Measuring device and measuring method

Abstract

To provide a measuring device and a measuring method that can measure necessary and sufficient information for obtaining an accurate result, especially in an indoor radio wave propagation simulator.SOLUTION: A measuring device includes a movement mechanism, a radio wave transmission section, a radio wave reception section, and a control section. The movement mechanism is for self-traveling indoors. The radio wave transmission section transmits a radio wave of a frequency set between 1GHz and 400GHz during self-traveling by the movement mechanism. The radio wave reception section receives a reflected radio wave of the radio wave. The control section acquires shape information about an object that is an obstacle to the radio wave at a location where the radio wave is transmitted on the basis of the reflected radio wave received by the radio wave reception section.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a measurement apparatus and a measurement method. [Background technology]

[0002] It is common to set up access points indoors to build wireless networks. Radio interference indoors tends to be greater than outdoors. For this reason, if the access point is not placed in an appropriate location, it can be difficult to achieve stable wireless communication.

[0003] In recent years, radio wave propagation simulators have been proposed that simulate the state of radio wave propagation radiated from a radio wave source. By using such radio wave propagation simulators to identify radio wave interference sources, it is possible to determine optimal installation locations for access points, etc. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 3263191 Summary of the Invention [Problem to be solved by the invention]

[0005] To obtain accurate results using a radio wave propagation simulator, it is necessary to measure sufficient information about the space to be simulated. In particular, indoors, there is a lot of radio wave interference not only from visible places but also from invisible places, so in order to obtain accurate simulation results, it is important to be able to measure the information about such invisible places in the space sufficiently. On the other hand, there are objects that are visible to the eye but through which radio waves can pass. Information about such objects does not necessarily need to be reflected in the simulation.

[0006] The present disclosure provides a measurement device and a measurement method capable of measuring necessary and sufficient information to obtain accurate results, particularly in an indoor radio wave propagation simulator. [Means for solving the problem]

[0007] A measuring device according to one embodiment includes a moving mechanism, a radio wave transmitting unit, a radio wave receiving unit, and a control unit. The moving mechanism is for self-propelling indoors. The radio wave transmitting unit transmits radio waves at a frequency set between 1 GHz and 400 GHz while the moving mechanism is self-propelled. The radio wave receiving unit receives reflected radio waves. The control unit acquires shape information about an object that is an obstacle to the radio waves at the location where the radio waves were transmitted, based on the reflected radio waves received by the radio wave receiving unit. Effect of the Invention

[0008] According to the present disclosure, a measurement device and a measurement method are provided that are capable of measuring necessary and sufficient information to obtain accurate results, particularly in an indoor radio wave propagation simulator. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram illustrating an example of a configuration of a radio wave propagation simulation system according to an embodiment. [Diagram 2] FIG. 2 is a functional block diagram showing the configuration of the measurement device. [Figure 3A] FIG. 3A is a diagram illustrating a hardware configuration of an example of a measuring device. [Figure 3B] FIG. 3B is a diagram showing the measurement device with the orientation of the antenna and the measurement device changed. [Figure 4] FIG. 4 is a diagram illustrating a hardware configuration of an example of a control circuit. [Diagram 5] FIG. 5 is a diagram illustrating an example of a configuration of the server. [Figure 6] FIG. 6 is a flowchart showing the operation of the measuring device. [Figure 7A] FIG. 7A is a conceptual diagram showing differences in behavior of radio waves depending on the type of obstacle. [Figure 7B] FIG. 7B is a conceptual diagram showing differences in behavior of radio waves depending on the type of obstacle. [Figure 8] FIG. 8 is a diagram illustrating an example of a format of a file stored in the storage. [Figure 9] FIG. 9 is a flowchart showing the operation of the server. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment will be described with reference to the drawings. Fig. 1 is a diagram showing an example of a configuration of a radio wave propagation simulation system according to an embodiment. The radio wave propagation simulation system 1 has a measurement device 10, a server 20, and a terminal 30. The measurement device 10, the server 20, and the terminal 30 can communicate with each other via a network NW. The network NW may be, for example, the Internet or an intranet.

[0011] The measuring device 10 is a device that automatically measures information for radio wave propagation simulation while self-propelled indoors. The measuring device 10 measures information related to indoor 3D modeling as information for radio wave propagation simulation. The information related to indoor 3D modeling includes shape information of each point indoors. The shape information of each point is, for example, point cloud information that represents the three-dimensional structure of each point. The point cloud information of each point may be, for example, information on the distance from the measurement point.

[0012] Here, the measuring device 10 in the embodiment transmits radio waves and receives the reflected radio waves, thereby obtaining radio wave shape information about objects that are obstacles to radio waves. Objects that are obstacles to radio waves are objects that have the property of reflecting radio waves, such as metal objects. In other words, the radio wave shape information does not include shape information about objects that are not obstacles to radio waves, that is, objects that have the property of transmitting radio waves, such as wood.

[0013] Furthermore, the measuring device 10 in the embodiment can also obtain visible light shape information about an object that is visible to the human eye by projecting and receiving infrared light.

[0014] Furthermore, the measuring device 10 measures information related to indoor radio wave propagation. The information related to radio wave propagation includes, for example, information related to KPI (Key Performance Indicator) and information related to QoE (Quality of Experience). The information related to KPI includes received power (RSRP), received signal strength (RSSI), etc. The information related to QoE includes communication speed, delay, etc.

[0015] The server 20 executes a radio wave propagation simulation based on information for the radio wave propagation simulation acquired by the measuring device 10. Then, the server 20 transmits the result of the radio wave propagation simulation to the terminal 30. The radio wave propagation simulation may be performed by any method. For example, a radio wave propagation simulation using a ray tracing method may be used as the radio wave propagation simulation. In the ray tracing method, various radio wave propagation information such as received power and delay is calculated by searching for a propagation path of radio waves taking into account reflection, transmission, and diffraction in a 3D modeled space. For example, shape information measured by the measuring device 10 may be used for 3D modeling in the ray tracing method. The server 20 may be configured by a single computer or by a cloud.

[0016] The terminal 30 displays the results of the radio wave propagation simulation received from the server 20. The terminal 30 may be various types of terminals such as a personal computer, a smartphone, a tablet terminal, etc. The configuration of the terminal 30 is not limited to a specific configuration.

[0017] 2 is a functional block diagram showing the configuration of the measurement device 10. The measurement device 10 has a radio wave transmitting unit 11, a radio wave receiving unit 12, a radio wave propagation measuring unit 13, an imaging unit 14, a map creating unit 15, a collision detecting unit 16, a moving mechanism 17, a communication unit 18, and a control unit 19.

[0018] The radio wave transmitting unit 11 includes a transmitting circuit and emits radio waves from an antenna. The transmitting circuit includes, for example, an oscillator and a modulating circuit. The radio wave transmitting unit 11 according to the embodiment includes a plurality of transmitting circuits corresponding to a plurality of frequency bands so as to be able to transmit radio waves of a plurality of frequency bands. For example, the radio wave transmitting unit 11 includes a plurality of transmitting circuits so as to be able to transmit radio waves of a frequency set by the control unit 19 within the range of 1 GHz to 400 GHz.

[0019] The radio wave receiving unit 12 includes a receiving circuit and receives radio waves via an antenna. The receiving circuit includes, for example, a demodulation circuit. The radio wave receiving unit 12 according to the embodiment includes a plurality of receiving circuits corresponding to a plurality of frequency bands so as to be able to receive radio waves in a plurality of frequency bands. For example, the radio wave receiving unit 12 includes a plurality of receiving circuits so as to be able to receive radio waves in a frequency range of 1 GHz to 400 GHz.

[0020] The radio wave propagation measurement unit 13 measures information related to KPIs as information on indoor radio wave propagation and information related to QoE. The radio wave propagation measurement unit 13 measures propagation loss (received power) and the like as KPIs using measuring equipment such as an area tester and a spectrum analyzer. The radio wave propagation measurement unit 13 also measures communication speed and delay as QoE using equipment such as a network tester and a wireless router. The radio wave propagation measurement unit 13 may have various measuring equipment according to the indices required as KPIs and QoE.

[0021] The imaging unit 14 captures an image of the object scene and generates an image of the object scene. The imaging unit 14 is, for example, a camera that captures an RGB color image. The imaging unit 14 may be an RGB-D camera that includes a light projecting and receiving unit for infrared light or the like and can also acquire point cloud information of an object by projecting and receiving infrared light.

[0022] The map creation unit 15 creates a map of the indoor space. For example, the map creation unit 15 sets the start position of the movement of the measuring device 10 as an initial position, and creates a map according to the trajectory of the movement from the initial position.

[0023] The collision detection unit 16 detects a collision of the measuring device 10 with an obstacle. The collision detection unit 16 includes, for example, an infrared light projector and receiver, and detects the distance to the obstacle by projecting and receiving infrared light. The collision detection unit 16 detects a collision by determining whether the distance to the obstacle is equal to or shorter than a predetermined distance. When the collision detection unit 16 detects a collision, it notifies the control unit 19 of the detection.

[0024] The moving mechanism 17 includes a mechanism for self-propelling the measuring device 10 and a mechanism for adjusting the orientation of the antenna, etc. The mechanism for self-propelling the measuring device 10 may be a two-wheel drive mechanism, a four-wheel drive mechanism, a caterpillar mechanism, etc. The mechanism for adjusting the orientation of the antenna, etc. may be a lifting mechanism, a robot arm, etc.

[0025] The communication unit 18 includes a communication device and communicates with the server 20 via the network NW. The communication may be wireless communication or wired communication.

[0026] The control unit 19 controls the overall operation of the measurement device 10. Based on the radio waves received by the radio wave receiving unit 12, the control unit 19 acquires radio wave shape information of the location where the radio waves were transmitted by the radio wave transmitting unit 11. Based on the infrared light detected by the infrared light receiving unit of the imaging unit 14, the control unit 19 acquires visible light shape information of the location where the infrared light was projected. For example, the distance as shape information can be calculated from the time difference between the transmission and reception of the radio waves and the time difference between the projection and reception of the infrared light. In addition, the control unit 19 sets the frequency of the radio waves transmitted by the radio wave transmitting unit 11. The control unit 19 also stores the information measured by the radio wave propagation measuring unit 13 and the image obtained by the imaging unit 14 in association with the position of the measurement device 10 in the storage device. Based on the detection result of the collision detecting unit 16, the control unit 19 determines whether or not there has been a collision with an obstacle. If there has been a collision with an obstacle, the control unit 19 controls the moving mechanism 17 to change the moving direction of the measurement device 10.

[0027] 3A is a diagram showing a hardware configuration of an example of the measurement device 10. The measurement device 10 has a housing 101. The housing 101 is a metal box such as aluminum, and is configured to prevent radiation of radio waves from the inside of the housing 101 to the outside and from the outside to the inside. The housing 101 is also provided with an infrared light projector / receiver 101a. This infrared light projector / receiver 101a can operate as a rear-end collision detector 16.

[0028] For example, four wheels 102 are attached to the bottom surface of the housing 101. The wheels 102 function as a moving mechanism 17 and are driven by a motor (not shown). In addition, a sensor such as an encoder that detects the rotation speed and direction of the wheels 102 is attached to the wheels 102. The movement distance and movement direction of the measuring device 10 can be measured based on the rotation speed and direction of the wheels 102.

[0029] A control circuit 103 is housed inside the housing 101. The control circuit 103 includes, for example, a processor and a memory serving as a control unit 19, a communication device serving as a communication unit 18, and the like.

[0030] For example, two low dielectric pillars 104 are provided on the top surface of the housing 101, and a bellows member 105 is provided between the low dielectric pillars 104. The two low dielectric pillars 104 and the bellows member 105 are attached to a low dielectric rail 106. An antenna 107 and a measuring device 108 are installed on the low dielectric rail 106.

[0031] The low dielectric support 104 is a support made of a low dielectric material. The low dielectric support 104 is configured to be able to adjust its height by moving in the up-down direction indicated by A in FIG. 3 by a motor (not shown). The bellows member 105 is a hollow bellows made of a low dielectric material. The bellows member 105 is configured to be able to expand and contract with the up-down movement of the low dielectric support 104. The low dielectric rail 106 is a rail made of a low dielectric material. An opening is formed in the attachment portion of the low dielectric rail 106 to the bellows member 105. The low dielectric rail 106 supports the antenna 107 and the measuring instrument 108 so that the antenna 107 and the measuring instrument 108 can be moved to any position on the low dielectric rail 106 indicated by the B direction in FIG. 1. The movement of the antenna 107 and the measuring instrument 108 may be controlled by a motor or the like.

[0032] The antenna 107 is a directional antenna such as a horn antenna, and is used for transmitting and receiving radio waves. The antenna 107 is connected to a transmission circuit and a reception circuit, not shown. The measurement device 108 is a measurement device such as an area tester and a network tester as the radio wave propagation measurement unit 13, and a camera as the imaging unit 14. The transmission circuit, the reception circuit, and the measurement device 108 are connected to the control circuit 103 via a cable 109 provided on the bellows member 105. Here, an omnidirectional antenna such as an omni-directional antenna may be used as the antenna 107. If it is an omnidirectional antenna, it is possible to perform a wide range of power distribution measurement in the target space, and it is possible to measure data of radio wave propagation simulation in a short time. On the other hand, if it is a directional antenna, it is possible to measure the direction of arrival of radio waves, and it is possible to measure data of radio wave propagation simulation with high accuracy. Furthermore, by using this measurement result in radio wave propagation simulation, it is possible to investigate the effect of a reflector, identify unwanted radio waves, and investigate the cause when taking measures with an absorber.

[0033] In the measurement device 10 of the embodiment, the orientation of the antenna 107 and the measurement device 108 can be changed as shown in Fig. 3B by adjusting the height of the low dielectric pillar 104 and the positions of the antenna 107 and the measurement device 108 on the low dielectric rail 106. This enables the measurement device 10 to transmit and receive radio waves in various directions in space and to perform measurements in various directions.

[0034] 4 is a diagram showing a hardware configuration of an example of the control circuit 103. The control circuit 103 may be a computer having a processor 1031, a memory 1032, a storage 1033, an interface 1034, an input device 1035, a display device 1036, and a communication device 1037 as hardware. The processor 1031, the memory 1032, the storage 1033, the interface 1034, the input device 1035, the display device 1036, and the communication device 1037 are connected to a bus 1038.

[0035] The processor 1031 is a processor that controls the overall operation of the measuring device 10. The processor 1031 operates as the map creation unit 15 and the control unit 19 by executing, for example, a measurement control program 1033a stored in the storage 1033. The processor 1031 is, for example, a CPU. The processor 1031 may be an MPU, a GPU, an ASIC, an FPGA, or the like. The processor 1031 may be a single CPU or the like, or may be multiple CPUs or the like.

[0036] The memory 1032 includes a ROM and a RAM. The ROM is a non-volatile memory. The ROM stores the operating system (OS) and setting values ​​of the measuring device 10. The RAM is a volatile memory. The RAM is used as a working memory during processing in the processor 1031, for example.

[0037] The storage 1033 is, for example, a storage such as a flash memory. The storage 1033 stores various programs executed by the processor 1031, such as a measurement control program 1033a. The storage 1033 can also store measurement results.

[0038] The interface 1034 is an interface for transmitting and receiving signals between the light emitting and receiving unit 101 a, the wheels 102, the antenna 107, and the measuring instrument 108.

[0039] The input device 1035 is an input device such as a touch panel, a button, etc. When the input device 1035 is operated, a signal corresponding to the operation is input to the processor 1031 via the bus 1038. The processor 1031 performs various processes according to the signal. The input device 1035 can be used for setting a frequency, etc.

[0040] The display device 1036 is a display device such as a liquid crystal display, an organic EL display, an LED, etc. The display device 1036 displays various kinds of information.

[0041] The communication device 1037 is a communication device for the measuring device 10 to communicate with the server 20. The communication device 1037 is, for example, a communication device for wireless communication, but may be a communication device for wired communication.

[0042] Fig. 5 is a diagram showing an example of the configuration of the server 20. The server 20 may be a computer having a processor 201, a memory 202, a storage 203, an input device 204, a display device 205, and a communication device 206 as hardware. The processor 201, the memory 202, the storage 203, the input device 204, the display device 205, and the communication device 206 are connected to a bus 207. The server 20 in Fig. 5 is shown as a single computer. As described above, the server 20 may be configured as a cloud server.

[0043] The processor 201 is a processor that controls the overall operation of the server 20. The processor 201 can operate as a simulation execution unit by executing a radio wave propagation simulator 2031 stored in the storage 203, for example.

[0044] The memory 202 includes a ROM and a RAM. The ROM is a non-volatile memory. The ROM stores the operating system (OS) of the server 20 and the like. The RAM is a volatile memory. The RAM is used as a working memory during processing in the processor 201, for example.

[0045] The storage 203 is, for example, a storage such as a flash memory, a hard disk drive, or a solid state drive. The storage 203 stores various programs executed by the processor 201, such as a radio wave propagation simulator 2031. The radio wave propagation simulator 2031 is, for example, a radio wave propagation simulator using a ray tracing method.

[0046] The input device 204 is an input device such as a touch panel, a keyboard, a mouse, etc. When the input device 204 is operated, a signal corresponding to the operation content is input to the processor 1031 via the bus 207. The processor 201 performs various processes in response to this signal.

[0047] The display device 205 is a display device such as a liquid crystal display, an organic EL display, etc. The display device 205 displays various images.

[0048] The communication device 206 is a communication device for the server 20 to communicate with the measuring device 10 and the terminal 30. The communication device 206 may be a communication device for wired communication, or may be a communication device for wireless communication.

[0049] Next, a description will be given of the operation of the radio wave propagation simulation system 1. Fig. 6 is a flowchart showing the operation of the measuring device 10. The operation of Fig. 6 can be controlled by the processor 1031 of the measuring device 10.

[0050] In step S1, the processor 1031 sets the frequency of the transmission radio wave. The frequency of the transmission radio wave is determined, for example, from a range of 1 GHz to 400 GHz, according to the frequency of a wireless device that is used or expected to be used indoors that is the subject of the radio wave propagation simulation.

[0051] 7A and 7B are conceptual diagrams showing the difference in behavior of radio waves depending on the type of obstacle. In general, wood is known to easily transmit radio waves. On the other hand, metal is known to reflect or absorb radio waves. That is, as shown in FIG. 7A, even if radio waves E are transmitted toward an obstacle O1, if the obstacle O1 is made of wood or the like, the radio waves E may transmit through the obstacle O1. Also, as shown in FIG. 7B, when radio waves E are transmitted toward a wall W, if the wall W is made of wood or the like, the radio waves E may transmit through the wall W. Here, in the case of indoors, a duct may be arranged inside the wall or a light may be arranged on the ceiling, and these ducts and lights may contain metal. If there is a duct as a metallic obstacle O2 behind the wall W, the radio waves E that transmit through the wall W are reflected by the obstacle O2 as shown in FIG. 7B.

[0052] In order to improve the accuracy of radio wave propagation simulations such as the ray tracing method, it is important to correctly model objects that reflect, transmit, and diffract radio waves. In other words, in radio wave propagation simulations, information on obstacles O1 and walls W through which radio waves E pass is not necessary, and information on obstacles O2 behind walls W is more important. In order to correctly model such obstacles for radio waves, the measuring device 10 actually transmits radio waves indoors and receives the reflected radio waves to obtain radio wave shape information, which is shape information for radio waves.

[0053] Here, if the frequency of the transmitted radio waves is the same as that of the wireless devices used or expected to be used indoors, shape information for the wireless signal actually used is obtained, and it is expected that the accuracy of the radio wave propagation simulation will be improved. On the other hand, if the frequency of the transmitted radio waves is the same as that of the wireless devices used or expected to be used indoors, interference may occur between the radio waves of each wireless device actually used and the radio waves transmitted from the measuring device 10, so it is necessary to turn off the power of each wireless device indoors prior to measurement.

[0054] In addition, when the frequency of the transmission radio wave is set to a frequency different from that of the wireless devices used or expected to be used indoors, for example, when the frequency of the transmission radio wave is set to a frequency higher than that of the wireless devices used or expected to be used indoors, interference does not occur between the radio waves of each wireless device actually used and the radio waves transmitted from the measuring device 10, so there is no need to turn off the power of each wireless device indoors prior to measurement. On the other hand, for example, due to the behavior of the radio waves changing with respect to obstacles, the accuracy of the radio wave propagation simulation may be reduced compared to when the frequency of the transmission radio wave is set to the same frequency as that of the wireless devices used or expected to be used indoors. In order to prevent interference and improve the accuracy of the radio wave propagation simulation, the frequency of the transmission radio wave may be set to two frequencies, a higher frequency and a lower frequency than that of the wireless devices used or expected to be used indoors. In this case, shape information of the same frequency as that of the wireless devices used or expected to be used indoors can be obtained by an interpolation process using the measurement results using the high-frequency radio wave and the measurement results using the low-frequency radio wave.

[0055] Which of the above-mentioned frequencies is to be set may be set, for example, by a person who brings the measuring device 10 to the measurement location by operating the input device 1035, or may be set by an instruction from the server 20 or the terminal 30. Of course, the frequency of the transmitted radio wave may be a fixed value. After the frequency of the transmitted radio wave has been set, the process proceeds to step S2.

[0056] In step S2, the processor 1031 controls the driving of the wheels 102 to start moving. The processor 1031 also starts creating a map. The map is created according to the trajectory of movement from the initial position, with the point where the movement started being set as the initial position.

[0057] In step S3, the processor 1031 determines whether or not movement of a predetermined distance, for example, 1 m, has been completed. The movement distance can be measured, for example, by the rotation speed of the wheel 102. When it is determined in step S3 that movement of the predetermined distance has been completed, the process proceeds to step S4. When it is determined in step S3 that movement of the predetermined distance has not been completed, the process proceeds to step S7.

[0058] In step S4, the processor 1031 starts measurement. Specifically, the processor 1031 controls the height of the low dielectric support 104 and the position of the antenna 107 and the measuring instrument 108 on the low dielectric rail 106 to orient the antenna 107 and the measuring instrument 108 in a predetermined direction. Then, the processor 1031 controls the transmitting circuit to transmit radio waves of the frequency set in step S1 from the antenna 107, and receives the reflected radio waves from the receiving circuit. Then, the processor 1031 calculates radio wave shape information from the results of transmitting and receiving the radio waves. For example, if the shape information is distance, the distance can be calculated from the time difference between transmitting and receiving the radio waves. In addition, the processor 1031 captures the subject scene using a camera as the measuring instrument 108, and calculates visible light shape information from the results of receiving infrared light. Furthermore, the processor 1031 measures propagation loss, etc. using an area tester as the measuring instrument 108, and measures delay, etc. using a network tester. After the measurement in at least one direction is completed, the process proceeds to step S5. Measurements may be performed in multiple directions, such as the ceiling and floor, at one measurement point. In this case, after measurements are completed in all directions, the process proceeds to step S5.

[0059] In step S5, the processor 1031 stores in the storage 1033 a file including information in which the measured radio wave shape information, visible light shape information, and radio wave propagation information are associated with coordinates on a map. FIG. 8 is a diagram showing an example of a format of a file stored in the storage 1033. As shown in FIG. 8, the stored file includes a header, map data, and measurement data. The header is information on measurement conditions such as the measurement date and time, the measurement direction, and the frequency of the transmitted radio wave. The map data is data on the created map. The measurement data is data in which measurement results such as radio wave shape information, an image, visible light shape information, and radio wave propagation information are stored in association with coordinates on a map. The file may include data other than that shown in FIG. 8.

[0060] In step S6, the processor 1031 determines whether the measurement is complete. For example, when the creation of a map is completed and the measurement at the necessary measurement points on the map is completed, the measurement is determined to be complete. When it is determined in step S6 that the measurement is not completed, the process returns to step S3. In this case, the processor 1031 may change the movement direction so as to preferentially move to a point for which a map has not yet been created. When it is determined in step S6 that the measurement is completed, the process proceeds to step S9.

[0061] In step S7, the processor 1031 determines whether or not a rear-end collision has been detected based on the result of reception of the infrared light by the infrared light projecting and receiving unit 101a. If it is determined in step S7 that a rear-end collision has been detected, the process proceeds to step S8. If it is determined in step S7 that a rear-end collision has not been detected, the process returns to step S3.

[0062] In step S8, the processor 1031 controls the driving of the wheels 102 to change the moving direction. After that, the process returns to step S3. The processor 1031 may determine the moving direction to be, for example, a random direction excluding the current moving direction in which a rear-end collision occurs. Alternatively, the processor 1031 may change the moving direction to preferentially move to a point for which a map has not yet been created.

[0063] In step S9, the processor 1031 transmits the data of the file stored in the storage 1033 to the server 20 using the communication device 1037. After that, the processing in FIG. 6 ends.

[0064] 9 is a flowchart showing the operation of the server 20. The operation of FIG.

[0065] In step S101, the processor 201 determines whether or not file data has been received from the measuring device 10. When it is determined in step S101 that file data has been received, the process proceeds to step S102. When it is determined in step S101 that file data has not been received, the process proceeds to step S104.

[0066] In step S102, the processor 201 executes a radio wave propagation simulation based on the shape information included in the data of the received file. In the embodiment, the processor 201 may execute a radio wave propagation simulation based on the radio wave shape information and a radio wave propagation simulation based on the visible light shape information. In the radio wave propagation simulation based on the radio wave shape information, the processor 201 generates a three-dimensional model from point cloud information as the radio wave shape information, and inputs the generated three-dimensional model to the radio wave propagation simulator 2031 to execute a radio wave propagation simulation, for example, by a ray tracing method. In the radio wave propagation simulation based on the visible light shape information, the processor 201 generates a three-dimensional model from point cloud information as the visible light shape information, and inputs the generated three-dimensional model to the radio wave propagation simulator 2031 to execute a radio wave propagation simulation, for example, by a ray tracing method. After the radio wave propagation simulation, the process proceeds to step S103. Here, the radio wave propagation simulation is not necessarily executed when the file is received, but may be executed upon receiving an operation by the operator of the server 20. In this case, the operator may change the conditions of the radio wave propagation simulation. The conditions for the radio wave propagation simulation include the frequency of the radio signal, the presence or absence of radio equipment that may be a source of radio wave interference, and the presence or absence of electromagnetic wave reflecting sheets and electromagnetic wave absorbing sheets attached to walls, etc. By changing these conditions, the simulation can also obtain optimal positions for the radio equipment, electromagnetic wave reflecting sheets, and electromagnetic wave absorbing sheets.

[0067] In step S103, the processor 201 stores the result of the radio wave propagation simulation in, for example, the storage 203 together with the data of the file received from the measurement device 10. In addition, in step S103, the processor 201 may display the result of the radio wave propagation simulation on the display device 205.

[0068] In step S104, the processor 201 determines whether or not the transmission of the results of the radio wave propagation simulation has been requested, for example, from the terminal 30. When it is determined in step S104 that the transmission of the results of the radio wave propagation simulation has not been requested, the process returns to step S101. When it is determined in step S104 that the transmission of the results of the radio wave propagation simulation has been requested, the process proceeds to step S105.

[0069] In step S105, the processor 201 transmits the requested result of the radio wave propagation simulation to the request source, for example, the terminal 30, using the communication device 206. At this time, the processor 201 may also transmit data of the file received from the measuring device 10 to, for example, the terminal 30. After transmitting the requested result of the radio wave propagation simulation, the process returns to step S101.

[0070] The terminal 30 that has received the results of the radio wave propagation simulation may display the results of the radio wave propagation simulation on a display device. The display of the results of the radio wave propagation simulation may be performed by any method. For example, the terminal 30 may display values ​​of propagation loss, delay, etc., as the results of the radio wave propagation simulation on a map. Alternatively, the terminal 30 may start a camera, display indoor images successively obtained by the camera on a display device, and compare the indoor images with images stored in a file to display values ​​of propagation loss, delay, etc., as the results of the radio wave propagation simulation in an augmented reality (AR) manner. Furthermore, the terminal 30 may also display actual values ​​of propagation loss, delay, etc., based on the radio wave propagation information stored in the file.

[0071] As described above, according to the embodiment, the measuring device transmits and receives radio waves while traveling indoors to obtain indoor shape information. This allows radio wave shape information, which is shape information of objects that are obstacles to radio waves, to be obtained. By performing a radio wave propagation simulation using the radio wave shape information, it is expected that the accuracy of the radio wave propagation simulation will be improved. In other words, according to the embodiment, the measuring device can obtain necessary and sufficient information that is useful for improving the accuracy of the radio wave propagation simulation. Here, radio signals in high frequency bands such as the millimeter wave band and the terahertz band have a strong tendency to travel in a straight line and are easily affected by obstacles. Therefore, the technology of the embodiment is suitable for improving the accuracy of radio wave propagation simulation, especially for radio signals in high frequency bands.

[0072] The measuring device also acquires indoor shape information by projecting and receiving infrared light while autonomously traveling indoors. This makes it possible to acquire visible light shape information, which is shape information of objects that are obstacles to the human eye. The results of the radio wave propagation simulation based on the visible light shape information can be used for comparison with the results of the radio wave propagation simulation based on the radio wave shape information, for example. Such a comparison can be used to verify the accuracy of the radio wave propagation simulator.

[0073] The measuring device may also measure radio wave propagation information while autonomously traveling indoors. By comparing the actual measurement results with the radio wave propagation simulation results, the actual measurement results and the simulation results may be mutually verified. For example, when there is a discrepancy between the actual measurement results and the radio wave propagation simulation results, the measuring device 10 may be configured to increase the number of measurement points and perform measurement again. In this case, for example, a process may be performed in which the predetermined distance used for the judgment of step S3 around a point where the discrepancy between the actual measurement results and the radio wave propagation simulation results is large is shortened so that many measurements are performed around the point where the discrepancy between the actual measurement results and the radio wave propagation simulation results is large.

[0074] (Modification) Modifications of the embodiment will be described below. In the embodiment, the radio wave propagation simulation is performed in the server 20. However, the radio wave propagation simulation may be performed in the terminal 30.

[0075] In the embodiment, an example is shown in which the results of the radio wave propagation simulation and the actual measurement results are displayed on the display device of the terminal 30 as a utilization example. Meanwhile, the results of the radio wave propagation simulation and / or the actual measurement results may be used as teaching data for a radio wave propagation inference model that utilizes artificial intelligence such as machine learning and deep learning. In addition, the results of the radio wave propagation simulation and the actual measurement results may be used for various purposes. Since the measuring device 10 can measure a wide variety of information in one measurement, the information obtained thereby is expected to be utilized in various ways.

[0076] The measuring device 10 is self-propelled indoors. Since people may be present indoors, it is desirable to perform the measurement in a situation that does not disturb the people present indoors. Therefore, the measuring device 10 may have a timer function that starts the measurement at a fixed time, such as at night.

[0077] The present invention is not limited to the above-mentioned embodiment, and various modifications can be made in the implementation stage without departing from the gist of the invention. In addition, the embodiments may be implemented in appropriate combination, and in that case, the combined effect can be obtained. Furthermore, the above-mentioned embodiment includes various inventions, and various inventions can be extracted by combinations selected from the multiple components disclosed. For example, if the problem can be solved and the effect can be obtained even if some components are deleted from all the components shown in the embodiment, the configuration from which the components are deleted can be extracted as an invention. The invention as described in the claims of the present application as originally filed is set forth below. [1] A mobility mechanism for autonomously moving indoors; a radio wave transmitting unit that transmits radio waves having a frequency set between 1 GHz and 400 GHz while the moving mechanism is moving independently; A radio wave receiving unit for receiving radio waves; A control unit that acquires shape information of a location from which the radio waves are transmitted based on the radio waves received by the radio wave receiving unit; A measuring device comprising: [2] The radio wave transmitting unit transmits radio waves having a frequency in the range of 1 GHz to 400 GHz, which is a frequency band used by wireless devices used indoors. [1] A measuring device as described in the above. [3] The radio wave transmitting unit transmits radio waves of a first frequency in the range of 1 GHz to 400 GHz, which is higher than the frequency band used by the wireless device used indoors. [1] A measuring device as described in the above. [4] The radio wave transmitting unit further transmits radio waves of a second frequency within 1 GHz to 400 GHz, which is lower than the frequency band used by the wireless device used indoors. [3] The measuring device described in. [5] A map creation unit that creates a map of the indoor area based on a trajectory of movement by the moving mechanism during self-propulsion, The control unit associates the map with the shape information. [1] A measuring device as described in the above. [6] The measurement device according to [1], further comprising an imaging unit that captures an image of the indoor scene and generates an image of the scene. [7] The measurement device according to [6], wherein the imaging unit further acquires shape information in the subject scene by projecting and receiving infrared light. [8] The measurement device according to [1], further comprising a radio wave propagation measuring unit that measures radio wave propagation indoors. [9] Transmitting radio waves at a frequency between 1 GHz and 400 GHz from a self-propelled measuring device indoors; and receiving radio waves in the measuring device; acquiring shape information of a location from which the radio waves are transmitted based on the received radio waves in the measuring device; A measurement method comprising:

[10] A mobile mechanism capable of self-propelled indoors; a radio wave transmitting unit that transmits radio waves having a frequency set between 1 GHz and 400 GHz while the moving mechanism is moving independently; A radio wave receiving unit for receiving radio waves; a control unit that acquires first shape information of a location from which the radio wave is transmitted based on the radio wave received by the radio wave receiving unit; A measuring device comprising: a simulation execution unit that executes a radio wave propagation simulation indoors based on the first shape information; A radio wave propagation simulation system.

[11] The measurement device further includes an imaging unit that acquires second shape information by projecting and receiving infrared light, The simulation execution unit further executes a radio wave propagation simulation indoors based on the second shape information. The radio wave propagation simulation system described in

[10] . [Explanation of symbols]

[0078] 1 Radio wave propagation simulation system, 10 Measuring device, 11 Radio wave transmitting unit, 12 Radio wave receiving unit, 13 Radio wave propagation measuring unit, 14 Imaging unit, 15 Map creation unit, 16 Collision detection unit, 17 Moving mechanism, 18 Communication unit, 19 Control unit, 20 Server, 30 Terminal, 101 Housing, 101a Light emitting / receiving unit, 102 Wheel, 103 Control circuit, 104 Low dielectric support, 105 Bellows member, 106 Low dielectric rail, 107 Antenna, 108 Measuring equipment, 109 Cable, 1031, 201 Processor, 1032, 202 Memory, 1033, 203 Storage, 1034 Interface, 1035, 204 Input device, 1036, 205 Display device, 1037, 206 Communication device, 1038, 207 207 Bus.

Claims

1. A moving mechanism for self-propelling indoors; a radio wave transmitting unit that transmits radio waves having a frequency set between 1 GHz and 400 GHz while the moving mechanism is moving independently; a radio wave receiving unit for receiving a reflected radio wave of the radio wave; a control unit that acquires shape information about an object that is an obstacle to the radio wave at a location from which the radio wave is transmitted, based on the reflected radio wave received by the radio wave receiving unit; A measuring device comprising:

2. The radio wave transmitting unit transmits radio waves having a frequency in a frequency band of 1 GHz to 400 GHz that is used by wireless devices used indoors. The measurement device according to claim 1 .

3. The radio wave transmitting unit transmits radio waves of a first frequency within 1 GHz to 400 GHz, the first frequency being higher than a frequency band used by wireless devices used indoors. The measurement device according to claim 1 .

4. The radio wave transmitting unit further transmits radio waves of a second frequency within 1 GHz to 400 GHz, the second frequency being lower than a frequency band used by wireless devices used indoors. The measurement device according to claim 3.

5. a map creation unit that creates a map of the indoor area based on a trajectory of the movement of the moving mechanism during self-propelled movement; The control unit associates the map with the shape information. The measurement device according to claim 1 .

6. The measurement device according to claim 1 , further comprising an imaging unit that captures an image of the indoor scene and generates an image of the scene.

7. The measurement device according to claim 6 , wherein the imaging section further obtains shape information in the object scene by projecting and receiving infrared light.

8. The measurement device according to claim 1 , further comprising a radio wave propagation measuring unit that measures indoor radio wave propagation.

9. Transmitting radio waves at a frequency set between 1 GHz and 400 GHz from a self-propelled measuring device indoors; receiving a reflected radio wave of the radio wave in the measuring device; acquiring shape information about an object that is an obstacle to the radio wave at a location from which the radio wave is transmitted, based on the reflected radio wave received by the measuring device; A measurement method comprising:

Images