JP4824790B2 - Apparatus and method for collecting and processing data of receiving sensitivity according to position - Google Patents

Description

  The present invention relates to a data collection / processing apparatus for position-dependent reception sensitivity, and more particularly, stores reception sensitivity of wireless communication for each position corresponding to GPS reception coordinates, and uses the stored position-sensitive reception sensitivity data to perform unmanned operation. The present invention relates to an apparatus and method for robot path planning or communication channel coding.

  In general, unmanned robots equipped with long-distance communication devices using technologies such as WiBro (Wireless Broadband) or WiMAX (Worldwide Interoperability for Microwave Access) have been developed mainly for military use. It can be used for various fields such as reconnaissance, light combat, etc. The biggest problem in the operation of such an unmanned robot is that the communication with the unmanned robot is frequently interrupted depending on the terrain environment in which the robot is active, or the network bandwidth is reduced. Remote control or monitoring is not possible. Techniques for controlling unmanned robots using WiBro or WiMAX technology have been newly attempted in the defense-related field, and studies on communication disconnection and network bandwidth reduction have not been sufficiently conducted. The base station of the WiBro communication system can calculate a CINR (carrier-to-noise-ratio) or RSSI (Received Signal Strength Indication) value indicating the reception sensitivity of a signal generated from a terminal. The CINR or RSSI value can be used to increase or decrease the communication bandwidth, and a specific resolution of a specific image captured by a camera according to priority from a plurality of cameras attached to the unmanned robot. Can be received continuously.

  For the route planning of unmanned robots used in the defense field, the route that the unmanned robot moves between the start point and the end point reflects the shortest distance, the distance reflecting the danger from the enemy, and the maximum speed It is calculated by a method such as the distance. However, if the communication condition is basically not good, moving the unmanned robot to a specific point must accept many dangers.

JP 2003-199158 A

  The present invention has been made in view of the above circumstances, and its purpose is to collect reception sensitivity data for each position of the unmanned robot based on the possibility of wireless communication or self-position tracking at the time of route planning of the unmanned robot. It is to provide an apparatus and method for processing.

  In order to achieve the above object, according to one aspect of the present invention, a data collection and processing device for position-dependent reception sensitivity receives position-specific GPS data corresponding to a GPS reception coordinate value from wireless communication, and the GPS A wireless base station that calculates data reception sensitivity data; and a remote control unit that performs route planning or channel coding using the position-dependent GPS data and the wireless communication reception sensitivity data.

  In order to achieve the above object, according to another aspect of the present invention, a method for collecting and processing data of position-dependent reception sensitivity receives position-specific GPS data corresponding to GPS received coordinate values from wireless communication, and A reception step of calculating reception sensitivity of wireless communication and an execution step of performing path planning or channel coding using the position-dependent GPS data and reception sensitivity data.

  According to the present invention, it is possible to store wireless communication reception sensitivity data for each position of the unmanned robot corresponding to the GPS reception coordinates, and use this to perform route planning for the unmanned robot used for night driving and the like. The effect is that autonomous driving of an unmanned robot is possible.

  In addition, data is continuously accumulated for a new area, and for a previously surveyed area, communication bandwidth is allocated to a specific channel in advance before entering the corresponding area using information already held, It is possible to collect communication bandwidths of low priority channels and assign them to video channels that require monitoring.

It is a figure which shows the data collection / processing apparatus of the receiving sensitivity according to position using the unmanned robot by this invention. It is a detailed block diagram of the remote control vehicle 104 of FIG. 4 is a flowchart illustrating a method for storing data on reception sensitivity according to position according to the present invention. It is a flowchart explaining the processing method of the data of the receiving sensitivity according to position by this invention. It is a figure explaining the setting of the search area | region of the GPS data by this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 is a diagram illustrating a data collection / processing apparatus for position-dependent reception sensitivity using an unmanned robot according to the present invention. The position-based reception sensitivity data collection / processing apparatus of the present invention includes an unmanned robot 101 and a remote control vehicle 104.

  The unmanned robot 101 is an outdoor robot in the form of an unmanned vehicle equipped with a plurality of cameras (not shown). The unmanned robot 101 is equipped with a wireless communication terminal 102 and a GPS antenna 103 and communicates with a remote control vehicle 104 located at a long distance. . Here, the wireless communication terminal 102 includes a WiBro and a WiMAX terminal.

  The remote control vehicle 104 is equipped with a radio base station 105 and a remote control device 106 that receive and process radio communication signals sent from the unmanned robot 101. The wireless base station 105 and the remote control device 106 may be connected by wire or wirelessly. Here, the radio base station 105 can be realized by a WiBro base station or a WiMAX base station that receives and processes a WiBro signal or a WiMAX signal.

  The remote control device 106 displays various wireless communication signals received from the unmanned robot 101 and receives images shot by the camera of the unmanned robot 101 so that the user can operate the unmanned robot 101 remotely. Further, the remote control device 106 gives a traveling path that the unmanned robot 101 should travel or a task to be performed, and transmits it to the unmanned robot 101. When the remote control device 106 remotely controls the unmanned robot 101, if the communication situation deteriorates, the remote control is impossible and the task must be changed autonomously, or the communication bandwidth is lowered and the video compression rate is reduced. Etc. must be adjusted.

  FIG. 2 is a detailed block diagram of the remote control vehicle 104 of FIG. As shown in FIG. 2, the remote control vehicle 104 includes a radio base station 105 and a remote control device 106, and the remote control device 106 includes a data receiving unit 202, a data storage unit 203, a database 204, a data processing unit 205, and an application 206. including.

  The wireless base station 105 transmits the current GPS data received from the unmanned robot 101 by wireless communication and the reception sensitivity of the wireless communication signal to the data receiving unit 202 together with the current time. The GPS data indicates the position of the unmanned robot 101, and the reception sensitivity is calculated by the radio base station 105. The data receiving unit 202 transmits the received data to the data storage unit 203 and stores information in the database 204.

  The application 206 requests the data processing unit 205 to receive sensitivity of the unmanned robot 101 with respect to the GPS data. In response to this request, the data processing unit 205 searches the database 204 for the position-sensitive reception sensitivity of the unmanned robot and transmits it to the application 206. To do. At this time, the application 206 performs route planning of the unmanned robot 101 or automatic coding change of the communication channel.

  As described above, the current communication status is stored in the database 204 together with the GPS data of the point where the unmanned robot 101 is located through the remote control vehicle 104 in FIG. 2, and then stored when the unmanned robot again passes the same route. By using the acquired GPS data, the reception sensitivity of each point on the same route or the average of the reception sensitivities can be obtained, so that it can be used for route planning or the communication environment can be predicted in advance and an appropriate communication bandwidth can be allocated in advance. it can.

  FIG. 3 is a flowchart illustrating a method for storing the reception sensitivity by position of the unmanned robot according to the present invention. First, the data receiving unit 202 receives GPS data received from the unmanned robot 101 via the wireless base station 105 and its reception sensitivity together with the current time (step 301). Thereafter, the data receiving unit 202 checks whether the received GPS data and reception sensitivity data are normal (step 302). If both the GPS data and the reception sensitivity data are normal and valid as a result of the inspection, the current time, GPS data, and reception sensitivity data are stored in the database 204 (step 303). The stored current time, GPS data, and reception sensitivity are temporarily stored in the data storage unit 203 and used for searching for communication anomalies and areas where GPS reception is not possible. If data storage operations are frequently performed and affect the performance of the entire system, steps 301 to 303 are repeated after waiting for a preset time.

  As a result of the inspection, there may be a shaded area where radio communication is normal but GPS data is not received. Alternatively, there may occur a case where GPS data is received but wireless communication is impossible and this GPS data cannot be transmitted to the remote control device 106. In such a case, the application 206 can analyze the corresponding data to bypass the shaded area, or move the unmanned robot 101 to a communicable area.

On the other hand, if the reception sensitivity of the wireless communication or the GPS data is abnormal as a result of the inspection in step 302, it is first determined whether there is an abnormality in the wireless communication (step 304). As a result of the inspection in step 304, if reception sensitivity data is not received based on an abnormality in wireless communication, the previous GPS data stored in the data storage unit 203 is extracted, and the extracted GPS data Information indicating the reception time, extracted GPS data, and communication abnormality is stored in the database 204 (step 305 ). If the wireless communication is continuously abnormal during the data processing period that has already been set, the database 204 will store a large amount of data that differs only in time and includes GPS data and information indicating the communication abnormality. However, as a result of the inspection in step 304, there is no abnormality in the wireless communication, but if it is determined that the GPS data is abnormal, the time, the previous GPS data, and information indicating that GPS reception is impossible are stored in the database 204. (Step 306 ). In determining whether or not GPS can be received, the unmanned robot 101 cannot suddenly deviate from an area within a certain range within the preset time. When GPS data is received, it is determined that the GPS data is incorrect information and GPS reception is impossible.

FIG. 4 is a diagram illustrating a method of processing data of position-dependent reception sensitivity according to the present invention. First, the application 206 requests the data processing unit 205 for reception sensitivity corresponding to the value of GPS data (step 400). For example, as shown in FIG. 5, when the range of the movement area of the unmanned robot 101 is X and Y with reference to the east side (E) and the north side (N), the values of area variables X and Y set by the user Accordingly, a GPS data search area is set, and information on data included in the GPS data search area set in this way is requested. As a result, the data processing unit 205 extracts, from the database 204, information on GPS data included in the GPS data search area set according to the GPS search area variables X and Y values input by the user (step 410). It is determined whether information extracted in this way includes information indicating an area where wireless communication is impossible or GPS data is not received (step 420). The result of the determination, if it contains information that indicates the radio communication impossible or GPS data unreceivable area continuously GPS value stored in the data storage unit 203 as described in the 305 stages: 3 Are extracted. Therefore, such information can be transmitted in a list form (step 430). If there is no normal value in the corresponding search area, the search area is further enlarged and inspected. In this case, since the unmanned robot 101 has not been moved, the data collection and storage steps shown in FIG. 3 can be repeated while moving to the corresponding area.

  If normal data is output as a result of the inspection in step 420, the reception sensitivity is calculated by calculating the reception sensitivity average value of the collected data (step 440).

  The module, functional block, or means of the present embodiment can be realized by various known elements such as an electronic circuit, an integrated circuit, an ASIC (Application Specific Integrated Circuit), and may be realized separately. Two or more can be integrated and realized.

  As described above, the embodiments have been described for the understanding of the present invention. However, as will be understood by those skilled in the art, the present invention is not limited to the specific embodiments described in the present specification. Various modifications, changes and substitutions can be made without departing from the scope of the present invention. Accordingly, all modifications and changes belonging to the true spirit and scope of the present invention are intended to be covered by the appended claims.

Claims (18)

A data collection and processing device for position-dependent reception sensitivity,
A radio base station that receives more location-specific GPS data corresponding to the GPS receiver coordinate values to the wireless communication, to calculate the data of reception sensitivity of the wireless communication,
A remote control unit that performs path planning or channel coding using data of the position by GPS data and the reception sensitivity,
A database for storing the position-specific GPS data and information related to the position-specific GPS data ;
The remote control unit determines whether the position-specific GPS data and the reception sensitivity data are normal, and when determining that the reception sensitivity data is abnormal, extracts the previous GPS data, The extracted GPS data and communication abnormality information indicating abnormality of the reception sensitivity data are stored in the database, and when it is determined that the position-specific GPS data is abnormal, the previous GPS data is extracted, An apparatus for collecting and processing position-dependent reception sensitivity data , wherein the extracted GPS data and unreceivable information indicating an abnormality of the position-specific GPS data are stored in the database . The remote control unit, when both of the data of the reception sensitivity and the position-based GPS data is determined to be normal, and characterized by storing the data of the reception sensitivity and the position-based GPS data in the database The receiving sensitivity data collection and processing device according to claim 1. The apparatus for collecting and processing reception sensitivity data according to claim 2 , wherein the wireless base station receives the GPS data by position from a remote unmanned robot by the wireless communication . The data collection and processing apparatus according to claim 3 , wherein the wireless communication is WiBro communication.   5. The reception sensitivity data collection and processing apparatus according to claim 4, wherein the reception sensitivity data is a CINR or RSSI value of the wireless communication.   5. The reception sensitivity data collection and processing apparatus according to claim 4, wherein the unmanned robot includes a WiBro terminal and a GPS antenna. The remote control unit, the collection and processing unit of the data of the reception sensitivity according to claim 3, wherein the transmitting the travel path or mission to be performed on the unmanned robot through the radio base station. The remote control unit, said wireless communication with the unmanned robot and the radio base station determines whether the abnormality, when the wireless communication is abnormal, determining that the data of the reception sensitivity is abnormal acquisition and processing unit of the data of the reception sensitivity according to claim 3, characterized in that. The remote control unit extracts information related to the position-specific GPS data from the database, and when the extracted information does not include either the communication abnormality information or the unreceivable information, the remote control unit uses the reception sensitivity data. The collection of data of reception sensitivity according to claim 3 , wherein an average value of reception sensitivity is calculated, and the path plan or channel coding is changed based on the calculated average value of reception sensitivity. And processing equipment. A method for collecting and processing reception sensitivity data by position,
The method comprising receiving more location-specific GPS data corresponding to the GPS receiver coordinate values to the wireless communication, to calculate the data of reception sensitivity of the wireless communication,
Storing the location-specific GPS data and information related to the location-specific GPS data in a database,
Determining whether the position-specific GPS data and the reception sensitivity data are normal;
When it is determined that the reception sensitivity data is abnormal, the previous GPS data is extracted, and the extracted GPS data and communication abnormality information indicating abnormality of the reception sensitivity data are stored in the database in association with each other. To do
When it is determined that the position-specific GPS data is abnormal, the previous GPS data is extracted, and the extracted GPS data is associated with the unreceivable information indicating the abnormality of the position-specific GPS data in the database. Storing and
A storage stage including:
Collection and processing method of the data-position-specific reception sensitivity which comprises an execution step of performing a route plan or channel coding using data of the position by GPS data and the reception sensitivity. Said storage step, when both of the reception sensitivity data and the position-based GPS data is determined to be normal, further comprising storing the data of the reception sensitivity and the position-based GPS data in the database The method for collecting and processing reception sensitivity data according to claim 10. 12. The method of collecting and processing reception sensitivity data according to claim 11 , wherein in the reception step, the GPS data is received by a wireless communication from a remote unmanned robot.   The method of collecting and processing reception sensitivity data according to claim 12, wherein the wireless communication is WiBro communication. The method of collecting and processing reception sensitivity data according to claim 13 , wherein the reception sensitivity data is a CINR or RSSI value of the wireless communication. The method of collecting and processing reception sensitivity data according to claim 13 , wherein the unmanned robot is equipped with a WiBro terminal and a GPS antenna. 13. The method of collecting and processing reception sensitivity data according to claim 12 , further comprising a step of transmitting a travel route or a task to be performed to the unmanned robot via the radio base station after the executing step. . The step of determining whether the position-specific GPS data and the reception sensitivity data are normal includes determining whether the wireless communication between the unmanned robot and the wireless base station is abnormal. when the communication is abnormal, collection and processing method of the data of reception sensitivity according to claim 12, wherein the data of the reception sensitivity is determined to be abnormal. In the execution step, information on the GPS data by position is extracted from the database, and when the extracted information includes neither the communication abnormality information nor the unreceivable information, the reception sensitivity data is obtained from the reception sensitivity data. 13. The reception sensitivity data collection and processing according to claim 12 , further comprising: calculating an average value, and changing the path plan or channel coding based on the calculated average value of the reception sensitivity. Method.

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