JP7520944B2 - Radio wave status check system - Google Patents

Description

An embodiment of the present invention relates to a radio wave status confirmation system and a radio wave status confirmation method.

Recently, autonomous robots have been used to clean buildings and transport items. The autonomous robots' movements are controlled by wireless communication with a robot server. To ensure that the autonomous robots can move reliably, the communication conditions within the building must be good.

JP 2019-92049 A

However, while the communication strength of the entire building is important, there is no way to grasp the communication strength of the entire building after construction work has been completed, and problems such as communication strength varying from place to place can occur. In this way, the level of communication strength can only be discovered after some time has passed, making it a challenge to grasp and manage the communication strength of the entire building.

In addition, conventionally, communication strength is measured by people walking around the building. This poses the problem that it is not possible to measure in places where people do not enter.

In view of the above circumstances, the present invention aims to provide a radio wave condition confirmation system and method that can reliably grasp the radio wave conditions inside a building using an autonomous mobile robot.

The form for achieving the above object is a radio wave condition confirmation system that includes an autonomous robot that moves autonomously within a building, a robot server that manages the operation of the autonomous robot, and an elevator control device that manages the operation of the elevator, and that checks the radio wave conditions within the building.

The autonomous robot is equipped with a radio wave strength measurement unit that measures the radio wave strength of communication with the robot server while moving within a building, and a strength data output unit that outputs the measured radio wave strength together with data on the measurement position to the robot server.

The robot server includes a robot command output unit that instructs the autonomous robot to move and outputs a robot call to the elevator control device to move the autonomous robot to another floor, a strength data input unit that inputs radio wave strength data measured while the autonomous robot is moving, and a strength data output unit that outputs the input strength data to a building management system that manages the building.

Another embodiment is a method for checking radio wave conditions in a building by using an autonomous mobile robot that autonomously moves within a building, a robot server that manages the operation of the autonomous mobile robot, and an elevator control device that manages the operation of an elevator, the method comprising:
The autonomous mobile robot is caused to travel by communicating with the robot server, and the autonomous mobile robot measures the radio wave strength in the communication between the autonomous mobile robot and the robot server on a specified floor in the building, and after measuring the radio wave strength on the specified floor, the robot server instructs the elevator control device to have the autonomous mobile robot move to a different floor, and the autonomous mobile robot continues to measure the radio wave strength while moving to the different floor by elevator and at the floor after the move.

FIG. 1 is a block diagram showing a configuration of a radio wave status confirmation system according to a first embodiment. 4 is a flowchart showing a processing procedure of the radio wave status confirmation system according to the first embodiment. Architectural floor plan reflecting strength data on floor plan. FIG. 11 is a block diagram showing the configuration of a radio wave status confirmation system according to a second embodiment. FIG. 1 is an explanatory diagram showing an example of three-dimensional data acquired by a 3D scanner. FIG. 1 is an explanatory diagram showing an example of three-dimensional data acquired by a 3D scanner. Figure 3 shows a new architectural floor plan reflecting the 3D data.

First Embodiment
Configuration of the First Embodiment
The radio wave condition checking system 1A shown in FIG. 1 includes an autonomous mobile robot 10, a robot server 20, and an elevator control device 30.

The autonomous robot 10 includes a robot command input unit 11, a robot driving control unit 12, a radio wave intensity measurement unit 13, a radio wave intensity storage unit 14, and an intensity data output unit 15.

The robot command input unit 11 inputs the robot command output from the robot server 20.

The robot driving control unit 12 controls the driving of the autonomous driving robot 10 based on the robot commands input by the robot command input unit 11.

The radio wave intensity measurement unit 13 measures the radio wave intensity of the robot command inputted by the robot command input unit 11.

The radio wave strength memory unit 14 stores the radio wave strength measured by the radio wave strength measurement unit 13 together with the location data of the measured location.

The intensity data output unit 15 outputs the radio wave intensity and position data stored in the radio wave intensity memory unit 14 to the robot server 20.

The robot server 20 includes a robot command output unit 21, a strength data input unit 22, and a strength data output unit 23.

The robot command output unit 21 outputs robot commands to the autonomous mobile robot 10 to control the behavior of the autonomous mobile robot 10. In addition, when the autonomous mobile robot 10 uses an elevator, it outputs a robot call to the elevator control device 30.

The intensity data input unit 22 inputs radio wave intensity data measured by the autonomous mobile robot 10.

The intensity data output unit 23 outputs the radio wave intensity data input by the intensity data input unit 22 to the building management system 40.

The elevator control device 30 includes a robot call input unit 31 and a car travel control unit 32.

The robot call input unit 31 inputs a robot call from the robot server 20 and instructs the car travel control unit 32 to assign a car.

The car travel control unit 32 drives and controls the hoisting machine based on the robot call input by the robot call input unit 31 to control the elevator car travel.

The building management system 40 is equipped with a building BIM model 41, and the input radio wave intensity data is reflected in the BIM model.

Processing Procedure of the First Embodiment
2 is a flowchart showing the processing procedure of the first embodiment. In the flowchart of FIG. 2, steps S1 to S4 show the processing of the robot server 20, and steps S11 to S17 show the processing of the autonomous mobile robot 10.

When the robot command output unit 21 of the robot server 20 issues an instruction to start moving (step S1), the autonomous mobile robot 10 starts moving (steps S11 YES, S12).

After starting to move, the autonomous robot 10 continuously measures the radio wave strength of the communication from the robot server 20 while moving (step S13). When the radio wave strength of one floor is measured, the robot uses the elevator to move to the next floor and measure the radio wave strength there. The radio wave strength inside the elevator car is also measured. The measured radio wave strength is stored in the radio wave strength memory unit 14 together with the position information (step S14).

When the measurement of radio wave intensity on all floors is completed and the robot server 20 issues an instruction to stop the robot from moving, the autonomous robot 10 stops moving (steps S2, S15, S16). Then, the intensity data output unit 15 outputs the radio wave intensity data stored in the radio wave intensity memory unit 14 to the robot server 20 (step S17).

The intensity data input unit 22 of the robot server 20 receives the radio wave intensity data transmitted from the robot server 20 (step S3). The received radio wave intensity data is output from the intensity data output unit 23 to the building management system (step S4).

The building management system 40 performs processing to reflect the measured radio wave intensity data in the building BIM model.

Figure 3 is a floor plan of the first floor of a building. In Figure 3, the numbers (-30, -35, -40, -50, -55) next to the antenna mark indicate the radio wave strength (dBm) measured at that location.

In this way, radio wave strength data can be reflected in the building BIM model, making it possible to take measures such as installing repeaters near areas with low radio wave strength.

In this way, in the first embodiment, the autonomous mobile robot 10 moves around the building and continuously measures the radio wave strength, making it possible to accurately measure the radio wave strength inside the building. In addition, since it is possible to measure places where humans cannot enter, it is possible to perform measurements without blind spots compared to measurements made by humans walking around.

In addition, by reflecting the radio wave conditions throughout the building in the BIM model, it is possible to visually confirm differences in radio wave conditions depending on the location within the building, making it possible to confirm differences in communication strength throughout the building after construction and use.

Second Embodiment
4 is a block diagram showing the configuration of a radio wave condition confirmation system 1B according to the second embodiment. Note that the same components as those in the first embodiment shown in FIG. 1 are given the same reference numerals and their description will be omitted.

As shown in FIG. 4, the second embodiment of the radio wave condition confirmation system 1B is characterized by the fact that, in addition to the configuration of the first embodiment of the radio wave condition confirmation system 1A, it also acquires three-dimensional data of the building using a 3D scanner 16 and reflects this data in the building BIM model together with the radio wave intensity data.

There may be differences between the original design drawings and the actual building, or changes between the original building and the latest building due to renovations, etc. When measuring radio wave strength, these changes must be accurately reflected in the BIM model.

For this reason, the autonomous mobile robot 10 of the second embodiment is equipped with a 3D scanner 16, which acquires three-dimensional data (point cloud data) of the interior of the building while traveling on the floors to measure radio wave intensity, and outputs the data to the robot server 20.

The robot server 20 is equipped with a 3D scanner input/output unit 24, and outputs the three-dimensional data from the autonomous mobile robot 10 to the building management system 40 and reflects it in the building BIM model.

Figures 5 and 6 are explanatory diagrams showing an example of three-dimensional data acquired by a 3D scanner. Figure 5 shows three-dimensional data of the installation location of the escalator, and Figure 6 shows three-dimensional data of the inside of the elevator hoistway.

Figure 7 is a new plan view constructed by reflecting three-dimensional data on the plan view of Figure 3. In Figure 7, changes indicated by A, B, and C are reflected in the plan view of Figure 3.

In this way, the second embodiment achieves the same effects as the first embodiment, and also accurately reflects changes to the building in the BIM model before importing the measured radio wave strength, allowing for even more accurate confirmation of the radio wave strength inside the building.

Although several 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. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are included in the scope of the invention and its equivalents described in the claims.

1A, 1B...Radio wave status confirmation system, 10...Autonomous mobile robot, 11...Robot command input unit, 12...Robot driving control unit, 13...Radio wave strength measurement unit, 14...Radio wave strength memory unit, 15...Strength data output unit, 16...3D scanner, 20...Robot server, 21...Robot command output unit, 22...Strength data input unit, 23...Strength data output unit, 24...3D scanner data input/output unit, 30...Elevator control device, 31...Robot call input unit, 32...Cage driving control unit, 40...Construction management system, 41...Building BIM model, A,B,C...Construction change area

Claims (1)

A radio wave status confirmation system comprising an autonomous mobile robot that moves autonomously within a building, a robot server that manages the operation of the autonomous mobile robot, and an elevator control device that manages the operation of an elevator, the system confirming the radio wave status within the building,
The autonomous robot comprises:
a radio wave intensity measuring unit that measures radio wave intensity of communication with the robot server while moving within a building;
an intensity data output unit that outputs the measured radio wave intensity together with data on the measurement position to the robot server ;
A 3D scanner that acquires point cloud data inside a building and outputs the point cloud data to the robot server ,
The robot server includes:
a robot command output unit that instructs the autonomous mobile robot to travel and outputs a robot call to the elevator control device to move the autonomous mobile robot to another floor;
an intensity data input unit for inputting radio wave intensity data measured by the autonomous robot while it is moving;
a strength data output unit that outputs the input strength data to a building management system that manages the building;
A point cloud data output unit that outputs the point cloud data input from the 3D scanner to the building management system ,
The building management system is a radio wave condition confirmation system that reflects intensity data in a building BIM model constructed within the building management system, and reflects the current building condition on the building BIM model based on the acquired point cloud data .

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