JP-7855535-B2 - Information processing device, system, method, and program

JP7855535B2JP 7855535 B2JP7855535 B2JP 7855535B2JP-7855535-B2

Inventors

内田大輔
旦代智哉
秋田耕司

Assignees

株式会社東芝

Dates

Publication Date: 20260508
Application Date: 20230216

Claims (16)

Information is obtained indicating the position of an antenna that emits control signals via radio waves to control a moving object, information indicating the position of an object in the space in which the moving object is moving, and information indicating the radio wave transmittance of the object, which indicates the degree to which the object transmits radio waves. The system includes a processing unit that evaluates the radio wave propagation environment in the space based on the acquired information indicating the position of the antenna, information indicating the position of the object, and information indicating the radio wave transmittance of the object. The radio wave transmittance of the object includes the radio wave transmittance of a predetermined proportion or more of the materials constituting the object. Information processing device.
The processing unit evaluates the radio wave propagation environment for each region obtained by dividing the space into a grid, as described in claim 1.
The information processing apparatus according to claim 1, wherein the processing unit estimates, based on the evaluated results, a region within the space in which the received power is less than or equal to a predetermined value.
The processing unit evaluates the radio wave propagation environment in the region corresponding to the path along which the moving object travels, as described in claim 1.
The information processing apparatus according to claim 4, wherein, if an object exists between the path the moving object travels and the antenna whose radio wave transmittance is less than a predetermined value, the processing unit estimates the region corresponding to the path the moving object travels as a region where the received power is less than or equal to a predetermined value.
Information is obtained indicating the position of an antenna that emits radio waves to control a moving object, information indicating the position of an object in the space in which the moving object is moving, and information indicating the radio wave transmittance of the object, which indicates the degree to which the object transmits radio waves. Based on the acquired information indicating the antenna's position, the object's position, and the object's radio wave transmittance, the radio wave propagation environment in the space is evaluated. It is equipped with a processing unit, The processing unit adds the evaluated result to the map information showing the map of the space, and outputs the map information to which the evaluated result has been added . The output map information is further supplemented with information indicating the location of the acquired object and information indicating the radio wave transmittance of the object. Information processing device.
The system further comprises a storage unit that pre-stores information indicating the radio wave transmittance of an object placed in the aforementioned space, The processing unit acquires information indicating the radio wave transmittance of the object from the storage unit, as described in claim 6 .
The information processing apparatus according to claim 6 , wherein the radio wave transmittance of the object is determined based on the electrical or magnetic properties of the object.
The information processing apparatus according to claim 8 , wherein the electrical properties or magnetic properties include at least one of the conductivity, dielectric constant, and magnetic permeability of the object.
The information processing apparatus according to claim 8 , wherein the radio wave transmittance of the object is determined based on a reflection coefficient or transmission coefficient calculated from the electrical or magnetic properties of the object.
The information processing apparatus according to claim 6 , wherein the radio wave transmittance of the object is determined based on the angle of incidence of radio waves to the object or the polarization of said radio waves.
Information is obtained indicating the position of an antenna that emits radio waves to control a moving object, information indicating the position of an object in the space in which the moving object is moving, and information indicating the radio wave transmittance of the object, which indicates the degree to which the object transmits radio waves. Based on the acquired information indicating the antenna's position, the object's position, and the object's radio wave transmittance, the radio wave propagation environment in the space is evaluated. It is equipped with a processing unit, The aforementioned processing unit, It is determined whether there is an object between the path the moving object is traveling on and the antenna whose radio wave transmittance is less than a predetermined value. If it is determined that the aforementioned object exists, the route is changed. Control the moving body to move along the modified path. Information processing device.
Information is obtained indicating the position of an antenna that emits radio waves to control a moving object, information indicating the position of an object in the space in which the moving object is moving, and information indicating the radio wave transmittance of the object, which indicates the degree to which the object transmits radio waves. Based on the acquired information indicating the antenna's position, the object's position, and the object's radio wave transmittance, the radio wave propagation environment in the space is evaluated. It is equipped with a processing unit, The processing unit instructs a change in the arrangement of the objects in the space based on the acquired information indicating the radio wave transmittance of the objects. Information processing device.
An information processing device according to any one of claims 1 to 13 , The information processing device comprises a mobile body that is communicatively connected to the aforementioned information processing device, The moving body is a system controlled based on the evaluated results.
A method executed by an information processing device, To acquire information indicating the position of an antenna that emits control signals via radio waves for controlling a moving object, information indicating the position of an object in the space in which the moving object is moving, and information indicating the radio wave transmittance of the object, which indicates the degree to which the object transmits radio waves, Based on the acquired information indicating the position of the antenna, the information indicating the position of the object, and the information indicating the radio wave transmittance of the object, the radio wave propagation environment in the space is evaluated. It is equipped with, The radio wave transmittance of the object includes the radio wave transmittance of a predetermined proportion or more of the materials constituting the object. method.
On the computer, To acquire information indicating the position of an antenna that emits control signals via radio waves for controlling a moving object, information indicating the position of an object in the space in which the moving object is moving, and information indicating the radio wave transmittance of the object, which indicates the degree to which the object transmits radio waves, Based on the acquired information indicating the position of the antenna, the information indicating the position of the object, and the information indicating the radio wave transmittance of the object, the system evaluates the radio wave propagation environment in the space . The radio wave transmittance of the object includes the radio wave transmittance of a predetermined proportion or more of the materials constituting the object. program.

Description

Embodiments of the present invention relate to information processing devices, systems, methods, and programs. In recent years, it has become known that mobile objects (e.g., mobile robots) moving within a predetermined space can be controlled, for example, by performing wireless communication. In this case, the mobile object is controlled to move along a path from a starting point to a goal point set on a map of the space in which it is moving. Incidentally, while the control signals for controlling the aforementioned mobile object are emitted as radio waves from the antenna, if an object (hereinafter referred to as an obstacle) is placed within the space in which the mobile object is moving, the radio wave propagation environment in the space opposite the antenna across the obstacle (i.e., the space behind the obstacle from the antenna's perspective) may change due to the obstacle (i.e., a dead zone where received power decreases may occur). When a moving object travels through such a dead zone, it may not be able to properly receive control signals. Therefore, a mechanism is needed to understand the radio wave propagation environment, which changes depending on obstacles. Japanese Patent Publication No. 2015-115648 A diagram showing an example of a local 5G system applied to the embodiment.A diagram showing an example of the target space.A diagram illustrating an example of the environment assumed in this embodiment.A diagram illustrating obstacles placed within a target space.A block diagram showing an example of the functional configuration of an information processing device.A diagram showing an example of the system configuration of an information processing device.A flowchart illustrating an example of the processing procedure for an information processing device.A diagram showing an example of the data structure for radio wave transmittance information.A diagram illustrating radio wave transmittance.A diagram illustrating radio wave transmittance.A diagram illustrating the map information output in this embodiment.A diagram illustrating the map information output in this embodiment.A diagram illustrating the map information output in this embodiment.A diagram illustrating radio waves entering an object at an oblique angle from the air.A diagram showing an example of the data structure for obstacle information.A diagram illustrating another example of an obstacle information data structure.A diagram illustrating a configuration that utilizes conductivity, dielectric constant, and magnetic permeability with respect to temperature.A diagram illustrating an example of a process for determining the radio wave transmittance of an obstacle by classifying the obstacle.A diagram showing an example of the reflection coefficient for horizontal polarization.A diagram showing an example of the reflection coefficient for vertically polarized waves.A diagram showing the reflection coefficient of horizontal polarization when the obstacle is water.A diagram showing the reflection coefficient of vertically polarized waves when the obstacle is water.A diagram illustrating an example of a method for estimating the dead zone.A diagram illustrating an example of a method for estimating the dead zone.A diagram illustrating an example of a method for estimating the dead zone.A diagram illustrating a configuration that changes radio wave transmittance based on the angle of incidence of radio waves.A diagram showing an example of the functional configuration of an information processing device according to a modified example of this embodiment.A diagram showing an example of a received power map.A diagram showing an example of the arrangement of obstacles that will be changed.A diagram showing another example of the arrangement of obstacles being changed. The embodiments will be described below with reference to the drawings. The information processing device according to this embodiment is applied to a mobile object control system that controls a mobile object (mobile robot) that moves within a predetermined space such as a factory (hereinafter referred to as the target space). The following describes scenarios assumed in this embodiment. When a moving object moves in a straight line along a passage within the target space, simple control of the moving object is sufficient. However, if, for example, the passage within the target space is curved, or if the object must avoid an object (hereinafter referred to as an obstacle) placed within the target space, more advanced control is required. However, when controlling such mobile objects via wired connections (i.e., transmitting control signals for controlling the mobile objects via wired connections), there are several challenges: the range of movement of the mobile objects is limited, control of the mobile objects becomes impossible due to wire breakage, and the wiring work is complicated. These challenges become particularly pronounced when numerous mobile objects are movin