JPWO2018122906A1 - Control device, control system, and information processing device capable of autonomous movement - Google Patents

Abstract

The control server 110 acquires first information that is information related to the position of the robot 101 that is an information processing apparatus that can move autonomously, and second information that is information related to communication of the robot 101. The control server 110 that creates a communication quality map indicating the distribution of communication quality using the second information controls the movement range of the robot 101 based on the communication quality map. FIG.

Description

  The present invention relates to a control device, a control system, and an information processing device capable of autonomous movement.

In recent years, a technique for remotely operating a robot by wireless communication and a technique for implementing a function by implementing a part of functions in an application server and the robot performing wireless communication with the application server have been proposed. In a robot using wireless communication, it is necessary to maintain wireless quality (for example, radio wave intensity) and to maintain communication quality (for example, throughput and delay) suitable for the function.

  On the other hand, in Patent Document 1, the movement control means autonomously controls the movement of the leg or the movement mechanism corresponding to the leg based on a task command transmitted from the radio master unit through radio communication. In a moving mobile robot, a wireless environment map storage that stores a wireless environment map in which map data of a moving region is associated with comprehensive wireless environment data composed of a plurality of wireless environment data related to the wireless environment in the moving region. Means, position recognizing means for recognizing its own position in the moving area, monitoring means for monitoring the state of the wireless environment, and the state of the wireless environment monitored by the monitoring means, the wireless communication is disconnected Based on the wireless environment map, a search means for searching for a recovery position where the wireless communication connection is possible, and the recognized self-position, Mobile robot, characterized in that the movement to the searched restoration position searching means comprises a self position movement instruction means for instructing said movement control means are described.

JP 2008-87102 A

  If the technique described in Patent Document 1 is used, it is possible to restore the wireless communication even if the wireless communication is disconnected. However, the communication quality that requires the function of the robot cannot be maintained, and the service quality of the robot deteriorates.

  Further, since the communication quality required for each function of the robot is different, it is required to always ensure communication quality (throughput, delay, etc.) important for transferring data used by the function.

  A control device according to one embodiment of the present invention is a control device that controls an information processing device capable of autonomous movement, and includes first information that is information related to a position of the information processing device, and the information processing device. A communication quality information generating unit that acquires second information that is information related to communication and creates communication quality information indicating a distribution of communication quality using the first information and the second information; and the communication quality And a movement control unit that controls a movement range of the information processing apparatus based on the information.

It is a figure which shows the example of a structure of the robot control system of Example 1. FIG. It is a figure which shows the example of a structure of a control server. It is a flowchart which shows the example of a communication quality measurement process. It is a flowchart which shows the example of a movement permission range map preparation process. It is a flowchart which shows the example of a communication quality determination process. It is a flowchart which shows the example of a communication control process. It is a flowchart which shows the example of a communication means switching process. It is a flowchart which shows the example of a function switching process. It is a flowchart which shows the example of a robot state change process. It is a flowchart which shows the example of a communication restoration process. It is a flowchart which shows the example of a movement determination process. It is a figure which shows the example of a structure of a function information management table. It is a figure which shows the example of a structure of a communication quality information management table. It is a figure which shows the example of a communication quality map. It is a figure which shows the example of a structure of a function feasible range information management table. It is a figure which shows the example of a function feasible range map. It is a figure which shows the example of a structure of a robot state information management table. It is a figure which shows the example of a structure of a function provision range information management table. It is a figure which shows the example of a function provision range map. It is a figure which shows the example of a structure of a movement permission range information management table. It is a figure which shows the example of a movement permission range map. It is a figure which shows the example of a structure of a function state management table. It is a sequence diagram which shows the example of a movement permission range map update. It is a sequence diagram which shows the example of the process which stabilizes communication quality. It is a figure which shows the example of a structure of a robot. It is a flowchart which shows the example of a position management process. It is a flowchart which shows the example of a communication restoration process. It is a figure which shows the example of a structure of the robot control system of Example 2. FIG. It is a figure which shows the example of a structure of a control server. It is a flowchart which shows the example of a communication quality measurement process. It is a figure which shows the example of a structure of a relay server. It is a flowchart which shows the example of an information transfer process. It is a figure which shows the example of a structure of an apparatus information management table. It is a flowchart which shows the example of a communication quality measurement process.

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

  In the following embodiments, when there is a need for convenience of explanation, the description will be divided into a plurality of sections or examples, but they are not irrelevant to each other unless otherwise specified. The other part or all of the modifications, detailed explanations, supplementary explanations, and the like are related.

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

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

  The control device that controls the autonomously movable information processing device according to the embodiment of the present invention includes first information that is information related to a position of the information processing device and second information that is related to communication of the information processing device. A communication quality information generating unit that creates communication quality information indicating a distribution of communication quality using the first information and the second information, and the information based on the communication quality information A movement control unit that controls a movement range of the processing apparatus.

  The communication quality information generation unit further acquires third information that is information related to communication of a function being executed by the information processing apparatus, and the movement control unit uses the third information to obtain the information You may control the movement range of a processing apparatus.

  When the communication quality at the current position of the information processing apparatus based on the first information and the second information is lower than the communication quality required for the information processing apparatus, the movement control unit moves to the information processing apparatus An instruction may be sent.

  The control device further includes a first communication interface that communicates with the information processing device using first communication means, and a second communication interface that communicates with the information processing device using second communication means. May be. The second information may be information related to communication quality of communication performed with the information processing apparatus by the first communication unit using the first communication interface. When the communication quality of the first communication means at the current position of the information processing device is lower than the communication quality required for the information processing device, or obtain movement command information to the information processing device, and according to the movement command When the communication quality of the first communication means at the movement destination position is lower than the communication quality required for the information processing device, the control device uses the first communication interface and the second communication interface. You may communicate with the said information processing apparatus.

  When the communication quality of the first communication means at the current position of the information processing device is lower than the communication quality required for the information processing device, or obtain movement command information to the information processing device, and according to the movement command When the communication quality of the first communication means at the destination location is lower than the communication quality required for the information processing device, the control device stops the first function being executed by the information processing device, You may further have a function switching process part which performs the 2nd function which is an alternative function of the said 1st function.

  When the communication quality of the first communication means at the current position of the information processing device is lower than the communication quality required for the information processing device, or obtain movement command information to the information processing device, and according to the movement command When the communication quality of the first communication means at the movement destination position is lower than the communication quality required for the information processing apparatus, the control apparatus performs at least one function among the functions executed by the information processing apparatus You may further have a communication control part which controls the amount of communications about.

  When the communication quality at the current position of the information processing device based on the first information and the second information is lower than the communication quality required for the information processing device, the control device You may further provide the state management part which transmits the command which changes direction.

  The communication quality information generation unit updates the communication quality information based on a comparison result between the communication quality at the current position of the information processing apparatus and the communication quality information based on the first information and the second information. May be.

  The control system which concerns on one Embodiment of this invention has the information processing apparatus which can move autonomously, and the control apparatus which controls the said information processing apparatus. The control device acquires, from the information processing device, first information that is information related to a position of the information processing device and second information that is information related to communication of the information processing device. Using the information and the second information, a communication quality information generating unit that creates communication quality information indicating a distribution of communication quality between the control device and the information processing device, and based on the communication quality information, the information A movement control unit that controls a movement range of the processing apparatus.

  The communication quality information generation unit further acquires third information that is information related to communication of a function being executed by the information processing apparatus, and the movement control unit uses the third information to obtain the information You may control the movement range of a processing apparatus.

  An autonomously movable information processing apparatus according to an embodiment of the present invention uses first information that is information related to a position of the information processing apparatus and second information that is information related to communication of the information processing apparatus. You may have the position management part which performs movement control based on the communication quality information which shows distribution of the produced communication quality, and the present position of the said information processing apparatus.

The location management unit may perform movement control of the information processing device based on the communication quality information and a function being executed by the information processing device.

  When the position information of the information processing apparatus capable of autonomous movement is outside the movement permission range of the information processing apparatus determined based on the communication quality information and the function being executed by the information processing apparatus, the position management unit The information processing apparatus may be moved within the movement permission range.

  The autonomously movable information processing apparatus may further include a first communication interface that performs communication using a first communication unit and a second communication interface that performs communication using a second communication unit. The second information may be information related to communication quality of communication performed by the first communication unit using the first communication interface. When the current position of the information processing apparatus is outside the movement permission range of the information processing apparatus determined based on the communication quality information and the function being executed by the information processing apparatus, or the first information and the When the communication quality at the current position of the information processing apparatus based on the second information is lower than the communication quality required for the information processing apparatus, the information processing apparatus is configured to transmit the first communication interface and the second communication interface. You may communicate using.

  When the current position of the information processing apparatus is outside the movement permission range of the information processing apparatus determined based on the communication quality information and the function being executed by the information processing apparatus, or the first information and the When the communication quality at the current position of the information processing device based on the second information is lower than the communication quality required for the information processing device, the information processing device stops the first function being executed, and the first A second function that is an alternative function of the above function may be executed.

<Example 1>
FIG. 1 is a diagram illustrating an example of the configuration of the robot management system according to the first embodiment. The robot management system according to the first embodiment includes a robot 101 that is an information processing apparatus capable of autonomous movement, a control server 110, and an application server 111.

  The robot 101 and the control server 110 are connected by wireless communication. The communication means for connecting the robot 101 and the control server 110 is, for example, a wireless LAN (Local Area Network) 104, a short-range wireless 106, and a mobile communication network 107.

  When the robot 101 and the control server 110 are connected via the wireless LAN 104, they are connected via a wireless LAN AP (Access Point).

  When the robot 101 and the control server 110 are connected by the short-range wireless 106, the short-range wireless I / F (interface) possessed by the robot 101 and the control server 110 performs direct communication.

  When the robot 101 and the control server 110 are connected via the mobile communication network 107, they are connected via the base station device 108 and the Internet 109.

  The control server 110 measures communication quality information using communication information with the robot 101. The communication quality is communication quality for each robot, and is an index indicating the reception quality in the uplink direction or the reception quality in the downlink direction between the control server 110 and the robot 101.

  In addition, the control server 110 acquires position information indicating the current position of the robot 101 measured by the robot 101. The position information may be, for example, an absolute position or a relative position within the maximum movement range 1010 where the movement of the robot 101 is permitted. The control server 110 uses the position information of the robot 101 and the communication quality information, and the movement permission range 103 in which the robot 101 can move within the maximum movement range 1010 and the range in which the robot 101 cannot enter. The movement permission range 102 may be set.

  The application server 111 is a server for causing the robot 101 to execute an application, and transmits a movement command to the robot 101 via the control server 110.

  One control server 110 may accommodate a plurality of robots 101, or a plurality of control servers 110 may accommodate one robot 101.

  FIG. 2 is a diagram illustrating an example of the configuration of the control server 110.

  The control server 110 includes a memory 201, a CPU (Central Processing Unit) 202, an I / O (input / output interface) 203, an auxiliary storage device 204, a wireless LAN I / F 205, a short-range wireless I / F 206, And a mobile communication network I / F 207. The processing performed by the control server 110 described below is realized by the CPU 202 reading out a computer program (software) stored in the auxiliary storage device 204, developing it on the memory 201, and executing it. The control server 110 communicates with the robot 101 via the wireless LAN I / F 205, the short-range wireless I / F 206, or the mobile communication network I / F 207.

  The I / O 203 is a user interface for the user to input an instruction to the control server 110 and present the execution result of the program to the user. Input / output devices (for example, a keyboard, a mouse, a touch panel, a display, a printer, etc.) are connected to the I / O 203. The I / O 203 may be connected to a user interface provided by a management terminal connected via a network.

  The CPU 202 is a processor that executes a program stored in the memory 201. The memory 201 includes a ROM (Read Only Memory) that is a nonvolatile storage element and a RAM (Random Access Memory) that is a volatile storage element. The ROM stores an invariant program (for example, BIOS: Basic Input Output System). The RAM is a high-speed and volatile storage element such as a DRAM (Dynamic Random Access Memory), and temporarily stores a program stored in the auxiliary storage device 202 and data used when the program is executed.

  For example, in the memory 201, a communication quality measurement program 211, a movement permission range map creation program 212, a communication quality determination program 213, a communication control program 214, a communication means switching program 215, a function switching program 216, a robot state change program 217, a communication A recovery program 218 and a movement determination program 219 are stored.

  The communication quality measurement program 211 is a program for executing communication quality measurement processing (see FIG. 3). The movement permission range map creation program 212 is a program for executing movement permission range map creation processing (see FIG. 4). The communication quality determination program 213 is a program for executing communication quality determination processing (see FIG. 5). The communication control program 214 is a program for executing communication control processing (see FIG. 6). The communication means switching program 215 is a program for executing communication means switching processing (see FIG. 7). The function switching program 216 is a program for executing function switching processing (see FIG. 8). The robot state change program 217 is a program for executing a robot state change process (see FIG. 9). The communication recovery program 218 is a program for executing communication recovery processing (see FIG. 10). The movement determination program 219 is a program for executing movement determination processing (see FIG. 11).

  The memory 201 also includes a function information management table 221 (see FIG. 12), a communication quality information management table 222 (see FIG. 13), a function feasible range information management table 223 (see FIG. 15), and a robot state information management table 224. (See FIG. 17), a function provision range information management table 225 (see FIG. 18), a movement permission range information management table 226 (see FIG. 20), and a function state information management table 227 (see FIG. 22) are stored.

  The auxiliary storage device 204 is a large-capacity and nonvolatile storage device such as a magnetic storage device (HDD: Hard Disk Drive) or a flash memory (SSD: Solid State Drive). The auxiliary storage device 204 stores a program executed by the CPU 202 and data used when the program is executed. That is, the program is read from the auxiliary storage device 204, loaded into the memory 201, and executed by the CPU 202.

  The control server 110 is a computer system that is physically configured on a single computer or a plurality of logical or physical computers, and the programs stored in the memory 201 are separately stored on the same computer. May operate on a virtual machine constructed on a plurality of physical computer resources. Further, the control server 110 and other devices may be accommodated in one physical or logical computer. Note that all or a part of the processing realized by executing the program may be realized by hardware (for example, Field-Programmable Gate Array).

  FIG. 3 is a flowchart illustrating an example of the communication quality measurement process. The communication quality measurement process is a process performed when the communication quality measurement program 211 is executed by the CPU 202 of the control server 110. The communication quality measurement program 211 operates as a communication quality information generation unit.

  The communication quality measurement process is a process performed based on a packet transmitted and received between the robot 101 and the control server 110 and position information of the robot 101. In the communication quality measurement process, communication quality is measured based on messages transmitted and received between the robot 101 and the control server 110, and the communication quality is associated with the position information of the robot 101 to communicate with the communication quality information management table 222. (FIG. 13).

  First, the CPU 202 measures communication quality information from a communication packet between the robot 101 and the control server 110 (step 2111). Next, the CPU 202 acquires the position information of the robot 101 itself measured by the robot 101, and links the position information and the communication quality information based on the time information (step 2112).

  The CPU 202 refers to the communication quality information management table 222 (FIG. 13) and determines whether or not the communication quality information has already been registered at the position indicated by the acquired position information of the robot 101 (step 2113).

  If the communication quality information is not registered at the position indicated by the position information of the robot 101 (step 2113: No), the communication quality measured in step 2111 is registered in the communication quality information management table 222 (FIG. 13). The map 2220 (see FIG. 14) is updated (step 2117). Further, the CPU 202 notifies the robot 101 of the updated communication quality map 2220 (step 2118) and ends the process.

  On the other hand, if the communication quality information is registered at the position indicated by the position information of the robot 101 in step 2113 (step 2113: Yes), the CPU 202 registers the communication registered in the communication quality information management table 222 (FIG. 13). The quality information is compared with the communication quality information measured in step 2111 under the following condition 1 (step 2114).

  Condition 1: Measured communication quality <Registered communication quality

  If it is determined in step 2114 that the condition 1 is not satisfied, the process proceeds to step 2117.

  If it is determined in step 2114 that the condition 1 is satisfied, the CPU 202 executes the communication quality determination program 213 and performs communication quality determination processing (see FIG. 5) (step 2115). The CPU 202 determines whether or not the communication means switching process has been performed by the communication quality determination process (step 2116). When the communication means switching process is not performed in the communication quality determination process (step 2116: No), the process proceeds to step 2117. On the other hand, when the communication means switching process is performed in the communication quality determination process (step 2116: Yes), the communication quality measurement process is terminated.

  Thereby, communication quality information indicating the latest communication state between the control server 110 and the robot 101 is provided to the robot 101. As a result, the robot 101 can autonomously control the position based on the communication quality.

  FIG. 4 is a flowchart illustrating an example of the movement permission range map creation process. The movement permission range map creation process is a process performed when the movement permission range map creation program 212 is executed by the CPU 202 of the control server 110. The movement permission range map creation program 212 operates as a movement permission range information generation unit.

  In the movement permission range map creation process, a movement permission range information management table 226 indicating a range in which the robot 101 is permitted to move from the actual communication quality and the required communication quality of the function being used by the robot 101 (FIG. 20). ) Is updated.

  First, the CPU 202 acquires the communication quality information management table 222 (FIG. 13) created by the communication quality determination process (step 2121). Next, the CPU 202 refers to the function information management table 221 (FIG. 12) and obtains a required communication quality value 2212 indicating the communication quality required for each function (step 2122). Then, the CPU 202 specifies an area where the current communication quality satisfies the required communication quality of each function based on the current communication quality and the required communication quality value 2212 of each function, and the function feasible range information management table 223 ( (Step 2123). The function feasible range information management table 223 may be a function-specific table.

  Further, the CPU 202 acquires information related to the function being used by the robot 101 from the robot state information management table 224 (FIG. 17) (step 2124). Then, based on the function feasible range information management table 223 (FIG. 15) related to the function being used by the robot, the CPU 202 moves the movable range while maintaining the function being used by the robot to the movement permission range information management table 226. (FIG. 20) is registered (step 2125). When the robot 101 uses a plurality of functions, it is determined whether or not the required communication quality for each function is satisfied, and the range that satisfies the communication quality of all the functions is set as the movement permission range of the robot 101 and the movement permission range. You may register into the information management table 226 (FIG. 20).

  Next, the CPU 202 acquires a range where the function needs to be provided from the function provision range information management table 225 (FIG. 18) (step 2126). Then, the robot movement permission range registered in the movement permission range information management table 226 (FIG. 20) and a range where the functions indicated by the function provision range information management table 225 need to be provided overlap each other. The movement permission range information management table 226 (FIG. 20) is updated as the permission range (step 2127).

  The CPU 202 transmits the updated movement permission range information management table 226 (FIG. 20) to the robot 101 (step 2128). At this time, the movement permission range information management table 226 (FIG. 20) may be transmitted from the control server 110 to the robot 101, or a movement permission range map representing this table as a map of the maximum movement range 1010 (see FIG. 21). )

  As a result, movement permission range information determined from the function being executed by the information processing apparatus and the communication quality between the control server 110 and the robot 101 is provided to the robot 101. As a result, the robot 101 can autonomously control the position within the permitted range.

  FIG. 5 is a flowchart illustrating an example of the communication quality determination process. The communication quality determination process is a process performed when the communication quality determination program 213 is executed by the CPU 202 of the control server 110. The communication quality determination program 213 operates as a communication quality determination unit.

  In the communication quality determination process, a process for improving the communication quality is performed.

  In the communication quality determination process, first, the CPU 202 refers to the function information management table 221 and the robot state information management table 224 (step 2131). Then, the CPU 202 calculates the difference between the communication quality value of the function being used by the robot 101 and the communication quality value measured in step 2111, and calculates the total communication quality value of the function being used and the measured communication quality value. Are compared under the following condition 2 (step 2132).

  Condition 2: Total required quality values of functions in use> Measured communication quality value

  When it is determined that the condition 2 is not satisfied (step 2132: No), all the following processes are skipped and the communication quality determination process is terminated.

  On the other hand, when it is determined that the condition 2 is satisfied (step 2132: Yes), the CPU 202 executes the communication control program 214 and performs communication control processing (see FIG. 6) (step 2133). In the communication control process, a process for suppressing the communication amount is performed for a function having a low priority.

  Further, the CPU 202 executes the communication means switching program 215 and performs communication means switching processing (see FIG. 7) (step 2134). In the communication means switching process, switching to another communication means that satisfies the required communication quality is performed.

  Further, the CPU 202 executes the function switching program 216 and performs function switching processing (see FIG. 8) (step 2135). In the function switching process, when an alternative function is assigned, switching to the alternative function is performed.

  Next, the CPU 202 determines whether or not the communication amount is suppressed for at least one function in Step 2133, and whether or not the communication means is switched for at least one function in Step 2134. In step 2135, it is determined whether or not switching to an alternative function has been executed for at least one function (step 2136).

  If any process has been executed (step 2136: Yes), the communication quality determination process is terminated.

  On the other hand, when neither process is executed (step 2136: No), the CPU 202 executes the robot state change program 217 and performs the robot shape change process (see FIG. 9) (step 2137). In the robot shape change process, the orientation or shape of the robot is changed to try to improve the communication quality.

  If the robot orientation or shape is changed in step 2137, the communication quality process is terminated (step 2138: Yes). On the other hand, if the robot orientation or shape has not been changed (step 2138: No), the CPU 202 executes the communication recovery program 218 and performs communication recovery processing (see FIG. 10) (step 2139). In the communication restoration process, the robot 101 is moved to a position where the communication quality is high to try to improve the communication quality.

  As a result, various processes for improving the communication quality are executed when the communication quality is low.

  FIG. 6 is a flowchart illustrating an example of the communication control process. The communication control process is a process performed when the communication control program 214 is executed by the CPU 202 of the control server 110. The communication control program 214 operates as a communication control unit. The communication control process is executed in the communication quality determination process of FIG.

  In the communication control process, first, the CPU 202 refers to the function information management table 221 (FIG. 12) (step 2141), and determines whether there is a function that satisfies the following condition 3 regarding the priority of the function in use and the predetermined threshold value 2. To do. (Step 2142).

  Condition 3: Priority ≦ Threshold 2

  If there is no function that satisfies condition 3 (step 2142: No), the communication control process is terminated. On the other hand, when there is a function that satisfies the condition 3, that is, when a function whose priority is lower than the threshold value 2 is in use, the CPU 202 determines, for each function, the amount of traffic currently used by the function and the requested communication. The quality value 2212 is compared under the following condition 4 (step 2143).

  Condition 4: communication amount> one or more of required communication quality values 2212

  For a function that satisfies the condition 4 (step 2143: Yes), the CPU 202 performs control to suppress the communication amount until the communication amount of the function reaches the required communication quality value (step 2144). On the other hand, for a function that does not satisfy condition 4 (step 2143: No), the CPU 202 determines that the function is not operating normally and ends the function (S2145).

  As a result, the amount of communication used by the low priority function can be suppressed.

  FIG. 7 is a flowchart illustrating an example of communication means switching processing. The communication means switching process is a process performed when the communication means switching program 215 is executed by the CPU 202 of the control server 110. The communication means switching program 215 operates as a communication means switching unit. The communication means switching process is executed in the communication quality determination process of FIG.

  In the communication means switching process, first, the CPU 202 determines whether or not there are a plurality of communication means that can communicate between the robot 101 and the control server 110 (step 2151). If there are not a plurality of communicable communication means, the communication means switching process is terminated (step 2151: No).

  When there are a plurality of communicable communication means (step 2151: Yes), the function state information management table 227 (see FIG. 22) is referred to, and information regarding the correspondence between the function and the communication means is acquired (step 2152). Based on the acquired information, the CPU 202 determines whether there is a function to which no communication means is assigned, or whether there is a function that does not satisfy the required communication quality with the current communication quality of the assigned communication means. (Step 2153). Here, when there is a function that does not satisfy the required communication quality with the current communication quality of the assigned communication means, for example, the robot 101 may exist outside the movement permission range determined by the movement permission range information management table 226. It is done.

  If there is no function to which no communication means is assigned, or there is no function in which the assigned communication means does not satisfy the required communication quality (step 2153: No), the communication means switching process is terminated.

  On the other hand, when there is a function to which no communication means is assigned or there is a function in which the assigned communication means does not satisfy the required communication quality (step 2153: Yes), the CPU 202 determines the function information management table 221 (FIG. 12). , The function information is acquired (step 2154), and it is determined whether or not there is a communication unit that satisfies the communication quality value required by the function (step 2155).

  Here, if there is no communication means satisfying the communication quality value required by the function, the communication means switching process is terminated (step 2155: No).

  On the other hand, when there is a communication unit that satisfies the communication quality value required by the function (step 2155: Yes), the CPU 202 assigns a communication unit that satisfies the communication quality value required for the function (step 2156). The CPU 202 subtracts the communication quality value of the communication means to which the function is assigned in step 2156 from the communication quality value of the entire communication means, and calculates a difference in communication quality values indicating a surplus of the communication band (step 2157). Thereafter, the process returns to step 2153 and is repeated until there is no function to which the communication means is not assigned and no function to which the assigned communication means does not satisfy the required communication quality.

  Thereby, the communication means allocated to the function is switched. As a result, when the robot 101 is executing a plurality of functions, different communication means can be assigned to each function. That is, the robot 101 can communicate with a plurality of communication means while executing a plurality of functions, and the communication quality is stabilized.

  FIG. 8 is a flowchart showing an example of the function switching process. The function switching process is a process performed when the function switching program 216 is executed by the CPU 202 of the control server 110. The function switching program 216 operates as a function switching unit. The function switching process is executed in the communication quality determination process of FIG.

  In the function switching process, first, the CPU 202 determines whether there is a function to which no communication means is assigned even by the communication means switching process (see FIG. 7), or the current communication quality of the assigned communication means satisfies the required communication quality. It is determined whether there is a function that is not performed (step 2161). Here, when there is a function that does not satisfy the required communication quality with the current communication quality of the assigned communication means, for example, the robot 101 may exist outside the movement permission range determined by the movement permission range information management table 226. It is done.

  If there is no function to which the communication means is not assigned or there is no function in which the requested communication quality is not satisfied in the assigned communication means, the function switching process is terminated (step 2161: No).

  If there is a function to which the communication means is not assigned or there is a function in which the requested communication quality is not satisfied by the assigned communication means (step 2161: Yes), the CPU 202 stores the function information management table 221 (FIG. 12). Referring to this, it is determined whether or not the alternative function 2215 of the function is registered (step 2162). If the alternative function 2215 is not registered (step 2162: No), the CPU 202 ends the function (step 2165) and returns to step 2161 again.

  When the alternative function 2215 of the function is registered (step 2162: Yes), the CPU 202 determines whether there is a communication unit that satisfies the communication quality value requested by the alternative function (step 2163). If there is a communication means that satisfies the communication quality value required by the alternative function (step 2163: Yes), the CPU 202 ends the function to which the communication means is not assigned or the function for which the requested communication quality is not satisfied by the assigned communication means. Then, the alternative function is executed to switch to the alternative function (step 2164), and the process returns to step 2161. If there is no communication means that satisfies the communication quality value required by the alternative function (step 2163: No), the process proceeds to step 2165.

  As a result, the function for which the alternative function is set is switched to the alternative function.

  FIG. 9 is a flowchart showing an example of the robot state change process. The robot state change process is a process performed when the robot state change program 217 is executed by the CPU 202 of the control server 110. The robot state change program 217 operates as a robot state change unit. The robot state change process is executed in the communication quality determination process of FIG.

  In the robot state change process, first, the CPU 202 refers to the movement permission range information management table 226 (FIG. 20) (step 2171).

  The CPU 202 determines whether or not there is information regarding the location of the wireless LAN AP or the wireless relay device in the movement permission range information management table 226 (FIG. 20) (step 2172). If the movement permission range information management table 226 (FIG. 20) includes information on the location of the wireless LAN AP or wireless relay device (step 2172: Yes), the wireless LAN AP or wireless relay device closest to the position of the robot 101 is used. A control command for controlling the posture of the robot 101 is transmitted to the robot 101 so that the wireless LAN I / F 305 of the robot 101 faces in the direction of (2173).

  After the transmission of the above control command and when there is no information regarding the location of the wireless LAN AP or wireless relay device in the movement permission range information management table 226 (FIG. 20) (step 2172: No), the CPU 202 The status information management table 224 (FIG. 17) is referred to (step 2274). Then, the control server 110 determines whether or not the current shape of the robot 101 is a shape for restoring communication (step 2175). The communication recovery shape is, for example, a predetermined shape of the robot 101, which is a shape suitable for improving the communication quality when the communication quality is low.

  When the robot 101 is not in the shape for communication restoration (step 2175: No), the control server 110 transmits a control command for the robot 101 to change its shape to the shape for communication restoration to the robot 101 (step). 2176). If the robot has a shape for communication restoration (step 2175: Yes), step 2176 is skipped and the robot state change process is terminated.

  Thereby, the direction and shape of the robot can be changed. As a result, an improvement in the communication state between the control server 110 and the robot 101 can be expected.

  FIG. 10 is a flowchart illustrating an example of the communication restoration process. The communication recovery process is a process performed by the communication recovery program 218 being executed by the CPU 202 of the control server 110. The communication restoration program 218 operates as a movement control unit that controls movement of the robot 101. The communication restoration process is executed in the communication quality determination process of FIG.

  In the communication restoration process, first, the CPU 202 compares the priority of the function to which no communication means is assigned and the alternative function is not activated with a predetermined threshold 3 under the following condition 5 (step 2181).

  Condition 5: Priority ≧ Threshold 3

  When the condition 5 is not satisfied (step 2181: No), the communication recovery process is terminated.

  On the other hand, if there is a function that satisfies the condition 5, that is, if there is a function whose communication state is insufficient even during execution (step 2181: Yes), the communication means switching process (FIG. 7) has already been performed. It is determined whether or not (step 2182). If the communication means switching process has been performed (step 2182: Yes), the process ends.

  When the communication means switching process has not been performed (step 2182: No), the communication quality information management table 222 (FIG. 13) is referred to and the presence / absence of a position with higher communication quality than the current position is determined (step 2183). .

  If there is no position where the communication quality is higher than the current position (step 2183: No), a command to move to the standby point is transmitted from the control server 110 to the robot 101 (step 2184). If there is a position with higher communication quality than the current position (step 2183: Yes), a command to move to a position with higher communication quality is transmitted from the control server 110 to the robot 101 (step 2185).

  After completion of step 2184 and step 2185, the CPU 202 updates the current position as a range in which movement of the robot 101 is not permitted in the movement permission range information management table 226 (FIG. 20) (step 2186).

  As a result, the robot 101 is forcibly moved to a position where the communication state is better, and the control server 110 can continue to manage the robot 101.

FIG. 11 is a flowchart illustrating an example of the movement determination process. The movement determination process is a process performed when the movement determination program 219 is executed by the CPU 202 of the control server 110. The movement determination program 219 operates as a movement determination unit. The movement determination program 219 operates as a movement control unit that controls the movement of the robot 101.
First, the CPU 202 acquires a movement notification for the robot 101 from the application server 111, and acquires the communication quality information of the destination position indicated by the movement notification with reference to the communication quality information management table 222 (step 2191).

  Next, the CPU 202 refers to the robot state information management table 224 and the function information management table 221 (step 2192), and determines the requested communication quality of the function being used by the robot 101 and the communication quality of the destination location indicated by the movement notification. Comparison is made under the following condition 6 (step 2193).

  Condition 6: Total value of required quality values of functions in use> communication quality value of location of movement notification

  If it is determined that the condition 6 is not satisfied (step 2193: No), the CPU 202 transmits a movement command to the movement destination indicated by the movement notification to the robot 101 (step 2200), and ends the process.

  When it is determined that the condition 6 is satisfied (step 2193: Yes), the CPU 202 activates the communication control program 214 and executes the communication control process (see FIG. 6) (step 2194). Further, the CPU 202 activates the communication means switching program 215 and executes communication means switching processing (see FIG. 7) (step 2195). The CPU 202 further activates the function switching program 216 and executes function switching processing (see FIG. 8) (step 2196).

  After executing Step 2194, Step 2195, and Step 2196, the CPU 202 determines again whether there is a function that satisfies the condition 6 (Step 2197).

If there is no function that satisfies condition 6 (step 2197: No), the process proceeds to step 2200. If there is a function that satisfies the condition 6 (step 2197: Yes), the CPU 202 compares the priority of the function that satisfies the condition 6 with the predetermined threshold 4 under the following condition 7 (step 2198).
Condition 7: Unusable function priority ≧ threshold 4

  If it is determined that the condition 7 is satisfied, the CPU 202 notifies the application server 111 that it is impossible to move the robot 101 based on the movement notification (step 2199), and the process ends. If it is determined that the condition 7 is not satisfied, the process proceeds to step 2220.

  Thereby, it is possible to prevent the robot 101 from moving to a position where the communication quality is not good.

  FIG. 12 is a diagram illustrating an example of the function information management table 221.

  The function information management table 221 stores information related to functions executed by the robot 101. For example, the function information management table 221 includes a function ID 2211 for uniquely identifying a function, and a required communication quality value 2212 that is information on communication quality between the robot 101 and the control server 110 required for each function. The communication quality request level 2213 determined from the communication quality value 2212, the priority 2214 which is the priority information of the function, and the alternative function 2215 when the function cannot be used are stored.

  As shown in FIG. 12, the communication quality value 2212 further includes a throughput such as a data transfer rate, an RTT (Round Trip Time), and a packet loss rate. However, the communication quality value 2212 may include only a part of these indexes. Other indicators (jitter etc.) may be included.

  The request level 2213 is, for example, a throughput of 0 to 100000 bps, 1 of 100001 to 1000000 bps, 3 of 1000001 to 5000000 bps, 4 of 5000001 to 10000000 bps, and 5 of 10000001 bps or more. In this example, the rank of the request level is five stages, but the number of ranks of the request level is not limited.

  The alternative function 2215 stores a function ID of an alternative function that can replace the function related to the function ID 2211.

  FIG. 13 is a diagram showing an example of the communication quality information management table 222. The communication quality information management table 222 has information indicating the communication quality within the maximum movement range 1010 of the robot 101. The communication quality information management table 222 is generated from information related to the position of the robot 101 and information related to communication with the robot 101.

  In the communication quality information management table 222, for example, the maximum movement range 1010 of the robot 101 is divided into grid areas having a predetermined size, and information on the communication quality level in each area divided into the grid pattern is stored. Each area divided in a lattice shape may be specified by, for example, XY coordinates. The communication quality level may be determined by a communication quality measurement process (FIG. 3).

  In this example, the information stored in the communication quality information management table 222 is the communication quality level, but other information may be used. For example, the communication quality may be an average value, median value, maximum value, or minimum value such as throughput, delay, and packet loss rate.

  In addition, when the position of the wireless LAN AP or the relay that relays the wireless LAN is known, characters, symbols, or numbers indicating the position of the wireless LAN AP or the relay are added to the lattice area where they are located. May be.

  When there are a plurality of communication means between the robot 101 and the control server 110, the communication quality information management table 222 may be created for each communication means. Alternatively, one communication quality information management table 222 may be generated based on the total value of communication quality values of a plurality of communication means.

  FIG. 14 is a diagram illustrating an example of the communication quality map 2220. The communication quality map 2220 is a map that visualizes the communication quality of the movement range of the robot 101 based on the communication quality information management table 222. For example, as shown in FIG. 14, the communication quality map 2220 divides the maximum movement range 1010 into a grid area of a predetermined size and registers it in the communication quality information management table 222 in the grid-divided area. The obtained throughput may be expressed in multiple stages for each lattice. The grids of the communication quality information management table 222 and the communication quality map 2220 may correspond to each other.

  For example, a throughput of 0 to 100000 bps is set to level 1, 100001 to 1000000 bps to level 2, 10000001 to 5000000 bps to level 3, 5000001 to 10000000 bps to level 4, and 10000001 bps or more to level 5. In this example, the rank of the request level is five stages, but the number of ranks of the request level is not limited.

  Alternatively, the map may be a three-dimensional map having an x-axis, a y-axis, and a z-axis, and the delay, packet loss rate, and communication quality level may be expressed by a z-axis graph in the height direction.

  FIG. 15 is a diagram illustrating an example of the function feasible range information management table 223. The function feasible range information management table 223 includes information indicating the actual communication quality state with respect to the required communication quality of each function within the maximum movement range 1010 of the robot 101. The function feasible range information management table 223 is generated from actual communication quality and communication quality required for the function.

  In the function feasible range information management table 223, for example, as in the communication quality information management table 222, the maximum movement range 1010 of the robot 101 is divided into grid areas of a predetermined size. In the function feasible range information management table 223, information indicating whether or not the required communication quality of each function in each area divided into a grid is satisfied is stored for each function. Each area divided in a lattice shape may be specified by, for example, XY coordinates. For example, a value (for example, 0) indicating that the required quality of the function is not satisfied may be stored in the lattice that does not satisfy the required communication quality of the function.

  In addition, if the position of the wireless LAN AP or the relay that relays the wireless LAN is known, characters, symbols, numbers, or the like indicating the position of the wireless LAN AP or the relay are added to the lattice area where they are located. Also good.

  When there are a plurality of communication means between the robot 101 and the control server 110, the function feasible range information management table 223 may be created for each communication means. Alternatively, one function feasible range information management table 223 may be generated based on the total value of communication quality values of a plurality of communication means.

  FIG. 16 is a diagram illustrating an example of the function feasible range map 2230. The function feasible range map 2230 is a map that visualizes the actual communication quality level with respect to the required communication quality for each function in the maximum movement range 1010 of the robot 101 based on the function feasible range information management table 223. For example, as shown in FIG. 16, the function feasible range map 2230 divides the maximum movement range 1010 into a grid area having a predetermined size, and the function feasible range information management is performed in the grid-divided area. The actual communication quality level corresponding to the required communication quality for each function registered in the table 223 may be visually represented in multiple stages for each grid. For example, an area indicating that the required communication quality of the function is not satisfied may be displayed indicating that the function cannot be used. The grids of the function feasible range information management table 223 and the function feasible range map 2230 may correspond to each other.

  FIG. 17 is a diagram illustrating an example of the robot state information management table 224. The robot state information management table 224 shows the state of the robot 101 related to the function and shape.

  The robot state information management table 224 includes, for example, a robot state ID 2241 that is an ID for uniquely identifying the state of the robot 101, a state 2242 of each function, and a robot shape 2243. In each function state 2242, for example, 1 may be stored when the robot 101 performs the function, and 0 may be stored when the robot 101 does not perform the function. In the robot shape 2243, for example, 1 may be stored when the robot 101 is in a communication recovery shape, and 0 may be stored in other shapes.

  FIG. 18 is a diagram illustrating an example of the function provision range information management table 225. The function provision range information management table 225 indicates an area where each function needs to be provided within the maximum movement range 1010 of the robot 101.

  In the function provision range information management table 225, for example, the maximum movement range 1010 of the robot 101 is divided into a grid area of a predetermined size, like the communication quality information management table 222 and the function feasible range information management table 223. For each area, a value indicating whether or not the function needs to be provided is stored. Each area divided in a lattice shape may be specified by, for example, XY coordinates. The value indicating whether or not the function needs to be provided may be, for example, 1 if the function is provided and 0 if the function is not required.

  When there are a plurality of communication means between the robot 101 and the control server 110, the function provision range information management table 225 may be created for each communication means. Or the one function provision range information management table 225 may be produced | generated based on the total value of the communication quality value of several communication means.

  FIG. 19 is a diagram showing an example of the function provision range map 2250. The function provision range map 2250 is a map that visualizes a range in which the function needs to be provided within the maximum movement range 1010 of the robot 101 based on the function provision range information management table 225. For example, as shown in FIG. 19, the function provision range map 2250 divides the map into grid areas of a predetermined size, and is registered in the function provision range information management table 225 in the grid-divided areas. In addition, a value indicating whether or not the function needs to be provided may be visually expressed separately for each grid. The grids of the function provision range information management table 225 and the function provision range map 2250 may correspond to each other.

  FIG. 20 is a diagram showing an example of the movement permission range information management table 226. The movement permission range information management table 226 indicates a range in which the robot 101 can move in order to continuously provide the function currently provided within the maximum movement range 1010 of the robot 101. The movement permission range information management table 226 is generated from the communication quality and the required communication quality of the function being executed.

  In the movement permission range information management table 226, for example, the maximum movement range 1010 of the robot 101 has a predetermined size as in the communication quality information management table 222, the function feasible range information management table 223, and the function provision range information management table 225. Divided into grid-like areas. Each area divided in a lattice shape may be specified by, for example, XY coordinates. In the movement permission range information management table 226, communication quality information or a communication quality level is stored in each area divided in a lattice shape, and it indicates that movement is not permitted in an area where movement of the robot 101 is not permitted. A value (for example, 0) may be stored.

  When there are a plurality of communication means between the robot 101 and the control server 110, the movement permission range information management table 226 may be created for each communication means. Alternatively, one movement permission range information management table 226 may be generated based on a total value of communication quality values of a plurality of communication means.

  FIG. 21 is a diagram illustrating an example of the movement permission range map 2260. The movement permission range map 2260 is a map that visualizes a range in which the movement of the robot 101 is permitted within the maximum movement range 1010 of the robot 101 based on the movement permission range information management table 226. For example, as shown in FIG. 21, the movement permission range map 2260 divides the map into a grid area of a predetermined size, and is registered in the movement permission range information management table 226 in the area divided into the grid pattern. The communication quality information or the communication quality level may be visually expressed in multiple stages for each grid. For example, a symbol indicating that movement is not permitted may be displayed in an area where movement is not permitted. The grids of the movement permission range information management table 226 and the movement permission range map 2260 may correspond to each other.

  FIG. 22 is a diagram illustrating an example of the function state information management table 227. The function status information management table 227 shows communication means used for each function.

  The function state information management table 227 includes a function ID 2271 that is an ID for uniquely identifying a function, a communication unit 2272 indicating a communication unit to which the function is assigned, and whether or not the function uses an alternative function. And an alternative function usage state 2273 shown. The communication unit 2272 may be assigned when a function is being executed by the robot 101 and may be released when the execution is completed. The substitute function use state 2273 indicates whether or not the substitute function is being executed.

  Next, communication between the control server 110 and the robot 101 will be described.

  FIG. 23 is a sequence diagram illustrating an example of updating the communication quality map and the movement permission range map.

  When packets are transmitted and received between the robot 101 and the control server 110, the control server 110 executes the communication quality measurement program 211 to measure the communication quality between the robot 101 and the control server 110.

  When the communication quality information management table 222 is updated as a result of the execution of the communication quality measurement program 211, the control server 110 transmits the communication quality map equivalent to the updated communication quality information management table 222 or the communication quality information management table 222. Information about 2220 is transmitted to the robot 101. At this time, the updated communication quality information management table 222 or the communication quality map 2220 may be transmitted from the control server 110 to the robot 101, or difference information from these before the update may be transmitted.

  Next, the control server 110 executes the movement permission range map creation program 212 and updates the movement permission range information management table 226. Thereafter, the control server 110 transmits to the robot 101 information related to the movement permitted range information management table 226 or the movement permitted range information management table 226 that is updated. At this time, the updated movement-permitted range information management table 226 or movement-permitted range map 2260 may be transmitted from the control server 110 to the robot 101, or difference information from these before updating may be transmitted.

  The control server 110 and the robot 101 can update the communication quality map and the movement permission range map of FIG. 23 periodically or at an arbitrary timing.

  FIG. 24 is a sequence diagram illustrating an example of processing for stabilizing the communication quality between the robot 101 and the control server 110.

  When packets are transmitted and received between the robot 101 and the control server 110, the control server 110 executes the communication quality measurement program 211 to measure the communication quality between the robot 101 and the control server 110. When the measured communication quality is equal to or less than the value registered in the communication quality information management table 222, the communication quality determination program 213 is executed in the communication quality measurement process by the communication quality measurement program 211.

  Next, in the communication quality determination process by the communication quality determination program 213, when the communication control program 214 and the communication means switching program 215 are executed and the communication means are switched, the control server 110 switches the communication means to the robot 101. Send instructions.

  Next, in the function switching process by the function switching program 216, if it is determined that the function of the robot 101 needs to be switched, a command for switching the function from the control server 110 to the robot 101 is transmitted.

  Further, in the robot state change process by the robot state change program 217, when it is determined that the robot shape or orientation needs to be changed, control for controlling the control server 110 to change the shape or orientation of the robot 101 to the robot 101 is performed. An instruction is sent.

  When it is determined in the communication recovery process by the communication recovery program 218 that the robot 101 needs to be moved, a movement command is transmitted from the control server 110 to the robot 101.

  The control server 110 can perform the communication stabilization process of FIG. 24 periodically or at an arbitrary timing.

  FIG. 25 is a diagram illustrating an example of the configuration of the robot 101 according to the first embodiment.

  The robot 101 includes a memory 301, a CPU (Central Processing Unit) 302, an I / O (input / output interface) 303, an auxiliary storage device 304, a wireless LAN I / F 305, a short-range wireless I / F 306, A body communication network I / F 307, a mechanism unit 308 that is a mechanism part of a robot such as a head, arm, and leg, a mechanism control unit 309 that controls the mechanism unit 308, a speaker 310 that emits sound, and the like are collected. A microphone 311 and a light emitting unit 312 are included. The processing performed by the robot 101 described below is realized by the CPU 302 reading out a computer program (software) stored in the auxiliary storage device 304, developing it on the memory 301, and executing it. The robot 101 communicates with the control server 110 via the wireless LAN I / F 305, the short-range wireless I / F 306, or the mobile communication network I / F 307.

  The I / O 303 is a user interface for the user to input an instruction to the robot 101 and present the execution result of the program to the user. Input / output devices (for example, a keyboard, a mouse, a touch panel, a display, a printer, etc.) are connected to the I / O 303. The I / O 303 may be connected to a user interface provided by a management terminal connected via a network.

  The CPU 302 is a processor that executes a program stored in the memory 301. The memory 301 includes a ROM (Read Only Memory) that is a nonvolatile storage element and a RAM (Random Access Memory) that is a volatile storage element. The ROM stores an invariant program (for example, BIOS: Basic Input Output System). The RAM is a high-speed and volatile storage element such as a DRAM (Dynamic Random Access Memory), and temporarily stores a program stored in the auxiliary storage device 302 and data used when the program is executed.

  For example, the memory 301 stores a location management program 321 and a communication restoration program 322.

  The location management program 321 is a program for executing location management processing (see FIG. 26). The communication recovery program 322 is a program for executing communication recovery processing (see FIG. 27).

  The memory 301 stores a communication quality information management table 222 (see FIG. 13) and a movement permission range information management table 226 (see FIG. 20).

  The auxiliary storage device 304 is a large-capacity and nonvolatile storage device such as a magnetic storage device (HDD: Hard Disk Drive) or a flash memory (SSD: Solid State Drive). The auxiliary storage device 304 stores a program executed by the CPU 302 and data used when the program is executed. That is, the program is read from the auxiliary storage device 304, loaded into the memory 301, and executed by the CPU 302.

  Various tables or maps transmitted from the control server 110 are stored in the memory 301 or the auxiliary storage device 304 and are referred to when the CPU 302 executes the program.

  The computer system of the robot 101 is a computer system configured on one physical computer or a plurality of logical or physical computers, and the program stored in the memory 201 is stored on the same computer. It may operate in a separate thread, or may operate on a virtual machine constructed on a plurality of physical computer resources. Note that all or a part of the processing realized by executing the program may be realized by hardware (for example, Field-Programmable Gate Array).

  FIG. 26 is a flowchart illustrating an example of the position management process. The position management process is a process performed when the position management program 321 is executed by the CPU 302 of the robot 101. The position management program 321 operates as a position management unit.

  In the position management process, first, the CPU 302 acquires the position information of the robot 101 (step 3221). Next, the CPU 302 refers to the movement permission range information management table 226 based on the acquired position information of the robot 101 (step 3222), and determines whether or not the current position of the robot 101 is within the movement permission range (step 3223). .

  If the current position of the robot 101 is within the movement permission range, the position management process is terminated (step 3223: Yes).

  On the other hand, if the current position of the robot 101 is not within the movement permission range (step 3223: No), the CPU 302 instructs the mechanism control unit 309 to move to a position within the movement permission range that is closest to the current position. Then, the robot 101 is moved into the movement permission range (step 3224).

  Thereby, the robot 101 can keep its own position within the movement permission range instructed from the control server 110.

  FIG. 27 is a flowchart illustrating an example of the communication restoration process. The communication recovery process is a process that is performed when the communication recovery program 322 is executed by the CPU 302 of the robot 101. The communication restoration program 322 operates as a communication restoration processing unit or a location management unit.

  In the communication restoration process, first, the CPU 302 measures communication quality from a packet transmitted and received between the robot 101 and the control server 110 (step 3231). The communication quality measured here is, for example, throughput such as data transfer rate, delay such as RTT (Round Trip Time), and packet loss rate. The robot 101 may transmit a test packet for measuring communication quality.

  Next, the CPU 302 compares the measured communication quality value with the predetermined threshold value 5 under the following condition 8 (step 3232).

  Condition 8: communication quality value ≦ threshold value 5

  If it is determined that the condition 8 is not satisfied, the communication restoration process is terminated (step 3232: No).

  When it is determined that the condition 8 is satisfied, that is, when the communication quality value is equal to or less than the threshold value 5 (step 3232: Yes), the CPU 302 refers to the communication quality map 2220 (step 3233), It is determined whether there is a good place (step 3234).

  If there is no place with better communication quality than the current position (step 3234: No), the CPU 302 issues an instruction to the mechanism control unit 309 to move the robot 101 to the standby point (step 3235).

  On the other hand, if there is a place with better communication quality than the current position (step 3234: Yes), the CPU 302 issues an instruction to the mechanism control unit 309 and moves the robot 101 to a place with better communication quality than the current position (step). 3236).

  Thereby, the position of the robot 101 can be controlled to prevent the robot 101 from communicating with the control server 110.

<Example 2>
In the second embodiment, an example in which the relay server 120 relays communication of the mobile communication network 107 will be described. In the following description, the same components or functions as those described in the first embodiment may be denoted by the same reference numerals as those in the first embodiment, and the description thereof may be omitted.

  FIG. 28 is a diagram illustrating an example of the robot management system according to the second embodiment. The robot management system according to the second embodiment includes a robot 101 that is an autonomously movable information processing apparatus, a control server 110 that is a control apparatus, an application server 111, and wireless communication of a mobile communication network between the robot 101 and the control server 110. A relay server 120 that relays

  The robot 101 and the control server 110 are connected by wireless communication. The communication means for connecting the robot 101 and the control server 110 is, for example, a wireless LAN (Local Area Network) 104 and a short-range wireless 106. Communication using the wireless LAN 104 and the short-range wireless 106 is the same as in the first embodiment.

  The robot 101 and the relay server 120 are connected by wireless communication. A communication means for connecting the robot 101 and the relay server 120 is, for example, the mobile communication network 107. At this time, the robot 101 and the relay server 120 are connected via the base station device 108 and the Internet 109. The control server 110 and the relay server 120 are connected via wired communication, for example, the Internet 109. Therefore, the robot 101 and the control server 110 can communicate via the relay server 120.

  The control server 110 and the relay server 120 each measure communication quality information using communication information with the robot 101.

  FIG. 29 is a diagram illustrating an example of the configuration of the control server 110.

  The control server 110 includes a memory 401, a CPU (Central Processing Unit) 402, an I / O (input / output interface) 403, an auxiliary storage device 404, a wireless LAN I / F 405, a short-range wireless I / F 406, A mobile communication network I / F 407 and a network I / F 408 are included. The process performed by the control server 110 described below is realized by the CPU 402 reading out a computer program (software) stored in the auxiliary storage device 404, developing it on the memory 401, and executing it. The control server 110 communicates with the robot 101 via the wireless LAN I / F 405, the short-range wireless I / F 406, or the mobile communication network I / F 407. Further, the control server 110 communicates with the relay server 120 via the network I / F 408.

  An I / O (input / output interface) 403 is a user interface for the user to input an instruction to the control server 110 and present the execution result of the program to the user. Input / output devices (for example, a keyboard, a mouse, a touch panel, a display, a printer, etc.) are connected to the I / O 403. The I / O 403 may be connected to a user interface provided by a management terminal connected via a network.

  The CPU 402 is a processor that executes a program stored in the memory 401. The memory 401 includes a ROM (Read Only Memory) that is a nonvolatile storage element and a RAM (Random Access Memory) that is a volatile storage element. The ROM stores an invariant program (for example, BIOS: Basic Input Output System). The RAM is a high-speed and volatile storage element such as a DRAM (Dynamic Random Access Memory), and temporarily stores a program stored in the auxiliary storage device 402 and data used when the program is executed.

  For example, the memory 401 includes a communication quality measurement program 411, a movement permission range map creation program 212, a communication quality determination program 213, a communication control program 214, a communication means switching program 215, a function switching program 216, a robot state change program 217, a communication A recovery program 218 and a movement determination program 219 are stored.

  The communication quality measurement program 411 is a program for executing communication quality measurement processing (see FIG. 30). Since the movement permission range map creation program 212 to the movement determination program 219 are the same as those in the first embodiment, description thereof is omitted.

  Further, the function information management table 221 to the function state information management table 227 stored in the memory 401 are the same as those in the first embodiment, and thus description thereof is omitted.

  The auxiliary storage device 404 is a large-capacity and nonvolatile storage device such as a magnetic storage device (HDD: Hard Disk Drive) or a flash memory (SSD: Solid State Drive). The auxiliary storage device 404 stores a program executed by the CPU 402 and data used when the program is executed. That is, the program is read from the auxiliary storage device 404, loaded into the memory 401, and executed by the CPU 402.

  FIG. 30 is a flowchart illustrating an example of communication quality measurement processing. The communication quality measurement process is a process performed when the communication quality measurement program 411 is executed by the CPU 402 of the control server 110. The communication quality measurement program 411 operates as a communication quality measurement unit. The communication quality measurement process performed by the control server 110 of the present embodiment includes a process of measuring the quality of communication performed directly with the robot 101 by the wireless LAN 140 and the short-range wireless 106 as in the first embodiment. The communication quality measurement process of the present embodiment further includes a process of acquiring information related to the communication quality between the relay server 120 and the robot 101 from the relay server 120.

  In the communication quality measurement process, as in the first embodiment, the communication quality is measured using packets transmitted and received between the robot 101 and the control server 110, and the communication quality information management table 222 is updated.

  First, as in the first embodiment, the CPU 402 measures the communication quality between the robot 101 and the control server 110 in step 4111, and associates the position information of the robot 101 with the communication quality information in step 4112.

  Next, the CPU 402 acquires the position information of the relay server 120 and the communication quality between the relay server 120 and the robot 101 from the relay server 120 (step 4113). The relay server 120 measures the communication quality with the robot 101 in advance (see FIG. 34), and the control server 110 acquires the measurement result.

  Thereafter, as in the first embodiment, the CPU 402 performs processing for registering the communication quality associated with the position information of the robot 101 in the communication quality information management table 222 (steps 4114 to 4119).

  As a result, communication quality information indicating the latest communication state between the control server 110 and the robot 101 (including the case via the relay server 120) is provided to the robot 101.

  FIG. 31 is a diagram illustrating an example of the configuration of the relay server 120 according to the second embodiment.

  The relay server 120 includes a memory 501, a CPU 502, an I / O 503, an auxiliary storage device 504, a mobile communication network I / F 505, and a network I / F 506. The processing performed by the relay server 120 described below is realized by the CPU 502 expanding and executing a computer program stored in the auxiliary storage device 504 on the memory 501. The relay server 120 communicates with the robot 101 via the mobile communication network I / F 505. The relay server 120 communicates with the control server 110 via the network I / F 506.

  An I / O (input / output interface) 503 is a user interface for the user to input an instruction to the relay server 120 and present the execution result of the program to the user. Input / output devices (for example, a keyboard, a mouse, a touch panel, a display, a printer, and the like) are connected to the I / O 503. The I / O 503 may be connected to a user interface provided by a management terminal connected via a network.

  The CPU 502 is a processor that executes a program stored in the memory 501. The memory 501 includes a ROM (Read Only Memory) that is a nonvolatile storage element and a RAM (Random Access Memory) that is a volatile storage element. The ROM stores an invariant program (for example, BIOS: Basic Input Output System). The RAM is a high-speed and volatile storage element such as a DRAM (Dynamic Random Access Memory), and temporarily stores a program stored in the auxiliary storage device 502 and data used when the program is executed.

  For example, the memory 501 stores an information transfer program 511 and a communication quality measurement program 512.

  The information transfer program 511 is a program for executing information transfer processing (see FIG. 32). The communication quality measurement program 512 is a program for executing communication quality measurement processing (see FIG. 34).

  The memory 501 stores a device information management table 521 (see FIG. 33).

  The auxiliary storage device 504 is a large-capacity and nonvolatile storage device such as a magnetic storage device (HDD: Hard Disk Drive) or a flash memory (SSD: Solid State Drive). The auxiliary storage device 504 stores a program executed by the CPU 502 and data used when the program is executed. That is, the program is read from the auxiliary storage device 504, loaded into the memory 501, and executed by the CPU 502.

  The relay server 120 is a computer system that is physically configured on one computer or a plurality of logical or physical computers, and the programs stored in the memory 501 are separately stored on the same computer. May operate on a virtual machine constructed on a plurality of physical computer resources. Further, the relay server 120 and other devices may be accommodated in one physical or logical computer. Note that all or a part of the processing realized by executing the program may be realized by hardware (for example, Field-Programmable Gate Array).

  FIG. 32 is a flowchart showing an example of information transfer processing. The information transfer process is a process performed when the information transfer program 511 is executed by the CPU 502. The information transfer process is a process performed by receiving a packet from the robot 101 or the control server 110.

  In the information transfer process, first, when a packet is received from the robot 101 or the control server 110 (step 5111), the destination device of the received packet is identified by the CPU 502, and the destination device information is obtained by referring to the device information management table 521. (Step 5112). The CPU 502 transfers the packet received in step 5111 based on the information on the destination device acquired in step 5112 (step 5113).

  FIG. 33 is a diagram illustrating an example of the device information management table 521.

  The device information management table 521 has information regarding devices that can communicate with the relay server 120. For example, the device information management table 521 stores a device ID 5211 that is an ID for uniquely identifying a device, an IP address 5212 that the device uses for communication, and a port number 5213 that the device uses for communication. In addition, information (MAC address or the like) for communication by the apparatus may be stored.

  FIG. 34 is a flowchart illustrating an example of communication quality measurement processing. The communication quality measurement process is a process performed when the communication quality measurement program 512 is executed by the CPU 502 of the relay server 120. The communication quality measurement program 512 operates as a communication quality measurement unit.

  In the communication quality measurement process, when the information transfer process shown in FIG. 32 is performed (step 5121), the communication quality between the robot 101 and the relay server 120 is determined from the packet that the CPU 502 transmits and receives between the robot 101 and the relay server 120. Is measured (step 5122).

  Next, the CPU 502 acquires the position information of the robot 101 from the robot 101 and associates the position information of the robot 101 with the communication quality measured in step 5122 based on the time information (step 5123). Then, the CPU 502 transmits the communication quality associated with the position information to the control server 110 (step 5124).

  Thereby, the communication quality can be measured by the relay server 120.

  According to the present embodiment, even if communication between the control server 110 and the robot 101 is performed via the relay server 120, communication between the control server 110 and the robot 101 is performed in the same manner as when direct communication is performed as in the first embodiment. The robot can be controlled to keep the state at the required communication quality.

  In addition, the form for implementing this invention is not limited to the Example demonstrated above, Various modifications and an equivalent structure are included. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. A part of the configuration of one embodiment may be replaced with the configuration of another embodiment. Moreover, you may add a part of structure of another Example to the structure of a certain Example.

  Further, the above-described processing by the program or the like may be realized by hardware, for example, by designing a part or all of the program by an integrated circuit, for example, and the processing by the hardware and the processing by the program may be combined. Information such as programs and tables can be stored in a storage device such as a memory, HDD (Hard Disk Drive), or SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD. Further, the control lines and information lines indicate those necessary for explanation, and there may be control lines and information lines other than those shown.

101 Robot 102 Movement Permitted Range 103 Non-Moveable Permitted Range 104 Wireless LAN
105 Wireless LAN AP
106 Short-range wireless 107 Mobile communication network 108 Base station 109 Internet 110 Control server

Claims (15)

A control device for controlling an information processing device capable of autonomous movement,
First information that is information related to the position of the information processing device and second information that is information related to communication of the information processing device are acquired, and communication is performed using the first information and the second information. A communication quality information generation unit for creating communication quality information indicating a distribution of quality;
And a movement control unit that controls a movement range of the information processing apparatus based on the communication quality information. The control device according to claim 1,
The communication quality information generation unit further acquires third information that is information related to communication of a function being executed by the information processing apparatus,
The movement control unit controls a movement range of the information processing apparatus using the third information. The control device according to claim 1 or 2,
When the communication quality at the current position of the information processing device based on the first information and the second information is lower than the communication quality required for the information processing device,
The movement control unit transmits a movement command to the information processing apparatus. The control device according to claim 1 or 2,
A first communication interface for communicating with the information processing apparatus by a first communication means;
A second communication interface for communicating with the information processing device by a second communication means,
The second information is information relating to communication quality of communication performed with the information processing apparatus by the first communication unit using the first communication interface;
When the communication quality of the first communication means at the current position of the information processing device is lower than the communication quality required for the information processing device, or obtain movement command information to the information processing device, and according to the movement command When the communication quality of the first communication means at the position of the movement destination is lower than the communication quality required for the information processing device,
A control apparatus that communicates with the information processing apparatus using the first communication interface and the second communication interface. The control device according to claim 1 or 2,
When the communication quality of the first communication means at the current position of the information processing device is lower than the communication quality required for the information processing device, or obtain movement command information to the information processing device, and according to the movement command When the communication quality of the first communication means at the position of the movement destination is lower than the communication quality required for the information processing device,
A control device further comprising: a function switching processing unit that stops a first function being executed by the information processing apparatus and executes a second function that is an alternative function of the first function. The control device according to claim 1 or 2,
When the communication quality of the first communication means at the current position of the information processing device is lower than the communication quality required for the information processing device, or obtain movement command information to the information processing device, and according to the movement command When the communication quality of the first communication means at the position of the movement destination is lower than the communication quality required for the information processing device,
The control apparatus which further has a communication control part which suppresses the communication amount regarding at least 1 or more function among the functions which the said information processing apparatus performs. The control device according to claim 1 or 2,
When the communication quality at the current position of the information processing device based on the first information and the second information is lower than the communication quality required for the information processing device,
A control device further comprising: a state management unit that transmits a command to change the shape or orientation of the information processing device. The control device according to claim 1 or 2,
The communication quality information generation unit updates the communication quality information based on a comparison result between the communication quality at the current position of the information processing apparatus and the communication quality information based on the first information and the second information. A control device. A control system having an information processing device capable of autonomous movement and a control device for controlling the information processing device,
The controller is
From the information processing device, first information that is information relating to the position of the information processing device and second information that is information relating to communication of the information processing device are acquired, and the first information and the second information are obtained. A communication quality information generating unit that creates communication quality information indicating a distribution of communication quality between the control device and the information processing device, using the information of
And a movement control unit that controls a movement range of the information processing apparatus based on the communication quality information. The control system according to claim 9,
The communication quality information generation unit further acquires third information that is information related to communication of a function being executed by the information processing apparatus,
The movement control unit controls a movement range of the information processing apparatus using the third information. An information processing apparatus capable of autonomous movement,
Communication quality information indicating a distribution of communication quality created using first information that is information related to the position of the information processing device and second information that is information related to communication of the information processing device; and the information processing An autonomously movable information processing apparatus having a position management unit that performs movement control based on the current position of the apparatus. An information processing apparatus capable of autonomous movement according to claim 11,
The information processing apparatus capable of autonomous movement, wherein the position management unit performs movement control of the information processing apparatus based on the communication quality information and a function being executed by the information processing apparatus. An information processing apparatus capable of autonomous movement according to claim 11 or 12,
When the position information of the information processing apparatus capable of autonomous movement is outside the movement permission range of the information processing apparatus determined based on the communication quality information and the function being executed by the information processing apparatus,
The position management unit moves the information processing apparatus within the movement permission range, and is an information processing apparatus capable of autonomous movement. An information processing apparatus capable of autonomous movement according to claim 11 or 12,
A first communication interface for communicating with the first communication means;
A second communication interface for communicating with the second communication means,
The second information is information relating to communication quality of communication performed by the first communication means using the first communication interface,
When the current position of the information processing apparatus is outside the movement permission range of the information processing apparatus determined based on the communication quality information and the function being executed by the information processing apparatus,
Alternatively, when the communication quality of the first communication means based on the first information and the second information is lower than the communication quality required for the information processing device,
An information processing apparatus capable of autonomous movement, wherein communication is performed using the first communication interface and the second communication interface. An information processing apparatus capable of autonomous movement according to claim 11 or 12,
When the current position of the information processing apparatus is outside the movement permission range of the information processing apparatus determined based on the communication quality information and the function being executed by the information processing apparatus,
Alternatively, when the communication quality at the current position of the information processing device based on the first information and the second information is lower than the communication quality required for the information processing device,
An autonomously movable information processing apparatus characterized by stopping the first function being executed by the information processing apparatus and executing a second function that is an alternative function of the first function.

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