JP7481121B2 - Map generation system, map generation method, and program - Google Patents

Description

The present invention relates to a map generation system, a map generation method, and a program.

When building a wireless IoT (Internet of Things) system, sensor devices equipped with wireless communication devices are distributed and installed within a target area. However, it is generally not possible to install wireless communication devices anywhere within a target area, and the locations where they can be installed are limited.

When building a wireless IoT system, it is also effective to measure the radio wave strength of each of multiple wireless communication devices in advance. For example, a location detection system is known that detects the user's location by measuring the radio wave strength of a signal transmitted from a portable device carried by a user moving within a target area to each of multiple wireless communication devices. In such a location detection system, it is effective to measure the distribution of radio wave strength within the target area in advance for each of the multiple wireless communication devices in order to improve the accuracy of detecting the user's location.

JP 2011-226959 A JP 2006-308361 A

However, measuring the distribution of radio wave strength in a target area in advance for each of multiple wireless communication devices is time-consuming and requires a significant amount of man-hours.

The present invention has been made in consideration of the above, and aims to provide a map generation system, a map generation method, and a program that can easily generate map information that represents the distribution of radio wave strength for each of multiple fixed communication devices.

In order to solve the above-mentioned problems and achieve the object, the map generation system of the present invention comprises a mobile measurement device that moves through a target area in which a plurality of fixed communication devices are installed and communicates wirelessly with the plurality of fixed communication devices, a position detection unit that detects the position of the mobile measurement device, a map generation unit that generates map information representing the distribution of radio wave strength in the target area for each of the plurality of fixed communication devices, and a camera that images the mobile measurement device from outside the mobile measurement device, wherein the position detection unit estimates the position of the mobile measurement device based on an image captured by the camera, and the map generation unit acquires position data representing the position of the mobile measurement device at each time, and acquires, for each of the plurality of fixed communication devices, radio wave strength data representing the radio wave strength at each time of a wireless signal communicated between the mobile measurement device and the mobile measurement device, and generates the map information by corresponding, for each of the plurality of fixed communication devices, the position included in the position data for each time with the radio wave strength in the radio wave strength data.

According to the present invention, map information showing the distribution of radio wave strength for each of multiple fixed communication devices can be easily generated.

FIG. 1 is a diagram illustrating a plurality of fixed communication devices and a map generation system. FIG. 2 is a block diagram showing a plurality of fixed communication devices, a mobile measurement device, and a generating device. FIG. 3 is a diagram illustrating an example of map information. FIG. 4 is a flowchart showing the flow of the map information generating process. FIG. 5 is a diagram showing a position detection system. FIG. 6 is a block diagram showing the configuration of the position detection system. FIG. 7 is a diagram showing an example of a plurality of partial regions obtained by dividing a target area. FIG. 8 is a diagram illustrating an example of pattern information. FIG. 9 is a diagram illustrating a hardware configuration of an information processing device.

(Map Generation System 20)
A map generation system 20 according to an embodiment will be described below. The map generation system 20 generates map information representing the distribution of radio wave intensity in a target area for each of a plurality of fixed communication devices 10 that are installed in a distributed manner in the target area.

Figure 1 shows multiple fixed communication devices 10 and a map generation system 20.

The multiple fixed communication devices 10 are wireless communication devices that are placed at different predetermined positions in a target area, such as indoors or underground. That is, each of the multiple fixed communication devices 10 is installed in a distributed manner in the target area. Note that in the example of FIG. 1, each of the multiple fixed communication devices 10 is described as being installed on the ceiling of a room, but this is not limited to this, and each may be installed on any object, such as a floor, wall, pillar, or fixed object.

Each of the multiple fixed communication devices 10 is, for example, a wireless communication device built into a sensor device that constitutes a wireless IoT system. Each of the multiple fixed communication devices 10 may be, for example, a wireless router device such as Wi-Fi (registered trademark) or Bluetooth (registered trademark).

For example, multiple fixed communication devices 10 are connected to each other via wireless communication to form a mesh network. Also, multiple fixed communication devices 10 may be used to detect the position of a mobile communication device moving within a target area. In this case, the target area is indoors or underground, and the mobile communication device is held, for example, by a person or robot moving within the target area.

The map generation system 20 includes a mobile measurement device 30 and a generation device 40.

The map generation system 20 starts the measurement process when a start command is issued by a user or a control device, or when a specified event occurs. In the measurement process, the map generation system 20 measures the radio wave strength of signals wirelessly communicated between the multiple fixed communication devices 10 and the mobile measurement device 30 while moving the mobile measurement device 30 within the target area. After the measurement process is completed, the map generation system 20 generates map information representing the distribution of radio wave strength in the target area for each of the multiple fixed communication devices 10, based on the measurement results of the radio wave strength during the measurement process.

The mobile measurement device 30 has a communication function for wirelessly communicating with each of the multiple fixed communication devices 10. During the measurement process, the mobile measurement device 30 performs wireless communication with each of the multiple fixed communication devices 10 at a preset fixed transmission power. For example, during the measurement process, the mobile measurement device 30 transmits a beacon signal at a preset fixed transmission power to each of the multiple fixed communication devices 10 at predetermined intervals.

The mobile measurement device 30 also has a movement mechanism 32 for moving within the target area. The mobile measurement device 30 moves freely within the target area during the measurement process. The mobile measurement device 30 moves autonomously without control from the user or other devices. For example, the mobile measurement device 30 moves so as to pass through almost all positions in the target area. Also, for example, the mobile measurement device 30 may move randomly within the target area. Note that the mobile measurement device 30 may move according to control from the user or other devices.

The moving mechanism 32 of the moving measurement device 30 is, for example, a wheel. The moving mechanism 32 may also be a flying mechanism used in a drone or the like.

The mobile measuring device 30 is also provided with a camera 34 that captures images of the surroundings. The camera 34 provided in the mobile measuring device 30 may capture two-dimensional images, or may be a stereo camera that can measure the distance to surrounding objects. The camera 34 provided in the mobile measuring device 30 captures images of the surroundings with a fixed angle of view relative to the housing during the measurement process. The time-series image data captured by such a camera 34 can enable the generation device 40 to estimate the position and orientation of the mobile measuring device 30 within the target area.

The generating device 40 is an information processing device. For example, the generating device 40 may be a general computer or a server. The generating device 40 may be a single computer, or may be configured with multiple computers such as a cloud system.

The generating device 40 acquires necessary information from the multiple fixed communication devices 10 and the mobile measurement devices 30, and generates map information for each of the multiple fixed communication devices 10. The generating device 40 is connected to the multiple fixed communication devices 10 and the mobile measurement devices 30 via a network. The generating device 40 may be provided near the target area, or may be provided at a location away from the target area. The generating device 40 may also be realized within the mobile measurement device 30.

Figure 2 shows the block configuration of multiple fixed communication devices 10, a mobile measurement device 30, and a generation device 40.

During the measurement process, each of the multiple fixed communication devices 10 performs wireless communication with the mobile measurement device 30 at a preset fixed transmission power at a predetermined time interval. In this embodiment, each of the multiple fixed communication devices 10 receives a beacon signal transmitted from the mobile measurement device 30 at a fixed transmission power at a predetermined time interval.

Furthermore, in this embodiment, each of the multiple fixed communication devices 10 measures the radio wave strength of the received beacon signal during the measurement process. For example, each of the multiple fixed communication devices 10 measures the LQI (Link Quality Indicator) or RSSI (Received Signal Strength Indication) of the received beacon signal. Then, each of the multiple fixed communication devices 10 transmits radio wave strength data, which is the radio wave strength of the received beacon signal plus information indicating the time the beacon signal was received, to the generating device 40 via the network.

During the measurement process, the mobile measurement device 30 transmits time-series image data captured by the camera 34 to the generating device 40 via the network. In addition, the mobile measurement device 30 transmits image data to which information identifying the image frame at the time the beacon signal was transmitted has been added.

The generating device 40 includes an image acquiring unit 52, a position detecting unit 54, an intensity receiving unit 56, a map generating unit 58, and a map storage unit 60. The generating device 40 functions as the image acquiring unit 52, the position detecting unit 54, the intensity receiving unit 56, the map generating unit 58, and the map storage unit 60, for example, by executing a predetermined program.

The image acquisition unit 52 acquires time-series image data captured by the mobile measuring device 30 during the measurement process. The image acquisition unit 52 may acquire image data from the mobile measuring device 30 after the measurement process is completed, or may acquire image data from the mobile measuring device 30 in real time during the measurement process.

The position detection unit 54 detects the position of the mobile measurement device 30 within the target area at each time that the mobile measurement device 30 wirelessly communicates with multiple fixed communication devices 10. For example, the position detection unit 54 analyzes time-series image data to estimate the position of the mobile measurement device 30 at the time that the mobile measurement device 30 transmits a beacon signal.

The position detection unit 54 generates position data representing the position of the mobile measurement device 30 at each time while the mobile measurement device 30 is moving. In this embodiment, the position detection unit 54 generates position data representing the position of the mobile measurement device 30 at each time when the mobile measurement device 30 transmits a beacon signal. Then, the position detection unit 54 provides the generated position data to the map generation unit 58.

The position detection unit 54 may generate position data by a method other than detecting the position of the mobile measurement device 30 based on image data captured by the camera 34 provided in the mobile measurement device 30. For example, the position detection unit 54 may detect the position of the mobile measurement device 30 based on image data captured from outside the mobile measurement device 30.

In this case, the mobile measuring device 30 may be provided with a light emitting unit, and the light emitting unit may be caused to emit light at the timing when the beacon signal is transmitted. This allows the position detection unit 54 to detect the time when the beacon signal is transmitted by the mobile measuring device 30 by analyzing image data captured from outside the mobile measuring device 30, and to estimate the position of the mobile measuring device 30 at each time when the beacon signal was transmitted.

The position detection unit 54 may also detect the position of the mobile measurement device 30 by further adding detection results from other types of sensors provided in the mobile measurement device 30. For example, the position detection unit 54 may detect the position of the mobile measurement device 30 using a gyro sensor provided in the mobile measurement device 30 and a speed sensor provided on the wheels.

The intensity receiving unit 56 receives, via the network, from each of the multiple fixed communication devices 10, radio wave intensity data representing the radio wave intensity at each time of the wireless signal communicated between the mobile measurement device 30. In this embodiment, the intensity receiving unit 56 receives radio wave intensity data representing the radio wave intensity of the received beacon signal at each time the beacon signal is received. The intensity receiving unit 56 may receive the radio wave intensity data after the measurement process is completed, or may obtain the radio wave intensity data in real time during the measurement process.

The intensity receiving unit 56 may be configured to receive from the mobile measurement device 30 radio wave intensity data representing the radio wave intensity of the signal received by the mobile measurement device 30. In this case, each of the multiple fixed communication devices 10 transmits a beacon signal with a fixed transmission power at a different timing. Furthermore, when the mobile measurement device 30 receives a beacon signal, it identifies the fixed communication device 10 that transmitted the beacon signal based on the device identification information included in the beacon signal. Then, the mobile measurement device 30 generates radio wave intensity data representing the radio wave intensity of the received beacon signal for each of the multiple fixed communication devices 10 at each time the beacon signal is received.

The map generation unit 58 acquires the position data from the position detection unit 54. The map generation unit 58 also acquires the radio wave intensity data for each of the multiple fixed communication devices 10 from the intensity reception unit 56.

Then, the map generation unit 58 generates map information by associating the location included in the location data with the radio wave strength in the radio wave strength data for each time for each of the multiple fixed communication devices 10.

For example, the map generation unit 58 generates table data that stores radio wave intensity values corresponding to each of a plurality of positions by associating the positions included in the position data with the radio wave intensities in the radio wave intensity data for each time. Then, for example, the map generation unit 58 assigns the radio wave intensity value stored at the corresponding position in the table data to each pixel in a two-dimensional image representing the target area. This allows the map generation unit 58 to generate map information for each of the plurality of fixed communication devices 10.

The map storage unit 60 stores map information for each of the multiple fixed communication devices 10 generated by the map generation unit 58.

Figure 3 is a diagram showing an example of map information. The map generation unit 58 generates map information as shown in Figure 3 for one fixed communication device 10. For example, the map generation unit 58 divides the target area into multiple partial regions and generates map information representing the radio wave strength for each partial region. The map generation unit 58 may also quantize the radio wave strength into a predetermined number of stages and generate map information representing the quantized radio wave strength for each of the multiple partial regions.

Then, the map storage unit 60 stores map information such as that shown in FIG. 3 for each of the multiple fixed communication devices 10.

Figure 4 is a flowchart showing the flow of the map information generation process. For example, the map generation system 20 generates map information in the flow shown in Figure 4.

First, in S11, the user installs N (N is an integer equal to or greater than 2) fixed communication devices 10 in the target area and instructs the mobile measurement device 30 and the N fixed communication devices 10 to start communication.

Next, in S12, the mobile measurement device 30 starts the measurement process. When the measurement process starts, the mobile measurement device 30 starts moving autonomously so as to pass through almost all positions in the target area. Furthermore, the mobile measurement device 30 transmits a beacon signal with a fixed transmission power to each of the multiple fixed communication devices 10 at predetermined intervals. For example, the mobile measurement device 30 transmits a beacon signal to each of the multiple fixed communication devices 10 every few seconds.

Next, in S13, the mobile measuring device 30 starts capturing images of the surroundings and records the captured image data. In this case, the mobile measuring device 30 adds information indicating the time when the beacon signal was transmitted to the image data and records it. Note that the map generation system 20 may be configured to include an external camera provided outside the mobile measuring device 30, and capture images of the mobile measuring device 30 using this external camera. In this case, the mobile measuring device 30 causes the light emitting unit to emit light at the timing when the beacon signal is transmitted. The generation device 40 can identify the time when the beacon signal was transmitted by analyzing the image data captured by the external camera provided outside the mobile measuring device 30.

Next, in S14, each of the multiple fixed communication devices 10 starts detecting the radio wave strength of the beacon signal transmitted from the mobile measurement device 30. Then, each of the multiple fixed communication devices 10 starts recording the time when the beacon signal was received and the radio wave strength of the beacon signal.

After a predetermined time has elapsed, in S15, the mobile measurement device 30 ends the measurement process. When the measurement process is ended, the mobile measurement device 30 ends its movement. Furthermore, the mobile measurement device 30 ends the transmission of the beacon signal.

Then, in S16, the mobile measurement device 30 ends imaging. Then, in S17, each of the multiple fixed communication devices 10 ends detection and recording of the radio wave intensity of the beacon signal.

Next, in S18, the generating device 40 acquires location data representing the location of the mobile measurement device 30 at each time during the measurement process. Furthermore, the generating device 40 acquires, for each of the multiple fixed communication devices 10, radio wave strength data representing the radio wave strength at each time of the wireless signal communicated between the mobile measurement device 30 and the fixed communication device 10 during the measurement process.

Next, in S19, the generating device 40 associates the location included in the location data with the radio wave strength in the radio wave strength data for each of the N fixed communication devices 10 at each time. The generating device 40 then generates map information for each of the multiple fixed communication devices 10 based on the radio wave strength associated with each of the multiple locations.

As described above, the map generation system 20 generates map information that represents the distribution of radio wave intensity using the mobile measurement device 30 that moves within the target area. With this kind of map generation system 20, map information for each of multiple fixed communication devices 10 can be easily generated.

(Position Detection System 70)
Next, a description will be given of a position detection system 70 that utilizes the map information generated by the above-described map generation system 20. The position detection system 70 detects the position of a mobile communication device 72 that moves within a target area.

Figure 5 shows a location detection system 70. The location detection system 70 includes a plurality of fixed communication devices 10, a mobile communication device 72, and a computing device 74.

Each of the multiple fixed communication devices 10 is a wireless communication device for which map information is generated by the map generation system 20.

The mobile communication device 72 is an information processing terminal carried by a user or the like. The mobile communication device 72 has a communication function, an input function, and an output function (audio output and image display, etc.). The mobile communication device 72 may be any device, such as a notebook computer, a smartphone, a tablet terminal, a mobile phone, or a dedicated information terminal.

The calculation device 74 is an information processing device. For example, the calculation device 74 may be a general computer or a server. The calculation device 74 may be a single computer, or may be configured with multiple computers such as a cloud system. The calculation device 74 may be realized as an information processing device that functions as the generation device 40 of the map generation system 20.

The calculation device 74 is connected to the mobile communication device 72 or multiple fixed communication devices 10 via a network, and obtains necessary information from the mobile communication device 72 or multiple fixed communication devices 10 to calculate the position of the mobile communication device 72. The calculation device 74 may be provided near the target area or at a location away from the target area. The calculation device 74 may also be realized within the mobile communication device 72.

The user moves within the target area while holding the mobile communication device 72. The position detection system 70 detects the position of the mobile communication device 72 within the target area and displays the detected position, for example, on a display unit of the mobile communication device 72. This allows the user to recognize his or her own position within the target area.

Figure 6 is a diagram showing a block configuration of the position detection system 70. Figure 7 is a diagram showing an example of a plurality of partial regions into which a target area is divided. Figure 8 is a diagram showing an example of pattern information.

The calculation device 74 is connected to multiple fixed communication devices 10 via a network. The calculation device 74 has a pattern generation unit 82, a pattern storage unit 84, a collection unit 86, and a position calculation unit 88.

Prior to starting position detection, the pattern generation unit 82 acquires map information for each of the multiple fixed communication devices 10 generated by the map generation system 20. For example, the pattern generation unit 82 reads map information for each of the multiple fixed communication devices 10 from the map storage unit 60.

The pattern generation unit 82 generates pattern information representing the electric field intensity corresponding to each of the multiple partial regions based on the acquired map information.

The position detection system 70 divides the target area into multiple partial areas and manages them. The position detection system 70 divides the target area into multiple partial areas, for example, as shown in FIG. 7.

The pattern information represents the radio wave intensity pattern at the reception point when wireless communication is performed between each of the N fixed communication devices 10 and the mobile communication device 72 for each of the multiple partial regions as shown in FIG. 8. Note that in the example of FIG. 8, the radio wave intensity pattern represents radio wave intensity quantized in a predetermined unit. The pattern generation unit 82 generates pattern information as shown in FIG. 8 by analyzing the map information of each of the multiple fixed communication devices 10.

The pattern storage unit 84 stores the pattern information generated by the pattern generation unit 82. The pattern storage unit 84 acquires and stores the pattern information prior to the start of position detection.

The collection unit 86 collects the radio wave intensities at the reception points of multiple reference signals wirelessly communicated between multiple fixed communication devices 10 and the mobile communication device 72. In this embodiment, the mobile communication device 72 transmits a reference signal with a fixed transmission power, and each of the multiple fixed communication devices 10 receives the reference signal. In this case, the collection unit 86 acquires the radio wave intensities of the multiple reference signals received by the multiple fixed communication devices 10.

In addition, each of the multiple fixed communication devices 10 may transmit a reference signal with a fixed transmission power, and the mobile communication device 72 may receive the multiple reference signals. In this case, the multiple fixed communication devices 10 may transmit their reference signals, for example, at different times, so as not to cause interference between the transmitted reference signals. In this case, the collection unit 86 also acquires the radio wave intensity of the multiple reference signals received by the mobile communication device 72.

The position calculation unit 88 acquires the radio wave strength at the reception points of the multiple reference signals wirelessly communicated between the multiple fixed communication devices 10 and the mobile communication device 72, collected by the collection unit 86. The position calculation unit 88 then selects, from the multiple radio wave strength patterns stored in the pattern storage unit 84, the radio wave strength pattern that is closest to the measurement pattern that represents the radio wave strength at the reception points of the multiple reference signals wirelessly communicated between the multiple fixed communication devices 10 and the mobile communication device 72.

For example, when the mobile communication device 72 transmits a reference signal and each of the multiple fixed communication devices 10 receives the reference signal, the position calculation unit 88 compares the measurement pattern representing the radio wave strength of the multiple reference signals received by the multiple fixed communication devices 10 with each of the multiple radio wave strength patterns to select one radio wave strength pattern. Also, when each of the multiple fixed communication devices 10 transmits a reference signal and the mobile communication device 72 receives multiple reference signals, the position calculation unit 88 compares the measurement pattern representing the radio wave strength of the multiple reference signals received by the mobile communication device 72 with each of the multiple radio wave strength patterns to select one radio wave strength pattern.

The position calculation unit 88 identifies a partial area that corresponds to the selected radio wave intensity pattern based on the map information. The position calculation unit 88 then outputs the identified partial area as the position of the mobile communication device 72.

Furthermore, the position calculation unit 88 may select three or more fixed communication devices 10 that surround the specified partial area from among the multiple fixed communication devices 10. Then, the position calculation unit 88 may calculate a more detailed position of the mobile communication device 72 based on the respective positions of the selected three or more fixed communication devices 10 and the radio wave strength at the reception points of three or more reference signals wirelessly communicated between the selected three or more fixed communication devices 10 and the mobile communication device 72. For example, the position calculation unit 88 may calculate the position of the mobile communication device 72 using a three-point positioning method or the like.

As described above, the position detection system 70 can calculate the position of the mobile communication device 72.

(Hardware Configuration of Generation Device 40)
Fig. 9 is a diagram showing an example of a hardware configuration of the generation device 40. The generation device 40 can be realized by, for example, the configuration shown in Fig. 9.

The generating device 40 has the same configuration as a normal computer. That is, the generating device 40 has a CPU 201 (Central Processing Unit), a ROM 202 (Read Only Memory), a RAM 203 (Random Access Memory), and a storage device 204. The CPU 201, the ROM 202, the RAM 203, and the storage device 204 are connected by a bus.

The CPU 201 loads the programs stored in the storage device 204 into the RAM 203 and executes them, controls each component to perform input/output, and processes data. The ROM 202 stores a start program that reads the OS startup program from the storage device 204 into the RAM 203. The RAM 203 stores data as a working area for the CPU 201.

The storage device 204 is, for example, a hard disk drive or a flash memory. The storage device 204 stores an operating system, application programs, and data. These programs may be distributed by being recorded on a computer-readable recording medium in the form of installable or executable files. The programs may also be distributed by being downloaded from a server.

The program executed by the generating device 40 of this embodiment is provided by being recorded in an installable or executable file format on a computer-readable recording medium such as a CD-ROM, a flexible disk (FD), a CD-R, or a DVD. The program executed by the generating device 40 of this embodiment may be provided by being stored on a computer connected to a network such as the Internet and downloaded via the network. The program executed by the generating device 40 of this embodiment may be provided or distributed via a network such as the Internet. The program of this embodiment may be provided by being pre-installed in ROM 202, etc.

The program executed by the generating device 40 includes an image acquisition module, a position detection module, an intensity receiving module, and a map generating module.

In the generating device 40, the processor (CPU 201) reads and executes a program from a storage medium (such as the storage device 204), whereby each module is loaded onto the main storage device (RAM 203), and the processor (CPU 201) functions as the image acquisition unit 52, the position detection unit 54, the intensity reception unit 56, and the map generation unit 58. The storage device 204 functions as the map storage unit 60. Note that in the generating device 40, some or all of the image acquisition unit 52, the position detection unit 54, the intensity reception unit 56, and the map generation unit 58 may be realized by hardware.

Although the embodiments of the present invention have been described above, these embodiments are presented as examples and are not intended to limit the scope of the invention. Various modifications can be made to the embodiments.

REFERENCE SIGNS LIST 10 Fixed communication device 20 Map generation system 30 Mobile measurement device 32 Mobile mechanism 34 Camera 40 Generation device 52 Image acquisition unit 54 Position detection unit 56 Intensity receiving unit 58 Map generation unit 60 Map storage unit 70 Position detection system 72 Mobile communication device 74 Calculation device 82 Pattern generation unit 84 Pattern storage unit 86 Collection unit 88 Position calculation unit

Claims (5)

A mobile measuring device that moves through a target area in which a plurality of fixed communication devices are installed and wirelessly communicates with the plurality of fixed communication devices;
a position detection unit that detects a position of the mobile measuring device;
a map generating unit that generates map information representing a distribution of radio wave intensity in the target area for each of the plurality of fixed communication devices;
a camera for capturing an image of the mobile measuring device from outside the mobile measuring device;
Equipped with
The position detection unit estimates a position of the mobile measuring device based on an image captured by the camera,
The map generation unit
acquiring position data representing a position of the mobile measuring device at each time;
acquiring radio wave intensity data representing the radio wave intensity at each time of a wireless signal communicated between the mobile measurement device and each of the fixed communication devices;
a map generating system that generates the map information by associating a position included in the position data with a radio wave intensity included in the radio wave intensity data for each of the plurality of fixed communication devices for each time. The mobile measuring device has a camera for capturing images of the surroundings,
The map generating system according to claim 1 , wherein the position detection unit estimates a position of the mobile measuring device based on an image captured by the camera. The mobile measurement device transmits a beacon signal having a fixed transmission power at a predetermined period of time;
each of the plurality of fixed communication devices detects radio wave intensity of the beacon signal and generates the radio wave intensity data including a time when the beacon signal was detected and the radio wave intensity;
The map generating system according to claim 1 or 2 , wherein the map generating unit obtains the position of the mobile measuring device at each transmission time of the beacon signal. A mobile measuring device moves through a target area in which a plurality of fixed communication devices are installed, and wirelessly communicates with the plurality of fixed communication devices;
estimating a position of the mobile measuring device based on an image captured by a camera that captures an image of the mobile measuring device from outside the mobile measuring device;
acquiring position data representing a position of the mobile measuring device at each time;
acquiring radio wave intensity data representing the radio wave intensity at each time of a wireless signal communicated between the mobile measurement device and each of the fixed communication devices;
A map generating method for generating map information representing a distribution of radio wave strength in the target area by associating, for each of the plurality of fixed communication devices, a location included in the location data with a radio wave strength in the radio wave strength data for each time. A program for causing an information processing device to function as a device for generating map information representing a distribution of radio wave intensity in a target area for each of a plurality of fixed communication devices installed in the target area, the program comprising:
a mobile measurement device that moves through the target area and wirelessly communicates with the plurality of fixed communication devices;
The information processing device,
estimating a position of the mobile measuring device based on an image captured by a camera that captures an image of the mobile measuring device from outside the mobile measuring device;
acquiring position data representing a position of the mobile measuring device at each time;
acquiring radio wave intensity data representing the radio wave intensity at each time of a wireless signal communicated between the mobile measurement device and each of the fixed communication devices;
a program causing the program to function to generate the map information by associating, for each of the plurality of fixed communication devices, a location included in the location data with a radio wave intensity included in the radio wave intensity data for each time.

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