Measurement system and measurement method

Abstract

This invention provides a measurement system and measurement method that can improve the convenience of performing various measurements at a measurement location. [Solution] The measurement system 300 comprises a robot 200 that autonomously moves to one or more locations, a measuring device 201 mounted on the robot 200, and an onboard system 120 that is communicatively connected to the robot 200. The onboard system 120 acquires the positions of one or more locations to which the robot 200 has moved. The measuring device 201 measures the conditions at one or more locations to which the robot 200 has moved. The onboard system 120 records the measurement results of the conditions at one or more locations to which the robot 200 has moved, in correspondence with the positions of one or more locations to which the robot 200 has moved.

Description

Technical Field

[0001] The present disclosure relates to a measurement system and a measurement method using an autonomous mobile robot.

Background Art

[0002] As described in Patent Document 1, it is known that a user carries a measuring device and moves to a measurement position to measure the radio wave intensity.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Improvement in convenience when performing various measurements at a measurement position is required.

[0005] The present disclosure aims to provide a measurement system and a measurement method capable of improving convenience when performing various measurements at a measurement position in order to solve the above problems.

Means for Solving the Problems

[0006] A measurement system according to an embodiment of the present disclosure includes: (1) a robot that autonomously moves to one or more points, a measurement device mounted on the robot, and an on-board system communicably connected to the robot. The on-board system acquires the positions of one or more points where the robot has moved. The measurement device measures the situation at one or more points where the robot has moved. The on-board system records the measurement results of the situation at one or more points where the robot has moved in association with the positions of one or more points where the robot has moved.

[0007] (2) In the measurement system described in (1) above, the conditions at one or more locations where the robot has moved may include at least one of the radio wave intensity or communication speed of the wireless communication.

[0008] (3) In the measurement system described in (1) or (2) above, the robot may be equipped with an internal sensor that measures the amount of movement and direction of movement of the robot. The onboard system may calculate the position of the point to which the robot has moved based on the measurement results of the internal sensor.

[0009] (4) In the measurement system described in (3) above, the robot may be equipped with an external sensor that acquires the robot's position from the outside. The onboard system may correct the measurement results of the internal sensor based on the measurement results of the external sensor.

[0010] (5) In the measurement system described in any one of (1) to (4) above, the onboard system may move the robot to at least some of the one or more locations two or more times and record the changes in the conditions over time at the locations to which the robot has moved two or more times in a manner that allows for comparison.

[0011] A measurement method according to one embodiment of the present disclosure (6) includes the steps of: acquiring the position of one or more points to which an autonomously moving robot has moved; measuring the conditions at the one or more points to which the robot has moved; and recording the measurement results of the conditions at the one or more points to which the robot has moved in correspondence with the positions of the one or more points to which the robot has moved. [Effects of the Invention]

[0012] The measurement system and measurement method described herein improve convenience when performing various measurements at the measurement location. [Brief explanation of the drawing]

[0013] [Figure 1]This is a block diagram showing an example configuration of the measurement system related to this disclosure. [Figure 2] This figure shows an example of the results of measuring the positions of multiple points along a robot's movement route using internal sensors, and the satellite positioning results of the start and end points of the movement route. [Figure 3] This figure shows an example of correcting the positional measurement results from internal sensors at each point along the robot's movement route based on satellite positioning results for the start and end points of the movement route. [Figure 4] This diagram illustrates the closed-loop processing of measurement results from internal sensors for the position of each point along the robot's movement route. [Figure 5] This figure shows an example of the measurement results of radio wave intensity at various points along the robot's movement route. [Figure 6] This flowchart shows an example of the procedure for the measurement method related to this disclosure. [Figure 7A] This figure shows an example of the measurement results of radio wave intensity at multiple points along a predetermined route when a robot moves along that predetermined route during the first period. [Figure 7B] This figure shows an example of the measurement results of radio wave intensity at multiple points along a predetermined route when a robot moves along that route during the second period. [Modes for carrying out the invention]

[0014] To manage facilities such as plants, measurements are taken at multiple points within the facility. When measuring devices are placed at measurement points, interpolated results can be obtained for the conditions at other points using the measurement results at the measurement points, but actual measured results cannot be obtained. When measuring radio wave strength in wireless communication, increasing the number of measurement points, i.e., the number of locations where wireless measurement devices are placed, is effective in identifying so-called "radio wave cliffs" where the radio wave strength weakens at specific locations due to the influence of devices placed within the facility. However, considering the cost of increasing the number of locations where wireless measurement devices are placed, this is not practical.

[0015] When a person carries a measuring device within a facility to take measurements, it is necessary to correlate the measurement results with the location where those results were obtained. When a person moves around the facility using a map to perform measurements, a great deal of effort is spent confirming the measurement points and correlating the measurement results with the measurement points. It is also possible for a person to carry a position measuring device along with the measuring device and correlate the measurement results with the measurement locations, but the effort required to carry the position measuring device is excessive. Furthermore, if the position measuring device uses radio waves from satellites to measure location, it is not possible to measure location in areas with weak or no radio wave signal. Therefore, when measuring the radio wave strength of wireless communication, it becomes difficult to determine the location of so-called radio wave cliffs. Moreover, it is impossible to perform measurements in locations that humans cannot access in the first place.

[0016] Therefore, remote operation, reduced manpower, or unmanned operation are desired for safety checks or maintenance work on plant and other equipment. To achieve remote operation, reduced manpower, or unmanned operation, attempts are being made to have robots that move remotely or autonomously perform safety checks or inspections of plant and other equipment. Furthermore, attempts are being made to have autonomously moving robots automatically patrol fixed routes or clean specific areas.

[0017] In order for robots to move autonomously, they may need wireless communication within a facility. In this case, reliable wireless communication within the facility where the robot will move is required. Therefore, in order for the robot to move autonomously within the facility, it is necessary to know in advance the status of wireless communication at the planned movement points within the facility.

[0018] Even if the wireless communication status can be grasped once, changes in the operating conditions of equipment or equipment upgrades within a plant or other facility can cause changes in radio wave conditions and other factors over time, which can alter the wireless communication status. To grasp these changes in the conditions within the facility over time, it is necessary to repeat the same measurement work. However, repeating measurement work generates considerable effort and cost. Furthermore, if the measurement is outsourced to a specialized external company, costs and lead times are incurred for each request. Therefore, the time constant for grasping the changes in the wireless communication status within the facility over time tends to be large. In other words, the interval for measuring changes in the wireless communication status within the facility over time tends to be long.

[0019] Due to longer intervals between measurements of radio wave strength for wireless communication within the equipment, it is sometimes possible to understand the status of wireless communication within the equipment by using the results of radio wave strength measurements taken under operating conditions or equipment configurations from months or even years ago. However, the current situation may deviate significantly from the wireless communication status within the equipment from months or years ago, and the planned destination may be a location where communication is impossible or where sufficient communication speed cannot be obtained. In such a case, it may become impossible for the robot to autonomously move to the planned destination determined based on the wireless communication status from months or years ago.

[0020] One possible approach to enable robots to move autonomously within a facility without using wireless communication is to place numerous IC tags or cameras within the facility. In a method where the robot's position is determined by its proximity to IC tags with known location information, a large number of IC tags with known location information are needed to accurately determine the robot's position. Similarly, in a method where the positional relationship between a camera and a robot with known dimensions or a reference marker placed on the robot is determined by detecting the camera with known location information, a large number of cameras with known location information are also needed to accurately determine the robot's position. However, installing numerous IC tags or cameras within a facility increases the burden of labor and cost. Furthermore, accurate and detailed facility drawings are required to determine where to place IC tags or cameras within the facility. However, if only simplified or hand-drawn drawings exist, or if information such as modifications made after the facility's construction is not reflected, a great deal of labor and cost is spent to survey the current facility and create accurate drawings.

[0021] In view of the various issues described above, this disclosure aims to provide a measurement system and measurement method that, by having a robot equipped with a wireless device patrol the plant, can accurately and easily record the locations where the robot moves, as well as the radio wave strength or communication speed of wireless communication at those locations, without having to prepare accurate drawings of the plant.

[0022] Embodiments of the measurement system and measurement method relating to this disclosure will be described below with reference to the drawings. Each drawing is schematic and may differ from the actual one. Furthermore, the following embodiments are illustrative of an apparatus or method for realizing the technical idea of ​​this disclosure and do not limit the configuration to those described below. In other words, the technical idea of ​​this disclosure can be modified in various ways within the technical scope described in the claims.

[0023] (Example configuration of measurement system 300) As shown in Figure 1, a measurement system 300 according to one embodiment of the present disclosure comprises an onboard system 120, an OT layer control device 110, an IT layer control device 100, and an IT layer terminal device 102. The onboard system 120 is mounted on a robot 200. The onboard system 120 may be an edge computing system. The measurement system 300 moves the robot 200 toward one or more points within the object to be measured and acquires measurement results at one or more points. In the present disclosure, the measurement system 300 measures the radio wave intensity of wireless communication at one or more points within a plant.

[0024] The onboard system 120 transmits movement instructions to the robot 200, causing the robot 200 to move autonomously within the plant. The onboard system 120 may include one or more processors, such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit). The processor may realize the operation of the onboard system 120 by reading and executing a program stored in a memory unit, which will be described later. The onboard system 120 may also include one or more dedicated circuits, such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit).

[0025] The onboard system 120 may include a storage unit. The storage unit stores various information or data. The storage unit may store, for example, a program executed by the processor of the onboard system 120, or data used in processing performed by the onboard system 120, or the results of processing or measurement results. The storage unit may also function as the processor's work memory. The storage unit may include, but is not limited to, semiconductor memory. For example, the storage unit may be configured as the processor's internal memory, or as a hard disk drive (HDD) accessible from the onboard system 120. The storage unit may be configured as a non-temporary readable medium. The storage unit may be configured integrally with the onboard system 120, or as a separate unit from the onboard system 120.

[0026] The onboard system 120 may include an output device. The output device may include a display device that shows the status of the robot 200, the progress of measurement, or the measurement result. The display device may include, for example, an LCD (Liquid Crystal Display), an organic EL (Electro-Luminescence) display or an inorganic EL display, or a PDP (Plasma Display Panel). The display device is not limited to these displays and may include various other types of displays. The output device may include a light-emitting device such as a lamp. The output device may include an audio output device such as a speaker. The output device is not limited to these examples and may include various other types of devices.

[0027] The OT layer control device 110 is a computer or similar device used in the plant being measured. The OT layer control device 110 is connected to the robot 200 via the OT layer network 112 within the plant. The robot 200 is connected to the OT layer network 112 wirelessly.

[0028] The IT layer control device 100 is a server or computer used in the IT layer, such as an operation center that operates the plant. The IT layer terminal device 102 is a computer that runs a browser to check the status of the plant from the IT layer, such as an operation center.

[0029] The IT layer control device 100 and the IT layer terminal device 102 are connected to either network 101 or network 103, which are IT layer networks higher than the OT layer network 112 within the plant. Network 101 is the internal network of the operator managing the plant and is also referred to as the operator's internal IT layer network 101. Network 103 is an external network such as the internet and is also referred to as the external network 103. The IT layer control device 100 and the IT layer terminal device 102 are connected to the external network 103 via a firewall 113. Firewall 113 is a general term for a configuration that implements security measures to protect the OT layer network 112 within the plant and the IT layer control device 100 and IT layer terminal device 102 from the external network 103.

[0030] The IT layer control device 100 is connected to the IT layer network 101 within the operator's network, while also being connected to the OT layer network 112 within the plant via a firewall 114 between the IT layer network 101 and the plant's OT layer network 112. The firewall 114 is a general term for a configuration that implements security measures to ensure proper communication between the IT layer network 101 within the operator's network and the OT layer network 112 within the plant, including the OT layer control device 110.

[0031] The IT layer control device 100 may send movement instructions to the robot 200 from outside the robot 200, instead of using the OT layer control device 110 or the onboard system 120. The measurement system 300 does not need to include the OT layer control device 110.

[0032] The OT layer control device 110 may transmit movement instructions to the robot 200 from outside the robot 200, instead of the IT layer control device 100 or the onboard system 120. The measurement system 300 does not need to include the IT layer control device 100 and the IT layer terminal device 102. In this case, firewalls 113 and 114 do not need to be provided separately. The IT layer control device 100 may be configured to communicate with an external network 103, and the robot 200 and the IT layer control device 100 may be configured to communicate via firewall 114.

[0033] The OT layer network 112 within the plant is configured to enable wireless communication throughout the entire plant or along the movement routes of the robots 200. The OT layer network 112 may be configured to enable communication using various methods such as 4G (4th Generation), LTE (Long Term Evolution), local 5G (5th Generation), mesh WiFi, or millimeter wave.

[0034] A charging station 210 may be installed within the plant. The charging station 210 connects to the robot 200 via a wired or wireless connection to charge the robot 200's battery when the robot 200 is powered by battery power. The charging station 210 is connected via a hub 111 to the OT layer network 112 via a wired or wireless connection. While the robot 200 is charging its battery at the charging station 210, it may be connected via the charging station 210 to communicate with the OT layer control device 110 or the IT layer control device 100.

[0035] (Example configuration of robot 200) The robot 200 comprises the onboard system 120 described above, a measuring device 201, a drive device 202, a robot control device 203, an internal sensor 204, and an external sensor 205.

[0036] <Measuring device 201> The measuring device 201 includes a wireless measuring device that receives radio waves from wireless communication in the OT layer network 112 within the plant and measures the radio wave strength or communication speed of the wireless communication. If mesh WiFi is selected as the OT layer network 112 within the plant, the wireless measuring device may measure whether it is connected to the master unit directly or via a repeater, or disconnected. The wireless measuring device may execute the iwconfig command to obtain the signal strength [dBm] received from the OT layer network 112, or the calculated Link Quality [%], etc. The wireless measuring device may execute the ping command to obtain the communication speed of the OT layer network 112. When executing the ping command, the wireless measuring device may transmit data twice with different data sizes and simply calculate the bandwidth and communication speed from the delay for the ping data difference, i.e., the delay for the bandwidth to process the difference size. The wireless measuring device is not limited to these examples and may measure the radio wave strength or communication speed of wireless communication using various methods.

[0037] The OT layer network 112 within the plant is not limited to mesh WiFi, but may be any of the following: 4G or LTE, local 5G, millimeter-wave radar, etc. The wireless measurement device may be appropriately selected according to the type of OT layer network 112 within the plant.

[0038] The measuring device 201 may include sensors or cameras. The sensors may include gas sensors that measure the gas concentration at the point where the robot 200 has moved, or thermal cameras or temperature sensors that measure the temperature of objects located at the point where the robot 200 has moved. The cameras may be configured to photograph or read the indicated or displayed values ​​of meters in a plant located at the point where the robot 200 has moved. The cameras may be configured to photograph or check for damage such as cracks or peeling of equipment, facilities, or devices in a plant located at the point where the robot 200 has moved.

[0039] The measuring device 201 may include actuators such as a robot arm. The actuator may be configured to open or close a control panel of a plant located at the point where the robot 200 has moved, or to operate a switch or valve. The measuring device 201 may measure changes before and after the operation performed by the actuator.

[0040] The measuring device 201 is not limited to the examples described above and may include various instruments or devices. The measuring device 201 may be configured to measure various items that represent the conditions at the point where the robot 200 has moved. The measuring device 201 may be configured by combining multiple types of sensors, instruments, or devices.

[0041] <Drive unit 202> The drive unit 202 moves the robot 200 by driving the robot's wheels, crawlers, or legs. The drive unit 202 may include wheels, crawlers, or legs. The drive unit 202 may include a power source such as an engine or motor to drive the wheels, crawlers, or legs. The robot 200 may be configured in various ways, as long as it is capable of moving autonomously in response to movement commands.

[0042] <Robot control device 203> The robot control device 203 acquires movement instructions from the onboard system 120, the OT layer control device 110, or the IT layer control device 100, and controls the drive device 202 based on the movement instructions to autonomously move the robot 200 to one or more locations within the plant.

[0043] The robot control device 203 acquires information or data from each component of the robot 200 and controls the robot 200's drive unit 202 to move the robot 200. The robot control device 203 also acquires measurement results from the measuring device 201 and outputs them to the onboard system 120, the OT layer control device 110, or the IT layer control device 100. The robot control device 203 may be configured to retain the measurement results within the robot 200 without automatically outputting them. In this case, the robot control device 203 may be configured to manually retrieve the measurement results retained within the robot 200, for example.

[0044] The robot control device 203 may be configured to include one or more processors such as a CPU or GPU. The processors constituting the robot control device 203 may control the robot 200 by reading and executing a program stored in the memory unit described later. The robot control device 203 may also be configured to include one or more dedicated circuits such as an FPGA or ASIC.

[0045] The robot control device 203 may include a memory unit. The memory unit stores various information or data. For example, the memory unit may store programs executed in the robot control device 203, or data used in processes executed in the robot control device 203, or the results of those processes or measurement results. The memory unit may also function as the work memory of the robot control device 203. The memory unit may, but is not limited to, a semiconductor memory. For example, the memory unit may be configured as the internal memory of a processor used as the robot control device 203, or as a hard disk drive (HDD) accessible from the robot control device 203. The memory unit may be configured as a non-temporary readable medium. The memory unit may be configured integrally with the robot control device 203, or as a separate unit from the robot control device 203.

[0046] The robot control device 203 may be equipped with a communication interface for communicating with other devices by wire or wireless. The communication interface may be configured to communicate with the onboard system 120 by wire or wireless. The communication interface may be configured to communicate with the OT layer control device 110, etc., via the OT layer network 112 within the plant. The communication interface may be configured to include input / output ports for inputting and outputting data to and from other devices. The robot control device 203 may send and receive necessary data or signals to and from the onboard system 120, the OT layer control device 110, or the IT layer control device 100, etc., via the communication interface.

[0047] The communication interface may be configured to communicate based on wired or wireless communication standards. Wired communication standards may include USB (Universal Serial Bus), RS-232C, or RS-485, etc. Wireless communication standards may include IEEE 802.11 or Bluetooth®, etc., or cellular phone communication standards such as 3G, 4G, or 5G. The communication interface may support one or more of these communication standards. The communication interface is not limited to these examples and may communicate with other devices and input / output data based on various communication standards. The communication interface may be configured integrally with the robot control device 203, or it may be configured separately from the robot control device 203.

[0048] The robot control device 203 may be included in the onboard system 120. In this case, the functions of the robot control device 203 may be implemented by the onboard system 120.

[0049] <Internal sensor 204 and external sensor 205> The internal sensor 204 measures the direction and amount of movement of the robot 200 itself. Information regarding the direction and amount of movement of the robot 200 itself is also called odometry information. The internal sensor 204 may include an encoder if the robot 200 moves on wheels or crawlers. The encoder may measure the rotation angle or rotation speed of the wheels by the drive unit 202, or the distance traveled by the crawlers. The internal sensor 204 may include a step counter if the robot 200 moves on legs. The internal sensor 204 may include an acceleration sensor or an angular velocity sensor.

[0050] The external sensor 205 may include a camera or the like that reads an identifier installed at any point within the plant. The identifier is configured so that the location where the identifier is installed can be identified by coordinates or name, etc. By reading the identifier, the external sensor 205 can measure to which point within the plant the robot 200 has moved.

[0051] The external sensor 205 may be configured to calculate the position of the robot 200 based on data output from various positioning systems, such as satellite positioning systems or positioning systems using infrared, ultrasonic, optical, geomagnetic, or wireless communication radio waves. RTK (Real Time Kinematic)-GNSS (Global Navigation Satellite System) may be used as the satellite positioning system.

[0052] The external sensor 205 may include a camera or the like that takes pictures of the area around the robot 200. The external sensor 205 may also include a depth camera or the like that that acquires point cloud data of objects around the robot 200.

[0053] The measurement results from the internal sensor 204 and the external sensor 205 are used by the robot control device 203 to identify the position where the robot 200 has moved. The robot control device 203 may control the drive unit 202 based on the measurement data from the internal sensor 204 and the external sensor 205. The robot control device 203 may be configured to calculate the amount of movement of the robot 200 itself using an output obtained based on position identification, which is the result of the robot 200 simultaneously performing self-position estimation and creation of an environment map around the robot, using a method called SLAM (Simultaneous Localization and Mapping). In this case, the internal sensor 204 or the external sensor 205 may include sensors necessary for SLAM.

[0054] (Example of operation of measurement system 300) The measurement system 300 according to this disclosure moves the robot 200 to one or more locations within the plant and measures the radio wave strength or communication speed of wireless communication at the locations where the robot 200 has moved using a measuring device 201. The measurement system 300 may also move the robot 200 along a pre-registered patrol route within the plant. The patrol route may include a route that visits one or more locations. An example of the operation of the measurement system 300 will be described below.

[0055] <Acquisition of location and measurement results> The robot control device 203 controls the robot 200 in response to movement instructions from the measurement system 300, causing the robot 200 to move autonomously within the plant. In this example of operation, the robot 200 moves through multiple points. The starting point of the robot 200's movement is represented by X1. The ending point of the robot 200's movement is X k Let's assume it is represented as follows: Robot 200 moves from X1 to X k The points you pass through on the way are X2, X3, ..., X k-1 Let's assume it is represented by X. Robot 200 is X i and X i+1 Move along the line segment connecting and . Here, i is a natural number less than or equal to k-1. X iLet it be a vector in a two - dimensional or three - dimensional space. That is, X i represents the position of each point based on the origin. The movement route of the robot 200 is represented as a route connecting the points from X1 to X k in order by line segments.

[0056] The on - board system 120 obtains, via the robot control device 203 or without passing through the robot control device 203, the measurement results of the movement direction and movement amount when the robot 200 moves from the internal sensor 204. The on - board system 120 can calculate the positions of each point from X1 to X k where the robot 200 moves based on the measurement results of the internal sensor 204. For example, on the map of FIG. 2, the positions of each point from X1 to X k calculated based on the measurement results of the internal sensor 204 are shown. Specifically, the internal sensor 204 measures the movement direction and movement amount from X i to X i+1 , that is, the odometry information. The measurement results of the movement direction and movement amount from X i to X i+1 by the internal sensor 204 are vectors, and let them be represented by w i . That is, X i+1 = X i +w i . The movement direction and movement amount from the movement start point to the movement end point of the robot 200 (X k - X1) is calculated as the sum of w1 + w2+··+w k-1 , that is, the sum of w i .

[0057] The on - board system 120 obtains, via the robot control device 203 or without passing through the robot control device 203, the measurement results of the external sensor 205 at two or more points among the points from X1 to X k . The on - board system 120 may obtain the measurement results of the external sensor 205 at all points from X1 to X k .

[0058] The onboard system 120 may obtain, as a measurement result of the external sensor 205, the results of measuring the position of one or more points using a satellite positioning system. The onboard system 120 may obtain, as a measurement result of the external sensor 205, images taken of the area around one or more points using a camera, or point cloud data of the area around one or more points. The onboard system 120 may also obtain, as a measurement result of the external sensor 205, the results of reading identifiers installed at one or more points using a camera. The identifiers are associated with information that identifies the location where the identifiers are installed. In other words, the onboard system 120 can obtain the position of the point to which the robot 200 has moved as the position associated with the identifier, based on the identifier reading results.

[0059] The onboard system 120 obtains the results of measuring the radio wave strength or communication speed of wireless communication at one or more of the multiple points to which the robot 200 has moved, either via the robot control device 203 or without the robot control device 203, from the measuring device 201. The onboard system 120 may obtain the measurement results of wireless communication at all points to which the robot 200 has moved.

[0060] The onboard system 120 stores in its memory, for each point the robot 200 has moved to, the position calculated based on the measurement results of the internal sensor 204, the measurement results of the external sensor 205, and the measurement results of wireless communication by the measuring device 201, in association with each other.

[0061] <Location identification process> The onboard system 120 may identify the position of the robot 200 by considering the position measured by the external sensor 205 as the correct position and correcting the position of the robot 200 calculated based on the measurement results of the internal sensor 204.

[0062] <<Odometry correction processing based on satellite positioning results>> In this example of operation, the onboard system 120 uses a satellite positioning system as an external sensor 205 to determine the position of X1, which is the starting point of the robot 200's movement, and X, which is the ending point of the robot 200's movement. k The position of X1 and X measured by the satellite positioning system is obtained. k The position measurement results are assumed to be reliable. The starting point of robot 200's movement, measured using a satellite positioning system, is represented by X'1. The ending point of robot 200's movement, measured using a satellite positioning system, is represented by X' k Let's assume that it is represented as follows. The onboard system 120 assumes that the position X1 of the robot 200's starting point, calculated based on the measurement results of the internal sensor 204, and the position X'1 of the robot 200's starting point, measured using the satellite positioning system, are the same.

[0063] This represents the direction and amount of movement of the robot 200 from the starting point to the ending point, calculated based on the measurement results of the internal sensor 204 (X k (X') represents the direction and amount of movement of the robot 200 from the starting point to the ending point, as measured by the external sensor 205. k If it differs from -X'1), the onboard system 120 assumes that the position measured using the satellite positioning system is correct, and (X k -X1) to (X' k We calculate the matrix A that transforms to -X'1). Matrix A is a matrix that satisfies the following equation (1). (X' k -X'1)=A·(X k -X1) (1)

[0064] Matrix A is thought to reflect the cumulative error at each point where the robot 200 moved, calculated based on the measurement results of the internal sensor 204. The onboard system 120 can identify the position of each point by correcting the position of each point calculated based on the measurement results of the internal sensor 204 using the following equation (2) which includes matrix A. The identified position is X'' iLet it be expressed as follows. Also, let X1 = X''1. (X'' i -X''1)=A·(X i -X1) (2)

[0065] As mentioned above, the positions of each point identified as X''1, X''2, ..., X'' are given by assuming X1 = X''1. k This is shown on the map in Figure 3. X calculated based on the measurement results of the internal sensor 204. k X'' identified by correcting k The position X' was measured by the external sensor 205. k It matches.

[0066] As described above, the position X calculated based on the measurement results of the internal sensor 204 i X'' using the measurement results of the satellite positioning system. i The process of correcting the position is also called odometry correction processing based on satellite positioning results. In the example described above, the onboard system 120 obtained the results of measuring the positions of the robot 200's starting point and ending point using a satellite positioning system, but it may also obtain the results of measuring the positions of other waypoints using a satellite positioning system.

[0067] The onboard system 120 may perform correction processing using the satellite positioning results of a location with high satellite positioning accuracy, based on the satellite positioning accuracy information. If there are two locations with high satellite positioning accuracy, and the satellite positioning accuracy of a location passed between those two locations is low, the onboard system 120 may set the two locations with high satellite positioning accuracy as the starting and ending points of the robot 200's movement, respectively, and perform odometry correction processing based on the satellite positioning results.

[0068] <<Closed-loop processing starting from odometry>> The onboard system 120 may acquire surrounding images or point cloud data as measurement results from the external sensor 205 at one or more locations where the robot 200 has moved, and create a local environmental map of the area around that location. If the robot 200 moves to another location after creating the environmental map and then returns to the location where the environmental map was created, the onboard system 120 can recognize that the robot 200 has returned to the same location or a location near a location it previously moved to by comparing the measurement results from the external sensor 205 with the environmental map created when it previously moved to that location.

[0069] For example, as shown in the map in Figure 4, the onboard system 120 is configured so that the robot 200 has a past X D1 When you move to the location represented by X D1 Create an environmental map of the surrounding area. Onboard system 120, robot 200 is X D1 After moving from X to another location, D2 When you move to the location represented by X, D2 Measurement results of external sensor 205 and X D1 By comparing it with the surrounding environment map, X D2 is X D1 Matching, or X D2 is X D1 It can recognize that it is located in the vicinity of [the object].

[0070] If the onboard system 120 recognizes that the robot 200 has returned to the same location or a location near a location it previously moved to, it corrects the position calculated based on the measurement results of the internal sensor 204 to match the location of the previously moved location.

[0071] As described above, the position X calculated based on the measurement results of the internal sensor 204, i.e., the odometry information. i This is done using the environment map of previously visited locations, X'' i The process of correcting this is also called a closed-loop process starting from the odometry.

[0072] <<Closing loop processing starting from the code>> The onboard system 120, based on the measurement results of the external sensor 205, shows that the robot 200 is X as shown in the map in Figure 4, for example. C1 When you move to the location represented by X C1 The result of reading code 220, which is set as an identifier, is obtained. The onboard system 120 tells the robot 200 that X C1 After moving from X to another location, C2 When moving to the location represented by X, the measurement result of the external sensor 205 is X C2 The code 220, which is X, is set as the identifier. C1 The result of reading the same identifier as the identifier installed on is obtained. The onboard system 120 is X C1 The result of reading the identifier installed in X C2 If the result of reading the identifier installed in matches, X C2 is X C1 It can be recognized that it matches.

[0073] In other words, the onboard system 120 recognizes that the robot 200 has returned to the same location it previously moved to if the identifier reading result obtained from the external sensor 205 is the same as the identifier reading result at a location the robot 200 previously moved to. When the onboard system 120 recognizes that the robot 200 has returned to the same location it previously moved to, it may correct the position calculated based on the measurement result of the internal sensor 204 to match the position of the previously moved location. In the example described above, the onboard system 120 calculates X based on the measurement result of the internal sensor 204. C2 The position of X C1 You may adjust it to match the position.

[0074] As described above, the position X calculated based on the measurement results of the internal sensor 204 i Then, using the identifier of the previously visited location, i.e., code 220, X'' i The process of correcting this is also called a closed-loop process starting from the code.

[0075] <<Summary of location identification process>> As described above, the onboard system 120 can identify the position to which the robot 200 has moved by correcting the position calculated based on the measurement results of the internal sensor 204 using the measurement results of the external sensor 205. The position identification process is not limited to the onboard system 120, but may also be performed by the OT layer control device 110 or the IT layer control device 100.

[0076] <Display of measurement results> The onboard system 120 performs the position identification process described above and identifies the position X'' of each point to which the robot 200 has moved. i The onboard system 120 calculates the position X of each point the robot 200 has moved to. i The position X'' after identifying the measurement results of the wireless communication that were associated with it. i To associate with.

[0077] The measurement results of the wireless communication may be displayed as a map as illustrated in Figure 5. From X1 to X where the robot 200 moved. k The identified locations of each point up to X''1 to X'' k The measurement results of the radio wave strength of wireless communication at each location are represented in a manner that corresponds to colors on a grayscale. The closer the color of the circle corresponding to each location is to black, the stronger the radio wave strength. Conversely, the closer the color of the circle corresponding to each location is to white, the weaker the radio wave strength.

[0078] The measurement results displayed on the map may include not only the signal strength of the wireless communication but also the communication speed. The map may also be displayed in a manner that combines the measurement results of both the signal strength and communication speed of the wireless communication.

[0079] The map may be displayed by an onboard system 120, an OT layer control device 110, or an IT layer control device 100 included in the measurement system 300. The user can view the displayed map to confirm the measurement results of the wireless communication. The user may also use an IT layer terminal device 102 to acquire data from the measurement system 300 that associates the position of the robot 200 with the measurement results of the wireless communication, and display this data as a map on the IT layer terminal device 102.

[0080] The display method of the measurement results is not limited to maps, but may be in various other formats such as tables.

[0081] <Example of measurement procedure> The measurement system 300 may perform a measurement method that includes the steps of the flowchart illustrated in Figure 6. The measurement method may be implemented as a measurement program to be executed by a processor included in the measurement system 300. The measurement program may be stored on a non-temporary computer-readable medium such as a USB memory, hard disk, or SSD.

[0082] The measurement system 300 records the positions to which the robot 200 has moved, and the measurement results of wireless communication at each position (step S1). Specifically, the onboard system 120 of the measurement system 300 calculates the position of each of the multiple points to which the robot 200 has moved based on the measurement results of the internal sensor 204. The onboard system 120 also obtains the results of measuring the radio wave strength and communication speed of wireless communication at each of the multiple points to which the robot 200 has moved from the measurement device 201. The onboard system 120 records the position calculated based on the measurement results of the internal sensor 204 and the measurement results of wireless communication at each position in association with each other.

[0083] The measurement system 300 corrects the position where the robot 200 has moved (step S2). Specifically, the onboard system 120, OT layer control device 110, or IT layer control device 100 of the measurement system 300 corrects the position calculated based on the measurement results of the internal sensor 204 using the measurement results of the external sensor 205.

[0084] The measurement system 300 displays the measurement results (step S3). Specifically, the onboard system 120, OT layer control device 110, or IT layer control device 100 of the measurement system 300 displays data that associates the position corrected in step S2 with the measurement results of wireless communication as a map or table, etc. After executing the procedure in step S3, the measurement system 300 finishes executing the procedure in the flowchart of Figure 6.

[0085] <Summary> As described above, according to the measurement system 300 and measurement method of this disclosure, the position of the point to which the robot 200 autonomously moves within the plant is identified using the measurement results of the internal sensor 204 and the external sensor 205. In this way, the position of the point to which the robot 200 autonomously moves within the plant can be identified with high accuracy without the need to prepare detailed drawings of the plant in advance. Furthermore, since position identification is possible by using at least one identifier, the number of locations where identifiers need to be installed is reduced.

[0086] Furthermore, according to the measurement system 300 and measurement method described herein, the measurement results of wireless communication at the point where the robot 200 moves are automatically associated with the identified location. In this way, measurement results are obtained at numerous points where the robot 200 autonomously moves. In addition, measurement results are obtained at short intervals, i.e., at high density, along the route where the robot 200 autonomously moves. Furthermore, measurement results are obtained substantially continuously along the route where the robot 200 autonomously moves. Moreover, according to the measurement system 300 and measurement method described herein, wireless communication measurements within the plant are performed at a high frequency. As a result, the convenience of performing wireless communication measurements within the plant is improved.

[0087] Furthermore, the measurement system 300 and measurement method described herein allow for easy identification of locations within the plant where wireless communication is good or bad. As a result, the addition of repeaters 240 within the plant can be easily considered. In addition, the system can be easily controlled to prevent the robot 200 from moving to locations with poor wireless communication, ensuring reliable remote operation of the robot 200. As a result, the likelihood of needing manual intervention with the robot 200 is reduced.

[0088] In the measurement system 300 relating to this disclosure, the measuring device 201 is not limited to radio wave intensity of wireless communication, but may be configured to measure various other items such as gas concentration. The robot 200 may be equipped with a combination of multiple measuring devices 201 that measure different types of items. For example, the robot 200 may be equipped with a combination of various sensors, equipment, or devices as measuring devices 201, including a wireless measuring device for measuring radio wave intensity or communication speed of wireless communication, as well as, for example, a gas sensor for measuring gas concentration, a thermal camera or temperature sensor for acquiring temperature distribution, or a camera for checking the status of equipment within a plant. The onboard system 120 may simultaneously acquire the measured values ​​obtained from each of the multiple measuring devices 201 at each point the robot 200 has moved to, and record them together with the measurement location information. That is, the onboard system 120 can record various measurement results such as the status of wireless communication including radio wave intensity or communication speed, gas concentration, temperature, and image information at each point the robot 200 has moved to, all together as the same timestamp or the same measurement event.

[0089] By recording various measurement results at each location in a single step, comprehensive status information for each location is efficiently accumulated. Furthermore, multiple parameters such as wireless communication quality, gas concentration, temperature, and equipment images at the same location can be analyzed correlatedly, facilitating a comprehensive understanding of the site's condition or anomaly detection, thus enabling a comprehensive grasp of the site situation. Additionally, since it's not necessary to individually measure various sensors, and multiple data points can be acquired simultaneously with a single robotic patrol, the workload and costs are significantly reduced. In short, measurement work can be made more efficient. Moreover, by utilizing the recorded multi-parameter data, it's possible to analyze the correlation between events such as deterioration of wireless communication quality and gas leaks or temperature increases, or to enhance equipment maintenance or safety management. In short, the data can be utilized from multiple perspectives. Furthermore, by referring to simultaneous measurement values ​​of other parameters when an anomaly is detected, it becomes possible to quickly identify the cause or the scope of impact, improving on-site response capabilities. In short, anomaly response can be expedited. Finally, by comparing changes in multi-parameter data at the same location over time, it's possible to grasp the deterioration trend of equipment or signs of anomalies early. In short, historical management or tracking of changes over time becomes possible.

[0090] As described above, the measurement system 300 and measurement method relating to this disclosure enable comprehensive and high-frequency monitoring of the site by simultaneously recording various measurement results obtained from multiple types of sensors, equipment, or devices, thereby greatly contributing to the improvement of safety, efficiency, and maintainability of plants and other facilities. Furthermore, the measurement system 300 relating to this disclosure can simultaneously acquire multiple sensor data such as gas concentration, wireless communication status, temperature, and image information at each point visited by the robot 200, and record them in conjunction with location information. This simultaneous recording of multiple items makes it possible to comprehensively and frequently monitor the site conditions, and in the event of an anomaly, rapid identification of the cause and understanding of the scope of impact can be achieved through correlation analysis of various data. As a result, it can greatly contribute to the improvement of safety, efficiency, and maintainability of plants and other facilities. As a comparative example, in the case where multiple types of sensors are not mounted on the robot 200, a robot had to be prepared for each sensor, and the robot equipped with each sensor had to visit and take measurements, resulting in high effort and cost for data acquisition, and making it difficult to easily perform anomaly detection and history management. In contrast, the measurement system 300 described herein enables the simultaneous acquisition and recording of multiple data items through the automatic patrol of a robot 200 equipped with multiple types of sensors. This reduces the operational burden and allows for early detection of changes in equipment status over time or signs of abnormalities, enabling prompt response and utilization in maintenance planning. Therefore, the measurement system 300 and measurement method described herein improve convenience when performing measurements of various items representing the situation at locations where the robot 200 has moved.

[0091] In the measurement system 300 relating to this disclosure, the object to be measured by the autonomously moving robot 200 is not limited to a plant.

[0092] <Measurement of changes over time> The measurement system 300 according to this disclosure can measure the radio wave strength or communication speed of wireless communication at the same location multiple times by moving the robot 200 to the same location multiple times. The multiple measurement results at the same location are measurement results at different times. Therefore, the measurement system 300 can measure the radio wave strength or communication speed of wireless communication at the same location multiple times and display the results of each measurement in a comparable manner, thereby displaying data that allows the change in the measurement results of each measurement to be grasped as a change in radio wave strength or communication speed of wireless communication over time. In other words, the measurement system 300 may move the robot 200 to at least some of the locations of one or more locations two or more times and record the change in radio wave strength or communication speed of wireless communication at the locations to which the robot 200 has moved two or more times in a corresponding manner so that it can be compared.

[0093] As one embodiment, Figures 7A and 7B show a 3D map representing the results of measuring the radio wave strength of wireless communication at multiple points along a patrol route within a plant, as the robot 200 autonomously moves along the patrol route. Figure 7A shows the results of the first measurement. Figure 7B shows the results of the second measurement. In Figures 7A and 7B, the coordinate system is set to be a right-handed system, with the starting point of the robot 200's patrol route as the origin, the forward direction of the robot 200 at the start of the patrol as the positive X-axis, the vertically upward direction as the positive Z-axis, and the direction perpendicular to the X and Z axes as the positive Y-axis. Note that the intersection of the X, Y, and Z axes does not coincide with the origin.

[0094] In this embodiment, the OT layer network 112 within the plant is a mesh WiFi. As shown in Figures 7A and 7B, the OT layer network 112 comprises a router master unit 230 represented by circular pins and repeaters 240 represented by X-shaped pins.

[0095] The measurement system 300 displays the measurement results of the radio wave strength of wireless communication at each point along the patrol route as a three-dimensional map in Figures 7A and 7B. By comparing the results of two measurements taken at different times, the user can understand the changes in radio wave strength over time. In this embodiment, there are points where the radio wave strength of wireless communication is weaker in the second measurement than in the first measurement. The user can consider changing the placement of the repeater 240 located near the point where the radio wave strength of wireless communication is weaker, or adding more repeaters 240. The effect of the user's actions can be easily confirmed by having the measurement system 300 perform measurements again after the user has taken action.

[0096] While embodiments of this disclosure have been described based on the drawings and examples, it should be noted that those skilled in the art can make various modifications or alterations based on this disclosure. Therefore, it should be noted that these modifications or alterations are included within the scope of this disclosure. For example, the functions included in each component or step can be rearranged in a logically consistent manner, and multiple components or steps can be combined into one or divided. Embodiments relating to this disclosure can also be realized as programs executed by a processor in the device or as storage media recording such programs. These should also be understood to be included within the scope of this disclosure. [Explanation of Symbols]

[0097] 100 IT layer control equipment 101 Internal IT Layer Network of a Business Operator 102 IT Layer Terminal Devices 103 External Network 110 OT layer control device 111 Hub 112 OT layer network within the plant 113, 114 Firewall 120 Onboard Systems 200 robots (201: measuring device, 202: drive device, 203: robot control device, 204: internal sensor, 205: external sensor) 210 Charging Stations 220 Code 230 Router Main Unit 240 Repeaters 300 Measurement Systems

Claims

1. A robot that autonomously moves to one or more locations, The measuring device mounted on the aforementioned robot, An onboard system that is communicatively connected to the robot and Equipped with, The onboard system acquires the position of one or more points where the robot has moved. The measuring device measures the conditions at one or more points where the robot has moved. The onboard system records the measurement results of the conditions at one or more points where the robot has moved, and associates them with the positions of those one or more points. Measurement system.

2. The measurement system according to claim 1, wherein the conditions at one or more locations where the robot has moved include at least one of the radio wave intensity or communication speed of wireless communication.

3. The robot is equipped with an internal sensor that measures the amount and direction of movement of the robot. The onboard system calculates the position of the point to which the robot has moved based on the measurement results of the internal sensor. The measurement system according to claim 1.

4. The robot is equipped with an external sensor that acquires the robot's position from the outside, The onboard system corrects the measurement results of the internal sensor based on the measurement results of the external sensor. The measurement system according to claim 3.

5. The aforementioned onboard system is The robot is moved to at least some of the aforementioned one or more locations two or more times. The system records the changes in the situation over time at locations where the robot has moved two or more times, in a way that allows for comparison. The measurement system according to any one of claims 1 to 4.

6. A step of obtaining the position of one or more points that an autonomously moving robot has visited, The steps include measuring the situation at one or more locations where the robot has moved, The steps include recording the measurement results of the conditions at one or more points where the robot has moved, in correspondence with the positions of the one or more points where the robot has moved, and Measurement methods, including those mentioned above.

Images