Information processing device, system, method, and program

Abstract

To provide an information processing apparatus, system, method and program which are useful for grasping a propagation environment of a radio wave in a space where a moving body moves.SOLUTION: An information processing apparatus includes a processor configured to acquire information indicating a position of an antenna that radiates a control signal for controlling a moving body using a radio wave, information indicating a position of an object in a space in which the moving body moves, and information indicating radio wave transmittance of the object indicating a degree of transmission of the radio wave through the object, and to evaluate a propagation environment of the radio wave in the space based on the acquired information indicating the position of the antenna, information indicating the position of the object, and information indicating the radio wave transmittance of the object.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] Embodiments of the present invention relate to information processing devices, systems, methods, and programs. [Background technology]

[0002] In recent years, it has become known that mobile objects (e.g., mobile robots) moving within a predetermined space can be controlled, for example, by performing wireless communication. In this case, the mobile object is controlled to move along a path from a starting point to a goal point set on a map of the space in which it is moving.

[0003] Incidentally, the control signals for controlling the aforementioned moving object are emitted as radio waves from the antenna. However, if an object (hereinafter referred to as an obstacle) is placed in the space in which the moving object is moving, the radio wave propagation environment in the space opposite the antenna across the obstacle (i.e., the space behind the obstacle from the antenna's perspective) may change due to the obstacle (i.e., a dead zone where the received power decreases may occur).

[0004] When a moving object travels through such a dead zone, it may not be able to properly receive control signals. Therefore, a mechanism is needed to understand the radio wave propagation environment, which changes depending on obstacles. [Prior art documents] [Patent Documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2015-115648 [Overview of the Initiative] [Problems that the invention aims to solve]

[0006] Therefore, the problem to be solved by the present invention is to provide an information processing apparatus, a system, a method, and a program that are useful for grasping the radio wave propagation environment in the space where the moving body moves.

Means for Solving the Problem

[0007] According to an embodiment, information indicating the position of an antenna that radiates a control signal for controlling a moving body by radio waves, information indicating the position of an object in the space where the moving body moves, and information indicating the radio wave transmittance of the object, which indicates the degree to which the object transmits radio waves, are acquired, and based on the acquired information indicating the position of the antenna, information indicating the position of the object, and information indicating the radio wave transmittance of the object, an information processing apparatus including a processing unit that evaluates the radio wave propagation environment in the space is provided. The radio wave transmittance of the object includes the radio wave transmittance of a predetermined proportion or more of the materials constituting the object.

Brief Description of the Drawings

[0008] [Figure 1] A diagram showing an example of a local 5G system applied to an embodiment. [Figure 2] A diagram showing an example of a target space. [Figure 3] A diagram for explaining an example of the environment assumed in the present embodiment. [Figure 4] A diagram for explaining obstacles arranged in the target space. [Figure 5] A block diagram showing an example of the functional configuration of an information processing apparatus. [Figure 6] A diagram showing an example of the system configuration of an information processing apparatus. [Figure 7] A flowchart showing an example of the processing procedure of an information processing apparatus. [Figure 8] A diagram showing an example of the data structure of radio wave transmittance information. [Figure 9] A diagram for explaining radio wave transmittance. [Figure 10] A diagram for explaining radio wave transmittance. [Figure 11] A diagram for explaining the map information output in the present embodiment. [Figure 12] A diagram for explaining the map information output in this embodiment. [Figure 13] A diagram for explaining the map information output in this embodiment. [Figure 14] A diagram representing radio waves obliquely incident on an object from the air. [Figure 15] A diagram showing an example of the data structure of obstacle information. [Figure 16] A diagram showing another example of the data structure of obstacle information. [Figure 17] A diagram for explaining a configuration that utilizes conductivity, permittivity, and permeability with respect to temperature. [Figure 18] A diagram for explaining an example of a process of determining the radio wave transmittance of an obstacle by classifying the obstacle. [Figure 19] A diagram showing an example of the reflection coefficient of horizontally polarized waves. [Figure 20] A diagram showing an example of the reflection coefficient of vertically polarized waves. [Figure 21] A diagram showing the reflection coefficient of horizontally polarized waves when the obstacle is water. [Figure 22] A diagram showing the reflection coefficient of vertically polarized waves when the obstacle is water. [Figure 23] A diagram for explaining an example of a method for estimating the insensitive region. [Figure 24] A diagram for explaining an example of a method for estimating the insensitive region. [Figure 25] A diagram for explaining an example of a method for estimating the insensitive region. [Figure 26] A diagram for explaining a configuration that changes the radio wave transmittance based on the incident angle of the radio wave. [Figure 27] A diagram showing an example of the functional configuration of an information processing apparatus according to a modified example of this embodiment. [Figure 28] A diagram showing an example of a received power map. [Figure 29] A diagram showing an example of the arrangement of obstacles to be changed. [Figure 30] A diagram showing another example of the arrangement of obstacles to be changed. [Modes for carrying out the invention]

[0009] The embodiments will be described below with reference to the drawings. The information processing device according to this embodiment is applied to a mobile object control system that controls a mobile object (mobile robot) that moves within a predetermined space such as a factory (hereinafter referred to as the target space).

[0010] The following describes scenarios assumed in this embodiment. When a moving object moves in a straight line along a passage within the target space, the control of the moving object can be simple. However, if, for example, the passage within the target space is curved or if the object must avoid an object (hereinafter referred to as an obstacle) placed within the target space, more advanced control is required.

[0011] However, when controlling such mobile objects via wired connections (i.e., transmitting control signals for controlling the mobile objects via wired connections), there are several challenges, including limitations on the range of movement of the mobile objects, the inability to control them due to wire breakage, and the complexity of the wiring work. These challenges become particularly pronounced when a large number of mobile objects are moving within the target space.

[0012] In contrast, the above-mentioned problems can be solved when controlling a mobile object wirelessly (i.e., wirelessly controlling a mobile object). For such wireless control of mobile objects, local 5G can be used, for example. Local 5G is a 5G network that can be used individually by companies, etc., and is capable of high speed, low latency, and a large number of simultaneous connections, making it useful in environments where a large number of mobile objects moving within a target space are to be wirelessly controlled. It should be noted that wireless LAN can also be used for wireless control of mobile objects.

[0013] Here, the mobile bodies described above can be broadly classified into those that operate autonomously and those that operate based on external commands (control signals). Autonomous mobile bodies are useful because each of them can determine its own situation and act accordingly, but they are expensive and difficult to apply when a large number of mobile bodies are to be placed in a target space. In contrast, if mobile bodies operate based on external commands as described above, the total cost of the system including the mobile bodies and the mobile body control device can be reduced by consolidating the functions for controlling a large number of mobile bodies into a single device (mobile body control device). Furthermore, since information on a large number of mobile bodies moving within a target space can be managed collectively, the management of these mobile bodies is relatively easy. Moreover, the ability to grasp information on a large number of mobile bodies collectively is also advantageous from the perspective of optimizing the movement of the entire mobile body.

[0014] In the following, we assume that this embodiment applies to a local 5G system (cellular system) where the base station controls the terminal, as shown in Figure 1.

[0015] In the example shown in Figure 1, a scenario is assumed in which multiple mobile objects 1 move within a target space. Each of the multiple mobile objects 1 is equipped with a radio and is connected to a base station 2 for communication. A mobile object control device 3 is also connected to the base station 2, and control signals for controlling the mobile objects 1, generated by the mobile object control device 3, are sequentially transmitted from the base station 2 (or an antenna installed thereon) to the mobile objects 1 at regular intervals. As a result, the mobile objects 1 can move within the target space based on the control signals sequentially transmitted from the base station 2.

[0016] In Figure 1, it is assumed that the mobile device 1 is, for example, an autonomous mobile robot (AMR), and the mobile device control device 3 is, for example, a server device referred to as mobile edge computing (MEC). The mobile device control device 3 may also be a server device that provides cloud computing services.

[0017] Here, we consider a scenario where the mobile object 1 is controlled to move within the target space shown in Figure 2. For example, consider a situation where the mobile object 1 moves from a starting point 1b to a goal point 1c along a passageway 1a within the target space (for example, a roadway provided in a factory or warehouse) to transport (transport) goods such as cardboard boxes.

[0018] In this case, the possible routes for moving from the starting point 1b to the goal point 1c are the shortest route 1d, the longest route 1e, and the intermediate route 1f between the shortest and longest routes.

[0019] According to the target space shown in Figure 2, by selecting path 1d (i.e., the shortest path) from paths 1d to 1f, the mobile body 1 can be controlled to move efficiently from the starting point 1b to the goal point 1c. The control signal for controlling the mobile body 1 in this way is radiated to the mobile body 1 from, for example, an antenna 2a installed at the base station 2. The antenna 2a is, for example, located within the target space. Here, the mobile body 1 is described as moving from the starting point 1b to the goal point 1c in order to transport cargo, but this cargo transport is not a one-time event. The mobile body 1 will transport cargo from the starting point 1b to the goal point 1c, then return to the starting point 1b, and transport another piece of cargo from the starting point 1b to the goal point 1c, and so on, repeating this operation.

[0020] Here, if the target space to which the mobile body 1 moves is, for example, a factory or warehouse, it is assumed that the arrangement of obstacles (cardboard boxes, etc., transported by the mobile body 1) within that target space will change over time. Here, as described above, we assume a situation where, for example, the mobile body 1 repeatedly transports goods from the starting point 1b to the goal point 1c shown in Figure 2 (that is, multiple mobile bodies 1 move sequentially along a defined path), and an obstacle 1g is placed within the target space as shown on the left side of Figure 3.

[0021] When an antenna 2a emits a signal (e.g., a control signal) via radio waves, if the obstacle 1g is a radio wave shielding material such as metal (i.e., a cardboard box in which the radio wave shielding material is packaged), the radio waves emitted from the antenna 2a are shielded by the obstacle 1g, thus worsening the radio wave propagation environment in the space 1h opposite the antenna 2a across the obstacle 1g (i.e., a dead zone 1h occurs on the other side of the obstacle 1g from the antenna 2a, resulting in reduced received power).

[0022] In the example shown in Figure 3, the space where the radio wave propagation environment has deteriorated (i.e., the dead zone) 1h overlaps with the path 1d. Therefore, when the mobile body 1 moves along the path 1d, it may not be able to properly receive the control signal in the dead zone 1h. In other words, as described above, the obstacle 1g placed in the target space becomes a factor that hinders the efficient movement (control) of the mobile body 1.

[0023] If a dead zone 1h occurs in this manner, the mobile body 1 can be controlled to avoid the dead zone 1h by changing, for example, path 1d to path 1f (intermediate path), as shown on the right side of Figure 3.

[0024] However, as described above, in order to change from path 1d to path 1f, the mobile body 1 needs to move through the dead zone 1h at least once (i.e., measure the received power in the dead zone 1h) to detect (understand) the occurrence of the dead zone 1h. In this case, the mobile body 1 may not be able to properly receive the control signal in the dead zone 1h and may not operate normally (for example, it may stop operating). Furthermore, moving through the dead zone 1h can be a cause of accidents due to the inability to properly receive control signals (i.e., instructions such as changes in movement speed and direction).

[0025] Therefore, a mechanism is desired that can determine the dead zone 1h generated in response to an obstacle 1g placed in the target space without moving through the dead zone 1h.

[0026] Furthermore, as described above, in situations where the mobile object 1 moves within a target space such as a factory or warehouse, an obstacle 1g may be placed, for example, consisting of multiple cardboard boxes containing radio wave shielding materials stacked in the height direction (i.e., piled up). The height of this obstacle 1g changes when the cardboard boxes are removed or further stacked. Whether or not a dead zone 1h occurs (i.e., the radio wave propagation environment) is thought to depend on the height of such an obstacle 1g. Specifically, for example, as shown on the left side of Figure 4, if the number of cardboard boxes stacked in the height direction is large for the obstacle 1g, a dead zone 1h will occur due to the obstacle 1g. However, as shown on the right side of Figure 4, if the number of cardboard boxes in the obstacle 1g is reduced, the influence of the obstacle 1g becomes smaller, and a dead zone 1h does not occur.

[0027] Furthermore, if the obstacle 1g is a cardboard box filled with goods, the effect of the obstacle 1g will vary depending on the contents of the cardboard box (i.e., the components that make up the obstacle 1g), and whether or not a dead zone 1h occurs will also vary. For example, if the components that make up the obstacle 1g are metal, the obstacle 1g will act as a radio wave shield, and there is a high probability that a dead zone 1h will occur. On the other hand, even if the obstacle 1g is a cardboard box filled with goods, if the cardboard box is empty or if the contents of the cardboard box (i.e., the components that make up the obstacle 1g) are glass, plastic, etc., the obstacle 1g will not act as a radio wave shield, and there is a low probability that a dead zone 1h will occur.

[0028] In other words, as described above, in order to determine the dead zone 1h without moving through it, it is necessary to determine whether or not the obstacles placed within the target space are radio wave shielding objects.

[0029] Therefore, in this embodiment, we will describe an information processing device that is useful for understanding (estimating) the radio wave propagation environment (for example, the occurrence of dead zones) in the target space (the space in which the mobile body 1 moves).

[0030] It should be noted that the information processing device according to this embodiment is assumed to be a separate device from the mobile device control device 3 that controls the mobile body 1 described above. The mobile device control system in this embodiment is configured to include, for example, the mobile body 1 and the mobile device control device 3 described above, as well as the information processing device described below.

[0031] Figure 5 is a block diagram showing an example of the functional configuration of the information processing device according to this embodiment. As shown in Figure 5, the information processing device 4 includes a processing unit 41, a storage unit 42, an acquisition unit 43, and an output unit 44. The processing unit 41 also includes a management unit 41a, an evaluation unit 41b, and a map information processing unit 41c.

[0032] The management unit 41a manages map information showing a map of the target space, placement plan information showing the placement plan of obstacles (objects) in the target space, and movement plan information showing the movement plan of moving objects in the target space. The map information, placement plan information, and movement plan information managed by the management unit 41a are stored in the storage unit 42.

[0033] Furthermore, the storage unit 42 stores radio wave transmittance information, including the radio wave transmittance of an obstacle that indicates the degree to which an obstacle placed in the target space transmits radio waves.

[0034] The evaluation unit 41b evaluates the radio wave propagation environment in the target space based on map information, layout plan information, and radio wave transmittance information managed by the management unit 41a. The evaluation unit 41b may also evaluate the radio wave propagation environment in a specific area of ​​the target space by referring to, for example, movement plan information managed by the management unit 41a. Details of the evaluation by the evaluation unit 41b will be described later.

[0035] The map information processing unit 41c acquires the map information stored in the storage unit 42 and performs a process to add the evaluation results from the evaluation unit 41b to the map information.

[0036] The acquisition unit 43 acquires map information, deployment plan information, and movement plan information managed by the management unit 41a. The map information, deployment plan information, and movement plan information may be acquired (received) from an external device such as the mobile device control device 3, or they may be acquired in response to operations by the administrator of the information processing device 4 (mobile device control system).

[0037] The output unit 44 outputs (transmits) map information to which evaluation results have been added by the map information processing unit 41c.

[0038] Figure 6 shows an example of the system configuration of the information processing device 4 shown in Figure 5. The information processing device 4 includes a CPU 401, non-volatile memory 402, RAM 403, and a communication device 404, etc.

[0039] The CPU 401 is a processor for controlling the operation of various components within the information processing device 4. The CPU 401 may be a single processor or may consist of multiple processors. The CPU 401 executes various programs loaded from the non-volatile memory 402 into the RAM 403. These programs include the operating system (OS) and various application programs such as the propagation environment evaluation program 403A for evaluating the radio wave propagation environment as described above.

[0040] The non-volatile memory 402 is a storage medium used as an auxiliary storage device. The RAM 403 is a storage medium used as a main storage device. In Figure 6, only the non-volatile memory 402 and RAM 403 are shown, but the information processing device 4 may also be equipped with other storage devices such as an HDD (Hard Disk Drive) and an SSD (Solid State Drive).

[0041] The communication device 404 is a device configured to perform wired or wireless communication.

[0042] In this embodiment, the processing unit 41 shown in Figure 5 is implemented by at least one processor. The processor includes, for example, a control unit and an arithmetic unit, and is implemented using analog or digital circuits. The processor may be the CPU 401 described above, or it may be a general-purpose processor, a microprocessor, a digital signal processor (DSP), an ASIC, an FPGA, or a combination thereof.

[0043] Furthermore, part or all of the processing unit 41 can be implemented by having the CPU 401 (i.e., the computer of the information processing device 4) execute the propagation environment evaluation program 403A, that is, by software. This propagation environment evaluation program 403A may be stored and distributed on a computer-readable storage medium, or it may be downloaded to the information processing device 4 via a network. Part or all of the processing unit 41 may be implemented by dedicated hardware, or by a combination of software and hardware.

[0044] Furthermore, in this embodiment, the storage unit 42 shown in Figure 5 is implemented by, for example, a non-volatile memory 402 or other storage device. In addition, in this embodiment, the acquisition unit 43 (receiving unit) and output unit 44 (transmitting unit) shown in Figure 5 are implemented by, for example, a communication device 404.

[0045] The following describes an example of the processing procedure of the information processing device 4 according to this embodiment, with reference to the flowchart in Figure 7. Note that the processing shown in Figure 7 is to be executed at a timing instructed, for example, by the administrator of the information processing device 4.

[0046] First, the management unit 41a included in the processing unit 41 acquires map information and layout plan information stored in the storage unit 42 from the storage unit 42 (step S1).

[0047] Furthermore, the map information acquired in step S1 represents a map of the target space in which the mobile body 1 moves, and the map (information) is assumed to have registered (set) the location (information indicating) of the antenna that radiates control signals for controlling the mobile body 1.

[0048] Furthermore, the placement plan information obtained in step S1 indicates the placement plan of obstacles within the target space, and this placement plan information is assumed to include, for example, information indicating the locations of obstacles that will be dynamically placed within the target space. The locations of dynamically placed obstacles include the locations of obstacles that are scheduled to be placed in the future or the locations of obstacles currently placed within the target space.

[0049] The antenna locations registered in the aforementioned map information and the locations of obstacles registered in the layout plan information are represented by coordinate values, etc., specified on the map shown by the said map information.

[0050] Next, the management unit 41a obtains radio wave transmittance information from the storage unit 42, which indicates the radio wave transmittance of obstacles placed in the target space (step S2).

[0051] Here, Figure 8 shows an example of the data structure of radio wave transmittance information. As shown in Figure 8, the radio wave transmittance information includes the obstacle ID and radio wave transmittance in association.

[0052] An obstacle ID is an identifier assigned to an obstacle placed within the target space. Radio wave transmittance is the radio wave transmittance of the obstacle to which the corresponding obstacle ID is assigned. In other words, in this embodiment, radio wave transmittance information can be said to be information that associates obstacles with radio wave transmittance.

[0053] While radio wave transmittance indicates the degree to which an obstacle transmits radio waves, if the obstacle is a package such as a cardboard box, the radio wave transmittance will differ depending on the material constituting the obstacle (hereinafter referred to as the "components of the obstacle"). Therefore, in this embodiment, the radio wave transmittance included in the radio wave transmittance information is defined as the radio wave transmittance for the main component of the obstacle (the dominant substance among the materials constituting the obstacle). The "main component of the obstacle" refers, for example, to a component whose proportion in the obstacle (among multiple materials constituting it) is greater than or equal to a predetermined value.

[0054] In the example shown in Figure 8, the radio wave transmittance information includes the association between obstacle ID "001" and radio wave transmittance "0.7". According to this radio wave transmittance information, the radio wave transmittance of the obstacle (or its main component) to which obstacle ID "001" is assigned is 0.7.

[0055] Furthermore, the radio wave transmittance information includes the association between obstacle ID "002" and radio wave transmittance "0.2". According to this radio wave transmittance information, the radio wave transmittance of the obstacle (or its main component) to which obstacle ID "002" is assigned is 0.2.

[0056] Although Figure 8 only shows radio wave transmittance information, including the radio wave transmittance of obstacles assigned obstacle IDs "001" and "002", the storage unit 42 stores radio wave transmittance information for each obstacle placed in the target space.

[0057] Furthermore, if an obstacle consists of multiple components, the multiple components may be treated as a single entity, with an obstacle ID and radio wave transmittance assigned to each component and stored as radio wave transmittance information. Alternatively, the radio wave transmittance may be represented by the component with the highest radio wave transmittance, the component with the lowest radio wave transmittance, the average or median radio wave transmittance, or by weighting based on the proportion of each component.

[0058] Here, referring to FIG. 9, the radio wave transmittance in this embodiment will be described. As shown in FIG. 9, it is assumed that the radio wave transmittance is, for example, a continuous numerical value between 0 and 1. In this case, the closer the radio wave transmittance is to 0, the more it indicates that the radio wave is not transmitted, and the closer the radio wave transmittance is to 1, the more it indicates that the radio wave is transmitted.

[0059] Here, the radio wave transmittance has been described as a continuous numerical value between 0 and 1. However, the radio wave transmittance may be represented stepwise using a plurality of threshold values (predetermined values), for example, as shown in FIG. 10. In the example shown in FIG. 10, for example, when the radio wave transmittance is 0 or more and less than X, the radio wave transmittance is treated as "low", when the radio wave transmittance is Y or more and 1 or less, the radio wave transmittance is treated as "high", and when the radio wave transmittance is X or more and less than Y, the case where the radio wave transmittance is treated as "medium" is shown. Note that X and Y in FIG. 10 are numerical values between 0 and 1 used as threshold values, and satisfy the relationship X < Y.

[0060] Returning to FIG. 7 again, the evaluation unit 41b evaluates the radio wave propagation environment in the target space (step S3) based on the position of the antenna registered in the map information acquired in step S1, the position of the obstacle registered in the layout plan information acquired in step S1, and the radio wave transmittance of the obstacle indicated by the radio wave transmittance information acquired in step S2 (that is, the radio wave transmittance included in the radio wave transmittance information corresponding to the obstacle ID assigned to the obstacle arranged in the target space).

[0061] Note that in step S3, for example, the radio wave propagation environment is evaluated for each region (hereinafter referred to as the target region) obtained by dividing the target space into a grid pattern in a plan view. According to the processing of step S3 like this, it is evaluated (determined) whether each target region corresponds to, for example, a dead zone generated by arranging an obstacle.

[0062] Specifically, for example, if there are no obstacles between the target area and the antenna, it is considered that the radio waves (signals) emitted from the antenna will reach the target area (the moving object 1 moving through it), and therefore, an evaluation result can be obtained indicating that the target area is not a dead zone.

[0063] On the other hand, if an obstacle is placed between the target area and the antenna, and the radio wave transmittance of the obstacle is low (for example, the radio wave transmittance is less than a predetermined value or the radio wave transmittance is "low"), then it is considered that the radio waves radiated from the antenna will not reach the target area (they will be blocked by the obstacle), and therefore, an evaluation result can be obtained that the target area (i.e., the area facing the antenna across the obstacle) is a dead zone.

[0064] Furthermore, even if an obstacle is placed between the target area and the antenna, if the radio wave transmittance of the obstacle is high (for example, if the radio wave transmittance is above a predetermined value or the radio wave transmittance is "high"), it is considered that the radio waves radiated from the antenna will pass through the obstacle and reach the target area (moving object 1 moving through it), and therefore an evaluation result can be obtained that the target area is not a dead zone.

[0065] Here, it has been explained that the execution of step S3 yields an evaluation result indicating whether or not each target area is a dead zone. However, this evaluation result may be based on different indicators. Specifically, the evaluation result may be, for example, the received power (radio wave intensity) in the target area calculated based on the radio wave transmittance of the obstacle, taking into account the relationship between the antenna position, the obstacle position, and the target area position, or the radio wave reach rate to the target area. Furthermore, the target area may be set in a shape other than a grid.

[0066] In this embodiment, the dead zone within the target space can be estimated (identified) based on the evaluation results described above. In this case, the area behind obstacles with low radio wave transmittance is mainly estimated as the dead zone.

[0067] As mentioned above, whether or not a dead zone occurs depends on the height of the obstacle. In this case, the placement plan information may include not only the position of the obstacle but also its height. This makes it possible, for example, to estimate the area behind an obstacle with low radio wave transmittance and high height (above a predetermined value) as a dead zone.

[0068] Next, the map information processing unit 41c adds the evaluation results from step S3 (for example, information such as the estimated location of the dead zone) to the map information acquired in step S1 (step S4). When this step S4 process is executed, map information is obtained that shows, for example, a map in which areas estimated to be dead zones and areas not estimated to be dead zones are mapped.

[0069] When the process in step S4 is executed, the output unit 44 outputs the map information obtained as a result of the execution of the process in step S4 (i.e., map information with evaluation results added) (step S5).

[0070] The map information output in step S5 may be transmitted to an external device (for example, a mobile device control unit 3) of the information processing device 4. With this configuration, for example, the mobile device control unit 3 can perform a process to control the mobile device 1 (change the movement plan) based on the map information transmitted from the information processing device 4.

[0071] In this explanation, the map information output in step S5 is used to control the moving object 1 moving within the target space, but this map information may be used for other purposes. Specifically, the map information output in step S5 may be displayed on a display device (display) provided in the information processing device 4, for example. With such a configuration, for example, the administrator of the information processing device 4 can recognize in real time the dead zones created by the placement of obstacles by referring to the map information displayed on the display device (a map on which areas estimated to be dead zones and areas not estimated to be dead zones are mapped).

[0072] Here, with reference to Figures 11 and 12, the map information output in step S5 will be explained. Figure 11 shows an example of the arrangement of obstacles in the target space. In the example shown in Figure 11, it is assumed that obstacles A to D are placed in the target space.

[0073] Obstacle A is assumed to be a cardboard box mainly containing metal, with low radio wave transmission. Obstacle B is assumed to be a cardboard box mainly containing fruit, with medium radio wave transmission. Obstacle C is assumed to be a cardboard box mainly containing glass, with high radio wave transmission. Obstacle D is assumed to be a cardboard box mainly containing paper, with high radio wave transmission. Antenna 2a installed at base station 2 is assumed to be located in the lower left position in Figure 11.

[0074] Figure 12 shows an example of the map information (the map shown) output in step S5 when obstacles A to D are placed in the target space as shown in Figure 11.

[0075] In this case, in the map information shown in Figure 12, for example, the region 11a facing antenna 2a across obstacle A (i.e., the region behind obstacle A as seen from antenna 2a) is represented as a dead zone. Similarly, the region 11b facing antenna 2a across obstacle B (i.e., the region behind obstacle B as seen from antenna 2a) is represented as a dead zone. On the other hand, the region 11c facing antenna 2a across obstacle C (i.e., the region behind obstacle C as seen from antenna 2a) is represented as not a dead zone. Also, the region 11d facing antenna 2a across obstacle D (i.e., the region behind obstacle D as seen from antenna 2a) is represented as not a dead zone. Note that regions 11a and 11b are both dead zones, but they are hatched according to the radio wave transmittance of obstacles A and B. Similarly, although regions 11c and 11d are not insensitive regions, they are hatched according to the radio wave transmittance of obstacles C and D.

[0076] In this type of map information, dead zones that occur in response to obstacles are shown on the map of the target space. Therefore, this map information can be said to be useful for understanding the radio wave propagation environment (occurrence of dead zones) in the target space.

[0077] Furthermore, Figure 12 shows map information that includes, in addition to the evaluation results described above, the locations of obstacles registered in the layout plan information and the radio wave transmittance of those obstacles. With such map information, it is possible to simultaneously determine the locations of obstacles that caused dead zones and the radio wave transmittance of those obstacles. However, in this embodiment, it is sufficient that the map information output includes at least the evaluation results.

[0078] In Figure 7, the radio wave propagation environment is described as being evaluated for all target areas within the target space (all areas obtained by dividing the target space into a grid). However, since areas without obstacles are less likely to be dead zones compared to areas without obstacles, the configuration may be such that the radio wave propagation environment is evaluated only for the area facing antenna 2a across the obstacle.

[0079] Furthermore, the target area for evaluating the radio wave propagation environment described above may be determined, for example, based on the movement plan information stored in the storage unit 42. Specifically, the movement plan information indicates the movement plan of a mobile body 1 moving within the target space, and the movement plan includes the route that the mobile body 1 is scheduled to take. In this case, the radio wave propagation environment may be evaluated using only the area corresponding to the route included in the movement plan (the route that the mobile body 1 is scheduled to take) as the target area. According to this, for example, as shown in Figure 13, if there are obstacles A and B between the route that the mobile body 1 is scheduled to take and the antenna 2a, where the radio wave transmittance is less than a predetermined value, it is possible to output map information that maps the areas 11e and 11f on the route as dead zones.

[0080] In this embodiment, as described above, we assume a configuration in which map information with at least evaluation results attached is output. However, from the perspective of information useful for understanding, for example, the occurrence of dead zones, it is also acceptable to have a configuration in which the evaluation results themselves (for example, the coordinate values ​​of the area estimated to be a dead zone) are output instead of the map information.

[0081] Furthermore, although this embodiment has been described as outputting map information with an evaluation result indicating whether or not the target area is a dead zone, this embodiment may also be configured to output map information that simply includes a combination of the location of obstacles in the target space and the radio wave transmittance of those obstacles. Even with such map information, it is thought that an administrator can, for example, understand that the area behind an obstacle (for example, obstacle A) with low radio wave transmittance from the perspective of antenna 2a is likely to be a dead zone by referring to the map information.

[0082] In step S1 shown in Figure 7, it was explained that placement plan information (i.e., the positions of obstacles dynamically placed in the target space) is acquired from the storage unit 42. However, the positions of the obstacles may also be acquired (received) from an external device. Specifically, for example, if the obstacle is a package such as a cardboard box transported by the mobile unit 1, the destination of the package (i.e., the goal) can be acquired as the position of the obstacle. The correspondence between the mobile unit 1 (and the mobile unit ID assigned to it) and the package transported by the mobile unit 1 (and the package ID assigned to it) is managed in the movement plan or placement plan, etc. The package transported by the mobile unit 1 may be managed using sensors or RFID tags attached to the package. In this case, the process shown in Figure 7 may be executed, for example, when the package is moved (i.e., when the placement of the obstacles is changed).

[0083] Furthermore, the location of the obstacle (luggage) described above may be entered into the information processing device 4 by the administrator. In this case, the process shown in Figure 7 may be executed, for example, when the location of the obstacle (i.e., that the location of the obstacle has changed) is entered into the information processing device 4 by the administrator.

[0084] In the example map information shown in Figure 12, areas 11a and 11b are represented as dead zones, while areas 11c and 11d are represented as non-dead zones. This is just one example of an evaluation result and does not always represent that areas near obstacles with "low" or "medium" radio wave transmittance are dead zones, and areas near obstacles with "high" radio wave transmittance are not dead zones.

[0085] In this embodiment, the radio wave propagation environment is evaluated using the radio wave transmittance of obstacles placed in the target space. Below, the radio wave transmittance will be explained in detail.

[0086] First, the radio wave transmittance of an obstacle is a relevant indicator when evaluating whether or not that obstacle is a radio wave shield (an object that blocks radio waves). Whether or not an obstacle is a radio wave shield is determined by how the radio waves are affected (reflected or transmitted) when they hit the obstacle.

[0087] Here, the reflection coefficient Γ, which represents the degree to which radio waves are reflected at the interface between the air and an obstacle when radio waves are incident perpendicularly from the air onto an obstacle, is calculated as shown in equation (1) below.

number

[0088] Similarly, the transmission coefficient T, which represents the degree to which radio waves penetrate the interface between the air and the obstacle when they are incident perpendicularly on an object from the air, is calculated as shown in equation (2).

number

[0089] In equations (1) and (2) above, Z0 and Z are the intrinsic impedances of air and the object, respectively. In this case, Z0 is given by equation (3).

number

[0090] Also, Z is given as in Equation (4).

Equation

[0091] Here, the permittivity ε = ε r ε0, the permeability μ = μ r μ0. ε r represents the relative permittivity, and μ r represents the relative permeability. When Z = Z0, according to Equation (1), the reflection coefficient Γ = 0, and according to Equation (2), the transmission coefficient T = 1. In this case, the object (obstacle) does not become a radio wave shielding object. For example, if ε = ε0, μ = μ0 (that is, ε r = 1, μ r = 1), then Z = Z0.

[0092] Next, referring to FIG. 14, consider the case where radio waves are obliquely incident on an object from the air. In FIG. 14, the arrow extending in the horizontal direction represents the boundary surface between the air (ε0, μ0) and the object (ε, μ).

[0093] When considering the incident angle of the radio wave and the polarization (horizontal polarization and vertical polarization) of the radio wave, the reflection coefficients R H and R V for each of the horizontal polarization and vertical polarization are calculated as in the following Equations (5) and (6).

Equation

[0094] Also, the transmission coefficients T H and T V for each of the horizontal polarization and vertical polarization are calculated as in the following Equations (7) and (8).

Equation

[0095] In equations (5) to (8) above, θ1 represents the angle of incidence and n represents the refractive index of the object. That is, when the angle of incidence θ1 is fixed, the refractive index n is equal to the reflection coefficient R. H , R V and transmission coefficient T H , T V These become the parameters.

[0096] Here, the speed of light c is expressed using ε0 and μ0 as shown in equation (9) below.

number

[0097] Furthermore, as shown in equation (10) below, the refractive index n is expressed as the ratio of the speed of light c to the velocity v within the object.

number

[0098] Furthermore, the velocity v within the object can be expressed as shown in equation (11) below.

number

[0099] Applying equations (9) and (11) above to equation (10), the refractive index n is given by the relative permittivity ε, as shown in equation (12). r and relative permeability μ r It is expressed using

number

[0100] As described above, the reflection coefficient when radio waves are reflected from the surface of an object (the interface between air and the object) (hereinafter referred to as the reflection coefficient of the object) and the transmission coefficient when the radio waves are transmitted through the surface of the object (hereinafter referred to as the transmission coefficient of the object) are determined by the relative permittivity and relative permeability of the object.

[0101] Here, if we consider an object as a lossy medium, such lossy media can be divided into conductive lossy media, dielectric lossy media, and magnetic lossy media. Of these, media in which conductivity and dielectric properties should be considered simultaneously include conductivity as a complex dielectric constant and are treated as shown in equation (13) below.

number

[0102] In equation (13), ε' is the real part of the dielectric constant, j is the imaginary unit, σ is the conductivity, and ω is the angular frequency. For example, the conductivity σ of copper is 10 7 It is of the order of magnitude, and if the radio waves irradiating the copper are microwaves, then ω is 10 6 ~10 9 It is of the order of magnitude. On the other hand, the real part of the dielectric constant ε' is 10 -12 It is of an order of magnitude and is very small compared to the conductivity σ and each frequency ω. In this case, equation (13) can be approximated as equation (14) below.

number

[0103] As described above, conductivity, permittivity (relative permittivity), and permeability (relative permeability) contribute to the reflection coefficient and transmission coefficient of an object, and these coefficients determine whether or not an object is a radio wave shield. In other words, the radio wave transmittance of an object can be determined based on its electrical and magnetic properties, such as conductivity, permittivity, and permeability.

[0104] In this embodiment, for example, radio wave transmittance information, including radio wave transmittance determined based on the electrical and magnetic properties (conductivity, dielectric constant, and permeability) of an object that may be an obstacle, is pre-stored in the storage unit 42. However, in this embodiment, instead of the radio wave transmittance, obstacle information indicating the electrical and magnetic properties of the obstacle may be pre-stored in the storage unit 42. In this case, instead of the process of step S2 shown in Figure 7 above, a process of calculating (determining) the radio wave transmittance of the obstacle based on the electrical and magnetic properties indicated by the obstacle information may be executed. In this case, the radio wave transmittance can be calculated based on, for example, the reflection coefficient or transmission coefficient obtained from the conductivity, dielectric constant, and permeability described above.

[0105] As mentioned above, obstacles (objects) such as cargo placed in a target space (factory or warehouse, etc.) are often mixtures of multiple substances, and it is complicated to determine the conductivity, dielectric constant, and permeability (information) of each of these multiple substances. In this embodiment, it is sufficient to determine whether or not the obstacle as a whole can transmit radio waves, so the obstacle information described above only needs to have a data structure that includes the conductivity, dielectric constant, and permeability of the main components of the obstacle to which the obstacle ID is assigned, as shown in Figure 15, in association with the obstacle ID.

[0106] Furthermore, the conductivity, dielectric constant, and permeability included in the obstacle information may be those obtained through measurement. For example, the dielectric constant can be determined by applying measurement methods using wireless technology such as microwaves or millimeter waves, or by applying AC voltage or AC current (impedance measurement methods).

[0107] Furthermore, it is known that the conductivity, dielectric constant, and permeability of an object change with its temperature. Note that the relative permittivity ε of water is given by its relationship to temperature t. r This is given by the following equation (15).

number

[0108] Therefore, as shown in Figure 16, the obstacle information may have a data structure that includes, for example, conductivity, dielectric constant, and magnetic permeability with respect to temperature.

[0109] In this case, for example as shown in Figure 17, the temperature (information) of the space where the obstacles are located is obtained by temperature sensors 20 attached to the mobile unit 1 (radio device), the antenna 2a installed at the base station 2, and the racks on which each obstacle is placed. The radio wave transmittance can then be calculated using the conductivity, dielectric constant, and magnetic permeability for the acquired temperature included in the obstacle information. With such a configuration, it becomes possible to evaluate the radio wave propagation environment using appropriate radio wave transmittance according to the temperature.

[0110] Alternatively, the temperature of the target space may be measured using the temperature sensor 20, and the temperature of the space where the obstacle is placed may be represented by the temperature of the target space.

[0111] In this explanation, the obstacle information is described as including conductivity, dielectric constant, and permeability with respect to temperature. However, the obstacle information may also have a data structure that includes, for example, conductivity, dielectric constant, and permeability with respect to frequency. In this case, an appropriate radio wave transmittance corresponding to the center frequency used in communication between the mobile unit 1 and the base station 2 can be utilized.

[0112] As described above, the radio wave transmittance of an obstacle can be calculated from the conductivity, dielectric constant, and permeability of the obstacle. However, the radio wave transmittance of an obstacle may also be determined by classifying the obstacle based on obstacle information (for example, the conductivity of the obstacle).

[0113] The following describes an example of a process for determining the radio wave transmittance of an obstacle X by classifying it, with reference to Figure 18.

[0114] First, obstacle X is classified as either a conductor or an insulator based on its conductivity. In this case, the conductivity (σ) of obstacle X is such that the threshold (for example, 10) is... 5It is determined whether or not the following is true (step S11).

[0115] If it is determined that the conductivity of obstacle X is not below the threshold (NO in step S11), obstacle X is considered to be a conductor (metal), and obstacle X is classified as a conductor (step S12). Note that the relative permeability of conductors varies, for example, 1 for aluminum and 5000 for iron.

[0116] Here, since conductors basically reflect (shield) radio waves, the radio wave transmittance of such conductors is low. However, according to equation (14) above, when each frequency ω is greater than the threshold, the absolute value of the dielectric constant ε becomes small, and therefore the radio wave transmittance becomes high.

[0117] Therefore, it is determined whether the angular frequency is below a threshold (step S13). If it is determined that the angular frequency is below a threshold (YES in step S13), the radio wave transmittance of the obstacle X is estimated to be low, and the radio wave transmittance of the obstacle X is determined to be "low" (step S14).

[0118] Furthermore, even if the obstacle X is a conductor, it may have a structure in which, for example, the conductor (metal) components are arranged in a grid. If the width of the gaps between the conductors arranged in a grid in such an obstacle X (hereinafter referred to as the gaps in obstacle X) is greater than the threshold, the radio wave transmittance of the obstacle X is considered to be high.

[0119] Therefore, if it is determined that the angular frequency is not below the threshold (NO in step S13), it is determined whether the width of the gap (space) in obstacle X is below the threshold (step S15). If it is determined that the width of the gap in obstacle X is below the threshold (YES in step S15), in step S14, the radio wave transmittance of obstacle X is determined to be "low".

[0120] Furthermore, if the obstacle X has a configuration like a half-mirror with a metal coating on its surface (i.e., a mixture of metal and non-metal), the radio wave transmittance of the obstacle X is expected to increase.

[0121] Therefore, if it is determined that the width of the gap in obstacle X is not below a threshold (NO in step S15), it is determined whether obstacle X (its main components) is a mixture of metal and nonmetal (step S16). If it is determined that obstacle X is not a mixture of metal and nonmetal (YES in step S16), in step S14, the radio wave transmittance of obstacle X is determined to be "low".

[0122] On the other hand, if it is determined that obstacle X is a mixture of metal and nonmetal (NO in step S16), the radio wave transmittance of obstacle X cannot be said to be low, and the radio wave transmittance of obstacle X is determined to be "high" (step S17).

[0123] Furthermore, the information necessary to perform the processes in steps S13, S15, and S16 described above (angular frequency, gap width, and whether or not it is a mixture, etc.) is assumed to be prepared in advance, for example, as obstacle information.

[0124] Furthermore, if it is determined in step S11 that the conductivity of the obstacle X is below a threshold (YES in step S11), the obstacle X is considered to be an insulator (nonmetal), and is classified as an insulator (step S18). Note that the non-permeability of an insulator is 1.

[0125] Here, if the dielectric constant (relative permittivity) of the obstacle X is above the threshold, the radio wave transmittance of the obstacle X can be considered low, and if the dielectric constant (relative permittivity) of the obstacle X is below the threshold, the radio wave transmittance of the obstacle X can be considered high.

[0126] Therefore, it is determined whether the dielectric constant of obstacle X is above a threshold (step S19). If it is determined that the dielectric constant of obstacle X is above a threshold (YES in step S19), the radio wave transmittance of obstacle X is determined to be "low" (step S20).

[0127] On the other hand, if it is determined that the dielectric constant of obstacle X is not above a threshold (NO in step S19), the radio wave transmittance of obstacle X is determined to be "high" (step S21).

[0128] As shown in Figure 18 above, the radio wave transmittance ("low" or "high") of obstacle X can be determined. Generally, when obstacle X (its main component) is a conductor (metal), the radio wave transmittance is often low, and cases where the radio wave transmittance is high are limited. For this reason, for example, when performing highly reliable communication in a wireless (radio wave) propagation environment where direct waves are dominant, if the conductivity is not below the threshold (i.e., obstacle X is classified as a conductor), steps S13, S15, and S16 may be omitted, and the radio wave transmittance may be determined to be "low".

[0129] Alternatively, instead of simply using "high" or "low" to determine radio wave transmittance, one or more thresholds may be set to determine specific numerical values. Alternatively, numerical values ​​for both "high" and "low" radio wave transmittance may be set, and then the values ​​for each case may be used as representatives.

[0130] In Figure 18, it was explained that when the obstacle X is an insulator (non-metallic), the radio wave transmittance of the obstacle X is determined based on its dielectric constant. However, the radio wave transmittance of the obstacle X may also be estimated (determined) from the perspective of the reflection coefficient of the obstacle X.

[0131] The following describes a method for estimating (determining) the radio wave transmittance of an obstacle, primarily focusing on insulators (non-metallic materials), from the perspective of the reflectance coefficient of the obstacle (its main components). While the reflectance coefficient is the main focus here, it can also be used instead, as the basic formula is "transmission coefficient = 1 - reflection coefficient".

[0132] Figures 19 and 20 show the reflection coefficients for horizontal and vertical polarization calculated based on equations (5) and (6) above, with relative permeability as 1 and relative permittivity as a parameter. Although there are angular and polarization dependencies, for example, ε r When a radio wave strikes a medium with a coefficient of 10 head-on (i.e., the incident angle θ is 0°), the reflection coefficient is approximately 0.5, and half of the radio wave is reflected. The amplitude of the transmitted wave is also halved, so 20log 10 It can be seen that this results in an attenuation of approximately 0.5 ≈ 6 dB.

[0133] Next, Figures 21 and 22 show the reflection coefficients for horizontal and vertical polarization, calculated assuming that the obstacle (primarily composed of) water is water, with a relative permeability of 1 and a relative permittivity of 81. For example, if the obstacle is a cardboard box containing apples, apples are composed of nearly 90% water, and the obstacle can be considered to be predominantly composed of water. In particular, the reflection coefficient for horizontal polarization is 0.8 or higher, indicating that obstacles primarily composed of water (such as fruits containing a lot of water) tend to reflect radio waves easily.

[0134] In this embodiment, the radio wave transmittance of obstacle X may be estimated (determined) by taking such a reflection coefficient into consideration.

[0135] Incidentally, in this embodiment, for example, the reflection coefficient (or transmission coefficient) described above may be used as the radio wave transmittance of the obstacle. However, for example, the reflection coefficient generally represents the degree of reflection at the surface of the obstacle (i.e., the interface between the air and the obstacle X), and internal loss occurs in the radio waves that actually pass through the obstacle (i.e., considering the thickness of the obstacle, the radio waves are further attenuated when they pass through the obstacle). For this reason, it is preferable that the radio wave transmittance of the obstacle in this embodiment be estimated (calculated) by taking into account the effect of internal loss that occurs in the radio waves that pass through the obstacle on the reflection coefficient (or transmission coefficient).

[0136] As described above, in this embodiment, information is obtained indicating the position of an antenna that radiates a control signal in radio waves to control the mobile body 1, information indicating the position of obstacles (objects) in the target space in which the mobile body 1 moves, and information indicating the degree to which the obstacles transmit radio waves. Based on the obtained information indicating the position of the antenna, the position of the obstacles, and the radio wave transmission rate of the obstacles, the radio wave propagation environment in the target space is evaluated. In this embodiment, the radio wave propagation environment is evaluated for each target area (an area obtained by dividing the target space into a grid).

[0137] In this embodiment, the above-described configuration makes it possible to easily estimate whether or not the radio wave propagation environment is affected by obstacles (i.e., whether or not a dead zone is created by the placement of obstacles), and therefore it can be said to be useful for understanding the radio wave propagation environment within a target space.

[0138] In this embodiment, for example, a movement plan including the path the mobile body 1 travels may be managed, and the radio wave propagation environment of the region corresponding to the path included in the movement plan (each region on the path) may be evaluated. In such a configuration, for example, if there is an obstacle between the path the mobile body 1 travels and the antenna 2a installed at the base station 2 whose radio wave transmittance is less than a predetermined value, the region corresponding to the movement plan described above (the region on the path facing the antenna 2a with the obstacle in between) can be estimated as a dead zone.

[0139] In other words, in this embodiment, the radio wave propagation environment (intensity of radio waves from base station 2) in the area where the mobile body 1 is moving (positioning) can be determined by utilizing a pre-determined movement plan, etc.

[0140] Furthermore, in this embodiment, for example, evaluation results are added to map information showing a map of the target space, and map information with the evaluation results added is output. The map information may also include the locations of obstacles and the radio wave transmittance of those obstacles.

[0141] In this embodiment, the map information output in this way makes it possible to easily grasp, for example, the evaluation results of the radio wave propagation environment within the target space (i.e., the area estimated to be a dead zone) visually.

[0142] In other words, such map information makes it easy to understand how obstacles placed in the target space appear as radio waves. Specifically, for example, according to the map information shown in Figure 12, since the radio wave transmittance of obstacles A and B is low, there is a high possibility that the radio waves radiated from antenna 2a will be shielded by obstacles A and B. That is, in cases where the influence of direct waves is dominant between transmission and reception, the area behind obstacles A and B (i.e., the area facing antenna 2a with obstacles A and B in between) is estimated to be a dead zone. On the other hand, since the radio wave transmittance of obstacles C and B is high, even if obstacles C and D are placed, obstacles C and D do not act as obstacles (radio wave shields) to radio waves, and the area behind obstacles C and D is not estimated to be a dead zone. In this embodiment, as explained in Figure 13, it is also acceptable to have a configuration in which the radio wave propagation environment is evaluated for each target area on the path that the mobile body 1 moves (i.e., the area corresponding to the path included in the movement plan).

[0143] In this embodiment, the radio wave transmittance of an obstacle (radio wave transmittance information) used to evaluate the radio wave propagation environment in the target space is stored in advance in the storage unit 42. However, the radio wave transmittance of the obstacle can be determined, for example, based on the electrical and magnetic characteristics of the obstacle. In this embodiment, by utilizing the radio wave transmittance determined based on the electrical and magnetic characteristics of the obstacle, it is possible to estimate whether or not an obstacle is a radio wave shielding object.

[0144] Furthermore, although this embodiment describes the use of conductivity, dielectric constant, and magnetic permeability as electrical and magnetic properties, by quantitatively indicating the electrical or magnetic properties of an obstacle using conductivity, dielectric constant, and magnetic permeability, the radio wave transmittance of the obstacle can be easily determined (calculated).

[0145] In this embodiment, the electrical and magnetic properties (conductivity, permittivity, and permeability) of the obstacle were described as being utilized, but the radio wave transmittance can be determined based on the electrical or magnetic properties of the obstacle. In other words, the electrical or magnetic properties of the obstacle used to determine the radio wave transmittance can be, for example, at least one of the conductivity, permittivity, and permeability of the obstacle.

[0146] Furthermore, the radio wave transmittance of an obstacle may be determined based on a reflection coefficient or transmission coefficient calculated from the electrical or magnetic properties of the obstacle. With such a configuration, since the reflection coefficient or transmission coefficient is a value in the range of 0 to 1, it is easier to handle as data than conductivity, dielectric constant, and permeability, and is useful as a parameter directly related to radio wave transmittance.

[0147] Furthermore, in this embodiment, the obstacle is assumed to be formed by stacks of goods such as cardboard boxes placed in a factory or warehouse, and various objects are packed in these cardboard boxes (i.e., the obstacle is often a mixture). For this reason, the radio wave transmittance of the obstacle in this embodiment will be determined by using the radio wave transmittance of the dominant substance (i.e., the main component) among the materials that make up the obstacle. This reduces the complexity of determining radio wave transmittance by considering the various materials that make up the obstacle.

[0148] In this embodiment, as described above, it is sufficient that the radio wave transmittance of the obstacle (radio wave transmittance information) is stored in the storage unit 42 in advance. However, it is also possible that the conductivity, dielectric constant, and permeability (at least one of these) of the obstacle are stored in the storage unit 42. In such a configuration, a process is performed to evaluate the radio wave propagation environment in the target space using the radio wave transmittance determined (calculated) based on the conductivity, dielectric constant, and permeability of the obstacle stored in the storage unit 42.

[0149] Furthermore, in this embodiment, the conductivity, dielectric constant, and permeability (database) of obstacles may be linked to the movement plan of the mobile body 1 and the obstacle placement plan described above, and a simulation of the radio wave propagation environment in the target space may be performed in advance for this plan. The received power obtained as a result of this simulation may then be used to evaluate the radio wave propagation environment. In addition, the radio wave transmittance of obstacles in this embodiment may be obtained based on the results of this simulation.

[0150] Furthermore, it is possible to configure the system to estimate radio wave transmittance and dead zones by setting, for example, the electrical or magnetic properties of obstacles and performing simulations. In this case, the parameters may be simplified and the simulation performed in real time to accommodate the dynamic changes in the placement of obstacles in the target space (factory or warehouse). A high-performance CPU may also be used to perform accurate simulations.

[0151] Furthermore, as shown in Figure 23, for example, the control unit 41a obtains the coordinate values ​​(x1, y1, z1) of the transmission point Tx and the coordinate values ​​(x2, y2, z2) of the reception point Rx defined in the target space, and calculates the propagation attenuation from the distance d between the transmission point Tx and the reception point Rx using Frith's propagation formula, and the electrical and magnetic characteristics (ε) of the obstacles. r =a1, μ r The dead zone may be estimated based on the received power calculated using the transmission coefficient calculated from =a2).

[0152] Furthermore, the concept of the Fresnel zone shown in Figure 24 may be used to estimate the dead zone. Generally, line of sight is determined by whether or not an obstacle exists within the Fresnel zone. If line of sight is secured for 60% or more of the radius of the Fresnel zone, the influence of obstacles can be considered to be small. In Figure 24, if the frequency is 4.9 GHz and the distance d1 = 5 m, the radius R1 of the Fresnel zone with respect to distance d2 changes as shown in Figure 25. Assuming that there is an obstacle at the position of distance d1, the Fresnel zone expands as the distance d2 increases, so the influence of the obstacle becomes relatively smaller. Therefore, it is considered that as the receiving point moves away from the obstacle, the radio waves will reach as if in line-of-sight communication. In this embodiment, this concept may be applied to the estimation of the dead zone.

[0153] Furthermore, as shown in Figures 21 and 22 above, the reflection coefficient (or transmission coefficient) on the surface of an object (obstacle) differs depending on the angle of incidence of the radio waves and the polarization of those radio waves. Therefore, the radio wave transmittance of an obstacle may be changed based on the angle of incidence of the radio waves to the obstacle and the polarization of those radio waves. Specifically, for example, focusing on the angle of incidence of radio waves, the radio wave transmittance of obstacles A and B shown in Figure 12 above can be changed as shown in Figure 26. In Figure 26, lighter colors indicate higher radio wave transmittance, and darker colors indicate lower radio wave transmittance. According to this, compared to regions 11a and 11b described as dead zones in Figure 12, more appropriate regions 11a' and 11b' can be represented (estimated) as dead zones in Figure 26, thus enabling more flexible path selection when controlling the mobile body 1 to avoid such dead zones.

[0154] In other words, in this embodiment, the radio wave transmittance of an obstacle may be determined (changed) based on the angle of incidence of radio waves to the obstacle or the polarization of the radio waves.

[0155] Furthermore, when determining the radio wave transmittance of an obstacle based on the angle of incidence of radio waves, as described above, the orientation of the obstacle relative to the antenna 2a radiating the radio waves must be known. In this case, if the obstacle (such as a cardboard box) is placed on a shelf with a fixed orientation, the orientation of the obstacle becomes fixed, and the angle of incidence to the obstacle according to that arrangement can be managed and used in advance. Moreover, when determining the radio wave transmittance based on polarization (incident polarization), it is sufficient if the polarization information is managed in advance.

[0156] In this embodiment, the information processing device 4 has been described as having the functional configuration shown in Figure 5 and outputting map information to which, for example, evaluation results from the evaluation unit 41b have been added. However, the information processing device 4 may also have a function to control the mobile body 1 based on the map information. Hereinafter, as a modification of this embodiment, an information processing device 4 having a function to control the mobile body 1 (that is, an information processing device configured integrally with the mobile body control device 3 described above) will be described. In this case, the information processing device 4 is communicated with the mobile body 1 moving within the target space via the base station 2. Furthermore, in this modification, it is assumed that the information processing device 4 is a MEC (Multi-Energy Computing) device, but the information processing device 4 may be implemented as a server device or the like located far from the base station 2 via a network, or as a local controller or the like directly connected to the base station 2.

[0157] Figure 27 is a block diagram showing an example of the functional configuration of the information processing device 4 according to this modified example. In Figure 27, the same reference numerals are used for parts that are the same as those in Figure 5 described above, and their detailed explanations are omitted.

[0158] In this modified example, the processing unit 41 includes, in addition to the management unit 41a, evaluation unit 41b, and map information processing unit 41c described above, a control unit 41d and a determination unit 41e.

[0159] The control unit 41d has the function of controlling the mobile body 1. Here, we will briefly explain the overview of the control unit 41d's control of the mobile body 1.

[0160] First, the control unit 41d generates a control signal to control the mobile body 1 to move along all the paths on the map indicated by the map information stored in, for example, the storage unit 42. The control signal generated by the control unit 41d is output (transmitted) from the information processing device 4 (output unit 44) to the base station 2, and then transmitted from the base station 2 to the mobile body 1. As a result, the mobile body 1 moves throughout the entire target space.

[0161] In this case, for example, in 5G (local 5G), a synchronization signal is broadcast from base station 2. Mobile device 1 receives the synchronization signal broadcast from base station 2 in this manner.

[0162] Mobile device 1 is capable of measuring the received power of the received synchronization signal. The received power measured by mobile device 1 may be at least one of the following: RSSI (Received Signal Strength Indicator), RSRP (Reference Signal Received Power), SSS-RSRP (Secondary Synchronization Signal-Reference Signal Received Power), and PSS-RSRP (Primary Synchronization Signal-Reference Signal Received Power).

[0163] Furthermore, although this explanation assumes that the received power of the synchronization signal broadcast from base station 2 is measured, in 5G (local 5G), for example, multiple reference signals are provided, such as the CSI-RS (Channel State Information-Reference Signal) for channel information estimation and the DM-RS (Demodulation Reference Signal) for demodulation. Therefore, the received power may also be measured using these reference signals. In this case, the received power of one of the multiple reference signals that differ in at least one of frequency, time, and antenna may be measured, or the average value of the received power of each of the multiple reference signals may be measured.

[0164] Furthermore, the mobile body 1 is equipped with, for example, a laser range finder (LRF), and can measure the distance from the mobile body 1 to walls and obstacles in its vicinity based on the time of flight (TOF) it takes for the laser (light) emitted from the LRF to be reflected back.

[0165] The mobile body 1 transmits received power information, which indicates the received power measured as described above, distance information, and mobile body information, which indicates the speed and direction of movement of the mobile body 1 based on the control signal, to the information processing device 4 via the base station 2. The received power information, distance information, and mobile body information are transmitted to the information processing device 4 each time the mobile body 1 moves based on the control signal (for each point in the target space).

[0166] As described above, the received power information, distance information, and mobile body information transmitted from the mobile body 1 are received by the base station 2 and output to the information processing device 4. The received power information, distance information, and mobile body information output from the base station 2 are then acquired by the acquisition unit 43.

[0167] Here, the control unit 41d can acquire (determine) the position of the mobile object 1 on the map shown by the map information stored in the storage unit 42, based on the distance information and mobile object information described above. The control unit 41d then creates a received power map (a heat map of the received power at each point where the mobile object 1 is located) by mapping the position of the mobile object 1 acquired in this way and the received power shown by the received power information described above. Specifically, the control unit 41d creates a received power map (a radio wave map showing the radio wave propagation environment in the target space) by assigning the received power measured at each point as the mobile object 1 moves to that point (i.e., linking the point with the received power).

[0168] Figure 28 shows, for convenience, an example of a received power map created by moving the mobile body 1 in a planar manner within a target space where no obstacles are placed. Such a received power map allows us to understand, for example, the path taken when moving through areas where the received power does not decrease.

[0169] In the process of creating a received power map, distance information and moving object information are used to obtain the points (locations) to which the received power indicated by the received power information is allocated. This distance information and moving object information may be further used to update the map information (i.e., the arrangement of obstacles on the map) stored in the storage unit 42.

[0170] Furthermore, although this explanation assumes that the received power map is created based on the received power of the downlink signal (synchronization signal), in general, wireless communication has a duality (a symmetric relationship) between the downlink and uplink. Therefore, the received power map may be created based on the received power of the uplink signal, or it may be created based on the result of merging the received power of the downlink signal and the received power of the uplink signal.

[0171] Furthermore, instead of a received power map, a map may be created that assigns signal throughput and bit error rate to each point on the map, as long as it allows for understanding the radio wave propagation environment in the target space.

[0172] Although a detailed explanation is omitted here, the map information stored in the storage unit 42 may be created, for example, by updating the initial layout of the target space (map information representing only walls and passages) based on the distance information and moving object information described above.

[0173] In this modified example, the control unit 41d controls the moving body 1 moving within the target space using the map information and received power map described above. Specifically, the control unit 41d calculates the cost for each of the multiple paths from the starting point to the goal point set in the map shown by the map information, taking into account the received power at points (spaces) that overlap with the said path, and selects the optimal path from among the multiple paths based on the result of the cost calculation.

[0174] The control unit 41d generates control signals to control the mobile body 1 to move along the selected path (hereinafter referred to as the target path), and transmits the generated control signals to the mobile body 1 via the base station 2 at regular intervals. In this case, movement plan information showing the movement plan including the target path is generated, and this movement plan information is stored in the storage unit 42.

[0175] Here, we assume that an obstacle is placed in the target space and that the process shown in Figure 7 above is executed. In this case, the determination unit 41e acquires the map information output from the map information processing unit 41c.

[0176] Based on the acquired map information, the determination unit 41e determines whether or not an obstacle exists within the line segment connecting the antenna installed at the base station 2 and each point (location) on the path along which the mobile body 1 selected by the control unit 41d travels (i.e., between the antenna and the path).

[0177] If it is determined that an obstacle exists, the determination unit 41e determines whether the radio wave transmittance of the obstacle (hereinafter referred to as the target obstacle) satisfies the following conditions 1 to 3.

[0178] The first condition includes that the radio wave transmittance of the target obstacle is less than the first threshold (a predetermined first value). The second condition includes that the radio wave transmittance of the target obstacle is equal to or greater than the first threshold and less than the second threshold (a predetermined second value). The third condition includes that the radio wave transmittance of the target obstacle is equal to or greater than the second threshold. Here, it is assumed that the radio wave transmittance of the target obstacle is a numerical value in the range of 0 to 1. Furthermore, the first and second thresholds are predetermined values ​​in the range of 0 to 1, and the relationship first threshold < second threshold is assumed.

[0179] Furthermore, if the radio wave transmittance of the target obstacle is expressed as, for example, "low," "medium," and "high," then the first condition may be that the radio wave transmittance of the target obstacle is "low," the second condition may be that the radio wave transmittance of the target obstacle is "medium," and the third condition may be that the radio wave transmittance of the target obstacle is "high."

[0180] First, let's consider the case where the determination unit 41e determines that the first condition is met. In this modified example, "meeting the first condition" means that the target obstacle degrades the radio wave propagation environment on the target path (at each point) to such an extent that the mobile body 1 cannot move along the target path (i.e., the target obstacle shields radio waves to the target path). In this case, the control unit 41d changes the target path to another path. Specifically, the control unit 41d removes the target path from the movement plan indicated by the movement plan information stored in the storage unit 42, and adds the changed path to the movement plan. The control unit 41d also generates a control signal to control the mobile body 1 to move along the path added to the movement plan. The control signal thus generated is transmitted to the mobile body 1 via the output unit 44. This allows the mobile body 1 to be controlled according to the movement plan that has been changed based on the radio wave transmittance of the obstacle.

[0181] Next, let's consider the case where the determination unit 41e determines that the second condition is met. In this modified example, "the second condition is met" means that the mobile body 1 can move along the target path, but the target obstacle may affect the radio wave propagation environment at each point along the target path. In this case, the control unit 41d operates to increase the control cycle for the mobile body 1 without changing the target path described above. Specifically, for example, if the interval at which the control signal is transmitted when the radio wave propagation environment is good is the first interval, the control unit 41d changes the first interval to a second interval that is shorter than the first interval. This makes it possible to suppress the mobile body 1 from becoming uncontrollable even if, for example, a situation occurs in which the control signal is temporarily difficult to receive along the target path.

[0182] Furthermore, if the determination unit 41e determines that the third condition is met, the radio wave propagation environment along the target path is good, and the control unit 41d can continue to control the mobile body 1 to move along the target path. In this case, the control signal is transmitted to the mobile body 1 at the first interval described above.

[0183] In this modified example, the degree of risk of driving according to the radio wave transmittance of the obstacles described above may be set, for example, in a received power map. According to such a received power map, for example, a path that passes through the area behind the obstacle where the radio wave transmittance from the antenna is less than the first threshold (an area estimated to be a dead zone located directly behind the straight line connecting the antenna to the obstacle with low radio wave transmittance) can be prevented from being selected.

[0184] Furthermore, since the received power may decrease near the edge of the coverage area of ​​base station 2, when changing the route as described above, for example, the mobile unit 1 may be controlled so as not to move near the edge of the coverage area.

[0185] As described above, in this modified example, a movement plan including the path the mobile body 1 travels is managed, it is determined whether there is an obstacle between the path included in the movement plan and the antenna whose radio wave transmittance is less than a first threshold, and if it is determined that such an obstacle exists, the path included in the movement plan is changed, and the mobile body 1 is controlled according to the movement plan including the changed path.

[0186] In this modified example, by controlling the mobile body 1 based on the radio wave transmittance of obstacles, it is possible to avoid a situation where the mobile body 1 moves through a dead zone (or an estimated dead zone) and is unable to receive control signals properly (i.e., the mobile body 1 becomes uncontrollable). In other words, if the configuration simply involves selecting a path for the mobile body 1 by referring to a received power map, it is not possible to ascertain the occurrence (existence) of the dead zone without moving through it and measuring the received power. However, in this modified example, it is possible to ascertain the dead zone (i.e., the radio wave propagation environment in the target space) without moving through the dead zone and to control the mobile body 1 to avoid the dead zone.

[0187] In this modified example, the explanation described the system as changing the route if there is an obstacle between the route included in the travel plan and the antenna whose radio wave transmittance is below a threshold. However, this modified example can be configured to control the mobile body 1 to avoid the dead zone based on map information that includes the evaluation results of the radio wave propagation environment in the target space described above (i.e., the evaluation result that a predetermined area is a dead zone).

[0188] By the way, in this modified example, we have described a configuration in which the path is changed according to obstacles whose radio wave transmittance is less than the first threshold, but for example, instead of changing the path, the configuration may also change the arrangement of obstacles in the target space based on the radio wave transmittance.

[0189] Specifically, for example, by changing the arrangement of obstacles A to D as shown in Figure 29, if obstacles A and B, which have low radio wave transmittance as described in Figures 11 and 12, are placed far away from antenna 2a (i.e., near the edge of the coverage area of ​​base station 2), the range in which the mobile body 1 can move while avoiding the area estimated to be a dead zone behind obstacles A and B can be increased.

[0190] Furthermore, if there are no restrictions on the placement of obstacles (such as cardboard boxes), the positions of the areas estimated to be dead zones (areas behind obstacles A and B) 11a and 11b may be freely changed by moving obstacles A and B, as shown in Figure 30. In this case, areas 11a and 11b may be set as immovable areas, and the mobile body 1 may be controlled so that these areas 11a and 11b do not move.

[0191] The above-mentioned changes to the placement of obstacles can be achieved, for example, by instructing the mobile unit 1 from the information processing device 4 (processing unit 41) to transport the obstacles (cargo). Alternatively, the placement of obstacles may be changed manually, for example, by instructing the administrator of the information processing device 4.

[0192] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents.

[0193] With regard to the embodiments described above, the following additional information is disclosed. [1] Information is obtained indicating the position of an antenna that emits radio waves to control a moving object, information indicating the position of an object in the space in which the moving object is moving, and information indicating the radio wave transmittance of the object, which indicates the degree to which the object transmits radio waves. Based on the acquired information indicating the antenna's position, the object's position, and the object's radio wave transmittance, the radio wave propagation environment in the space is evaluated. Equipped with a processing unit Information processing device. [2] The processing unit evaluates the radio wave propagation environment for each region obtained by dividing the space into a grid [1]. [3] The processing unit estimates, based on the evaluation result, a region within the space in which the received power is less than or equal to a predetermined value. [1] or [2] Information processing device. [4] The processing unit evaluates the radio wave propagation environment in a region corresponding to the path along which the moving object travels, according to any one of the items [1] to [3]. [5] The processing unit estimates that, if there is an object between the path the moving body is traveling and the antenna whose radio wave transmittance is less than a predetermined value, the region corresponding to the path the moving body is traveling is a region in which the received power is less than or equal to a predetermined value [4]. [6] The processing unit adds the evaluation result to map information showing a map of the space and outputs the map information with the evaluation result added, according to any one of [1] to [5]. [7] The information processing device described in [6] further adds information indicating the location of the acquired object and information indicating the radio wave transmittance of the object to the output map information. [8] The system further comprises a storage unit that pre-stores information indicating the radio wave transmittance of an object placed in the aforementioned space, The processing unit acquires information from the storage unit indicating the radio wave transmittance of the object. An information processing device as described in any one of items [1] to [7]. [9] The radio wave transmittance of the object is determined based on the electrical or magnetic properties of the object. [1] to [8] The information processing apparatus according to any one of these items.

[10] The information processing apparatus according to the claim [9], wherein the electrical properties or magnetic properties include at least one of the conductivity, dielectric constant and permeability of the object.

[11] The radio wave transmittance of the object is determined based on a reflection coefficient or transmission coefficient calculated from the electrical or magnetic properties of the object [9] or

[10] .

[12] The radio wave transmittance of the object includes the radio wave transmittance to a predetermined proportion or more of the materials constituting the object, as described in any one of the items [1] to

[11] .

[13] The radio wave transmittance of the object is determined based on the angle of incidence of the radio waves to the object or the polarization of the radio waves. [1] to

[12] The information processing apparatus according to any one of these items.

[14] The aforementioned processing unit, It is determined whether there is an object between the path the moving object is traveling on and the antenna whose radio wave transmittance is less than a predetermined value. If it is determined that the aforementioned object exists, the route is changed. Control the moving body to move along the modified path. An information processing device as described in any one of the items [1] to

[13] .

[15] The processing unit instructs a change in the arrangement of the objects in the space based on the acquired information indicating the radio wave transmittance of the objects. [1] to

[14]

[16] An information processing device described in any one of items [1] to

[15] , A mobile device that is communicatively connected to the aforementioned information processing device and It is equipped with, The moving body is controlled based on the evaluation result. system.

[17] Information is obtained indicating the position of an antenna that emits radio waves to control a moving object, information indicating the position of an object in the space in which the moving object is moving, and information indicating the radio wave transmittance of the object, which indicates the degree to which the object transmits radio waves. Based on the acquired information indicating the antenna's position, the object's position, and the object's radio wave transmittance, the radio wave propagation environment in the space is evaluated. method.

[18] On the computer, To obtain information indicating the position of an antenna that emits control signals via radio waves for controlling a moving object, information indicating the position of an object in the space in which the moving object is moving, and information indicating the radio wave transmittance of the object, which indicates the degree to which the object transmits radio waves, Based on the acquired information indicating the position of the antenna, the information indicating the position of the object, and the information indicating the radio wave transmittance of the object, the radio wave propagation environment in the space is evaluated. A program to execute. [Explanation of Symbols]

[0194] 1...Mobile unit, 2...Base station, 2a...Antenna, 3...Mobile unit control device, 4...Information processing device, 41...Processing unit, 41a...Management unit, 41b...Evaluation unit, 41c...Map information processing unit, 41d...Control unit, 41e...Determination unit, 42...Storage unit, 401...CPU, 402...Non-volatile memory, 403...RAM, 403A...Propagation environment evaluation program, 404...Communication device.

Claims

1. Information is obtained indicating the position of an antenna that emits control signals via radio waves to control a moving object, information indicating the position of an object in the space in which the moving object is moving, and information indicating the radio wave transmittance of the object, which indicates the degree to which the object transmits radio waves. Based on the acquired information indicating the antenna's position, the object's position, and the object's radio wave transmittance, the radio wave propagation environment in the space is evaluated. It is equipped with a processing unit, The radio wave transmittance of the object includes the radio wave transmittance of a predetermined proportion or more of the materials constituting the object. Information processing device.

2. The information processing apparatus according to claim 1, wherein the processing unit evaluates the radio wave propagation environment for each region obtained by dividing the space into a grid.

3. The information processing apparatus according to claim 1, wherein the processing unit estimates, based on the evaluated results, a region within the space in which the received power is less than or equal to a predetermined value.

4. The information processing apparatus according to claim 1, wherein the processing unit evaluates the propagation environment of the radio waves in a region corresponding to the path along which the moving object travels.

5. The information processing apparatus according to claim 4, wherein, if there is an object between the path the moving body is traveling and the antenna whose radio wave transmittance is less than a predetermined value, the processing unit estimates that the region corresponding to the path the moving body is traveling is a region in which the received power is less than or equal to a predetermined value.

6. Information is obtained indicating the position of an antenna that emits a control signal in radio waves for controlling a moving object, information indicating the position of an object in the space in which the moving object is moving, and information indicating the degree to which the object transmits radio waves. Based on the acquired information indicating the antenna's position, the object's position, and the object's radio wave transmittance, the radio wave propagation environment in the space is evaluated. It is equipped with a processing unit, The processing unit adds the evaluated result to the map information showing the map of the space, and outputs the map information to which the evaluated result has been added. The output map information is further supplemented with information indicating the location of the acquired object and information indicating the radio wave transmittance of the object. Information processing device.

7. The system further comprises a storage unit that pre-stores information indicating the radio wave transmittance of an object placed in the aforementioned space, The processing unit acquires information from the storage unit indicating the radio wave transmittance of the object. The information processing apparatus according to claim 6.

8. The information processing apparatus according to claim 6, wherein the radio wave transmittance of the object is determined based on the electrical or magnetic properties of the object.

9. The information processing apparatus according to claim 8, wherein the electrical properties or magnetic properties include at least one of the conductivity, dielectric constant, and magnetic permeability of the object.

10. The information processing apparatus according to claim 8, wherein the radio wave transmittance of the object is determined based on a reflection coefficient or transmission coefficient calculated from the electrical or magnetic properties of the object.

11. The information processing apparatus according to claim 6, wherein the radio wave transmittance of the object is determined based on the angle of incidence of radio waves to the object or the polarization of said radio waves.

12. Information is obtained indicating the position of an antenna that emits a control signal in radio waves for controlling a moving object, information indicating the position of an object in the space in which the moving object is moving, and information indicating the degree to which the object transmits radio waves. Based on the acquired information indicating the antenna's position, the object's position, and the object's radio wave transmittance, the radio wave propagation environment in the space is evaluated. It is equipped with a processing unit, The aforementioned processing unit, It is determined whether there is an object between the path the moving object is traveling on and the antenna whose radio wave transmittance is less than a predetermined value. If it is determined that the aforementioned object exists, the route is changed. Control the moving body to move along the modified path. Information processing device.

13. Information is obtained indicating the position of an antenna that emits a control signal in radio waves for controlling a moving object, information is obtained indicating the position of an object in the space in which the moving object is moving, and information is obtained indicating the degree to which the object transmits radio waves, Based on the acquired information indicating the antenna's position, the object's position, and the object's radio wave transmittance, the radio wave propagation environment in the space is evaluated. It is equipped with a processing unit, The processing unit instructs a change in the arrangement of the objects in the space based on the acquired information indicating the radio wave transmittance of the objects. Information processing device.

14. An information processing apparatus according to any one of claims 1 to 13, A mobile device that is communicatively connected to the aforementioned information processing device and It is equipped with, The moving body is controlled based on the evaluated results. system.

15. A method to be executed by an information processing device, To obtain information indicating the position of an antenna that emits control signals via radio waves for controlling a moving object, information indicating the position of an object in the space in which the moving object is moving, and information indicating the radio wave transmittance of the object, which indicates the degree to which the object transmits radio waves, Based on the acquired information indicating the position of the antenna, the information indicating the position of the object, and the information indicating the radio wave transmittance of the object, the radio wave propagation environment in the space is evaluated. It is equipped with, The radio wave transmittance of the object includes the radio wave transmittance of a predetermined proportion or more of the materials constituting the object. method.

16. On the computer, To obtain information indicating the position of an antenna that emits control signals via radio waves for controlling a moving object, information indicating the position of an object in the space in which the moving object is moving, and information indicating the radio wave transmittance of the object, which indicates the degree to which the object transmits radio waves, Based on the acquired information indicating the position of the antenna, the information indicating the position of the object, and the information indicating the radio wave transmittance of the object, the radio wave propagation environment in the space is evaluated. Make it run, The radio wave transmittance of the object includes the radio wave transmittance of a predetermined proportion or more of the materials constituting the object. program.

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