Information processing method, information processing device, and program

Abstract

The present technology pertains to an information processing method, an information processing device, and a program that make it possible to prevent communication from becoming destabilized due to radio wave interference. An information processing method according to the present technology comprises: generating radio wave map information that is map information in which radio wave information obtained by observing radio waves at each of a plurality of observation points is associated with location information of the observation points of the radio wave information; estimating, on the basis of the radio wave map information, a radio wave interference area in which radio wave interference is likely to occur; and generating, on the basis of the radio wave interference area, suggestion information for suggesting a method for suppressing radio wave interference to a user. The present technology can be applied to, for example, a robot control system involved in robot control.

Description

Information processing method, information processing device, and program

[0001] The present technology relates to an information processing method, an information processing device, and a program, and more particularly to an information processing method, an information processing device, and a program that can prevent communication from becoming unstable due to radio wave interference.

[0002] Research and development of various robots is ongoing, including remote-controlled robots that operate according to remote control by a user, semi-autonomous robots that autonomously perform tasks instructed by a user, and autonomous robots that autonomously perform tasks without the need for user operation or instructions (see, for example, Patent Document 1). In remote-controlled and semi-autonomous robots, a user can operate the robot or issue instructions to the robot to perform tasks by operating an operation terminal connected to the robot on-site via, for example, a communication base. In cases where the robot is equipped with a camera, for example, video captured by the robot is transmitted to a user's device via the communication base, and the captured video is displayed to the user by the device.

[0003] JP 2012-230506 A

[0004] If communication between the robot and the communication base becomes unstable, the operation terminal may be unable to issue instructions to the robot to execute a task, or the video captured by the robot may not be correctly presented to the user. For example, communication between the robot and the communication base may become unstable due to interference between radio waves emitted by other equipment and radio waves used for communication between the robot and the communication base.

[0005] The present technology has been developed in light of these circumstances, and is intended to prevent communication from becoming unstable due to radio wave interference.

[0006] An information processing method according to one aspect of the present technology includes generating radio wave map information, which is map information linking radio wave information obtained by observing radio waves at each of a plurality of observation points with location information of the observation points of the radio wave information; estimating a radio wave interference area where radio wave interference may occur based on the radio wave map information; and generating proposal information based on the radio wave interference area to suggest to a user a method of suppressing the radio wave interference.

[0007] An information processing device according to one aspect of the present technology includes a generation unit that generates radio wave map information, which is map information that links radio wave information obtained by observing radio waves at each of a plurality of observation points with location information of the observation points of the radio wave information; a radio wave interference area estimation unit that estimates a radio wave interference area where radio wave interference may occur based on the radio wave map information; and a proposal information control unit that generates proposal information based on the radio wave interference area to suggest to a user a method of suppressing the radio wave interference.

[0008] A program according to one aspect of the present technology causes a computer to execute the following process: generate radio wave map information, which is map information that links radio wave information obtained by observing radio waves at each of a plurality of observation points with location information of the observation points of the radio wave information; estimate radio wave interference areas where radio wave interference may occur based on the radio wave map information; and generate proposal information, based on the radio wave interference areas, for proposing to a user a method of suppressing the radio wave interference.

[0009] In one aspect of the present technology, radio wave map information is generated, which is map information that links radio wave information obtained by observing radio waves at each of a plurality of observation points with location information of the observation points of the radio wave information, radio wave interference areas where radio wave interference may occur are estimated based on the radio wave map information, and proposal information for suggesting to the user methods of suppressing the radio wave interference is generated based on the radio wave interference areas.

[0010] 1 is a diagram illustrating an example configuration of a robot control system according to an embodiment of the present technology. FIG. 1 is a block diagram illustrating an example configuration of a robot. FIG. 2 is a block diagram illustrating an example configuration of a management server and an operation terminal. FIG. 3 is a block diagram illustrating an example configuration of a robot. FIG. 4 is a block diagram illustrating an example configuration of a radio wave observation terminal. FIG. 5 is a flowchart illustrating processing performed by a robot control system. FIG. 6 is a diagram illustrating an example of a radio wave interference area. FIG. 7 is a diagram illustrating a method of directly estimating the outline of a radio wave interference area. FIG. 8 is a diagram illustrating a method of estimating the outline of a radio wave interference area by calculating the bottom surface and height. FIG. 9 is a diagram illustrating an example of a radio wave interference prevention area. FIG. 10 is a flowchart illustrating processing performed by a robot control system when radio wave interference occurs around a communication base. FIG. 11 is a diagram illustrating a first display example of a UI screen. FIG. 12 is a diagram illustrating a second display example of a UI screen. FIG. 13 is a diagram illustrating an example display of a UI screen after a radio wave interference prevention sheet has been installed in the radio wave interference prevention area. FIG. 14 is a diagram illustrating an example configuration of a system for broadcasting sports. FIG. 15 is a diagram illustrating an example configuration of an underwater drone control system. FIG. 16 is a block diagram illustrating an example configuration of computer hardware.

[0011] Hereinafter, embodiments of the present technology will be described in the following order: 1. Configuration of a robot control system 2. Operation of the robot control system 3. Application examples

[0012] 1. Configuration of Robot Control System FIG. 1 is a diagram illustrating an example configuration of a robot control system according to an embodiment of the present technology.

[0013] The robot control system in FIG. 1 is a system related to the control of a robot 11 that takes pictures of, for example, a live concert venue or a sports venue.

[0014] The robot control system of FIG. 1 is composed of robots 1 and 11, a management server 2, a communication base 3, and an operation terminal 4.

[0015] The robot 1 is an autonomous mobile body (autonomous or semi-autonomous) that observes radio waves at multiple observation points within a predetermined observation area and acquires radio wave information indicating the radio wave observation results. Here, the observation area is an area that includes at least a task execution area where the robot 11 executes a task. The radio wave information includes the frequency band of the radio waves observed at the observation points, the radio wave strength, and the communication speed when communicating with the communication base 3 at the observation points.

[0016] In the example of FIG. 1, the robot 1 observes within its observation area radio waves emitted by the communication base 3 and radio waves emitted by another communication base 101 that is not included in the robot control system.

[0017] The robot 1 communicates wirelessly with the communication base 3 and transmits radio wave information at each observation point to the management server 2 together with the position information of the observation point.

[0018] The management server 2 is connected wirelessly or by wire to the communication base 3 and the operation terminal 4. The management server 2 communicates with the robot 1 and the robot 11 via the communication base 3 and controls the robot 1 and the robot 11. Specifically, the management server 2 issues instructions to the robot 1 and the robot 11 according to the operation content input by the user via the operation terminal 4, for example.

[0019] Furthermore, the management server 2 generates radio wave map information, which is map information that links the radio wave information transmitted from the robot 1 with the position information (coordinates) of the observation point on a map of the observation area. The radio wave information is included in the radio wave map information as, for example, a point cloud.

[0020] The management server 2 estimates radio wave interference areas, which are areas within the observation area where radio wave interference may occur, based on the radio wave map information. For example, the management server 2 estimates as radio wave interference areas areas where radio wave interference may cause instability in communication between the robot 11 and the communication base 3 (areas where radio waves used for communication between the robot 11 and the communication base 3 may be subject to radio wave interference).

[0021] The management server 2 sets a radio wave interference prevention area, which is an area recommended for installing obstacles to prevent radio wave interference, based on the radio wave interference area, and transmits information indicating the radio wave interference prevention area to the operation terminal 4.

[0022] The communication base 3 is configured as, for example, a wireless LAN (Local Area Network) access point, and is a communication device that relays communications between the robot 1 or robot 11 and the management server 2 .

[0023] The operation terminal 4 is a terminal through which a user inputs operations, and is configured as a smartphone, tablet terminal, PC, etc. The operation terminal 4 transmits an operation signal indicating the operation content input by the user to the management server 2, and presents information indicating the radio wave interference prevention area transmitted from the management server 2 to the user.

[0024] The user places an obstacle to prevent radio wave interference, such as a radio wave interference prevention sheet, in the radio wave interference prevention area presented by the operation terminal 4. By placing the radio wave interference prevention sheet in the radio wave interference prevention area, radio wave interference caused by the communication base 101 is suppressed, and communication between the robot 11 and the communication base 3 is prevented from becoming unstable due to radio wave interference.

[0025] Obstacles for preventing radio wave interference are formed, for example, from shielding materials that reflect electromagnetic waves on their surfaces or shielding materials that absorb electromagnetic waves as induced currents. Materials (shielding materials) for radio wave interference prevention obstacles include, for example, aluminum, copper, nickel, silver, mu-metal, ferrite, carbon nanotubes, conductive polymers, and metamaterials. These materials are applied to the surface of an object, formed into a cloth or film, or sandwiched between glass to form radio wave interference prevention obstacles.

[0026] The robot 11 is an autonomous mobile body that performs tasks such as filming at a venue such as a live music venue or a sports venue. The robot 11 communicates wirelessly with the communication base 3 and performs tasks under the control of the management server 2. The robot 11 also transmits video footage obtained by filming a live music concert, a sports game, or the like at the venue to the management server 2 via the communication base 3.

[0027] In the above description, the robot that observes radio waves and the robot that executes tasks are different, but one robot may perform both radio wave observation and task execution, or multiple robots may each perform both radio wave observation and task execution.

[0028] FIG. 2 is a block diagram showing an example of the configuration of the robot 1.

[0029] As shown in FIG. 2, the robot 1 is composed of a map information management unit 21, a depth sensor 22, an image sensor 23, a radio wave intensity sensor 24, a self-position estimation unit 25, a radio wave information observation unit 26, a communication unit 27, a behavior planning unit 28, and a drive system control unit 29.

[0030] The map information management unit 21 holds map information indicating the observation area and its surrounding area (2D map / 3D map). The map information management unit 21 supplies the map information of the observation area to the self-position estimation unit 25 and the radio wave information observation unit 26.

[0031] The depth sensor 22 is one of the sensors included in the robot 1, and is configured as, for example, a 3D Time of Flight (ToF) sensor that measures the distance to a wide range of objects by measuring the time of flight of light, or other distance measuring sensors. The depth sensor 22 measures the distance to the surrounding environment of the robot 1 and supplies the distance information obtained as depth information (depth image) to the self-position estimation unit 25.

[0032] The image sensor 23 is one of the sensors included in the robot 1, and is configured as an imaging element such as a CMOS (Complementary Metal Oxide Semiconductor) image sensor. The image sensor 23 captures an image of the environment surrounding the robot 1 and supplies the captured image to the self-position estimation unit 25.

[0033] The radio wave intensity sensor 24 is one of the sensors provided in the robot 1, and supplies the obtained sensor data to the radio wave information observation unit 26 by detecting the intensity of radio waves for each frequency band.

[0034] The self-position estimation unit 25 estimates the self-position of the robot 1 based on the map information supplied from the map information management unit 21, the depth information supplied from the depth sensor 22, and the captured image supplied from the image sensor 23. For example, the self-position estimation unit 25 generates a local map based on the depth information and the captured image, and estimates the self-position of the robot 1 by matching the map of the observation area indicated by the map information with the local map.

[0035] The self-position estimation unit 25 supplies the radio wave information observation unit 26 and the behavior planning unit 28 with position information indicating the self-position of the robot 1 on the map of the observation area.

[0036] The radio wave information observation unit 26 observes radio wave information at each observation point based on the sensor data supplied from the radio wave intensity sensor 24. The radio wave information observation unit 26 also controls, for example, the communication unit 27, measures the communication speed between the communication unit 27 and the communication base 3 as the communication speed when communicating with the communication base 3, and includes this in the radio wave information. The radio wave information observation unit 26 supplies the radio wave information and the location information supplied from the self-location estimation unit 25 to the communication unit 27.

[0037] The communication unit 27 is a wireless communication module that performs wireless communication with the communication base 3. The communication unit 27 transmits the radio wave information and position information supplied from the radio wave information observation unit 26 to the management server 2 via the communication base 3. The communication unit 27 also receives instruction signals transmitted from the management server 2 via the communication base 3, and supplies them to the behavior planning unit 28. The instruction signals are signals that instruct the robot to operate.

[0038] The behavior planning unit 28 creates a behavior plan for the robot 1 in accordance with the instructions indicated in the instruction signal supplied from the communication unit 27. For example, when an observation instruction signal, which is an instruction signal instructing the robot 1 to start observing radio wave information, is transmitted from the management server 2, the behavior planning unit 28 acquires a route to the observation point and creates a behavior plan for the robot 1 to move along the route. The position information supplied from the self-position estimation unit 25 is used to create the behavior plan.

[0039] The action planning unit 28 supplies the created action plan to the drive system control unit 29 .

[0040] The drive system control unit 29 controls the drive system of the robot 1 so as to realize the behavior plan created by the behavior planning unit 28. For example, the drive system control unit 29 controls the drive system so that the robot 1 moves along the path acquired by the behavior planning unit 28.

[0041] FIG. 3 is a block diagram showing an example of the configuration of the management server 2 and the operation terminal 4. As shown in FIG.

[0042] As shown in Figure 3, the management server 2 is composed of a communication control unit 41, a map information management unit 42, a radio wave interference area estimation unit 43, a proposal information control unit 44, an operation IF unit 45, a terminal communication unit 46, and an action planning unit 47.

[0043] The communication control unit 41 performs wireless communication with the robot 1 and the robot 11 via the communication base 3. The communication control unit 41 supplies the radio wave information and position information transmitted from the robot 1 to the map information management unit 42. The communication control unit 41 also transmits instruction signals supplied from the behavior planning unit 47 to the robot 1 and the robot 11.

[0044] The map information management unit 42 holds map information that indicates the observation area and its surrounding area (2D map / 3D map). The map information management unit 42 also functions as a generation unit that generates radio wave map information by linking the radio wave information and location information supplied from the communication control unit 41 on the map of the observation area. The map information management unit 42 supplies the radio wave map information to the radio wave interference area estimation unit 43, the operation IF unit 45, and the action planning unit 47.

[0045] The radio wave interference area estimation unit 43 estimates a radio wave interference area based on the radio wave map information supplied from the map information management unit 42, and supplies the estimated radio wave interference area to the proposal information control unit 44. The radio wave interference area estimation unit 43 may also infer a radio wave interference area based on the task execution area. For example, the radio wave interference area may be estimated based on radio wave information observed at an observation point included in the task execution area, or the radio wave information used to estimate the radio wave interference area may be selected based on the distance from the task execution area.

[0046] The proposed information control unit 44 generates proposed information for proposing to the user a method for suppressing radio wave interference, based on the result of the estimation of the radio wave interference area by the radio wave interference area estimation unit 43. By presenting the proposed information from the operation terminal 4, a method for suppressing radio wave interference that is estimated to be received by radio waves used for communication between the robot 11 and the communication base 3 is proposed to the user.

[0047] For example, the proposed information control unit 44 may propose installing a radio wave interference prevention sheet in a radio wave interference prevention area as a method of suppressing radio wave interference. In this case, the proposed information control unit 44 sets the radio wave interference prevention area based on the radio wave interference area, etc., and generates information indicating the radio wave interference prevention area as proposed information. Also, for example, the proposed information control unit 44 may propose installing the communication base 3 in a location different from its current location as a method of suppressing radio wave interference. In this case, the proposed information control unit 44 sets a recommended location for installing the communication base 3 based on the radio wave interference area, etc., and generates information indicating the recommended installation location for the communication base 3 as proposed information.

[0048] The proposal information control unit 44 supplies the proposal information to the operation IF unit 45 .

[0049] The operation IF unit 45 supplies the radio map information supplied from the map information management unit 42 and the proposal information supplied from the proposal information control unit 44 to the terminal communication unit 46. The operation IF unit 45 also supplies the operation signal supplied from the terminal communication unit 46 to the action planning unit 47.

[0050] The terminal communication unit 46 is a communication module that communicates with the operation terminal 4. The terminal communication unit 46 transmits the radio map information and proposal information supplied from the operation IF unit 45 to the operation terminal 4. The terminal communication unit 46 also receives an operation signal transmitted from the operation terminal 4 and supplies it to the operation IF unit 45.

[0051] The behavior planning unit 47 plans the movements of the robot 1 and the robot 11 based on the operation signal supplied from the operation IF unit 45. Specifically, when the user performs an operation to instruct the robot 11 to perform a task, the behavior planning unit 47 generates an execution instruction signal, which is an instruction signal instructing the robot 11 to perform the task instructed by the user, and supplies the execution instruction signal to the communication control unit 41. Furthermore, when the user performs an operation to request a proposal of a method for suppressing radio interference, the behavior planning unit 47 generates an observation instruction signal and supplies the observation instruction signal to the communication control unit 41.

[0052] The operation terminal 4 includes a communication unit 61 and an input / output unit 62 .

[0053] The communication unit 61 is a communication module that communicates with the management server 2. The communication unit 61 receives the proposal information and radio map information transmitted from the management server 2 and supplies them to the input / output unit 62. The communication unit 61 also transmits the operation signal supplied from the input / output unit 62 to the management server 2.

[0054] The input / output unit 62 is configured as a keyboard, a touch panel, a microphone, etc., and supplies operation signals obtained by accepting operation inputs from the user to the communication unit 61. The input / output unit 62 is also configured as a speaker and a display (display unit), and presents the suggestion information and radio wave map information to the user by outputting sound, displaying images, etc. For example, the input / output unit 62 displays information indicating radio wave interference prevention areas (suggestion information) superimposed on the radio wave map information.

[0055] FIG. 4 is a block diagram showing an example of the configuration of the robot 11.

[0056] As shown in FIG. 4, the robot 11 includes a map information management unit 81 , a depth sensor 82 , an image sensor 83 , a self-position estimation unit 84 , a communication unit 85 , a behavior planning unit 86 , and a drive system control unit 87 .

[0057] The map information management unit 81 holds map information indicating the observation area and a map (2D map / 3D map) of the surrounding area. The map information management unit 81 supplies the map information of the observation area to the self-position estimation unit 84.

[0058] The depth sensor 82 is one of the sensors included in the robot 11, and is configured as, for example, a 3DToF sensor or other distance measuring sensor. The depth sensor 82 measures the distance between the robot 11 and the surrounding environment and supplies the obtained distance information to the self-position estimation unit 84 as depth information (depth image).

[0059] The image sensor 83 is one of the sensors included in the robot 11, and is configured as an imaging element such as a CMOS image sensor. The image sensor 83 captures an image of the surrounding environment of the robot 11 and supplies the captured image to the self-position estimation unit 84.

[0060] The self-position estimation unit 84 estimates the self-position of the robot 11 based on the map information supplied from the map information management unit 81, the depth information supplied from the depth sensor 82, and the captured image supplied from the image sensor 83. For example, the self-position estimation unit 84 generates a local map based on the depth information and the captured image, and estimates the self-position of the robot 11 by matching the map of the observation area indicated by the map information with the local map.

[0061] The self-position estimation unit 84 supplies the behavior planning unit 86 with position information indicating the self-position of the robot 11 on the map of the observation area.

[0062] The communication unit 85 is a wireless communication module that performs wireless communication with the communication base 3. The communication unit 85 receives an execution instruction signal transmitted from the management server 2 via the communication base 3 and supplies it to the action planning unit 86.

[0063] The behavior planning unit 86 creates a behavior plan for the robot 11 in accordance with the instructions indicated in the execution instruction signal supplied from the communication unit 85. For example, when an execution instruction signal instructing execution of a task to take a photograph at a certain position is transmitted from the management server 2, the behavior planning unit 86 acquires a route to the photographing position and creates a behavior plan so that the robot 11 moves along the route. The position information supplied from the self-position estimation unit 84 is used to create the behavior plan.

[0064] The action planning unit 86 supplies the created action plan to the drive system control unit 87 .

[0065] The drive system control unit 87 controls the drive system of the robot 11 so as to realize the behavior plan created by the behavior planning unit 86. For example, the drive system control unit 87 controls the drive system so that the robot 11 moves along the path acquired by the behavior planning unit 86.

[0066] In the above description, radio wave observation is performed by the robot 1, but radio wave observation may also be performed by a radio wave observation terminal that cannot move autonomously. In this case, radio waves are observed at each observation point by the user moving the radio wave observation terminal to each observation point or by fixing a radio wave observation terminal at each of multiple observation points.

[0067] FIG. 5 is a block diagram showing an example of the configuration of the radio wave observation terminal 151.

[0068] As shown in FIG. 5, the radio wave observation terminal 151 is made up of a map information management unit 161 , a depth sensor 162 , an image sensor 163 , a radio wave intensity sensor 164 , a self-position estimation unit 165 , a radio wave information observation unit 166 , and a communication unit 167 .

[0069] The map information management unit 161 holds map information indicating the observation area and a map (2D map / 3D map) of the surrounding area. The map information management unit 161 supplies the map information of the observation area to the self-position estimation unit 165 and the radio wave information observation unit 166.

[0070] The depth sensor 162 is one of the sensors included in the radio wave observation terminal 151, and is configured as, for example, a 3DToF sensor or other distance measurement sensor. The depth sensor 162 measures the distance between the radio wave observation terminal 151 and the surrounding environment and supplies the obtained distance information to the self-position estimation unit 165 as depth information (depth image).

[0071] The image sensor 163 is one of the sensors included in the radio wave observation terminal 151, and is configured as an imaging element such as a CMOS image sensor. The image sensor 163 captures an image of the surrounding environment of the radio wave observation terminal 151 and supplies the captured image to the self-position estimation unit 165.

[0072] The radio wave intensity sensor 164 is one of the sensors included in the radio wave observation terminal 151 , and supplies the obtained sensor data to the radio wave information observation unit 166 by detecting the intensity of radio waves for each frequency band.

[0073] The self-position estimation unit 165 estimates the self-position of the radio wave observation terminal 151 based on the map information supplied from the map information management unit 161, the depth information supplied from the depth sensor 162, and the captured image supplied from the image sensor 163. For example, the self-position estimation unit 165 generates a local map based on the depth information and the captured image, and estimates the self-position of the radio wave observation terminal 151 by matching the map indicated by the map information with the local map.

[0074] The self-position estimation unit 165 supplies the radio wave information observation unit 166 with position information indicating the self-position of the radio wave observation terminal 151 on the map of the observation area.

[0075] The radio wave information observation unit 166 observes radio wave information at each observation point based on the sensor data supplied from the radio wave intensity sensor 164. The radio wave information observation unit 166 also controls, for example, the communication unit 167, measures the communication speed of communication between the communication unit 167 and the communication base 3 as the communication speed when communicating with the communication base 3, and includes this in the radio wave information. The radio wave information observation unit 166 supplies the radio wave information and the location information supplied from the self-location estimation unit 165 to the communication unit 167.

[0076] The communication unit 167 is a wireless communication module that performs wireless communication with the communication base 3. The communication unit 167 transmits the radio wave information and location information supplied from the radio wave information observation unit 166 to the management server 16 via the communication base 3.

[0077] In addition, when the radio wave observation terminal 151 is fixed to the observation point, the map information management unit 161 , depth sensor 162 , image sensor 163 , and self-position estimation unit 165 do not need to be provided in the radio wave observation terminal 151 .

[0078] 2. Operation of the Robot Control System Next, the processing performed by the robot control system having the above configuration will be described with reference to the flowchart in Fig. 6. The processing in Fig. 6 is started, for example, when a user performs an operation requesting a proposal of a method for suppressing radio wave interference.

[0079] In step S1 , the communication control unit 41 of the management server 2 transmits an observation instruction signal for radio wave information to the robot 1 via the communication base 3 .

[0080] In step S2, the radio wave information observation unit 26 of the robot 1 observes radio wave information in accordance with the instruction given by the observation instruction signal. The self-position estimation unit 25 of the robot 1 estimates the position information of the robot 1.

[0081] In step S3, the communication unit 27 of the robot 1 transmits the radio wave information and the position information to the management server 2 via the communication base 3.

[0082] In step S 4 , the map information management unit 42 of the management server 2 updates the radio wave map information based on the radio wave information and position information transmitted from the robot 1 .

[0083] For example, observation points are set at predetermined intervals within the observation area, radio wave information is observed at each observation point, and the own position (observation point) is estimated, and radio wave map information is successively updated based on the radio wave information and position information.

[0084] After the radio wave information for all the observation points has been recorded in the radio wave map information, in step S5, the input / output unit 62 of the operation terminal 4 accepts an input of a task instruction by the user.

[0085] In step S6, the proposal information control unit 44 of the management server 2 determines whether the communication speed when communicating with the communication base 3 at each observation point within the task execution area is equal to or less than a predetermined threshold (e.g., 50 Mbps). The user can input a desired communication speed by operating the operation terminal 4. The proposal information control unit 44 determines whether the communication speed when communicating with the communication base 3 at each observation point within the task execution area is equal to or less than the threshold, for example, using the communication speed desired by the user as the threshold.

[0086] If it is determined in step S6 that the communication speed when communicating with the communication base 3 at each observation point within the task execution area is equal to or lower than the threshold, then in step S7 the proposal information control unit 44 determines whether or not radio waves X are present among the radio waves observed at the observation point where the communication speed is equal to or lower than the threshold. Radio waves X are radio waves in a frequency band close to the frequency band used for communication between the robot 1 (robot 11) and the communication base 3, and have radio wave intensity exceeding a predetermined threshold.

[0087] If it is determined in step S7 that radio waves X are not present among the radio waves observed at the observation point where the communication speed is equal to or lower than the threshold, in step S8, the proposal information control unit 44 notifies the user that communication may become unstable due to reasons other than radio wave interference. Then, the process proceeds to step S14.

[0088] On the other hand, if it is determined in step S7 that radio waves X are present among the radio waves observed at an observation point where the communication speed is below the threshold, in step S9, the proposal information control unit 44 notifies the user that communication may become unstable due to radio wave interference.

[0089] In step S10, the action planning unit 47 of the management server 2 determines whether to execute the task while ignoring the possibility of communication instability. For example, the user is presented with information about the possibility of communication instability due to radio interference, along with the option of whether to execute the task while ignoring the possibility of communication instability. If the user selects to execute the task while ignoring the possibility of communication instability, the process proceeds to step S14.

[0090] On the other hand, if the user ignores the possibility of communication instability and selects not to execute the task, in step S11, the radio wave interference area estimation unit 43 of the management server 2 estimates the radio wave interference area based on the radio wave map information. For example, the radio wave interference area estimation unit 43 estimates an area (plane / space) where radio wave X may cause radio wave interference, and defines that area as the radio wave interference area.

[0091] FIG. 7 is a diagram showing an example of a radio wave interference area.

[0092] 7, the radio wave interference area estimation unit 43 determines, for example, a quadrangular pyramid-shaped region as the radio wave interference area A1. In the radio wave interference area A1, a starting point P1 with respect to a bottom surface B1 corresponds to the position of the source of radio wave X (the position of the equipment emitting radio wave X). The bottom surface B1 is a quadrangular surface among the surfaces that make up the radio wave interference area A1.

[0093] The shape of the radio wave interference area is not limited to a quadrangular pyramid, but may be any shape.

[0094] There are two possible methods for estimating the radio wave interference area: 1. A method for directly estimating the outline of the radio wave interference area. 2. A method for estimating the outline of the radio wave interference area by calculating the base and height.

[0095] A method for directly estimating the outline of a radio wave interference area will be described with reference to Fig. 8. In Fig. 8, white and black dots indicate radio wave information about radio wave X at the observation point where radio wave X was observed. Fig. 8 shows the arrangement of each piece of radio wave information when viewed from above.

[0096] First, the radio wave interference area estimation unit 43 selects radio wave information to be used for estimating a radio wave interference area from radio wave information at the observation point where radio waves X were observed. In the example of Fig. 8, white dots indicate radio wave information to be used for estimating a radio wave interference area, and black dots indicate radio wave information not to be used for estimating a radio wave interference area. From the radio wave information at the observation point where radio waves X were observed, the radio wave interference area estimation unit 43 selects, for example, N pieces of radio wave information in order from closest to the task execution area, as radio wave information to be used for estimating a radio wave interference area.

[0097] Next, the radio wave interference area estimation unit 43 approximates a quadrangular pyramid that is the outer shape of the radio wave area A11 based on the distribution of the selected radio wave information (white dots).

[0098] For example, the radio wave interference area estimation unit 43 has a model representing a quadrangular pyramid in advance. The radio wave interference area estimation unit 43 approximates the quadrangular pyramid that is the outline of the radio wave interference area by fitting the model based on the positions of the selected N pieces of radio wave information using a least squares method, a RANSAC (Random Sample Consensus) algorithm, or the like.

[0099] Furthermore, for example, the radio wave interference area estimation unit 43 approximates a quadrangular pyramid that represents the outline of the radio wave interference area by inputting N pieces of radio wave information about the selected radio wave X into a learning model that has undergone deep learning.

[0100] When radio wave X is observed at a sufficient number of observation points, particularly when the observation points at which radio wave X is observed include an observation point near the source of radio wave X, the radio wave interference area can be effectively estimated by a method of directly estimating the outline of the radio wave interference area.

[0101] A method for estimating the outline of a radio wave interference area by calculating the bottom surface and height will be described with reference to Fig. 9. In Fig. 9, white, gray, black, and dashed dots indicate radio wave information about radio wave X at the observation point where radio wave X was observed. Fig. 9A shows the arrangement of each piece of radio wave information when viewed from above, and Figs. 9B and 9C show the arrangement of each piece of radio wave information when viewed from an oblique angle.

[0102] First, the radio wave interference area estimation unit 43 selects radio wave information to be used for estimating a radio wave interference area from radio wave information at an observation point where radio wave X is observed. In the example of Fig. 9, white, gray, and dashed dots indicate radio wave information to be used for estimating a radio wave interference area, and black dots indicate radio wave information not to be used for estimating a radio wave interference area. In Fig. 9, gray dots indicate radio wave information with high radio wave X strength, white dots indicate radio wave information with medium radio wave X strength, and dashed dots indicate radio wave information with low radio wave X strength.

[0103] The radio wave interference area estimation unit 43 selects, from the radio wave information at the observation point where radio waves X were observed, for example, N pieces of radio wave information in order from the closest to the task execution area A21 shown in A of Figure 9, as radio wave information to be used to estimate the radio wave interference area.

[0104] Next, the radio wave interference area estimation unit 43 approximates the base B11 of the quadrangular pyramid based on the distribution of radio wave information (gray dots) with low radio wave intensity. For example, the radio wave interference area estimation unit 43 approximates the base B11 by fitting a model of the base using the least squares method or the like based on the positions of the radio wave information with low radio wave intensity.

[0105] Next, the radio wave interference area estimation unit 43 determines the center point of the bottom surface B11. For example, as shown in B of FIG. 9, the radio wave interference area estimation unit 43 determines the intersection of two diagonal lines of the bottom surface B11 as the center point P10.

[0106] Next, the radio wave interference area estimation unit 43 calculates the height of the quadrangular pyramid based on, for example, the distribution of radio wave information with medium radio wave strength and radio wave information with high radio wave strength.

[0107] Next, the radio wave interference area estimation unit 43 sets a point that is a distance equal to the height of the base B11 from the center point P10 of the base B11 in the direction perpendicular to the base B11 as a starting point P11, as shown in C of Fig. 9. The radio wave interference area estimation unit 43 can estimate a quadrangular pyramid that is the outline of the radio wave interference area by connecting the starting point P11 and each vertex of the base B11.

[0108] When radio wave X is observed only at observation points in a part of the area where radio wave X actually causes radio wave interference, particularly when the observation points where radio wave X is observed do not include observation points near the source of radio wave X, the radio wave interference area can be effectively estimated by a method of calculating the bottom and height to estimate the outline of the radio wave interference area.

[0109] 6 , in step S12, the proposal information control unit 44 sets an interference prevention area based on the interference area and presents information indicating the interference prevention area to the user. For example, the proposal information control unit 44 sets an area within the interference area as the interference prevention area.

[0110] FIG. 10 is a diagram showing an example of a radio wave interference prevention area.

[0111] For example, as shown in A of Figure 10, the proposal information control unit 44 sets a plane (plane shown in gray) whose vertices are the center points of each of the four line segments connecting the starting point P1 of the radio wave interference area A1 and each vertex of the bottom surface B1 as the radio wave interference prevention area A51.

[0112] When the robot 11 moves two-dimensionally, the radio wave interference prevention area is estimated as a planar area (for example, a triangular shape), and therefore the radio wave interference prevention area is set as a straight line.

[0113] Also, for example, the proposal information control unit 44 sets a quadrangular pyramid-shaped space (space shown in gray) including planes whose vertices are the center points of the four line segments connecting the starting point P1 of the radio wave interference area A1 and each vertex of the bottom surface B1 as the radio wave interference prevention area A52, as shown in B of Figure 10.

[0114] When the robot 11 moves two-dimensionally, the radio wave interference prevention area is estimated as a planar area (for example, a triangular shape), and therefore the radio wave interference prevention area is set as a planar area (for example, a trapezoidal shape).

[0115] It is also possible to estimate an area that is effective in suppressing radio wave interference by radio wave X based on the obstacle information, and set that area as a radio wave interference prevention area. The obstacle information is information about obstacles (objects such as the communication base 3, other facilities, and walls that block radio waves emitted from the robot 1 and the robot 11) that exist within the observation area, and indicates the position and type of the obstacle.

[0116] Furthermore, the radio wave interference prevention area may be set so that the strength of the radio waves emitted by the communication base 3 and observed at each observation point within the task execution area is the radio wave strength desired by the user. The user can input the desired radio wave strength by operating the operation terminal 4.

[0117] 6, in step S13, the input / output unit 62 receives an input indicating whether or not the radio wave interference prevention sheet has been installed in the radio wave interference prevention area. The radio wave interference prevention sheet may be installed by a user or a robot. After the radio wave interference prevention sheet has been installed, the process returns to step S1, and subsequent processes are performed.

[0118] If it is determined in step S6 that the communication speed when communicating with the communication base 3 at each observation point within the task execution area exceeds the threshold, the process proceeds to step S14.

[0119] In step S14, the communication control unit 41 transmits a task execution instruction signal to the robot 11. The robot 11 executes the task according to the instructions indicated by the execution instruction signal.

[0120] As described above, in the robot control system of the present technology, radio wave information obtained by observing radio waves at each of multiple observation points is linked to the location information of the observation points of the radio wave information to generate radio wave map information, radio wave interference areas where radio wave interference may occur are estimated based on the radio wave map information, and proposal information for suggesting to the user methods of suppressing radio wave interference is generated based on the radio wave interference area.

[0121] By implementing the radio wave interference suppression method presented by the robot control system, the user can suppress radio wave interference caused by other equipment without having to move the equipment. Because radio wave interference is suppressed, the user can prevent communication between the communication base 3 and the robot 11 from becoming unstable due to radio wave interference. By installing a radio wave interference prevention sheet, for example, locations where it was previously difficult to perform tasks can be made into locations where tasks can be performed, which ultimately makes it possible to expand the range in which the robot can perform tasks.

[0122] If radio wave interference from other equipment occurs not in the task execution area but around the communication base 3, a radio wave interference prevention area may be set within the area surrounding the communication base 3 (for example, an area within a radius of 10 m from the center of the communication base 3). In this case, the robot 1 observes radio waves at each observation point within an observation area that includes at least the area surrounding the communication base 3.

[0123] 11, a description will be given of the processing performed by the robot control system when radio wave interference occurs around the communication base 3. The processing in FIG. 11 is started, for example, when the user performs an operation requesting a proposal of a method for suppressing radio wave interference.

[0124] In step S31, the communication control unit 41 of the management server 2 transmits an observation instruction signal for radio wave information to the robot 1 via the communication base 3.

[0125] In step S32, the radio wave information observation unit 26 of the robot 1 observes radio wave information within the observation area including the area surrounding the communication base 3, in accordance with the instructions given by the observation instruction signal. The self-position estimation unit 25 of the robot 1 estimates the position information of the robot 1.

[0126] In step S33, the communication unit 27 of the robot 1 transmits the radio wave information and the position information to the management server 2 via the communication base 3.

[0127] In step S 34 , the map information management unit 42 of the management server 2 updates the radio wave map information based on the radio wave information and position information transmitted from the robot 1 .

[0128] For example, observation points are set at predetermined intervals within an observation area, radio wave information is observed and location information is estimated at each observation point, and radio wave map information is updated successively based on the radio wave information and location information.

[0129] After the radio wave information for all observation points has been recorded in the radio wave map information, in step S35, the proposal information control unit 44 of the management server 2 determines whether the communication speed when communicating with the communication base 3 at each observation point within the surrounding area of ​​the communication base 3 is equal to or less than a predetermined threshold (e.g., 200 Mbps). The user can input a desired communication speed by operating the operation terminal 4. The proposal information control unit 44 determines whether the communication speed when communicating with the communication base 3 at each observation point within the surrounding area of ​​the communication base 3 is equal to or less than the threshold, for example, using the communication speed desired by the user as the threshold.

[0130] If it is determined in step S35 that the communication speed when communicating with communication base 3 at each observation point within the surrounding area of ​​communication base 3 is below the threshold, in step S36, the proposal information control unit 44 determines whether radio waves X are present among the radio waves observed at the observation point where the communication speed is below the threshold.

[0131] If it is determined in step S36 that radio waves X are not present among the radio waves observed at the observation point where the communication speed is equal to or lower than the threshold, in step S37, the proposal information control unit 44 notifies the user that communication may become unstable due to reasons other than radio wave interference. Then, the process proceeds to step S43.

[0132] On the other hand, if it is determined in step S36 that radio waves X are present among the radio waves observed at an observation point where the communication speed is below the threshold, in step S38, the proposal information control unit 44 notifies the user that communication may become unstable due to radio wave interference.

[0133] In step S39, the action planning unit 47 of the management server 2 determines whether to execute the task despite the possibility of communication instability. For example, the user is presented with information about the possibility of communication instability due to radio interference, along with the option of whether to execute the task despite the possibility of communication instability. If the user selects to execute the task despite the possibility of communication instability, the process proceeds to step S43.

[0134] On the other hand, if the user chooses not to execute the task, ignoring the possibility of communication instability, the process proceeds to step S40.

[0135] The processes in steps S40 to S42 are similar to the processes in steps S11 to S13 in FIG.

[0136] If it is determined in step S35 that the communication speed when communicating with the communication base 3 at each observation point within the surrounding area of ​​the communication base 3 exceeds the threshold, the process proceeds to step S43.

[0137] In step S43, the input / output unit 62 of the operation terminal 4 accepts a task instruction input by the user. The communication control unit 41 transmits an execution instruction signal for the task instructed by the user to the robot 11. The robot 11 executes the task in accordance with the instruction indicated by the execution instruction signal.

[0138] Next, UI (User Interface) screens displayed on the operation terminal 4 will be described with reference to FIGS.

[0139] FIG. 12 is a diagram showing a first display example of the UI screen.

[0140] Fig. 12 shows an example of a UI screen that presents radio wave map information and a radio wave interference prevention area A71 to the user. The UI screen of Fig. 12 displays a map M1 of the site. As indicated by hatching, the observation area is colored, for example, within the map M1. Furthermore, on the UI screen of Fig. 12, information indicating the radio wave interference prevention area A71 is superimposed on the map M1.

[0141] For example, the user can select any point within the observation area. When the user selects a point within the observation area, radio wave information R1 observed at the observation point nearest to the selected point is displayed on the UI screen. In the radio wave information R1, the horizontal axis indicates the channel (frequency band) and the vertical axis indicates the radio wave strength.

[0142] By looking at the radio wave information R1, the user can confirm what frequency bands and strengths of radio waves are observed at the selected location.

[0143] FIG. 13 is a diagram showing a second display example of the UI screen.

[0144] Fig. 13 shows an example of a UI screen that presents radio wave map information and radio wave interference prevention areas to the user. The UI screen of Fig. 13 displays a map M11 of the work site, similar to the map M1 of Fig. 12. Within the map M11, task execution areas for each task that the robot 11 can execute are indicated, for example, by rectangles. In the example of Fig. 13, the task execution areas for task A and task B are shown. Furthermore, on the UI screen of Fig. 13, information indicating the radio wave interference prevention areas is superimposed on the map M11.

[0145] 13, a label indicating whether or not each task that can be executed by the robot 11 can be executed without destabilizing communication is displayed on the right side of the map M11. In the example of Fig. 13, a label L1 indicating whether or not task A can be executed without destabilizing communication and a label L2 indicating whether or not task B can be executed without destabilizing communication are displayed.

[0146] 13, whether a task can be executed without destabilizing communication is indicated, for example, by the color of the label. The white color of label L1 indicates that there is a possibility that communication will become unstable due to radio interference within the task execution area of ​​task A unless an interference prevention sheet is installed in the interference prevention area. The gray color of label L2 indicates that there is a low possibility that communication will become unstable due to radio interference within the task execution area of ​​task B, even if an interference prevention sheet is not installed in the interference prevention area.

[0147] Furthermore, on the UI screen of FIG. 13, whether or not a task can be executed without communication becoming unstable is expressed by the color of the task execution area, as well as the color of the label.

[0148] By selecting a task execution area or label on the UI screen, the user can instruct the robot 11 to execute a task corresponding to the selected task execution area or label. When the user selects a white task execution area or label, the management server 2 assumes that the user has selected to execute the task despite the possibility of communication instability, and causes the robot 11 to execute the task instructed by the user.

[0149] FIG. 14 is a diagram showing an example of a UI screen display after the radio wave interference prevention sheet has been installed in the radio wave interference prevention area.

[0150] When the radio wave interference prevention sheet is installed in the radio wave interference prevention area, the UI screen displayed on the operation terminal 4 switches from the UI screen of FIG. 13 to the UI screen of FIG.

[0151] In the UI screen of FIG. 14, information indicating areas where radio wave interference prevention sheets have already been installed is superimposed on a map M11, instead of information indicating radio wave interference prevention areas.

[0152] The UI screen in Fig. 14 also indicates whether the task can be executed without destabilizing communication by the color of the task execution area and label. In Fig. 14, the gray color of label L1 and the task execution area of ​​task A indicates that there is a low possibility of communication becoming unstable due to radio wave interference within the task execution area of ​​task A.

[0153] After the radio wave interference prevention sheet is installed, the user can see that the color of label L1 and the task execution area of ​​task A has turned gray, and can confirm that the radio wave interference that was estimated to occur within the task execution area of ​​task A has been suppressed.

[0154] As described above, by looking at the UI screen displayed on the operation terminal 4, the user can grasp areas where radio wave interference may occur before having the robot 11 perform a task.

[0155] 3. Application Examples The present technology can be applied to systems that broadcast sports broadcasts, for example.

[0156] FIG. 15 is a diagram showing an example of the configuration of a system for broadcasting sports broadcasts.

[0157] As shown in FIG. 15, a system for broadcasting sports events is configured with cameras C1 to C3 and a broadcast van 201, for example.

[0158] Cameras C1 to C3 are placed in the stadium and capture images of sports matches being played there. Cameras C1 and C2 are operated by, for example, a cameraman, and camera C3 is a camera mounted on a cart robot, which is an autonomous mobile body. Cameras C1, C2, and the cart robot correspond to robot 11 in Figure 1.

[0159] The broadcast van 201 is positioned outside the stadium. The broadcast van 201 is equipped with a wireless repeater 211. The wireless repeater 211 communicates wirelessly with cameras C1, C2, and C3 (cart robots) and receives the footage captured by cameras C1 to C3. The wireless repeater 211 transmits the footage captured by cameras C1 to C3 to a broadcasting station.

[0160] The wireless repeater 211 also communicates wirelessly with the cart robot equipped with the camera C3. A user inside the relay van 201 can control the cart robot by operating a PC or the like connected to the wireless repeater 211. The wireless repeater 211 corresponds to the communication base 3 in Fig. 1, and the PC connected to the wireless repeater 211 corresponds to the management server 2 and operation terminal 4 in Fig. 1.

[0161] Outside the stadium, not only relay van 201 but also other relay vans 251A and 251B are stationed. Radio wave interference caused by relay van 251A and relay van 251B may destabilize communications between cameras C1 to C3 and the cart robot and wireless repeater 211.

[0162] Therefore, robot 1 (not shown) observes radio waves in an observation area including the area surrounding relay van 201, and a PC displays the radio wave interference prevention area to the user. As shown in Fig. 15, the user can actually install a radio wave interference prevention sheet in the radio wave interference area to block radio waves emitted from relay van 251A and relay van 251B, thereby preventing communication between cameras C1 to C3 and the cart robot and wireless repeater 211 from becoming unstable.

[0163] As described above, the execution device that executes a task within the site and communicates wirelessly with the communication base 3 (wireless repeater 211) does not have to be an autonomous mobile body such as a robot.

[0164] This technology can be applied to, for example, underwater drone control systems.

[0165] FIG. 16 is a diagram illustrating an example configuration of an underwater drone control system.

[0166] As shown in Figure 16, the surface drone control system is composed of, for example, a surface drone Mo1 and a communication base 301.

[0167] The surface drone Mo1 is an autonomous mobile object that performs tasks on the sea. The surface drone Mo1 corresponds to the robot 11 in FIG. 1 .

[0168] The communication base 301 is installed on land, for example. The communication base 301 communicates wirelessly with the surface drone Mo1. A user on land can control the surface drone Mo1 by operating a controller connected to the communication base 301. The communication base 301 corresponds to the communication base 3 in FIG. 1, and the controller connected to the communication base 301 corresponds to the management server 2 and operation terminal 4 in FIG. 1.

[0169] In addition to the communication base 301, another communication base 311 is installed on land. If the communication base 311 causes radio wave interference, there is a possibility that communication between the surface drone Mo1 and the communication base 301 will become unstable.

[0170] Therefore, a radio wave observation terminal 151 (not shown) observes radio waves in an observation area including the area surrounding the communication base 301, and a controller presents the radio wave interference prevention area to the user. As shown in Figure 16, the user can actually install a radio wave interference prevention sheet in the radio wave interference area to block radio waves emitted from the communication base 311 and prevent communication between the surface drone Mo1 and the communication base 301 from becoming unstable.

[0171] In this way, the execution device that performs tasks within the site and communicates wirelessly with communication base 3 (communication base 301) may be an autonomous mobile body other than a robot, such as a surface drone, underwater drone, aerial drone, vehicle, ship, or airplane.

[0172] These autonomous mobile bodies may observe radio waves within the observation area. When the autonomous mobile body observing radio waves moves three-dimensionally, compared to when the autonomous mobile body moves two-dimensionally, the distribution of radio wave information in the vertical direction (z direction) can be obtained in addition to the distribution of radio wave information in the horizontal direction (x direction) and depth direction (y direction), and therefore the starting point of the radio wave interference area (the position of the source of radio wave X) can be estimated more accurately.

[0173] <Regarding the Computer> The above-described series of processes can be executed by hardware or software. When the series of processes are executed by software, the program constituting the software is installed from a program recording medium into a computer incorporated in dedicated hardware, or into a general-purpose personal computer, etc.

[0174] 17 is a block diagram showing an example of the hardware configuration of a computer that executes the above-mentioned series of processes using a program. The management server 2 is, for example, configured by an information processing device having a configuration similar to that shown in FIG.

[0175] A CPU (Central Processing Unit) 501 , a ROM (Read Only Memory) 502 , and a RAM (Random Access Memory) 503 are interconnected by a bus 504 .

[0176] An input / output interface 505 is also connected to the bus 504. An input unit 506 including a keyboard, a mouse, etc., and an output unit 507 including a display, a speaker, etc. are connected to the input / output interface 505. Also connected to the input / output interface 505 are a storage unit 508 including a hard disk, a nonvolatile memory, etc., a communication unit 509 including a network interface, etc., and a drive 510 that drives removable media 511.

[0177] In a computer configured as described above, the CPU 501 performs the above-described series of processes by, for example, loading a program stored in the storage unit 508 into the RAM 503 via the input / output interface 505 and the bus 504 and executing it.

[0178] The program executed by the CPU 501 is installed in the storage unit 508 by being recorded on, for example, a removable medium 511 or provided via a wired or wireless transmission medium such as a local area network, the Internet, or digital broadcasting.

[0179] The program executed by the computer may be a program that processes in chronological order according to the order described in this specification, or may be a program that processes in parallel or at the required timing, such as when called.

[0180] In this specification, a system refers to a collection of multiple components (devices, modules (components), etc.), regardless of whether all of the components are housed in the same housing. Therefore, multiple devices housed in separate housings and connected via a network, and a single device housed in a single housing with multiple modules, are both systems.

[0181] The effects described in this specification are merely examples and are not limiting, and other effects may also be present.

[0182] The embodiments of the present technology are not limited to the above-described embodiments, and various modifications are possible without departing from the spirit of the present technology.

[0183] For example, the present technology can be configured as a cloud computing system in which a single function is shared and processed collaboratively by a plurality of devices via a network.

[0184] Furthermore, each step described in the above flowchart can be executed by one device, or can be shared and executed by a plurality of devices.

[0185] Furthermore, when one step includes multiple processes, the multiple processes included in that one step can be executed by one device or can be shared and executed by multiple devices.

[0186] <Examples of Combinations of Configurations> The present technology can also have the following configurations.

[0187] (1) An information processing method comprising: generating radio wave map information, which is map information linking radio wave information obtained by observing radio waves at each of a plurality of observation points with location information of the observation points of the radio wave information; estimating radio wave interference areas where radio wave interference may occur based on the radio wave map information; and generating proposal information for proposing to a user a method of suppressing the radio wave interference based on the radio wave interference area. (2) The information processing method described in (1), wherein the radio wave information includes a frequency band and intensity of radio waves observed at the observation points. (3) The information processing method described in (1) or (2), wherein the radio wave map information is map information linking the radio wave information obtained by an autonomous mobile body observing radio waves at each of a plurality of the observation points with the location information. (4) The information processing method described in any of (1) to (3), further comprising setting a radio wave interference prevention area recommended for installing an obstacle for preventing radio wave interference based on the radio wave interference area, and generating information indicating the radio wave interference prevention area as the proposal information. (5) The information processing method according to any one of (4), further comprising: setting the radio wave interference prevention area based on obstacle information regarding an obstacle present in an observation area including the observation point; (6) The information processing method according to (4) or (5), further comprising: notifying the user that the radio wave interference has been suppressed after the obstacle for preventing radio wave interference is installed in the radio wave interference prevention area; (7) The information processing method according to any one of (4) to (6), further comprising: forming the obstacle for preventing radio wave interference from at least one of aluminum, copper, nickel, silver, mu-metal, ferrite, carbon nanotubes, conductive polymers, and metamaterials; (8) The information processing method according to any one of (1) to (3), further comprising: estimating the radio wave interference area in which radio waves used for wireless communication between a communication device and an execution device that executes a predetermined task may be interfered with; and generating the proposal information for suggesting to the user a method for suppressing the radio wave interference estimated to be experienced by the radio waves used for wireless communication between the communication device and the execution device.(9) The information processing method according to (8), wherein the radio wave information includes a communication speed of wireless communication between the communication device and the execution device. (10) The information processing method according to (8) or (9), wherein the radio wave interference area is estimated further based on a task execution area in which the execution device executes the task. (11) The information processing method according to (8) or (9), wherein the radio wave interference area is estimated based on the radio wave information observed at the observation point included in the surrounding area of ​​the communication device. (12) The information processing method according to any of (8) to (11), further comprising setting a location recommended for installing the communication device based on the radio wave interference area, and generating information indicating the location recommended for installing the communication device as the suggested information. (13) The information processing method according to any of (8) to (12), wherein the execution device is an autonomous mobile body. (14) An information processing device comprising: a generation unit that generates radio wave map information, which is map information linking radio wave information obtained by observing radio waves at each of a plurality of observation points with location information of the observation points of the radio wave information, a radio wave interference area estimation unit that estimates radio wave interference areas where radio wave interference may occur based on the radio wave map information, and a proposal information control unit that generates proposal information for proposing a method of suppressing the radio wave interference to a user based on the radio wave interference area. (15) A program that causes a computer to execute processes of: generating radio wave map information, which is map information linking radio wave information obtained by observing radio waves at each of a plurality of observation points with location information of the observation points of the radio wave information, estimating radio wave interference areas where radio wave interference may occur based on the radio wave map information, and generating proposal information for proposing a method of suppressing the radio wave interference to a user based on the radio wave interference area.

[0188] DESCRIPTION OF SYMBOLS 1 Robot, 2 Management server, 3 Communication base, 4 Operation terminal, 11 Robot, 21 Map information management unit, 22 Depth sensor, 23 Image sensor, 24 Radio wave intensity sensor, 25 Self-position estimation unit, 26 Radio wave information observation unit, 27 Communication unit, 28 Action planning unit, 29 Drive system control unit, 41 Communication control unit, 42 Map information management unit, 43 Radio wave interference area estimation unit, 44 Proposal information control unit, 45 Operation IF unit, 46 Terminal communication unit, 47 Action planning unit, 61 Communication unit, 62 Input / output unit, 81 Map information management unit, 82 Depth sensor, 83 Image sensor, 84 Self-position estimation unit, 85 Communication unit, 86 Action planning unit, 87 Drive system control unit, 161 Map information management unit, 162 Depth sensor, 163 Image sensor, 164 Radio wave intensity sensor, 165 Self-position estimation unit, 166 Radio wave information observation unit, 167 Communication unit

Claims

1. An information processing method including: generating radio wave map information, which is map information linking radio wave information obtained by observing radio waves at each of a plurality of observation points with location information of the observation points of the radio wave information; estimating radio wave interference areas where radio wave interference may occur based on the radio wave map information; and generating suggestion information for suggesting to a user methods of suppressing the radio wave interference based on the radio wave interference areas.

2. The information processing method according to claim 1, wherein the radio wave information includes the frequency band and intensity of the radio waves observed at the observation point.

3. The information processing method according to claim 1, wherein the radio wave map information is map information that links the radio wave information obtained by an autonomous mobile body observing radio waves at each of the plurality of observation points with the location information.

4. The information processing method according to claim 1, further comprising: setting a radio wave interference prevention area recommended for installing obstacles for preventing radio wave interference based on the radio wave interference area; and generating information indicating the radio wave interference prevention area as the suggested information.

5. The information processing method according to claim 4, wherein the radio wave interference prevention area is set based on obstacle information relating to obstacles present within an observation area including the observation point.

6. The information processing method according to claim 4, wherein after the obstacle for preventing radio wave interference is installed in the radio wave interference prevention area, the user is notified that the radio wave interference has been suppressed.

7. The information processing method according to claim 4, wherein the obstacle for preventing radio wave interference is formed from at least one of aluminum, copper, nickel, silver, mu-metal, ferrite, carbon nanotubes, conductive polymers, and metamaterials.

8. An information processing method as described in claim 1, which estimates a radio wave interference area in which radio waves used for wireless communication between a communication device and an execution device that executes a specified task may be subject to radio wave interference, and generates the proposal information for suggesting to the user a method for suppressing the radio wave interference that is estimated to be experienced by the radio waves used for wireless communication between the communication device and the execution device.

9. The information processing method according to claim 8, wherein the radio wave information includes a communication speed of the wireless communication between the communication device and the execution device.

10. The information processing method according to claim 8, wherein the radio wave interference area is estimated further based on a task execution area in which the execution device executes the task.

11. The information processing method according to claim 8, wherein the radio wave interference area is estimated based on the radio wave information observed at the observation point included in the surrounding area of ​​the communication device.

12. The information processing method according to claim 8, further comprising: setting a recommended location for installing the communication device based on the radio wave interference area; and generating information indicating the recommended location for installing the communication device as the suggested information.

13. The information processing method according to claim 8, wherein the execution device is an autonomous mobile body.

14. An information processing device comprising: a generation unit that generates radio wave map information, which is map information that links radio wave information obtained by observing radio waves at each of a plurality of observation points with location information of the observation points of the radio wave information; a radio wave interference area estimation unit that estimates radio wave interference areas where radio wave interference may occur based on the radio wave map information; and a proposal information control unit that generates proposal information to suggest to a user methods of suppressing the radio wave interference based on the radio wave interference areas.

15. A program for causing a computer to execute the following processes: generate radio wave map information, which is map information linking radio wave information obtained by observing radio waves at each of multiple observation points with the location information of the observation points of the radio wave information; estimate radio wave interference areas where radio wave interference may occur based on the radio wave map information; and generate proposal information based on the radio wave interference areas to suggest to the user methods of suppressing the radio wave interference.

Images