiments will be omitted or simplified.

  In the fourth embodiment, for each of a plurality of areas, the size of the area is determined by the time interval at which the robot 101 transmits a data signal by wireless communication, the moving speed of the robot 101, and the allowable delay time (robot 101 and an allowable delay time between the control server 103 and the control server 103.

  For example, as shown in FIG. 16, the allowable delay time for communication with the server varies depending on the work contents performed by the robot 101. As a result, the desired area area (area size) changes. In FIG. 17, as an example, the moving range 104 indicates the size of the area when divided into 100 (see reference numeral 1602) and divided into 25 (see reference numeral 1601). Hereinafter, the movement range 104 when divided into 100 small areas is referred to as a small movement range, and the movement range 104 when divided into 25 large areas is referred to as a large movement range.

  If the business is a business that guides the user to the target area while talking to the user, the service will be degraded if the communication with the server is interrupted for a long time. It is desirable that the robot 101 moves along a route that can be passed through. Therefore, when the business content is “guidance with conversation”, the allowable delay time is relatively short, and therefore the wireless environment map 400 may be created for a small movement range. On the other hand, if the business is a cargo transportation business, there is no need for conversation with the user and the robot can move autonomously toward the destination area. There is little worry about the decline. Therefore, when the business content is “transport”, the allowable delay time is relatively long. Therefore, the wireless environment map 400 may be created for a large movement range. By creating the wireless environment map 400 for the large movement range, the management and update of the wireless environment map 400 can be facilitated, and the movement route can be easily determined.

  The present invention is not limited to the above-described embodiments, but includes various modifications and equivalent configurations within the scope of the appended claims. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and the present invention is not necessarily limited to those having all the configurations described. A part of the configuration of one embodiment may be replaced with the configuration of another embodiment. Moreover, you may add the structure of another Example to the structure of a certain Example. In addition, at least one of addition, deletion, and replacement of another configuration may be performed on a part of the configuration of each embodiment.

  In addition, each of the above-described configurations, functions, processing units, processing means, etc. may be realized in hardware by designing a part or all of them, for example, with an integrated circuit, and the processor realizes each function. It may be realized by software by interpreting and executing the program to be executed.

  Information such as programs, tables, and files that realize each function can be stored in a storage device such as a memory, a hard disk, or an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.

  In addition, the control lines and the information lines indicate what is considered necessary for the explanation, and do not necessarily indicate all the control lines and information lines necessary for the mounting. In practice, it can be considered that almost all the components are connected to each other.

101: Robot, 103: Control server

Claims (14)

Information indicating a communication state in each of a plurality of areas constituting a movement range of an autonomously movable information processing apparatus that performs wireless communication, and information that is referred to in order to determine a movement route to the target area of the information processing apparatus A storage unit for storing a certain radio environment map;
The wireless environment map for the area on the determined movement path is determined for a movement path to a target area that is a relatively high area of the information processing apparatus among the plurality of areas. A processing unit that updates the communication state indicated by the information processing unit based on the communication state measured by the information processing device in the area. The wireless environment map includes, for each of the plurality of areas, communication state accuracy that is a value related to accuracy of the communication state of the area,
The apparatus according to claim 1, wherein the processing unit determines a movement route to the target area based on the communication state accuracy of each of the two or more areas to the target area. The determined movement route to the target area includes, for each of two or more areas including an area constituting the shortest route to the target area of the information processing device, a shortest distance to the shortest route of the area. , Based on the communication state accuracy of the area,
The apparatus of claim 2. The determined movement route to the target area is further based on an update frequency for each area where the update frequency of the communication state is relatively low among the plurality of areas.
The apparatus of claim 3. For each of the plurality of areas, the communication state accuracy is based on the number of times the communication state is measured in the area within a predetermined time.
The apparatus of claim 2. The target area is a standby area that is a destination to move the information processing apparatus outside of work,
The apparatus of claim 1. When the information processing device detects that the information processing device starts while the information processing device is moving on the determined movement route to the standby area, the information processing device Determining the travel route from the area located at the start of the service to the target area for the task based on the updated wireless environment map;
The apparatus according to claim 6. For each of the plurality of areas, the size of the area is selected from a time interval at which the information processing device transmits a data signal by wireless communication, a moving speed of the information processing device, and an allowable delay time. Based on at least one,
The apparatus of claim 1. For at least one area of the plurality of areas, the communication status of the area is one or more other information about the area instead of or in addition to the communication status based on the data measured by the information processing device for the area. It is a communication state based on data measured by the processing device.
The apparatus of claim 1. The processing unit is
When the other information processing apparatus is present in the target area, the communication path accuracy of each of the two or more areas to the target area is indicated as a movement route from the area where the information processing apparatus is located to the target area. Based on
When the other information processing device does not exist in the target area, the movement route from the area where the information processing device is located to the target area is the shortest route to the target area.
The apparatus of claim 2.   The apparatus according to claim 1, wherein the apparatus is a control apparatus that performs wireless communication with the information processing apparatus.   The apparatus according to claim 1, which is the information processing apparatus. Determining a movement route to a target area that is a relatively high area that is a destination of the information processing apparatus among a plurality of areas that constitute a movement range of the autonomously movable information processing apparatus that performs wireless communication;
A radio environment map that is information indicating a communication state in each of the plurality of areas and information that is referred to in order to determine a movement path to the target area of the information processing apparatus for the area on the determined movement path The communication state indicated by is updated based on the communication state measured by the information processing device in the area,
Method. Determining a movement route to a target area that is a relatively high area that is a destination of the information processing apparatus among a plurality of areas that constitute a movement range of the autonomously movable information processing apparatus that performs wireless communication;
A radio environment map that is information indicating a communication state in each of the plurality of areas and information that is referred to in order to determine a movement path to the target area of the information processing apparatus for the area on the determined movement path The communication state indicated by is updated based on the communication state measured by the information processing device in the area,
A computer program that causes a computer to execute.