Movement control device

Abstract

A movement control device 10 comprises: an input unit 14 to which is inputted physical space information within a certain range that includes an automatic mobile apparatus and is measured by a measurement means; a prediction unit 15 which calculates individual radio communication qualities at a plurality of candidate movement points pertaining to the automatic mobile apparatus by using the physical space information; and a determination unit 16 which determines a candidate movement point for which the predicted value of radio communication quality exceeds a threshold value, among the plurality of candidate movement points, as a movement point of the automatic mobile apparatus.

Description

Mobile control device

[0001] The present disclosure relates to a mobile control device.

[0002] When performing wireless communication using a wireless communication device, the communication quality changes according to changes in the environment such as the movement of objects existing around it. The communication quality refers to the communication capacity, throughput, etc. required by an application. Due to changes in the environment, there may be cases where the communication quality required by a service or system using the wireless communication device cannot be satisfied.

[0003] For example, the communication quality changes depending on ambient static environmental conditions such as the size of the room where the wireless communication device is placed, the position of the wireless communication device, and the shape of surrounding objects. The communication quality is also affected by ambient dynamic environmental changes such as the movement of the wireless communication device or the movement of surrounding objects.

[0004] Therefore, there is a technology for predicting the communication quality of a wireless communication device (see Non-Patent Documents 1-3).

[0005] Tengyu Zhang, et al. 2, “Vision Aided Beam Tracking and Frequency Handoff for mmWave Communications”, IEEE Infocom 2022 Demo Takayuki Nisho, et al. 8, “Proactive Received Power Prediction Using Machine Learning and Depth Images for mmWave Networks”, arXiv:1803.09698v2 [cs.NI] 24 Jul 2018 Shoki Ohta, et al., “Millimeter-wave Received Power Prediction Using Point Cloud Data and Supervised Learning”, 2022 IEEE 95th Vehicular Technology Conference

[0006] In the case of automated mobile devices equipped with wireless communication devices, the communication quality changes due to changes in the dynamic environment such as the location, orientation, and speed of the automated mobile device. Therefore, in order to continue providing the service, a mechanism is needed to maintain a communication quality above a certain level.

[0007] Automated mobile devices reach their destination by selecting, determining, and executing a route from their starting point to their destination based on traversable routes on a map. At the same time, if, for example, high-definition camera footage mounted on the automated mobile device is continuously transmitted to a remote location in real time, such as for autonomous driving or remote monitoring, it is necessary to maintain a constant communication quality between the wireless access point and the automated mobile device until it reaches its destination.

[0008] However, because automated mobile devices change their position as they move, the communication quality between the wireless access point and the automated mobile device fluctuates in response to changes in the surrounding static or dynamic environment. If the communication connection quality falls below the required level, it can lead to degradation or delay in transmitted video, or even interruption of the transmitted video.

[0009] In particular, in wireless communication using high-frequency bands where radio waves have high directivity, radio wave deflection cannot be expected, and the system is affected by the movement of the automated mobile device itself and surrounding objects, making it difficult to maintain the required communication quality.

[0010] This disclosure is made in view of the above circumstances, and the purpose of this disclosure is to provide a technology that enables the movement of an automated mobile device while maintaining communication without falling below a predetermined communication quality.

[0011] A mobile control device according to one aspect of the present disclosure includes: an input unit that inputs physical space information within a certain range, including an automated mobile device, measured by a measuring means; a prediction unit that uses the physical space information to calculate the wireless communication quality at each of a plurality of candidate mobile locations related to the automated mobile device; and a determination unit that determines, among the plurality of candidate mobile locations, a candidate mobile location whose predicted value of wireless communication quality exceeds a threshold as a mobile location for the automated mobile device.

[0012] According to this disclosure, it is possible to provide a technology that enables the movement of an automated mobile device while maintaining communication without falling below a predetermined communication quality.

[0013] Figure 1 shows an example of the configuration of a movement control system. Figure 2 shows an example of the functional block configuration of a movement control device. Figure 3 shows an example of the operation of the movement control system. Figure 4 shows an example of the movement path of an automated mobile device. Figure 5 shows an example of the movement direction of an automated mobile device. Figure 6 shows an example of the hardware configuration of a movement control device.

[0014] Embodiments of this disclosure will be described below with reference to the drawings. In the drawings, the same parts are denoted by the same reference numerals and their descriptions are omitted.

[0015] [Example of a mobile control system configuration] Figure 1 shows an example of a mobile control system configuration.

[0016] The movement control system 1 controls the movement of the automated mobile device 100 to its destination by selecting one movement path from multiple movement paths and repeating that path selection at the destination.

[0017] Within the enclosed movement area, in addition to the automated mobile device 100 which is the target of movement control, environmental sensing equipment 20 and a wireless access point 30 are arranged. Outside the movement area, a monitoring and control center 40 is located to monitor and control the automated mobile device 100 and the environmental sensing equipment 20 via the wireless access point 30.

[0018] The environmental sensing device 20 is a measuring means for measuring physical spatial information such as the position coordinates, size, orientation, and movement speed of the automated mobile device 100 and surrounding objects. Examples include a fixed camera 20a, a LiDAR device 20b installed in the field, a camera 20c, a LiDAR device 20d, and a GPS device (not shown) mounted on the automated mobile device 100. LiDAR is an abbreviation for Light Detection and Ranging.

[0019] The above configuration includes a movement control device 10 for controlling the movement of the automated mobile device 100. The movement control device 10 can be placed in any location. For example, it may be mounted on the automated mobile device 100, placed in the monitoring and control center 40, or placed in any location connected to the movement control system 1 by a communication network.

[0020] The movement control of the automated mobile device 100 can be performed at any location, whether indoors or outdoors.

[0021] [Example of the configuration of the movement control device 10] Figure 2 is a diagram showing an example of the functional block configuration of the movement control device 10.

[0022] The movement control device 10 is a device that determines the movement point of the automated mobile device 100 using physical spatial information measured by the environmental sensing device 20, and controls the movement of the automated mobile device 100.

[0023] As shown in Figure 2, the movement control device 10 includes a setting unit 11, a creation unit 12, a selection unit 13, an input unit 14, a prediction unit 15, a determination unit 16, an output unit 17, a judgment unit 18, and a storage unit 19.

[0024] The setting unit 11 has a function to set the destination of the automatic mobile device 100.

[0025] The creation unit 12 has the function of creating one or more candidate destinations for the automatic mobile device 100 for a set destination.

[0026] The selection unit 13 has the function of selecting one or more move location candidates from the one or more move location candidates that have been created.

[0027] The input unit 14 has a function to input physical spatial information measured by the environmental sensing device 20. The physical spatial information includes physical spatial information within a certain range, including the current location of the automated mobile device 100 and its surroundings. The certain range is the measurement range of the environmental sensing device 20. The physical spatial information includes, for example, the size, orientation, and movement speed of the automated mobile device 100, and the movement speed and direction of people that are stopped or moving around the automated mobile device 100.

[0028] The prediction unit 15 has the function of predicting and calculating the wireless communication quality at one or more selected candidate moving locations using the input physical space information. Wireless communication quality refers to, for example, radio wave strength, throughput, and delay.

[0029] The determination unit 16 has the function of determining whether the predicted value of the wireless communication quality at one or more candidate mobile locations exceeds the required wireless communication quality (threshold), and determining the candidate mobile location that exceeds the required wireless communication quality as a mobile location.

[0030] The output unit 17 has the function of outputting the determined movement point and a movement command to that movement point to the automatic movement device 100.

[0031] The determination unit 18 has a function to determine whether or not the automated mobile device 100 has reached its destination based on the physical space information input after movement.

[0032] The memory unit 19 has the function of storing various types of data handled by the mobile control device 10.

[0033] [Example of operation of the movement control system] Figure 3 shows an example of operation of the movement control system 1.

[0034] The movement control device 10 sets the destination of the automatic movement device 100 (step S1).

[0035] The environmental sensing device 20 performs environmental sensing on the area including the current location and surroundings of the automated mobile device 100 (step S2). Regardless of the timing of step S2, environmental sensing by the environmental sensing device 200 is performed at the current location of the automated mobile device 100 at any time from the start to the end of control.

[0036] The movement control device 10 creates multiple candidate movement points for the automatic movement device 100 relative to the set destination (step S3).

[0037] The movement control device 10 selects one or more appropriate movement destination candidates from among the multiple movement destination candidates created, taking into consideration the distance and direction from the current location of the automatic movement device 100 to the destination (step S4).

[0038] If there are multiple candidate movement locations selected, the movement control device 10 uses the physical space information measured by the environmental sensing device 20 to predict and calculate the wireless communication quality at each candidate movement location (step S5).

[0039] For example, one approach is to build a communication quality prediction model that can predict the wireless communication quality at any given location and time using machine learning techniques. By determining and inputting input values ​​to this communication quality prediction model using physical spatial information (e.g., the coordinates of candidate moving locations), it is possible to predict the wireless communication quality (e.g., throughput) at each candidate moving location.

[0040] The mobile control device 10 determines the next mobile location from among the candidate mobile locations so that the predicted value of the wireless communication quality at each candidate mobile location exceeds the required wireless communication quality (steps S6, S7).

[0041] Specifically, the mobile control device 10 determines whether the predicted value of the wireless communication quality at each candidate mobile location exceeds the required wireless communication quality (step S6). If it does not exceed the required wireless communication quality, it returns to step S4 to select another candidate mobile location and repeats steps S4 to S6 until the required wireless communication quality is exceeded.

[0042] If the wireless communication quality exceeds the required level, the mobile control device 10 determines a candidate mobile location that exceeds the required level as the mobile location, and outputs the determined mobile location and a command to move to that location to the automatic mobile device 100 (step S7).

[0043] The movement control device 10 determines whether the automatic moving device 100 has reached its destination based on the physical space information input after movement (step S8). If the destination has not been reached, the process returns to step S2 and steps S2 to S8 are repeated until the destination is reached. If the destination is reached, the process ends.

[0044] Each step (except step S1) is repeated every time the automatic moving device 100 moves to a moving point. As shown in FIG. 4, the automatic moving device 100 can be moved to the destination while satisfying the required wireless communication quality, that is, while continuously maintaining communication without falling below a predetermined wireless communication quality.

[0045] [Modification Example No. 1] When the automatic moving device 100 moves to a moving point, the predicted wireless communication quality at that moving point may change. Therefore, the movement control device 10 predicts and calculates the wireless communication quality according to the required time to the movement point candidate.

[0046] For example, the movement control device 10 estimates the required time (x seconds) for the automatic moving device 100 to reach each movement point candidate using the position information of the automatic moving device 100 included in the wireless communication quality, the position information of each movement point candidate, and the moving speed of the automatic moving device 100, and inputs them into the above communication quality prediction model, thereby predicting the wireless communication quality at each movement point candidate x seconds later.

[0047] Thereby, the automatic moving device 100 can be moved to the destination while surely satisfying the required wireless communication quality.

[0048] [Modification Example No. 2] When determining the next movement point, although maintaining the wireless communication quality above a certain level was considered, not only whether the predetermined wireless communication quality is satisfied, but also a plurality of different judgment criteria such as the distance and direction to the destination, shortening of the required time, and ensuring of safety as described in step S4 may be further considered, and the selection of the movement point candidate and the determination of the movement point may be executed. Furthermore, optimization may be attempted by considering the priority of the plurality of judgment criteria.

[0049] [Modification Example No. 3] The movement control device 10 can simultaneously control the movements of a plurality of automatic moving devices 100. In that case, the movement control device 10 selects and determines movement paths (movement points) that do not interfere with each other for the plurality of automatic moving devices 100.

[0050] For example, the mobile control device 10 selects each candidate mobile location for multiple automated mobile devices 100 included in the wireless communication quality so that each candidate location is different from the others. Other possible methods include completely separating the mobile routes, or separating the time periods if the mobile routes overlap. Furthermore, optimization may be performed by considering the priority of multiple mobile routes and multiple automated mobile devices 100.

[0051] [Supplementary information on the configuration and operation of the mobile control system] The field map of the database held by the mobile control system 1 shows the following information. For example, from the overall drawing including detailed partial drawings, the type and location of the environmental sensing equipment 20, it is possible to determine image information acquisition, infrared information acquisition, radio wave condition acquisition, voice information acquisition, and the location of the automatic mobile equipment.

[0052] In addition to the map information mentioned above, the mobile control system 1 can be configured to constantly monitor and update the overall wireless communication quality prediction, including the automated mobile device 100 and its surroundings.

[0053] The mobile control system 1 can perform environmental sensing regarding the position and state of the automated mobile device 100 using GPS mounted on the automated mobile device 100 and image information obtained from environmental sensing devices 20 placed on the field.

[0054] The automated mobile device 100 moves under the control of the mobile control system 1. At that time, candidate destinations can be determined using obstacle information obtained from the environmental sensing device 20, the location and movement status of other mobile devices, and the predicted results of the overall wireless communication quality of the mobile control system 1.

[0055] The movement control system 1 can, as needed, or always, use information obtained from the environmental sensing device 20 and information transmitted by the automatic mobile device 100 itself to grasp the current location coordinates, orientation, velocity, and other movement vector information of the automatic mobile device 100.

[0056] The mobile control system 1 can determine the predicted throughput of the automated mobile device 100 by using information obtained from the environmental sensing device 20, information transmitted by the automated mobile device 100 itself, and a communication quality prediction model, as needed, or whenever necessary.

[0057] The movement control system 1 determines, as needed, or always if necessary, the physical conditions surrounding the automated mobile device 100 and the path the automated mobile device 100 should take from its destination, based on information transmitted from the monitoring and control center 40.

[0058] [Example] An example of a control algorithm for route selection using wireless communication quality prediction will be explained using Figure 5.

[0059] (Example 1) For simplicity, the automatic moving device 100 is assumed to move between grid points in meters along the orthogonal x and y axes.

[0060] The movement patterns can be selected from five options: moving for one second in a total of four directions (left / right x-axis or up / down y-axis), or stopping in place for one second.

[0061] The system is designed to change direction or stop at grid points where the x and y coordinates are integers.

[0062] Let the position coordinates of the automatic mobile device 100 at time t=0 be the origin L_S=(0,0), the destination coordinates be L_G=(A_G,B_G), and the position coordinates of the automatic mobile device 100 at time t be L(t)=(a(t),b(t)).

[0063] The Manhattan distance between the destination and the current location at time t can be expressed as D(t) = |G_X - a(t)| + |G_Y - b(t)|. Let this be the evaluation function D(t) for movement control. The evaluation function after n seconds is D(t+n).

[0064] For each movement pattern reached at a grid point, forward (F), backward (B), left turn (L), right turn (R), and stop (S) are ranked in an order that minimizes the evaluation function D(t+1) after n=1 seconds.

[0065] The threshold for maintaining wireless communication quality is defined as Q_th. The predicted wireless communication quality values ​​Q_F, Q_B, Q_L, Q_R, and Q_S for each movement pattern after 1 second of movement are compared in the order listed above. If the predicted quality value exceeds the quality threshold Q_th, that movement pattern is selected. If all predicted values ​​fall below the quality threshold Q_th, the system is stopped (S).

[0066] By repeating this operation from L_S to L_G, it is possible to control the route to the destination while maintaining the desired quality threshold Q_th.

[0067] This embodiment is intended to provide a simplified explanation of one example of the operation of the present disclosure. In reality, it is possible to perform path selection control such as using Euclidean distance as the evaluation function, increasing or decreasing the number of path options in the direction of movement, dynamically changing the spacing between grid points, dynamically changing the movement speed, using different criteria for determining the priority of path evaluation, dynamically changing and controlling the quality threshold, or defining different actions when all predicted values ​​fall below the quality threshold.

[0068] (Example 2) In Example 1, Figure 4 shows the case where only the communication quality prediction for time t'=t+n (where n=1) n seconds after time t is performed. This can be extended to n=2, 3, ..., N. Below, as an example, the case where n=2 is shown.

[0069] The movement patterns are limited to five options: moving for one second in either the x-axis (left / right) or y-axis (up / down) directions, or stopping in place for one second. Therefore, if n=2, there are 5^2 = 25 possible movement patterns to choose from. However, paths that do not satisfy the quality threshold Q_th when n=1 are excluded.

[0070] Upon reaching a grid point, up to 25 possible movement patterns, such as forward & forward (FF), forward & backward (FB), forward & left turn (FL), forward & right turn (FR), forward & stop (FS), etc., are ranked in an order that minimizes the evaluation function D(t+n)=D(t+2) after n=2 seconds.

[0071] Let the wireless communication quality threshold to be maintained be \(Q_{th}\). For the predicted wireless communication quality values \(Q_{FF}\), \(Q_{FB}\), \(Q_{FL}\), \(Q_{FR}\), \(Q_{FS}\), etc. of each movement pattern after moving for 2 seconds, up to a maximum of 25 cases, compare the values in the above ranking order. When the quality prediction value exceeds the quality threshold \(Q_{th}\), select that movement pattern. If all prediction values are below the quality threshold \(Q_{th}\), select stop (SS).

[0072] Similarly, this is repeated for the remaining candidates with \(n = 2\), and it can be further extended to the cases of \(n=3,\cdots,N\). By repeating this operation from \(L_S\) to \(L_G\), path control to the destination can be performed while maintaining the desired quality threshold \(Q_{th}\).

[0073] (Example 3) In Examples 1 and 2, only the evaluation function \(D(t + n)\) after \(n\) seconds was used as the evaluation criterion for ranking path selection. However, different evaluation criteria can also be used or combined. Therefore, as a constraint condition, the maximum movement time \(T\) to the destination is further added.

[0074] In Example 2, by performing path selection ranking using only \(D(t + n)\) such that \(t + n<T\), path control to the destination can be performed while maintaining the desired quality threshold \(Q_{th}\). <00OO150>(Example 4) Here, as yet another evaluation criterion, it is added that the state of other moving devices is recognized and a path as far away from them as possible is selected to ensure safety.

[0076] It is also possible to further add and implement an algorithm that, when detecting an object approaching its own moving device by sensing using a camera, LiDAR, etc., or obtaining the paths of other autonomous moving devices, selects a path that moves as far away from it as possible.

[0077] Note that Examples 2 to 4 are also examples of the control flow of the present disclosure described simply for convenience. Similar to Example 1, various extensions of path selection control are possible.

[0078] [Effects] As described above, according to this embodiment, the mobile control device 10 receives physical space information within a certain range including the automatic mobile device 100 measured by the environmental sensing device 20, calculates the wireless communication quality at each of the multiple candidate moving locations related to the automatic mobile device 100 using the physical space information, and determines the candidate moving location from among the multiple candidate moving locations where the predicted value of the wireless communication quality exceeds a threshold as the moving location of the automatic mobile device 100. As a result, the automatic mobile device 100 can be moved to its destination while maintaining communication without falling below a predetermined wireless communication quality.

[0079] [Other] This disclosure is not limited to the embodiments described above. This disclosure can be modified in numerous ways within the scope of the gist of this disclosure.

[0080] The mobile control device 10 of this embodiment described above can be realized using a general-purpose computer system, for example, as shown in Figure 6, which includes a CPU 901, a memory 902, a storage 903, a communication device 904, an input device 905, and an output device 906.

[0081] Memory 902 and storage 903 are storage devices. In this computer system, the CPU 901 executes a predetermined program loaded onto memory 902, thereby realizing each function of the mobile control device 10.

[0082] The mobile control device 10 may be implemented on a single computer. The mobile control device 10 may be implemented on multiple computers. The mobile control device 10 may be a virtual machine implemented on a computer.

[0083] The program for the mobile control device 10 can be stored on a computer-readable recording medium such as an HDD, SSD, USB memory, CD, or DVD. A computer-readable recording medium is, for example, a non-transitory recording medium. The program for the mobile control device 10 can also be distributed via a communication network.

[0084] 1. Movement control system 10. Movement control device 11. Setting unit 12. Creation unit 13. Selection unit 14. Input unit 15. Prediction unit 16. Decision unit 17. Output unit 18. Judgment unit 19. Memory unit 20. Environmental sensing equipment 30. Wireless access point 40. Monitoring and control center 100. Automatic movement equipment 901. CPU 902. Memory 903. Storage 904. Communication device 905. Input device 906. Output device

Claims

1. A mobile control device comprising: an input unit that inputs physical space information within a certain range, including an automated mobile device, measured by a measuring means; a prediction unit that calculates the wireless communication quality at each of a plurality of candidate mobile locations related to the automated mobile device using the physical space information; and a determination unit that determines, among the plurality of candidate mobile locations, a candidate mobile location whose predicted value of wireless communication quality exceeds a threshold as a mobile location for the automated mobile device.

2. The mobile control device according to claim 1, wherein the prediction unit calculates each wireless communication quality according to the time required to each of the plurality of candidate mobile locations.

3. The movement control device according to claim 1, wherein the determination unit determines the movement point of the automatic moving device based on a plurality of different judgment criteria.

4. The motion control device according to claim 1, wherein the determination unit selects a motion path in which a plurality of automatic motion devices do not interfere with each other.

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