JP7303167B2 - Wireless quality information providing device, navigation system, wireless quality information providing method and computer program - Google Patents

Description

The present invention relates to a radio quality information providing device, a navigation system, a radio quality information providing method, and a computer program.

In recent years, a remote monitoring system for remotely monitoring autonomously moving robots by wireless communication has been studied. For example, in Patent Document 1, a robot state monitoring terminal attached to a robot transmits state data of the robot to a monitoring server, and the monitoring server determines the state of the robot based on the state data received from the robot state monitoring terminal. A robot condition monitoring system is described.

JP 2019-209426 A

However, in the robot state monitoring system of Patent Document 1 described above, if wireless communication is cut off while the robot is moving, it becomes impossible to remotely monitor the currently moving robot, which is inconvenient. In order to solve this problem, it is conceivable to perform navigation so that the robot moves along a route with good wireless communication quality so as not to disconnect the wireless communication. However, when performing such navigation, it is not always possible to know the wireless communication quality of all candidate routes from the departure point to the destination, so there is a possibility that appropriate navigation cannot be performed. There is

SUMMARY OF THE INVENTION The present invention has been made in consideration of such circumstances, and its object is to efficiently acquire the wireless communication quality of a position where the wireless communication quality is unknown and provide it to a navigation device or the like. It is in.

(1) According to one aspect of the present invention, wireless communication is performed via a wireless communication line with a location wireless quality storage unit that stores location wireless quality information in which a location and wireless communication quality at the location are recorded in association with each other. Detour determination for determining whether or not to cause the mobile body to take a detour to a position for which wireless communication quality is not recorded in the position wireless quality information, based on a scheduled route that is a route along which the mobile body whose quality is to be acquired is scheduled to travel. and a radio quality information providing device.
(2) An aspect of the present invention is the wireless quality information providing device according to (1) above, wherein the mobile body is a robot that moves autonomously.
(3) One aspect of the present invention is any one of (1) or (2) above, wherein the mobile body is a mobile body that delivers, and the scheduled route is a route that the mobile body is scheduled to deliver. This is the wireless quality information providing device.
(4) In one aspect of the present invention, the detour determination unit determines that, when a position for which wireless communication quality is not recorded in the position wireless quality information exists near a return route after delivery of the mobile body, The wireless quality information providing device according to (3) above, which causes the body to make the detour.
(5) According to one aspect of the present invention, whether the moving body is in the middle of delivery or on the way home after the completion of delivery, and how much time is available until the next delivery of the moving body further comprising a moving body task storage unit for storing moving body task information for managing whether or not the moving body task information is stored; , the radio quality information providing apparatus according to any one of (3) or (4) above.
(6) One aspect of the present invention further includes an outdoor population density estimation unit that estimates an outdoor population density, which is the number of people existing outdoors per unit area, and the detour determination unit determines the location radio quality information. The wireless quality information providing apparatus according to any one of (1) to (5) above, wherein the moving object is caused to make the detour at a timing when the outdoor population density at a location where wireless communication quality is not recorded is equal to or less than a predetermined threshold. .
(7) In one aspect of the present invention, the detour determination unit determines the radio communication quality of each position provided from the radio quality information providing device, among the positions where the radio communication quality is not recorded in the position radio quality information. (1) to (6) above, wherein positions included in the route candidates that were not selected as the optimal route because they include positions with unknown wireless communication quality in the navigation device that searches for a route based on the above (1) to (6) ) is a wireless quality information providing device.
(8) According to one aspect of the present invention, when the detour by the moving object results in a disconnection of wireless communication, the detour determination unit determines whether the position wireless communication quality is not recorded in the position wireless quality information. The radio quality of (7) above, wherein the moving object is further detoured to a position included in another route candidate that was not selected as the optimum route because the navigation device includes a position where the radio communication quality is unknown. It is an information providing device.

(9) According to one aspect of the present invention, wireless communication at each position provided from the wireless quality information providing device to a moving object that performs wireless communication while moving with any of the wireless quality information providing devices A navigation device that provides route information indicating a route from a departure point to a destination based on quality.

(10) One aspect of the present invention includes a location wireless quality storing step of storing location wireless quality information recorded in association with a location and wireless communication quality at the location in a location wireless quality storage unit; based on the planned route, which is the route along which the mobile body that communicates with the mobile body and obtains the wireless communication quality is to move, whether or not to make the mobile body take a detour to a position where the wireless communication quality is not recorded in the position wireless quality information. and a detour determination step of determining whether the radio quality information is provided.

(11) One aspect of the present invention includes a location wireless quality storing step of storing, in a location wireless quality storage unit, location wireless quality information in which a location and wireless communication quality at the location are recorded in association with each other; Based on the planned route, which is the route along which the mobile body that communicates via a line and obtains the wireless communication quality will travel, the mobile body detours to a position where the wireless communication quality is not recorded in the location wireless quality information. and a detour determination step for determining whether or not to allow the computer program to be executed.

ADVANTAGE OF THE INVENTION According to this invention, the effect that the wireless communication quality of the position where wireless communication quality is unknown can be acquired efficiently and can be provided to a navigation apparatus etc. is acquired.

1 is a block diagram showing a configuration example of a navigation system according to one embodiment; FIG. FIG. 4 is a diagram illustrating a configuration example of a position/wireless quality storage unit according to one embodiment; 4 is a flow chart showing an example of a procedure of a method for providing radio quality information according to an embodiment; 4 is a flowchart illustrating an example procedure of a navigation method according to one embodiment; It is an explanatory view for explaining a route search method concerning one embodiment. It is an explanatory view for explaining a route search method concerning one embodiment.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. In this embodiment, a navigation system in a delivery service system that performs delivery using a robot that moves autonomously (hereinafter referred to as a mobile robot) will be described as an example.

FIG. 1 is a block diagram showing a configuration example of a navigation system according to one embodiment. In FIG. 1, a mobile robot 2 communicates with a wireless quality information providing device 5, a navigation device 6, and a remote monitoring device 20 via wireless communication lines. The mobile robot 2 is an example of a mobile object. The navigation device 6 provides the mobile robot 2 with route information indicating a route from a starting point to a destination.

The remote monitoring device 20 is a device for remotely monitoring the mobile robot 2 by wireless communication. For example, the remote monitoring device 20 receives images captured by the mobile robot 2 and sounds collected from the mobile robot 2 via a wireless communication line, and displays or reproduces the received images and sounds. By viewing the image and the sound, the observer can monitor the movement of the mobile robot 2 in real time. Therefore, in the remote monitoring system according to the present embodiment, realization of stable wireless communication between the mobile robot 2 and the remote monitoring device 20 is required. In this embodiment, the navigation device 6 provides route information for achieving stable wireless communication between the mobile robot 2 and the remote monitoring device 20 .

Here, when the navigation device 6 navigates the mobile robot 2 so as to move along a route with good wireless communication quality so as not to disconnect the wireless communication, the route from the departure point to the destination is determined. The radio communication quality is not necessarily known for all candidates. Therefore, in the present embodiment, the radio quality information providing device 5 efficiently acquires and provides the radio communication quality of positions where the radio communication quality is unknown to the navigation device 6 .

The configuration of a navigation system 10 according to this embodiment will be described below with reference to FIG.

[User terminal]
The user terminal 1 is a terminal used by a user of the delivery service system according to this embodiment (hereinafter referred to as a delivery service user). A delivery service user designates a destination to which a package is to be delivered and requests delivery. The user terminal 1 may be a mobile communication terminal device such as a smartphone or a tablet computer (tablet PC), or a stationary communication terminal device (for example, a stationary personal computer, etc.). good.

The user terminal 1 has a product ordering unit 101 and a destination information input unit 102 . The product ordering unit 101 selects a product and places an order for the selected product in accordance with an operation by a delivery service user.

The product ordering unit 101 manages the remaining amount of items owned by the delivery service user in real time, and when the remaining amount of items falls below a preset threshold value, the item for replenishment is automatically ordered. You can place an order.

The destination information input unit 102 inputs destination information indicating a destination such as an address when the product ordering unit 101 orders products. The destination information may be specified each time by the delivery service user, or the destination information input unit 102 may record the destination information specified by the delivery service user in the past and input the recorded destination information. It can be reused automatically.

Also, the destination information input unit 102 may use a positioning function based on a GPS (Global Positioning System) provided in the user terminal 1 to set the current position acquired by GPS as the destination. Further, the destination information input unit 102 may add an image of the surrounding scenery of the user terminal 1 captured by the camera of the user terminal 1 to the destination information as reference information of the destination.

[Mobile robot]
The mobile robot 2 is a robot capable of autonomous travel. The mobile robot 2, for example, runs in the city and delivers packages to destinations designated by delivery service users.

The mobile robot 2 includes a current position acquisition unit 201, a wireless quality acquisition unit 202, a state acquisition unit 203, a wireless communication unit 204, a route information storage unit 205, an imaging unit 206, a motion determination unit 207, and a motion determination unit 207. and a control unit 208 .

The current position acquisition unit 201 acquires the current position (position information) using a positioning system such as GPS. The radio quality acquisition unit 202 performs radio communication between the radio communication unit 204 and the remote monitoring device 20, the radio quality information providing device 5, or the navigation device 6 for each radio communication method and radio frequency band that the radio communication unit 204 supports. acquires the wireless communication quality (wireless communication quality information) when performing The state acquisition unit 203 acquires state data (state information) such as remaining battery level, temperature, and movement speed from various sensors provided in the mobile robot 2 .

The wireless communication unit 204 performs wireless communication with the remote monitoring device 20 , the wireless quality information providing device 5 and the navigation device 6 . The wireless communication unit 204 supports wireless communication systems such as LTE (Long Term Evolution) and 5G (5th generation mobile communication system), and performs wireless communication via a base station of the wireless communication system that it supports. Further, the wireless communication unit 204 may be compatible with an unlicensed wireless communication method such as Wi-Fi (registered trademark), and perform wireless communication using the unlicensed wireless communication method.

The wireless communication unit 204 transmits the information obtained by the current location acquisition unit 201 , the wireless quality acquisition unit 202 and the state acquisition unit 203 to the operation monitoring unit 501 of the wireless quality information providing device 5 . Also, the wireless communication unit 204 receives the route information transmitted from the route distribution unit 605 of the navigation device 6 and stores it in the route information storage unit 205 . The route information stored in the route information storage unit 205 is used to determine the movement of the mobile robot 2. FIG.

The imaging unit 206 captures an image of the traveling direction of the mobile robot 2 . The motion determination unit 207 determines the next motion of the mobile robot 2 . The motion determination unit 207 uses the current position acquired by the current position acquisition unit 201, the captured image captured by the imaging unit 206, and the like when moving along the route indicated by the route information stored in the route information storage unit 205. Then, the mobile robot 2 determines an operation suitable for the surrounding environment.

The motion control unit 208 causes the mobile robot 2 to execute the motion determined by the motion determination unit 207 . The motion control unit 208 controls the running type and running speed of the mobile robot 2 such as forward movement, backward movement, and right/left turn, and the motion type other than running such as changing the image capturing direction of the image capturing unit 206 .

[mobile terminal]
The mobile terminal 3 is a mobile communication terminal device such as a smart phone or a tablet PC. The mobile terminal 3 may be used as the user terminal 1 or may be separate from the user terminal 1 . As the mobile terminals 3, for example, mobile terminals of all subscribers who have subscribed to a specific wireless communication carrier and who have agreed with the wireless communication carrier to acquire location information may be included.

The mobile terminal 3 periodically updates the current location (location information) and the wireless communication quality (wireless communication quality information) at the current location for each wireless communication system and wireless frequency band that the mobile terminal 3 supports. report to.

[Wireless quality information providing device]
Wireless quality information providing device 5 includes operation monitoring unit 501, operation information storage unit 502, position/wireless quality storage unit 503, map information storage unit 504, wireless quality movement cost conversion unit 505, and mobile terminal location information. A storage unit 506 , an outdoor population density estimation unit 507 , a robot task storage unit 508 , and a detour determination unit 509 are provided.

Each function of the wireless quality information providing device 5 is such that the wireless quality information providing device 5 includes computer hardware such as a CPU (Central Processing Unit) and memory, and the CPU executes a computer program stored in the memory. It is realized by The wireless quality information providing device 5 may be configured using a general-purpose computer device, or may be configured as a dedicated hardware device. For example, the wireless quality information providing device 5 may be configured using a server computer connected to a communication network such as the Internet. Also, each function of the wireless quality information providing apparatus 5 may be realized by cloud computing. Also, the radio quality information providing device 5 may be realized by a single computer, or may be realized by distributing the functions of the radio quality information providing device 5 to a plurality of computers. Alternatively, the wireless quality information providing apparatus 5 may be configured to open a website using, for example, the WWW system.

The operation monitoring unit 501 performs operation monitoring for one or more mobile robots 2 . The operation monitoring unit 501 performs operation monitoring by associating position information, wireless communication quality information, and status information received from the mobile robot 2 in real time with information (mobile robot ID) for identifying the individual mobile robot 2 . The operation monitoring unit 501 periodically performs operation monitoring based on information (position information, wireless communication quality information, and state information) updated at intervals of, for example, one second. The operation monitoring unit 501 analyzes the position information, radio communication quality information, and status information received from the mobile robot 2, and when detecting a failure of the mobile robot 2, for example issues an alarm to the supervisor. The operation information storage unit 502 stores the information (position information, wireless communication quality information, and status information) received from the mobile robot 2 by the operation monitoring unit 501 in order to investigate the cause of a failure and consider future countermeasures.
Note that the operation monitoring unit 501 may be included in the remote monitoring device 20 . In this case, the location information and wireless communication quality information transmitted from the mobile robot 2 to the wireless quality information providing device 5 are transferred to the location/wireless quality storage unit 503 without going through the operation monitoring unit 501 . Also, the wireless quality information providing device 5 acquires the wireless communication status of the mobile robot 2 (for example, disconnection of wireless communication, etc.) from the remote monitoring device 20 .

The location/wireless quality storage unit 503 stores location/wireless quality information in which location information and wireless communication quality information are recorded in association with each other for each wireless communication method and wireless frequency band. The location wireless quality information may be provided for each date, day of the week, time zone, or event. For example, location wireless quality information for weekdays (Monday to Friday) and location wireless quality information for holidays (Saturdays, Sundays and public holidays) may be provided. For example, location wireless quality information for daytime hours and location wireless quality information for nighttime hours may be provided. For example, location wireless quality information for New Year's, Golden Week, or Obon may be provided.

FIG. 2 is a diagram showing a configuration example of the position/wireless quality storage unit 503 according to this embodiment. In the example of FIG. 2, the position/radio quality storage unit 503 stores position radio quality information 5031 of radio frequency band _LTE_a, position radio quality information 5032 of radio frequency band _LTE_b, etc. for the radio communication system "LTE". . In addition, the location/wireless quality storage unit 503 stores location wireless quality information 5033 of wireless frequency band_5G_a, location wireless quality information 5034 of wireless frequency band_5G_b, and the like for the wireless communication system “5G”.

For example, Band 1 (2.1 GHz), Band 18 (800 MHz), etc. are used as the LTE radio frequency band. In addition, for example, the 28 GHz band is used as the 5G radio frequency band.

For example, the location wireless quality information 5031 is information recorded in association with each wireless communication quality at each location of the wireless frequency band _LTE_a (for example, 800 MHz band) of the wireless communication system “LTE”. However, in the example of FIG. 2, the position wireless quality information 5031 does not record the wireless communication quality at the position_b.

For example, the location radio quality information 5034 is information recorded in association with each radio communication quality at each position of the radio frequency band_5G_b (for example, 28 GHz band) of the radio communication system “5G”. However, in the example of FIG. 2, the position wireless quality information 5034 does not record the wireless communication quality at the position_a.

In this embodiment, the location/wireless quality storage unit 503 stores at least location/wireless quality information for an area including the service area of the delivery service system. The service area of this delivery service system is the target area (target area) to which the navigation device 6 provides route information. The position/wireless quality storage unit 503 according to the present embodiment stores the wireless communication system (LTE, 5G, etc.) and the wireless frequency band (wireless frequency (band_LTE_a, radio frequency band_LTE_b, radio frequency band_5G_a, radio frequency band_5G_b, etc.), position radio quality information recorded in association with the position included in the target area and the radio communication quality at the position is stored. .

The location information and the wireless communication quality information recorded in the location wireless quality information are information transmitted from the mobile robot 2 or the mobile terminal 3 to the wireless quality information providing device 5, for example. Note that position information and wireless communication quality information measured by a device other than the mobile robot 2 and the mobile terminal 3 may be recorded in the position wireless quality information.

Also, the position information is, for example, GPS coordinates. For indoor facilities where GPS coordinates cannot be obtained, absolute position information obtained by indoor positioning technology such as IMES (Indoor Messaging System) may be used as position information. Also, the wireless communication quality information is, for example, RSRP (Reference Signal Received Power) indicating the received power of LTE.

The map information storage unit 504 stores nationwide road map data, associated facility data such as various facilities and shops, topography information, and the like. The road map data is given as link data in which, for example, a road on a map is divided into a plurality of parts using intersections and the like as nodes, and the parts between the nodes are defined as links. This link data includes data such as a link-specific identifier (link ID), link length, position information (longitude, latitude) of the start and end points (nodes) of the link, angle (direction) data, road width, and road type. consists of The road map data may include lane information indicating lanes through which the mobile robot 2 can pass. Moreover, the map information storage unit 504 may further store indoor map data.

Based on the location/wireless quality information stored for each wireless communication method and wireless frequency band in the location/wireless quality storage unit 503, the wireless quality movement cost conversion unit 505 converts each The wireless communication quality information recorded in association with the location information corresponding to the road is converted into a wireless quality link cost. The wireless quality link cost obtained by the wireless quality movement cost conversion unit 505 is stored in the map information storage unit 504 in association with the corresponding link data in the road map data of the map information storage unit 504 .

The wireless quality movement cost conversion unit 505 converts the wireless quality link cost of the link including the location where the wireless communication quality is not recorded in the location wireless quality information in the location/wireless quality storage unit 503 (wireless quality unrecorded location) to unknown. ?”.

For example, the radio quality transfer cost conversion unit 505 divides the value of the radio quality link cost into three stages, and sets the radio quality link cost to "0" when the radio communication quality is sufficiently good, and sets the radio quality link cost to "0" when the radio communication quality is sufficiently good. If the radio communication quality is poor, the radio quality link cost is set to "high", and if there is a possibility that the radio communication will be disconnected, the radio quality link cost is set to "∞".
Note that if the wireless communication quality is above a certain level, the possibility of disconnection of the wireless communication is sufficiently low. From this, if a predetermined wireless communication quality is satisfied (for example, if the received power is equal to or higher than a predetermined value), the wireless quality link cost may be made small (eg, radio quality link cost '0'), otherwise the radio quality link cost may be made large (eg, radio quality link cost 'high' or '∞').

For example, the wireless quality moving cost conversion unit 505 selects a value near the lowest value of the wireless communication quality information considering the lowest value of the wireless communication quality information and an outlier from the wireless communication quality information group corresponding to each link data. It may be subject to conversion of the radio quality link cost. This is to calculate the possibility of disconnection of wireless communication as a risk when the mobile robot 2 travels on the road of the link data.

Note that the route search unit 604 of the navigation device 6, which will be described later, sequentially calculates (integrates) the cost of roads (links) from the departure point to the next reachable intersection (node) toward the destination. Choose the route with the lowest cost from the origin to the destination. Therefore, setting a small radio quality link cost value for a road makes the road more likely to be selected as a route.

The mobile terminal position information storage unit 506 stores the history of the position information of each mobile terminal 3 . For example, the GPS coordinates of each mobile terminal 3 are stored in association with the time.

The outdoor population density estimation unit 507 determines whether each mobile terminal 3 was indoors or outdoors based on the history of location information stored in the mobile terminal location information storage unit 506. Based on this, the outdoor population density is estimated for each preset area. Outdoor population density is the number of people present outdoors per unit area. The outdoor population density obtained by the outdoor population density estimation unit 507 is stored in the map information storage unit 504 in association with the corresponding link data in the road map data of the map information storage unit 504 .

For example, the outdoor population density estimation unit 507 determines that a certain mobile terminal 3 was indoors when it is determined that the change in location information is less than a certain amount and there is almost no change, and the change in location information is determined to be indoors. If it is determined that the value is equal to or greater than a certain value and has changed to some extent, it is determined that the person was outdoors.

In addition, the outdoor population density estimation unit 507 performs map matching by comparing the location information of each mobile terminal 3 with the road map data stored in the map information storage unit 504, and determines whether the mobile terminal 3 uses the road. It can be presumed that Map matching is a process of correcting position information obtained by GPS, which may contain errors, so that it is on the road using map information. Map matching is used, for example, in car navigation systems.

Moreover, the outdoor population density estimation unit 507 may determine whether the means of transportation of the mobile terminal 3 is walking or driving, based on the moving speed of the mobile terminal 3 .

The outdoor population density estimation unit 507 may estimate the outdoor population density for each month, day of the week, or time period. This is because even in the same area, the outdoor population density may vary greatly depending on the month, day of the week, time of day, and the like.

Moreover, the outdoor population density estimation unit 507 may estimate the outdoor population density by a method different from the method using the position information of the mobile terminal 3 . For example, the outdoor population density estimation unit 507 may estimate the outdoor population density based on the human image recognition result for the video file acquired by the video acquisition unit 513, which will be described later. The outdoor population density estimating unit 507 may also estimate the outdoor population density using the video captured by the mobile robot 2 and based on the human image recognition result for the captured video.

The robot task storage unit 508 stores mobile robot task information. The mobile robot task information is information for managing the delivery status of the mobile robot 2 . In the mobile robot task information, information indicating whether the mobile robot 2 is in the middle of delivery or on the way home after delivery is recorded. Further, in the mobile robot task information, information indicating how much time is left until the next delivery of the mobile robot 2 is recorded.

The detour determination unit 509 determines a position where the wireless communication quality is not recorded in the position/wireless quality information in the position/wireless quality storage unit 503 (unknown (recorded position)). The mobile robot 2 is a mobile body that communicates via a wireless communication line and acquires wireless communication quality. The detour determination unit 509 acquires the scheduled route of the mobile robot 2 from the route search unit 604 of the navigation device 6 . The scheduled route of the mobile robot 2 is the route that the mobile robot 2 is scheduled to deliver.

The detour determination unit 509 selects a mobile robot 2 to make a detour based on the position/wireless quality information in the position/wireless quality storage unit 503 and the planned route of each mobile robot 2 . The detour determination unit 509 determines that the mobile robot 2 should make a detour to the wireless quality unrecorded position when the wireless quality unrecorded position is near the return route of the mobile robot 2 after the delivery is completed.

Further, the detour determination unit 509 may determine whether or not to cause the mobile robot 2 to detour based on the mobile robot task information in the robot task storage unit 508 . For example, based on the mobile robot task information in the robot task storage unit 508, the detour determination unit 509 determines whether the mobile robot is currently on its way home after delivery and has a predetermined time margin before the next delivery. It may be determined to make 2 take a detour. A mobile robot 2 with a predetermined time margin before the next delivery is, for example, a mobile robot 2 for which the time from the current time to the departure time of the next delivery is equal to or greater than a predetermined delivery interval margin threshold.

Also, the detour determination unit 509 causes the mobile robot 2 to make a detour at the timing when the outdoor population density at the wireless quality unrecorded position is equal to or less than a predetermined threshold based on the outdoor population density estimated by the outdoor population density estimation unit 507. You may do so. This is to make the mobile robot 2 take a detour at a timing when there are few people so that the detour of the mobile robot 2 does not interfere with people. For example, if the wireless communication is cut off while the mobile robot 2 is taking a detour, it is assumed that the mobile robot 2 will autonomously return to the place where the wireless communication is restored. Therefore, it is preferable to make the mobile robot 2 take a detour at a timing when there are few people so that the mobile robot 2 does not interfere with people.

In addition, the detour determination unit 509 determines that the optimal route includes positions for which the radio communication quality is unknown in the navigation device 6 among the positions where the radio quality is not recorded and included in the position/radio quality information in the position/radio quality storage unit 503 . Wireless quality unrecorded positions included in route candidates that have not been selected may be set as detour targets. A route searching unit 604 of the navigation device 6 , which will be described later, searches for a route based on the wireless communication quality of each position provided by the wireless quality information providing device 5 . Information (route search process information) indicating the process of route search performed by the route search unit 604 is stored in the route search process storage unit 606 of the navigation device 6 . The detour determination unit 509 recognizes, from the route search process information in the route search process storage unit 606, route candidates that were not selected as the optimum route because they include positions where the wireless communication quality is unknown in the navigation device 6. FIG. A route candidate that was not selected as the optimum route because it includes a position where the radio communication quality is unknown in the navigation device 6 is the optimum route according to the cost determined by factors such as distance other than the radio communication quality, but the radio communication quality was not selected as the optimal route because it contains an unknown position.

Further, the detour determination unit 509 may determine whether or not to continue the detour to the mobile robot 2 based on the route search process information in the route search process storage unit 606 . For example, when the mobile robot 2 makes a detour to a location where the wireless quality is not recorded, and the wireless communication is disconnected, the detour determination unit 509 determines the optimal route because the navigation device 6 includes a location where the wireless communication quality is unknown. The mobile robot 2 may be further detoured to a wireless quality unrecorded position included in another route candidate other than the route candidate including the wireless quality unrecorded position that was not selected in the first step.

Here, the wireless quality information providing method according to this embodiment will be described with reference to FIG. FIG. 3 is a flow chart showing an example of the procedure of the radio quality information providing method according to this embodiment.

(Step S101) The detour determination unit 509 determines the place of the detour. Specifically, the detour determination unit 509 determines, based on the route search process information in the route search process storage unit 606 of the navigation device 6, that the route is the optimum route according to the cost determined by factors other than wireless communication quality, such as distance. However, for route candidates that were not selected as the optimum route because they include positions with unknown wireless communication quality, the frequency of not being selected (non-selection frequency) is calculated. Next, the detour determination unit 509 determines, as detour locations, wireless quality unrecorded positions included in the route candidates whose non-selection frequency is equal to or greater than a predetermined value.

(Step S102) Based on the planned route of each mobile robot 2, the detour determination unit 509 selects a mobile robot 2 to detour to the detour location (wireless quality unrecorded position) determined in step S101. Specifically, the detour determination unit 509 selects the mobile robot 2 whose detour location (wireless quality unrecorded position) is near the return route after the completion of the delivery as the one to detour to the wireless quality unrecorded position. .

(Step S103) The detour determination unit 509 determines the date and time when the mobile robot 2 selected in step S102 should detour. Specifically, the detour determination unit 509 determines the date and time for the mobile robot 2 to make a detour based on the mobile robot task information in the robot task storage unit 508 and the outdoor population density estimated by the outdoor population density estimation unit 507. do. For example, the detour determination unit 509 causes the mobile robot 2 selected in step S102 to detour at a timing when there is a predetermined time margin before the next delivery on the way home after the completion of the delivery. For example, the detour determination unit 509 causes the mobile robot 2 selected in step S102 to detour at a timing when the outdoor population density at the wireless quality unrecorded position is equal to or less than a predetermined threshold.

(Step S104) The mobile robot 2 detours to the detour location (wireless quality unrecorded location) determined in step S101 on the date and time determined in step S103. The mobile robot 2 acquires the current position (position information) and wireless communication quality (wireless communication quality information) while making a detour. On this detour, the mobile robot 2 may be controlled to travel at a lower speed than usual. This is to enable the mobile robot 2 to quickly return to a place where the wireless communication is restored if the wireless communication is cut off during the detour.

(Step S105) The operation monitoring unit 501 of the wireless quality information providing device 5 determines whether or not a disconnection of wireless communication has occurred in the mobile robot 2 that is making a detour. As a result of this determination, if the wireless communication has been disconnected, the process proceeds to step S106, and if the wireless communication has not been disconnected, the process proceeds to step S108.

(Step S106) Based on the route search process information stored in the route search process storage unit 606 of the navigation device 6, the detour determination unit 509 determines whether there is another route candidate (alternative route candidate) exists. This is because the original route candidate including the detour location (wireless quality unrecorded location) determined in step S101 cannot be selected as the optimum route due to the disconnection of wireless communication. It's something to look for. As a result, if an alternative route candidate exists, the process proceeds to step S107, and if no alternative route candidate exists, the process proceeds to step S108.

(Step S107) Based on the route search process information in the route search process storage unit 606 of the navigation device 6, the detour determination unit 509 determines the alternative route candidates determined in step S106 based on factors other than wireless communication quality, such as distance. Determine whether or not the route candidate (effective as an optimal route candidate) is not selected as the optimal route because it includes a location where the wireless communication quality is unknown although it is the optimal route according to the cost determined by the elements. do. This is a route candidate that is not selected as an optimal route because it includes a location where the wireless communication quality is unknown, although the alternative route candidate is the optimal route according to the cost determined by factors such as distance other than the wireless communication quality. Otherwise, there is no need to make the mobile robot 2 make a detour to obtain the radio quality information of the alternative route candidates. As a result of the determination in step S107, if the alternative route candidate is valid as an optimum route candidate, the process proceeds to step S104, in which the mobile robot 2 is instructed to take a detour to a location where the wireless quality is not recorded, which is included in the alternative route candidate. let it happen On the other hand, if the alternative route candidate is not valid as the optimum route candidate, the process proceeds to step S108.

(Step S108) The mobile robot 2 ends the detour and heads home along the planned route. The wireless quality information providing device 5 records the wireless communication quality of the wireless quality unrecorded position acquired by the mobile robot 2 by taking a detour in the position wireless quality information in the position/wireless quality storage unit 503 . As a result, in the position/wireless quality information in the position/wireless quality storage unit 503, the wireless quality obtained by the mobile robot 2 by taking a detour is associated with the position where the wireless communication quality is not recorded (position where the wireless quality is not recorded). Wireless communication quality at unrecorded positions is recorded.

[Navigation device]
A navigation device 6 navigates one or more mobile robots 2 from a starting point to a destination.

The navigation device 6 includes a travel cost calculation unit 601 , an order information storage unit 602 , a destination acquisition unit 603 , a route search unit 604 , a route distribution unit 605 and a route search process storage unit 606 . The navigation device 6 transmits and receives information to and from the radio quality information providing device 5 through communication.

Each function of the navigation device 6 is realized by the navigation device 6 having computer hardware such as a CPU and memory, and the CPU executing a computer program stored in the memory. The navigation device 6 may be configured using a general-purpose computer device, or may be configured as a dedicated hardware device. For example, the navigation device 6 may be configured using a server computer connected to a communication network such as the Internet. Also, each function of the navigation device 6 may be realized by cloud computing. Further, the navigation device 6 may be implemented by a single computer, or may be implemented by distributing the functions of the navigation device 6 to a plurality of computers. Further, the navigation device 6 may be configured to open a website using, for example, the WWW system.

The movement cost calculation unit 601 periodically uses the information stored in the map information storage unit 504 of the radio quality information providing device 5 to determine the radio communication method and radio frequency band for each link of each road. Calculate the total link cost for each Movement cost calculation section 601 calculates the total link cost using at least the radio quality link cost. The total link cost calculated by the movement cost calculation unit 601 is stored in the map information storage unit 504 in association with the corresponding link data in the road map data of the map information storage unit 504 .

Movement cost calculation section 601 weights each link of each road based on the radio quality link cost so that poor radio communication quality results in a low evaluation. For example, based on the radio quality link cost, the movement cost calculation unit 601 weights road links for which radio communication is likely to be disconnected so that the total link cost becomes the largest. may Thereby, stable wireless communication between the mobile robot 2 and the remote monitoring device 20 is realized.

Note that the movement cost calculation unit 601 sets the total link cost of the link whose wireless quality link cost is unknown "?" to "X+?". In the total link cost "X+Y", X is the cost determined by factors such as distance other than the wireless communication quality, and Y is the wireless quality link cost determined by the wireless communication quality.

Also, the movement cost calculation unit 601 may calculate the total link cost based on the outdoor population density. The movement cost calculation unit 601 may weight links of roads having an outdoor population density equal to or higher than a threshold so that the total link cost increases. This allows the mobile robot 2 to travel on roads with few people.

Further, the movement cost calculation unit 601 may calculate the total link cost based on at least one of the type of the mobile robot 2 and the content of the delivery by the mobile robot 2, and the road condition of each link of each road. good. The types of mobile robots 2 are classified according to the size, structure, and the like of the mobile robots 2 . Also, the types of mobile robots 2 are classified according to the wireless communication method and wireless frequency band that can be used by the mobile robot 2 . The contents of the delivery by the mobile robot 2 include, for example, the type of package to be delivered by the mobile robot 2 and the expected loading amount.

For example, the movement cost calculation unit 601 does not increase the overall link cost because a small mobile robot 2 can safely travel on a road link with a road width less than the threshold, but does not increase the total link cost for a large mobile robot. In the case of 2, the total link cost is increased. In addition, since it is assumed that it may be difficult for the mobile robot 2 to climb over bumps in the road depending on the structure of the mobile robot 2 , the movement cost calculation unit 601 does not allow the corresponding type of mobile robot 2 to link roads with bumps. , increase the total link cost. Further, when the type of parcel delivered by the mobile robot 2 is fragile, the movement cost calculation unit 601 preferably reduces the total link cost of the road link with less unevenness because it is preferable to travel on a road with less unevenness. On the other hand, the total link cost of the link of the road with many unevenness is increased.

Further, the travel cost calculator 601 may use evaluation factors used in known navigation systems as information used to calculate the total link cost. Evaluation factors used in known navigation systems are, for example, required link distance, required travel time, weighting based on road conditions and road width, weighting based on traffic signal frequency, weighting based on traffic congestion tendency, and the like.

The order information storage unit 602 receives order information for ordering products from the user terminal 1 and stores the received order information. The order information storage unit 602 performs purchase processing in cooperation with a purchase system (not shown) and formulates a product delivery plan. The order information storage unit 602 stores scheduled delivery information, such as the place of departure, the destination, and the time period for delivering the product by the mobile robot 2, according to the formulated product delivery plan. A destination acquisition unit 603 acquires destination information from the order information stored in the order information storage unit 602 .

Based on the total link cost calculated by the movement cost calculation unit 601, the route search unit 604 searches for a route from the departure point to the destination of the mobile robot 2 as the route that the mobile robot 2 is scheduled to travel. The destination of the mobile robot 2 is the location indicated by the destination information obtained by the destination obtaining unit 603 from the order information. The starting point of the mobile robot 2 is set in advance. For example, a product delivery base (for example, a physical distribution warehouse where products are stored, a store that handles delivery closest to the destination, etc.) is set in advance as the starting point of the mobile robot 2 . Further, when the mobile robot 2 is transported to the vicinity of the destination by a vehicle, the location of the transport destination of the mobile robot 2 is set in advance as the starting point of the mobile robot 2 .

In the route search, the route search unit 604 does not select a link with a total link cost of "X+?" as the optimum route. As a result, even if the cost is determined by factors such as distance other than the wireless communication quality, even if it is an optimum route candidate, a link including a position where the wireless communication quality is unknown is not selected as the optimum route. This is because a link including a position where wireless communication quality is unknown is a link that may disconnect wireless communication.

As a route search method used by the route search unit 604, for example, the Dijkstra method, the A* algorithm, the genetic algorithm, or the like can be used.

The route distribution unit 605 transmits route information indicating the route searched by the route search unit 604 to the mobile robot 2 .

The route search process storage unit 606 stores information (route search process information) indicating the process of route search performed by the route search unit 604 . The route search process information is information indicating a route candidate that was not selected as the optimum route because it included a location where the radio communication quality was unknown although it was the optimum route according to the cost determined by factors such as distance other than the radio communication quality. It is information that includes

Next, the navigation method according to this embodiment will be described with reference to FIG. FIG. 4 is a flow chart showing an example of the procedure of the navigation method according to this embodiment.

(Step S1) The route searching unit 604 acquires a departure point where the mobile robot 2 starts traveling and a destination where the mobile robot 2 travels.

(Step S2) The route search unit 604 acquires the type of the mobile robot 2 and the content of the delivery.

(Step S3) The route search unit 604 recognizes the radio communication method and radio frequency band that can be used by the mobile robot 2 from the type of the mobile robot 2 acquired in step S2. Correspondence relationships between types of mobile robots 2 and available wireless communication systems and wireless frequency bands are set in navigation device 6 in advance.

(Step S4) The route search unit 604 designates the search range including the starting point and the destination of the mobile robot 2 acquired in step S1 and the link cost calculation condition to the movement cost calculation unit 601, and performs the search. Instruct to calculate the total link cost for each link for each road in range. Link cost calculation conditions include the type of the mobile robot 2 and the details of delivery. The link cost calculation conditions include at least information indicating the wireless communication system and wireless frequency band that the mobile robot 2 can use.

The movement cost calculation unit 601 calculates the total link cost for each wireless communication method and radio frequency band for each link of each road within the search range in response to the total link cost calculation instruction from the route search unit 604. . In calculating the total link cost, each link of each road is weighted so that poor wireless communication quality results in a low evaluation. Also, the total link cost of the link whose wireless quality link cost is unknown "?" is set to "X+?".

The movement cost calculation unit 601 stores the calculated total link cost in the map information storage unit 504 in association with the corresponding link data in the road map data in the map information storage unit 504 . When there are a plurality of radio communication methods and radio frequency bands that can be used by the mobile robot 2, the movement cost calculation unit 601 calculates the radio communication cost that can obtain the best radio communication quality for each link of each road. The total link cost for the method and radio frequency band may be stored in the map information storage unit 504 in association with the corresponding link data.

The movement cost calculation unit 601 responds to the route search unit 604 with the completion of calculation of the total link cost.

(Step S5) The route search unit 604 calculates the total link cost calculated by the movement cost calculation unit 601 in step S4 from the departure point and the destination of the mobile robot 2 acquired in step S1. Search for a route to reach the ground. In this route search, a route that minimizes the total link cost of each link that passes from the starting point to the destination is searched. In this route search, a link with a total link cost of "X+?" is not selected as the optimum route.

(Step S6) The route distribution unit 605 transmits to the mobile robot 2 route information indicating the route of the search result of step S5.

5 and 6 are explanatory diagrams for explaining the route search method according to this embodiment. 5 and 6, circles indicate nodes, and lines connecting nodes indicate links. In addition, S is the node of the departure point, and G is the node of the destination. Also, the notation "X+Y" written on the link indicates the total link cost. In the total link cost "X+Y", X is the cost determined by factors such as distance other than the wireless communication quality, and Y is the wireless quality link cost determined by the wireless communication quality.

In FIG. 5, since the link L1 includes a wireless quality unrecorded position, the wireless quality link cost is unknown "?". Therefore, the link L1 is a candidate for the route from the starting point "node S" to the destination "node G", and is the optimum route candidate according to the cost determined by factors other than the wireless communication quality, such as the distance. , is not selected as the optimal route because it contains locations where the wireless communication quality is unknown.

Then, according to this embodiment, the wireless communication quality of the wireless quality unrecorded position of the link L1 is acquired by the mobile robot 2, and the wireless quality link cost of the link L1 becomes "0" as shown in FIG. ”. As a result, in FIG. 6, the total link cost of the link L1 is "7+0", and as a result of the route search, the total link cost is 'L1→L2', which is the path that minimizes . According to this selected route “L1→L2”, stable wireless communication between the mobile robot 2 and the remote monitoring device 20 can be achieved.

If it is impossible to reach the destination from the departure point without passing through a link that is likely to disconnect wireless communication, the link may be selected as the route from the departure point to the destination. . If a link with a high possibility of disconnection of wireless communication exists in the route of the search result, the route search unit 604 outputs wireless disconnection alert information indicating the link. A remote supervisor can recognize in advance a location where wireless communication between the mobile robot 2 and the remote monitoring device 20 is likely to be disconnected from the wireless disconnection alert information.

According to the above-described embodiment, it is possible to efficiently acquire the wireless communication quality of a position where the wireless communication quality is unknown due to the detour of the mobile robot 2 and provide it to the navigation device 6 . As a result, the navigation device 6 can consider the radio communication quality of each candidate route from the departure point to the destination when performing navigation for the mobile robot 2, so that remote monitoring of the mobile robot 2 and remote monitoring can be achieved. It is possible to provide route information for achieving stable wireless communication with the device 20 . As a result, it is possible to realize stable wireless communication when remotely monitoring the mobile robot 2 by wireless communication.

Although the embodiments of the present invention have been described in detail above with reference to the drawings, the specific configuration is not limited to these embodiments, and design changes and the like are also included within the scope of the present invention.

In the above-described embodiment, the radio quality information providing device and the navigation device are configured as separate devices, but the radio quality information providing device and the navigation device may be configured as the same device.

Although the navigation system is applied to the delivery service system in the above-described embodiments, it may be applied to systems other than the delivery service system. For example, the navigation system according to the above-described embodiments may be applied to a road inspection service system that inspects roads using mobile robots.

In the above-described embodiment, the radio quality information providing device provided the radio communication quality information to the navigation device, but the use of the radio communication quality information is not limited to navigation. For example, wireless communication quality information may be used for communication area design and the like.

Also, in the above-described embodiments, a mobile robot is used as an example of a mobile body, but the mobile robot is not limited to this. As the moving object, a vehicle that automatically operates (automatic driving vehicle), an autonomous flying object, or the like may be applied.

Alternatively, a computer program for realizing the functions of the devices described above may be recorded in a computer-readable recording medium, and the program recorded in the recording medium may be read and executed by the computer system. Note that the “computer system” referred to here may include hardware such as an OS and peripheral devices.
In addition, "computer-readable recording medium" includes writable nonvolatile memories such as flexible discs, magneto-optical discs, ROMs and flash memories, portable media such as DVDs (Digital Versatile Discs), and computer system built-in media. A storage device such as a hard disk that

Furthermore, "computer-readable recording medium" means a volatile memory (e.g., DRAM (Dynamic Random Access Memory)), which holds the program for a certain period of time, is also included.
Further, the above program may be transmitted from a computer system storing this program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in a transmission medium. Here, the "transmission medium" for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
Further, the program may be for realizing part of the functions described above. Further, it may be a so-called difference file (difference program) that can realize the above-described functions in combination with a program already recorded in the computer system.

DESCRIPTION OF SYMBOLS 1... User terminal 2... Mobile robot 3... Portable terminal 5... Wireless quality information provision apparatus 6... Navigation apparatus 10... Navigation system 20... Remote monitoring apparatus 501... Operation monitoring part 502... Operation information Storage unit 503 Position/wireless quality storage unit 504 Map information storage unit 505 Wireless quality movement cost conversion unit 506 Mobile terminal location information storage unit 507 Outdoor population density estimation unit 508 Robot task storage Unit 509 Detour determination unit 601 Movement cost calculation unit 602 Order information storage unit 603 Destination acquisition unit 604 Route search unit 605 Route distribution unit 606 Route search process storage unit

Claims (11)

a location wireless quality storage unit that stores location wireless quality information recorded in association with location and wireless communication quality at the location;
Based on the planned route, which is the route along which the mobile body that communicates via a wireless communication line and obtains the wireless communication quality is to move, the mobile body is located at a position where the wireless communication quality is not recorded in the location wireless quality information. A detour determination unit that determines whether to detour or not,
A radio quality information providing device. The mobile body is a robot that moves autonomously,
The radio quality information providing device according to claim 1. The moving body is a moving body that performs delivery,
The scheduled route is a route scheduled to be delivered by the mobile object,
The radio quality information providing apparatus according to claim 1 or 2. The detour determination unit causes the mobile body to make the detour when there is a position where the wireless communication quality is not recorded in the position wireless quality information in the vicinity of the return route after delivery of the mobile body is completed.
The radio quality information providing device according to claim 3. Stores mobile unit task information for managing whether the mobile unit is in the middle of delivery or on the way home after the completion of delivery, and how much time is available until the next delivery of the mobile unit. further comprising a mobile task storage unit for
The detour determination unit further determines whether or not to cause the moving body to make the detour based on the moving body task information.
5. The radio quality information providing apparatus according to claim 3 or 4. further comprising an outdoor population density estimation unit for estimating the outdoor population density, which is the number of people existing outdoors per unit area;
The detour determination unit causes the moving body to make the detour at a timing when an outdoor population density at a location where wireless communication quality is not recorded in the location wireless quality information is equal to or less than a predetermined threshold.
The radio quality information providing device according to any one of claims 1 to 5. In the navigation device, the detour determination unit searches for a route based on the wireless communication quality of each position provided from the wireless quality information providing device, among the positions for which the wireless communication quality is not recorded in the position wireless quality information. making a detour target a position included in a route candidate that was not selected as an optimal route because it includes a position with unknown wireless communication quality;
The radio quality information providing device according to any one of claims 1 to 6. The detour determination unit, when disconnection of wireless communication occurs as a result of the detour by the mobile body, determines the radio communication quality in the navigation device among the positions for which the radio communication quality is not recorded in the position radio quality information. causes the moving body to detour further to a position included in another route candidate that was not selected as the optimal route because it contains an unknown position;
The radio quality information providing apparatus according to claim 7. a wireless quality information providing device according to any one of claims 1 to 8;
Navigation that provides route information indicating a route from a departure point to a destination based on the radio communication quality at each position provided from the radio quality information providing device to a mobile object that performs radio communication while moving. a device;
navigation system. a location wireless quality storing step of storing location wireless quality information recorded in association with location and wireless communication quality at the location in a location wireless quality storage unit;
Based on the planned route, which is the route along which the mobile body that communicates via a wireless communication line and obtains the wireless communication quality is to move, the mobile body is located at a position where the wireless communication quality is not recorded in the location wireless quality information. A detour determination step for determining whether or not to detour
radio quality information provision method including; to the computer,
a location wireless quality storing step of storing location wireless quality information recorded in association with location and wireless communication quality at the location in a location wireless quality storage unit;
Based on the planned route, which is the route along which the mobile body that communicates via a wireless communication line and obtains the wireless communication quality is to move, the mobile body is located at a position where the wireless communication quality is not recorded in the location wireless quality information. A detour determination step for determining whether or not to detour
A computer program for executing

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