WO2022085607A1

WO2022085607A1 - Robot and program

Info

Publication number: WO2022085607A1
Application number: PCT/JP2021/038341
Authority: WO
Inventors: 昂深堀; ケビン梶谷
Original assignee: ａｖａｔａｒｉｎ株式会社
Priority date: 2020-10-20
Filing date: 2021-10-18
Publication date: 2022-04-28
Also published as: JP2022067445A

Abstract

Provided is a robot that enables a mesh network to be fluidly formed. A robot 4 is provided with a communication unit capable of wirelessly communicating with a plurality of robots 4 forming a mesh network, and a movement control unit that causes an own robot to move to a position functioning as a node constituting the mesh network, on the basis of area information related to an area where the mesh network is to be built and positional information of the robot 4.

Description

Robots and programs

The present invention relates to robots and programs.

The following Patent Document 1 discloses a technique for forming a mesh network with a plurality of communication nodes.

JP-A-2017-169019

In Patent Document 1, a sensor node arranged at a specific location is used as a communication node forming a mesh network. In this case, the data measured by each sensor node is data that can be measured at the place where each sensor node is arranged. Therefore, it is not possible to measure and collect data in places where sensor nodes are not located.

The present invention has been made to solve the above-mentioned problems, and one of the objects thereof is to provide a robot capable of fluidly forming a mesh network.

The robot according to one aspect of the present invention is based on a communication unit capable of wireless communication with a plurality of non-fixed robots forming a mesh network, area information regarding an area for constructing the mesh network, and position information of the robot. The robot is provided with a movement control unit that moves the robot to a position that functions as a node constituting the mesh network.

According to this aspect, the own robot can be autonomously moved to a position that can function as a node constituting the mesh network based on the position information of a plurality of robots arranged in the area where the mesh network is constructed. Therefore, it is possible to form a mesh network in a fluid manner while moving the robot autonomously.

In the above aspect, the movement control unit may move its own robot so that the distance from the other robots located in the area and in the vicinity is within a predetermined range. According to this aspect, it is possible to fluidly form a mesh network while autonomously moving each robot arranged in the same area to a position where the distance between the robots is within a predetermined range.

In the above embodiment, when the data transmission capability of the other robot selected as a part of the communication path is insufficient, the movement control unit goes through the other robot having the insufficient data transmission capability. The robot may be moved to a position where the path for duplicating the path to be performed is formed. According to this aspect, even if a robot having insufficient data transmission capability occurs among the robots forming the communication path, the path passing through the robot can be duplicated, so that a stable communication environment can be achieved. Can be provided.

In the above aspect, whether or not the movement control unit lacks the data transmission capacity of the other robots selected as a part of the communication path based on the transmission capacity information regarding the data transmission capacity of each robot. If it is determined that the data transmission capacity is insufficient, the own robot may be moved to a position where the path for duplication is formed. According to this aspect, it is possible to determine whether or not the data transmission capacity is insufficient based on the transmission capacity information, and to duplicate the route via the robot having the insufficient data transmission capacity according to the determination result.

A program according to another aspect of the present invention is a communication unit capable of wirelessly communicating a computer with a plurality of non-fixed robots forming a mesh network, area information regarding an area for constructing the mesh network, and a position of the robot. Based on the information, it functions as a movement control unit that moves the own robot to a position that functions as a node constituting the mesh network.

According to the present invention, it is possible to provide a robot and a program capable of fluidly forming a mesh network.

It is a figure which illustrates the structure of the system including the robot which concerns on embodiment. It is a block diagram which illustrates the functional structure of the robot which concerns on embodiment. It is a schematic diagram for demonstrating the mesh network formed by a robot. It is a schematic diagram for demonstrating the mesh network formed by a robot. It is a schematic diagram for demonstrating the mesh network formed by a robot. It is a block diagram which illustrates the hardware composition of the robot which concerns on embodiment. It is a block diagram which illustrates the hardware configuration of a server apparatus.

Hereinafter, an embodiment of the present invention will be described. It should be noted that the following embodiments are examples for explaining the present invention, and the present invention is not intended to be limited to the embodiments. Further, the present invention can be modified in various ways as long as it does not deviate from the gist thereof. Further, those skilled in the art can adopt an embodiment in which each element described below is replaced with an equal one, and such an embodiment is also included in the scope of the present invention.

[System configuration]
An exemplary configuration of a system including a robot according to an embodiment will be described with reference to FIG. In the present embodiment, the system 1 can perform processing such as searching for a usable robot 4 and making a reservation for using the robot 4, for example.

As shown in FIG. 1, the system 1 includes a server device 2, one or more terminal devices 3, and a plurality of robots 4. Each device or robot is configured to be able to communicate with other devices or robots wirelessly or by wire (or both). Each terminal device 3 may have the same configuration or may have a different configuration. Each robot 4 may have the same configuration or may have a different configuration. The outline of each device and robot will be described below.

The server device 2 is, for example, a device that manages a robot 4 that forms a mesh network. The server device 2 is composed of an information processing device such as a server computer. The server device 2 may be configured by one information processing device or may be configured by a plurality of information processing devices (for example, cloud computing or edge computing).

The terminal device 3 is an information processing device used by the user for operating the robot 4 and making a reservation for the robot 4. The terminal device 3 is a general-purpose or dedicated information processing device such as a smartphone, a tablet terminal, a PDA (Personal Digital Assistants), a personal computer, a head-mounted display, and an operation system for a specific purpose.

Robot 4 is a non-fixed robot. The term "non-fixed" means, for example, that the robot 4 is a mobile type having a drive unit for moving wheels or the like, or a wearable type that can be worn by a person and has a drive unit for operation of a manipulator or the like. Including cases.

Mobile robots include, for example, one-wheeled, two-wheeled or multi-wheeled vehicles, caterpillar vehicles, railroad vehicles, jumping vehicles, bipedal, quadrupedal or multi-legged walking. Includes those that use a screw, those that navigate on or under water with a screw, and those that fly with a propeller or the like.

Wearable robots include, for example, MHD Yaman Saraiji, Tomoya Sasaki, Reo Matsumura, Kouta Minamizawa and Masahiko Inami, "Fusion: full body surrogacy for collaborative communication," Proceeding SIGGRAPH '18 Including those published in Japan.

Robot 4 also includes the following: Vehicles and heavy machinery capable of automatic or semi-automatic driving, robots equipped with cameras that can move on rails installed in drones, airplanes, sports stadiums, etc., satellite robots launched into space for posture control A robot that can control the shooting direction of the camera. Further, the robot 4 may be a so-called telepresence robot or an avatar robot.

The user operates the robot 4 (for example, the movement of the robot 4 or the operation of the camera mounted on the robot 4) via the terminal device 3. The signal for operating the robot 4 is transmitted from the terminal device 3 to the robot 4 via the server device 2 or other devices. The signal for the operation may be directly transmitted from the terminal device 3 to the robot 4. The robot 4 operates in response to a received signal, and the robot 4 acquires or detects the location where the robot 4 is located, such as image data and audio data acquired through a camera, a microphone, and other devices mounted on the robot 4. The data is transmitted to the terminal device 3. As a result, the user can obtain the experience as if he / she is in the place where the robot 4 is located through the terminal device 3 and the robot 4. The data transmitted from the robot 4 may be transmitted to the terminal device 3 via the server device 2 or other devices, or may be transmitted directly to the terminal device 3.

[Mesh network]
In the present embodiment, a mode in which a plurality of robots 4 are arranged in a specific area and a plurality of robots 4 arranged in the specific area form a mesh network will be described. A mesh network is a communication network in which a plurality of communication nodes form a mesh-like transmission path. A specific description will be given with reference to FIG.

FIG. 2 illustrates that 11 robots 4 are arranged in a certain area A, and a mesh network is formed by these 11 robots 4. The size of the area A and the number of robots 4 arranged in the area A can be arbitrarily set.

In FIG. 2, the user U remotely controls the robot 4e having the robot ID "A11" by using the terminal device 3. The robot 4e remotely controlled by the user U is selected, for example, as follows.

First, the user U operates the terminal device 3, specifies a desired place or position in the area A, and searches for the robot 4 to be remotely controlled. Subsequently, the server device 2 selects the robot 4e arranged at the place or position designated by the user U as the robot 4 remotely controlled by the user U.

In FIG. 2, as a communication path between the terminal device 3 and the robot 4e, a route via the robot 4a, the robot 4b, the robot 4c, and the robot 4d on the mesh network is selected. Therefore, the terminal device 3 communicates with the robot 4e via the robot 4a, the robot 4b, the robot 4c, and the robot 4d on the mesh network. The communication path on the mesh network is selected, for example, as follows.

First, the server device 2 acquires the position information of each robot 4 on the mesh network that may intervene between the terminal device 3 and the robot 4e, and the status information of each robot 4. The situations included in the status information include, for example, the activation status of the robot 4, the charging status of the robot 4, the communication status of the robot 4, the usage status of the robot 4, and the like. Details of the position information of the robot 4 and the situation information of the robot 4 will be described later.

Subsequently, the server device 2 selects the optimum route as the communication route on the mesh network based on the acquired position information and status information of each robot 4. For example, the optimum route can be selected by appropriately combining the following criteria (1) to (6). At that time, the priority may be calculated by weighting each criterion, and the route with the highest priority may be selected.

(1) Based on the position information of the robot 4, the robot that forms the shortest path is preferentially selected.
(2) Based on the activation status of the robot 4, the currently activated robot is preferentially selected.
(3) Based on the charging status of the robot 4, the robot having a large remaining battery capacity is preferentially selected.
(4) Based on the communication status of the robot 4, the robot having a high radio field strength in the communication unit is preferentially selected.
(5) Based on the usage status of the robot 4, the robot that has been recently charged or maintained is preferentially selected.
(6) Based on the usage status of the robot 4, the robot whose failure flag is turned off is preferentially selected.

Here, each robot 4 and the server device 2 store, for example, area information, robot information, robot position information, robot status information, and robot transmission capability information in their respective storage devices (storage units) for management. do.

Area information is information about the area where the mesh network is constructed. The area information includes, for example, an area ID for identifying the area, map information including the area, information indicating the range of the area, the number of robots 4 that can be arranged in the area, and the like.

Robot information is information about each robot 4. The robot information includes, for example, a robot ID that identifies the robot 4, information on the communicable range of the robot 4, information on the capabilities of the robot 4, information on the performance of the camera of the robot 4, and the like.

The robot position information is information about the position of each robot 4. The robot position information includes, for example, a robot ID, an area ID of an area where the robot 4 is arranged, a current position of the robot 4, and the like. The current position of the robot 4 can be measured by, for example, a GPS (Global Positioning System) function mounted on the robot 4.

The robot status information is information regarding the status of each robot 4. The robot status information includes, for example, a robot ID, information on the activation status of the robot 4, information on the charging status of the robot 4, information on the communication status of the robot 4, information on the usage status of the robot 4, and the like. included.

The transmission capacity information of the robot is information related to the data transmission capacity of each robot 4. The transmission capability information includes, for example, a robot ID, a robot ID of another robot 4, a throughput based on communication with the other robot 4, a transmission speed, a communication band, and the like.

Each data included in area information, robot information, robot position information, robot status information, and robot transmission capability information is set for each robot 4 or sequentially measured by each robot 4 and stored in a storage device. , Further transmitted to the server device 2. The server device 2 collects and manages area information, robot information, robot position information, robot status information, and robot transmission capability information based on each data received from each robot 4. The server device 2 periodically transmits each data acquired from other robots 4 arranged in the same area to each robot 4 arranged in the same area. Each robot 4 updates area information, robot information, robot position information, robot status information, and robot transmission capability information based on each data received from the server device 2.

The data structure of each of the above information stored in each robot 4 and the server device 2 and the combination of the respective data are not limited to the above, and can be arbitrarily set according to the operation.

[Functional configuration of robot]
The functional configuration of the robot 4 will be described with reference to FIG. These functions are realized by the processor (control unit) of the robot 4 reading and executing a computer program stored in the storage device (storage unit). The hardware configuration of the robot 4 will be described later.

As shown in FIG. 3, the robot 4 has, for example, a communication unit 41, a movement control unit 42, and a database 43 as functional configurations. The functions of the robot 4 are not limited to these, and may have functions generally possessed by a computer and other functions.

The database 43 stores various data such as data necessary for the processing executed by the robot 4 and data generated or set by the processing. The various data include the above-mentioned area information, robot information, robot position information, robot status information, and robot transmission capability information, and also includes, for example, user information regarding a user who uses the robot 4.

The communication unit 41 wirelessly communicates with, for example, a plurality of robots 4 forming a mesh network. The communication unit 41 may directly communicate with the robot 4, or may communicate with the robot 4 via the server device 2 or another device. In addition to wireless communication, wired communication may intervene in communication with the server device 2 and other devices.

The movement control unit 42 moves its own robot to a position that functions as a node constituting the mesh network, for example, based on the area information and the position information of the robot. Area information and robot position information can be acquired from the database 43.

For example, the movement control unit 42 moves the own robot so that the distance from other robots located in the same area as the own robot and located around the own robot is within a predetermined range. A specific description will be given with reference to FIG.

As shown in FIG. 4, the robot 4c having the robot ID "A5" exists at a position slightly distant from

other robots

4b, 4d, and 4g located in the same area A and in the vicinity. In this case, the movement control unit 42 of the robot 4c moves the own robot 4c so that the distance from the

other robots

4b, 4d, and 4g is within a predetermined range.

The area of the own robot 4c can be specified by referring to the area information of the database 43 by using, for example, "A5" which is the robot ID of the own robot 4c. The position of the own robot 4c can be specified by referring to the position information of the robot in the database 43 by using, for example, "A5" which is the robot ID of the own robot 4c. The positions of the

other robots

4b, 4d, and 4g located around the own robot 4c can be specified by referring to the position information of the robot in the database 43, for example, by using the area ID of the area A.

The predetermined range may be uniformly set to the same range for each robot 4, or a different range may be set for each robot 4. Further, as a predetermined range, a communicable range of each robot 4 may be set. At this time, different ranges may be set within the communicable range of each robot 4.

By setting a predetermined range to the communicable range of each robot 4, each robot 4 arranged in the same area can be moved autonomously and surely function as a node constituting a mesh network. It becomes possible.

Here, the robot 4 does not always exist in a fixed place because the place where the robot 4 exists may change depending on, for example, the user's use. Therefore, this function that allows the robot 4 that has moved to a location to autonomously move to a position that constitutes a mesh network is useful. Further, each robot 4 forming the mesh network has this function, so that the mesh network can be formed fluidly.

The other robots 4 located in and around the same area A are not limited to the

robots

4b, 4d, and 4g described above, and can be arbitrarily selected. For example, in addition to the

robots

4b, 4d, and 4g,

robots

4f and 4h may be added.

Return to the explanation in Fig. 3. The movement control unit 42 has insufficient data transmission capability when the data transmission capability of another robot 4 selected as a part of the communication path between the terminal device 3 and the robot 4 is insufficient. The robot 4 is moved to a position where a route for duplicating the route via the robot 4 is formed. A specific description will be given with reference to FIG.

As shown in FIG. 5, the communication paths between the terminal device 3 and the robot 4e include a path connecting the robot 4a to the robot 4e via the

robots

4b, 4c, and 4d, and a path from the robot 4a to the

robot

4f, 4g. It is duplicated by a route connecting to the robot 4e via 4h. Here, the

robots

4f, 4g, and 4h move from a reference fixed position to a position close to the

robots

4b, 4c, and 4d, and the communication path is duplicated.

In this case, first, does the movement control unit 42 of the

robots

4f, 4g, and 4h lack the data transmission capability of any of the robots 4a to 4e forming the communication path between the terminal device 3 and the robot 4e? Judge whether or not. The data transmission capability of the robots 4a to 4e can be specified by referring to the transmission capability information of the robot in the database 43 using the robot IDs of the robots 4a to 4e.

Whether or not the data transmission capacity is insufficient can be determined, for example, by setting a predetermined lower limit value and if it is below the lower limit value, it can be determined that the data transmission capacity is insufficient. A predetermined lower limit value can be appropriately set based on a network transmission standard or the like.

It is desirable to determine whether or not the data transmission capacity is insufficient continuously or intermittently from the time when the communication path between the terminal device 3 and the robot 4e is established to the time when the communication path is disconnected.

Subsequently, when the movement control unit 42 of the

robots

4f, 4g, and 4h determines that the data transmission capability of the

robots

4b, 4c, and 4d is insufficient, the

robots

4b, 4c, and 4d are located close to the

robots

4b, 4c, and 4d. The

robots

4f, 4g, and 4h are moved, respectively, and the communication path is duplicated as shown in FIG.

Here, in FIG. 5, the

robots

4f, 4g, and 4h are moved to duplicate the communication path, but the route to be duplicated is not limited to this. For example, when it is determined that the data transmission capacity of the robot 4c is insufficient, the robot 4g may be moved to a position close to the robot 4c to duplicate the communication path. In this case, the communication path between the robot 4b and the robot 4d is duplicated by two paths, a path via the robot 4c and a path via the robot 4g.

By having such a function, even if a robot 4 having a insufficient communication band is generated among the robots 4 forming the communication path, the path via the robot 4 can be duplicated. Therefore, it is possible to provide a stable communication environment.

[effect]
As described above, according to the robot 4 according to the present embodiment, the own robot is placed at a position that can function as a node constituting the mesh network based on the position information of a plurality of robots arranged in the area for constructing the mesh network. It can be moved autonomously. Therefore, it is possible to fluidly form a mesh network while autonomously moving the robot 4.

Further, according to the robot 4 according to the present embodiment, the own robot is moved so that the distance from other robots located in the same area as the own robot and located in the vicinity of the own robot is within a predetermined range. be able to. Therefore, it is possible to form a mesh network while autonomously moving each robot 4 arranged in the same area to a position where the distance between the robots 4 is within a predetermined range.

Further, according to the robot 4 according to the present embodiment, even if the data transmission capacity of the other robot selected as a part of the communication path is insufficient, the robot passes through the other robot having the insufficient data transmission capacity. The robot can be moved to a position that forms a route for duplicating the route. Therefore, it is possible to provide a stable communication environment in a mesh network using a robot.

[Computer hardware configuration]
With reference to FIG. 6, an exemplary hardware configuration of a computer (information processing device) mounted on the robot 4 and other main configurations in the present embodiment will be described. As a hardware configuration, the robot 4 includes, for example, a processor 401, a RAM (Random Access Memory) 402, a ROM (Read only Memory) 403, a communication unit 404, an input unit 405, a display unit 406, a drive unit 407, and a camera 408. Be prepared. The configuration shown in FIG. 6 is an example, and the robot 4 may or may not include some of these configurations, or may include other configurations. For example, the robot 4 may include a speaker, a microphone, and various sensors.

The processor 401 is a calculation unit of the robot 4, and is, for example, a CPU (Central Processing Unit). The processor 401 is a control unit that controls execution of a program stored in RAM 402 or ROM 403, calculates data, and processes data. The processor 401 realizes the function of the robot 4 described in the above embodiment by cooperating with the program and other configurations included in the robot 4.

Further, the processor 401 executes, for example, a program (communication program) for controlling communication via a robot. The processor 401 receives various data from the input unit 405 and the communication unit 404, displays the calculation result of the data on the display unit 406, and stores the data in the RAM 402.

The communication program may be stored in a storage medium readable by a computer such as RAM 402 or ROM 403 and provided, or may be provided via a communication network connected by the communication unit 404. In the robot 4, various operations for controlling the robot 4 are realized by the processor 401 executing the communication program. It should be noted that these physical configurations are examples and do not necessarily have to be independent configurations. For example, the robot 4 may include an LSI (Large-Scale Integration) in which a processor 401 and a RAM 402 or a ROM 403 are integrated.

The RAM 402 and ROM 403 are storage units for storing data required for various processes and data of processing results. In addition to the RAM 402 and the ROM 403, the robot 4 may include a large-capacity storage unit such as a hard disk drive (HDD).

The communication unit 404 is a device for performing data communication via a network with an external device by wire or wirelessly.

The input unit 405 is a device for inputting data from the outside of the robot 4. The input unit 405 may include, for example, a keyboard and a touch panel for receiving data input from the user. Further, the input unit 405 may include a microphone for voice input.

The display unit 406 is a device for displaying various information. The display unit 406 may be configured by, for example, an LCD (Liquid Crystal Display) as a device for visually displaying the calculation result by the processor 401. The display unit 406 may display an image taken by the camera 408 of the robot 4.

The drive unit 407 includes an actuator that can be remotely controlled, and includes a moving unit such as a wheel, a manipulator, and the like. When the robot 4 is a mobile robot, the drive unit 407 includes at least a moving unit such as a wheel, but may include a manipulator. When the robot 4 is wearable, the drive unit 407 includes at least a manipulator.

The camera 408 includes an image sensor that captures a still image or a moving image, and transmits the captured still image or the moving image to an external device via the communication unit 404.

An exemplary hardware configuration of a computer (information processing device) for mounting the server device 2 and the terminal device 3 in the present embodiment will be described with reference to FIG. 7. Here, the hardware configuration of the server device 2 will be described, but since the hardware configuration of the terminal device 3 is also the same, the description thereof will be omitted.

As shown in FIG. 7, the server device 2 includes, for example, a processor 201, a memory 202, a storage device 203, a communication unit 204, an input unit 205, and a display unit 206 as hardware configurations. The server device 2 does not have to include a part of these configurations. In addition to these configurations, the server device 2 may have other configurations generally provided by a general-purpose computer or a dedicated computer.

The processor 201 is, for example, a CPU. The processor 201 is a control unit that controls various processes in the server device 2 by executing a program stored in the memory 202. The processor 201 realizes the function of the server device 2 by cooperating with the program and other configurations included in the server device 2.

The memory 202 is a storage medium such as RAM. In the memory 202, the program code of the program executed by the processor 201 and the data required for executing the program are temporarily read from the storage device 203 or the like, or stored in advance.

The storage device 203 is a non-volatile storage medium such as a hard disk drive. The storage device 203 stores an operating system, various programs, data, and the like.

The communication unit 204 is a device for performing data communication via a network with an external device of the server device 2 by wire or wirelessly. The communication unit 204 may be detachably connected to the server device 2. In that case, the communication unit 204 is connected to the server device 2 via an interface such as USB (Universal Serial Bus).

The input unit 205 is a device for receiving input from the user and a device for inputting data from the outside of the server device 2. Specific examples of the input unit 205 include a keyboard, a mouse, a touch panel, a joystick, various sensors, a wearable device, a drive device for reading data stored in various storage media, and the like. The input unit 205 may be detachably connected to the server device 2. In that case, the input unit 205 is connected to the server device 2 via an interface such as USB.

The display unit 206 is a device for displaying various information. Specific examples of the display unit 206 include a liquid crystal display, an organic EL display, a display of a wearable device, and the like. The display unit 206 may be detachably connected to the outside of the server device 2. In that case, the display unit 206 is connected to the server device 2 via, for example, a display cable or the like. Further, when the touch panel is adopted as the input unit 205, the display unit 206 can be integrally configured with the input unit 205.

[Modification example]
The program for mounting the system 1 (or the server device 2, the terminal device 3 or the robot 4) in the present embodiment is a computer-readable recording of various computer-readable records such as an optical disk such as a CD-ROM, a magnetic disk, and a semiconductor memory. It can be recorded on a medium. It can also be installed or loaded on a computer by downloading the above program through a recording medium or via a communication network or the like.

1 ... system, 2 ... server device, 3 ... terminal device, 4 ... robot, 41 ... communication unit, 42 ... mobile control unit, 43 ... database, 201 ... processor, 202 ... memory, 203 ... storage device, 204 ... communication unit , 205 ... Input unit, 206 ... Display unit, 401 ... Processor, 402 ... RAM, 403 ... ROM, 404 ... Communication unit, 405 ... Input unit, 406 ... Display unit, 407 ... Drive unit, 408 ... Camera

Claims

A communication unit capable of wireless communication with multiple non-fixed robots that form a mesh network,
Based on the area information about the area for constructing the mesh network and the position information of the robot, a movement control unit that moves the own robot to a position that functions as a node constituting the mesh network, and a movement control unit.
A robot equipped with.
The movement control unit moves its own robot so that the distance from other robots located in the area and in the vicinity is within a predetermined range.
The robot according to claim 1.
When the data transmission capability of the other robot selected as a part of the communication path is insufficient, the movement control unit duplicates the path via the other robot having the insufficient data transmission capability. Move your robot to a position that forms a path for
The robot according to claim 1 or 2.
The movement control unit determines whether or not the data transmission capacity of the other robots selected as a part of the communication path is insufficient based on the transmission capacity information regarding the data transmission capacity of each robot. When it is determined that the data transmission capacity is insufficient, the own robot is moved to a position forming the path for duplication.
The robot according to claim 3.
Computer,
A communication unit that can wirelessly communicate with multiple non-fixed robots that form a mesh network,
A movement control unit that moves its own robot to a position that functions as a node constituting the mesh network based on the area information about the area for constructing the mesh network and the position information of the robot.
A program to function as.