JP7288888B2 - Wireless quality information providing device, navigation system, wireless quality information providing method and computer program - Google Patents

Description

The present invention relates to a radio quality information providing device, a navigation system, a radio quality information providing method, and a computer program.

In recent years, a remote monitoring system for remotely monitoring autonomously moving robots by wireless communication has been studied. For example, in Patent Document 1, a robot state monitoring terminal attached to a robot transmits state data of the robot to a monitoring server, and the monitoring server determines the state of the robot based on the state data received from the robot state monitoring terminal. A robot condition monitoring system is described.

JP 2019-209426 A

However, in the robot state monitoring system of Patent Document 1 described above, if wireless communication is cut off while the robot is moving, it becomes impossible to remotely monitor the currently moving robot, which is inconvenient. In order to solve this problem, it is conceivable to perform navigation so that the robot moves along a route with good wireless communication quality so as not to disconnect the wireless communication. However, when performing such navigation, it is not always possible to know the wireless communication quality of all candidate routes from the departure point to the destination, so there is a possibility that appropriate navigation cannot be performed. There is

SUMMARY OF THE INVENTION The present invention has been made in consideration of such circumstances, and an object of the present invention is to estimate the wireless communication quality of a position where the wireless communication quality is unknown and provide it to a navigation device or the like.

(1) One aspect of the present invention is a location wireless quality storage unit that stores location wireless quality information in which a location and wireless communication quality at the location are recorded in association with each other; and wireless communication quality is recorded in the location wireless quality information. a video acquisition unit that acquires a video file captured at a position not captured, a video analysis unit that performs image analysis on the video file acquired by the video acquisition unit, and a video analysis unit that performs image analysis on the video file a radio quality estimation unit that estimates radio communication quality at a position where the radio communication quality is not recorded in the position radio quality information based on the result of image analysis performed.
(2) An aspect of the present invention is the radio quality information providing device according to (1), wherein the location radio quality storage unit stores the location radio quality information for each radio frequency band.
(3) According to one aspect of the present invention, the timing at which the image file to be acquired by the image acquisition unit is imaged is restricted according to the radio frequency band of the wireless communication quality not recorded in the location wireless quality information. The radio quality information providing device according to (2) above.
(4) In one aspect of the present invention, when the radio frequency band of the radio communication quality not recorded in the location radio quality information is a predetermined high frequency band, the video acquisition unit performs radio communication while moving. The wireless quality information providing device according to (3) above, wherein the moving object acquires the image file at a timing corresponding to a scheduled timing of passing through a position where wireless communication quality is not recorded in the location wireless quality information. be.
(5) One aspect of the present invention is meta information that stores meta information indicating the imaging time and imaging position of a video file stored in a video collecting device in association with video collecting device identification information that identifies the video collecting device. a storage unit; and a video collection device file identification unit that identifies the video file to be acquired by the video acquisition unit and the video collection device to acquire the video file based on the meta information. The radio quality information providing device according to any one of (1) to (4) above, further comprising:

(6) One aspect of the present invention is based on the wireless communication quality at each position provided from the wireless quality information providing device to a moving object that performs wireless communication while moving with the wireless quality information providing device. and a navigation device that provides route information indicating a route from a departure point to a destination.

(7) One aspect of the present invention is a location wireless quality storing step of storing location wireless quality information recorded in association with a location and wireless communication quality at the location in a location wireless quality storage unit; and the location wireless quality information. A video acquisition step of acquiring a video file captured at a position where wireless communication quality is not recorded, a video analysis step of performing image analysis on the video file acquired in the video acquisition step, and the video analysis step a wireless quality estimation step of estimating the wireless communication quality at a location where the wireless communication quality is not recorded in the location wireless quality information based on the result of the image analysis performed on the video file in It is the method of provision.

(8) An aspect of the present invention includes a position wireless quality storing step of storing position wireless quality information recorded in a computer in association with a position and wireless communication quality at the position in a position wireless quality storage unit; a video acquisition step of acquiring a video file captured at a position where wireless communication quality is not recorded in the wireless quality information; a video analysis step of performing image analysis on the video file acquired in the video acquisition step; a wireless quality estimation step of estimating wireless communication quality at a location where the wireless communication quality is not recorded in the location wireless quality information based on the result of the image analysis performed on the video file in the video analysis step; It is a computer program for

ADVANTAGE OF THE INVENTION According to this invention, the effect that the wireless communication quality of the position where wireless communication quality is unknown can be estimated and can be provided to a navigation apparatus etc. is acquired.

1 is a block diagram showing a configuration example of a navigation system according to one embodiment; FIG. FIG. 4 is a diagram illustrating a configuration example of a position/wireless quality storage unit according to one embodiment; 4 is a flowchart illustrating an example procedure of a navigation method according to one embodiment; It is an explanatory view for explaining an example of a route search method. It is an explanatory view for explaining a route search method concerning one embodiment. 4 is a flow chart showing an example of a procedure of a method for providing radio quality information according to an embodiment;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. In this embodiment, a navigation system in a delivery service system that performs delivery using a robot that moves autonomously (hereinafter referred to as a mobile robot) will be described as an example.

FIG. 1 is a block diagram showing a configuration example of a navigation system according to one embodiment. In FIG. 1, a mobile robot 2 communicates with a wireless quality information providing device 5, a navigation device 6, and a remote monitoring device 20 via wireless communication lines. The mobile robot 2 is an example of a mobile object. The navigation device 6 provides the mobile robot 2 with route information indicating a route from a starting point to a destination.

The remote monitoring device 20 is a device for remotely monitoring the mobile robot 2 by wireless communication. For example, the remote monitoring device 20 receives images captured by the mobile robot 2 and sounds collected from the mobile robot 2 via a wireless communication line, and displays or reproduces the received images and sounds. By viewing the image and the sound, the observer can monitor the movement of the mobile robot 2 in real time. Therefore, in the remote monitoring system according to the present embodiment, realization of stable wireless communication between the mobile robot 2 and the remote monitoring device 20 is required. In this embodiment, the navigation device 6 provides route information for achieving stable wireless communication between the mobile robot 2 and the remote monitoring device 20 .

Here, when the navigation device 6 navigates the mobile robot 2 so as to move along a route with good wireless communication quality so as not to disconnect the wireless communication, the route from the departure point to the destination is determined. The radio communication quality is not necessarily known for all candidates. Therefore, in this embodiment, the radio quality information providing device 5 estimates and provides the radio communication quality of a position where the radio communication quality is unknown to the navigation device 6 .

The configuration of a navigation system 10 according to this embodiment will be described below with reference to FIG.

[User terminal]
The user terminal 1 is a terminal used by a user of the delivery service system according to this embodiment (hereinafter referred to as a delivery service user). A delivery service user designates a destination to which a package is to be delivered and requests delivery. The user terminal 1 may be a mobile communication terminal device such as a smartphone or a tablet computer (tablet PC), or a stationary communication terminal device (for example, a stationary personal computer, etc.). good.

The user terminal 1 has a product ordering unit 101 and a destination information input unit 102 . The product ordering unit 101 selects a product and places an order for the selected product in accordance with an operation by a delivery service user.

The product ordering unit 101 manages the remaining amount of items owned by the delivery service user in real time, and when the remaining amount of items falls below a preset threshold value, the item for replenishment is automatically ordered. You can place an order.

The destination information input unit 102 inputs destination information indicating a destination such as an address when the product ordering unit 101 orders products. The destination information may be specified each time by the delivery service user, or the destination information input unit 102 may record the destination information specified by the delivery service user in the past and input the recorded destination information. It can be reused automatically.

Also, the destination information input unit 102 may use a positioning function based on a GPS (Global Positioning System) provided in the user terminal 1 to set the current position acquired by GPS as the destination. Further, the destination information input unit 102 may add an image of the surrounding scenery of the user terminal 1 captured by the camera of the user terminal 1 to the destination information as reference information of the destination.

[Mobile robot]
The mobile robot 2 is a robot capable of autonomous travel. The mobile robot 2, for example, runs in the city and delivers packages to destinations designated by delivery service users.

The mobile robot 2 includes a current position acquisition unit 201, a wireless quality acquisition unit 202, a state acquisition unit 203, a wireless communication unit 204, a route information storage unit 205, an imaging unit 206, a motion determination unit 207, and a motion determination unit 207. and a control unit 208 .

The current position acquisition unit 201 acquires the current position (position information) using a positioning system such as GPS. The radio quality acquisition unit 202 acquires the radio quality when the radio communication unit 204 performs radio communication with the radio quality information providing device 5 and the navigation device 6 for each radio communication method and radio frequency band that the radio communication unit 204 supports. Acquire communication quality (wireless communication quality information). The state acquisition unit 203 acquires state data (state information) such as remaining battery level, temperature, and movement speed from various sensors provided in the mobile robot 2 .

The wireless communication unit 204 performs wireless communication with the remote monitoring device 20 , the wireless quality information providing device 5 and the navigation device 6 . The wireless communication unit 204 supports wireless communication systems such as LTE (Long Term Evolution) and 5G (5th generation mobile communication system), and performs wireless communication via a base station of the wireless communication system that it supports. Further, the wireless communication unit 204 may be compatible with an unlicensed wireless communication method such as Wi-Fi (registered trademark), and perform wireless communication using the unlicensed wireless communication method.

The wireless communication unit 204 transmits the information obtained by the current location acquisition unit 201 , the wireless quality acquisition unit 202 and the state acquisition unit 203 to the operation monitoring unit 501 of the wireless quality information providing device 5 . Also, the wireless communication unit 204 receives the route information transmitted from the route distribution unit 605 of the navigation device 6 and stores it in the route information storage unit 205 . The route information stored in the route information storage unit 205 is used to determine the movement of the mobile robot 2. FIG.

The imaging unit 206 captures an image of the traveling direction of the mobile robot 2 . The motion determination unit 207 determines the next motion of the mobile robot 2 . The motion determination unit 207 uses the current position acquired by the current position acquisition unit 201, the captured image captured by the imaging unit 206, and the like when moving along the route indicated by the route information stored in the route information storage unit 205. Then, the mobile robot 2 determines an operation suitable for the surrounding environment.

The motion control unit 208 causes the mobile robot 2 to execute the motion determined by the motion determination unit 207 . The motion control unit 208 controls the running type and running speed of the mobile robot 2 such as forward movement, backward movement, and right/left turn, and the motion type other than running such as changing the image capturing direction of the image capturing unit 206 .

[mobile terminal]
The mobile terminal 3 is a mobile communication terminal device such as a smart phone or a tablet PC. The mobile terminal 3 may be used as the user terminal 1 or may be separate from the user terminal 1 . As the mobile terminals 3, for example, mobile terminals of all subscribers who have subscribed to a specific wireless communication carrier and who have agreed with the wireless communication carrier to acquire location information may be included.

The mobile terminal 3 periodically updates the current location (location information) and the wireless communication quality (wireless communication quality information) at the current location for each wireless communication system and wireless frequency band that the mobile terminal 3 supports. report to.

[Image collecting device]
The image collection device 4 includes an imaging unit 401 and collects images captured by the imaging unit 401 . The image collection device 4 may be a device mounted on a vehicle such as an automobile or a mobile object such as an aircraft, or may be a device carried by a person, or a device installed in a street or roadside strip. may be A vehicle may be an automobile or may be a bicycle. The image collection device 4 may be, for example, a car navigation device or a drive recorder mounted on a vehicle. The image collection device 4 may be, for example, a smart phone carried by a person riding in the vehicle. The image collection device 4 may be mounted on smart glasses worn by a person, for example. In the following description, as the image collection device 4, a device mounted on a vehicle will be taken as an example, but the image collection device 4 is not limited to this. The image collection device 4 may be mounted on an aircraft and collect images taken from above.

The navigation system 10 according to this embodiment may include a plurality of image collection devices 4 . Each of the plurality of image collection devices 4 is mounted on a separate vehicle. Each video collecting device 4 communicates with the wireless quality information providing device 5 via a communication network.

The video collecting device 4 includes an imaging unit 401, a position measuring unit 402, a video file storage unit 403, a meta information storage unit 404, a meta information transmission unit 405, a file search unit 406, and a video file transmission unit 407. Prepare.

The image capturing unit 401 captures an image of the outside of the vehicle (self-vehicle) on which the image collection device 4 is mounted. The imaging direction of the imaging unit 401 is set so as to capture an image of the exterior of the vehicle (self-vehicle) on which the image collection device 4 is mounted. The imaging direction may be the traveling direction of the own vehicle, the direction opposite to the traveling direction of the own vehicle, the side of the own vehicle, or the like. For example, the imaging unit 401 may capture an image of the traveling direction of the own vehicle. Also, the imaging unit 401 may be capable of capturing images in a plurality of imaging directions at the same time. For example, the imaging unit 401 may simultaneously capture images in the traveling direction of the own vehicle and in the opposite direction of the traveling direction.

The image pickup unit 401 temporarily holds captured image data in an image pickup buffer, and files the image data held in the image pickup buffer in a format such as MPEG-4 at a certain period or at a timing when a certain holding capacity is reached. do. The imaging unit 401 is provided in, for example, a drive recorder mounted on an automobile, and imaging data is imaging data obtained by imaging surrounding conditions such as the traveling direction of the automobile.

The position measurement unit 402 measures the position (imaging position) of the image capturing unit 401 when the image is captured. For example, when the drive recorder has a GPS receiver, the position measuring unit 402 acquires the position measured by GPS as the imaging position.

The video file storage unit 403 stores the video file captured by the imaging unit 401 and filed. The video file storage unit 403 stores identification information (video file ID) of the video file and the video file in association with each other.

The meta information storage unit 404 stores meta information corresponding to the video file captured and filed by the imaging unit 401 in association with the video file ID of the video file. The meta information corresponding to the video file is information including the imaging time and the imaging position of the measurement result of the position measuring unit 402 for the video file.

The meta information transmitting unit 405 transmits meta information with a video collecting device ID, in which video collecting device identification information (video collecting device ID) for identifying the own video collecting device 4 is added to the meta information, to the wireless quality information providing device 5. do. The timing of transmitting the meta information with the video collecting device ID to the wireless quality information providing device 5 may be a fixed cycle, or may be the timing of connection to the communication network. For example, the meta-information transmitting unit 405 may transmit the meta-information with the video collection device ID through LTE communication at regular intervals, or may collect video at the timing of connection to a wireless communication network such as a wireless LAN (Local Area Network). A plurality of pieces of meta information with device IDs may be transmitted collectively.

The file search unit 406 searches the meta information storage unit 404 for meta information corresponding to the imaging time and imaging position indicated by the video file request received from the wireless quality information providing device 5 . The file search unit 406 notifies the video file transmission unit 407 of the video file ID associated with the meta information of the search result.

Video file transmission unit 407 acquires the video file associated with the video file ID notified from file search unit 406 from video file storage unit 403 and transmits the acquired video file to wireless quality information providing device 5 .

[Wireless quality information providing device]
Wireless quality information providing device 5 includes operation monitoring unit 501, operation information storage unit 502, position/wireless quality storage unit 503, map information storage unit 504, wireless quality movement cost conversion unit 505, and mobile terminal location information. Storage unit 506, outdoor population density estimation unit 507, base station information storage unit 508, building three-dimensional information storage unit 509, meta information reception unit 510, meta information storage unit 511, video collection device/file specification It includes a unit 512 , an image acquisition unit 513 , an image analysis unit 514 , and a wireless quality estimation unit 515 .

Each function of the wireless quality information providing device 5 is such that the wireless quality information providing device 5 includes computer hardware such as a CPU (Central Processing Unit) and memory, and the CPU executes a computer program stored in the memory. It is realized by The wireless quality information providing device 5 may be configured using a general-purpose computer device, or may be configured as a dedicated hardware device. For example, the wireless quality information providing device 5 may be configured using a server computer connected to a communication network such as the Internet. Also, each function of the wireless quality information providing apparatus 5 may be realized by cloud computing. Also, the radio quality information providing device 5 may be realized by a single computer, or may be realized by distributing the functions of the radio quality information providing device 5 to a plurality of computers. Alternatively, the wireless quality information providing apparatus 5 may be configured to open a website using, for example, the WWW system.

The operation monitoring unit 501 performs operation monitoring for one or more mobile robots 2 . The operation monitoring unit 501 performs operation monitoring by associating position information, wireless communication quality information, and status information received from the mobile robot 2 in real time with information (mobile robot ID) for identifying the individual mobile robot 2 . The operation monitoring unit 501 periodically performs operation monitoring based on information (position information, wireless communication quality information, and state information) updated at intervals of, for example, one second. The operation monitoring unit 501 analyzes the position information, radio communication quality information, and status information received from the mobile robot 2, and when detecting a failure of the mobile robot 2, for example issues an alarm to the supervisor. The operation information storage unit 502 stores the information (position information, wireless communication quality information, and status information) received from the mobile robot 2 by the operation monitoring unit 501 in order to investigate the cause of a failure and consider future countermeasures.
Note that the operation monitoring unit 501 may be included in the remote monitoring device 20 . In this case, the location information and wireless communication quality information transmitted from the mobile robot 2 to the wireless quality information providing device 5 are transferred to the location/wireless quality storage unit 503 without going through the operation monitoring unit 501 .

The location/wireless quality storage unit 503 stores location/wireless quality information in which location information and wireless communication quality information are recorded in association with each other for each wireless communication method and wireless frequency band. The location wireless quality information may be provided for each date, day of the week, time zone, or event. For example, location wireless quality information for weekdays (Monday to Friday) and location wireless quality information for holidays (Saturdays, Sundays and public holidays) may be provided. For example, location wireless quality information for daytime hours and location wireless quality information for nighttime hours may be provided. For example, location wireless quality information for New Year's, Golden Week, or Obon may be provided.

FIG. 2 is a diagram showing a configuration example of the position/wireless quality storage unit 503 according to this embodiment. In the example of FIG. 2, the position/radio quality storage unit 503 stores position radio quality information 5031 of radio frequency band _LTE_a, position radio quality information 5032 of radio frequency band _LTE_b, etc. for the radio communication system "LTE". . In addition, the location/wireless quality storage unit 503 stores location wireless quality information 5033 of wireless frequency band_5G_a, location wireless quality information 5034 of wireless frequency band_5G_b, and the like for the wireless communication system “5G”.

For example, Band 1 (2.1 GHz), Band 18 (800 MHz), etc. are used as the LTE radio frequency band. In addition, for example, the 28 GHz band is used as the 5G radio frequency band.

For example, the location wireless quality information 5031 is information recorded in association with each wireless communication quality at each location of the wireless frequency band _LTE_a (for example, 800 MHz band) of the wireless communication system “LTE”. However, in the example of FIG. 2, the position wireless quality information 5031 does not record the wireless communication quality at the position_b.

For example, the location radio quality information 5034 is information recorded in association with each radio communication quality at each position of the radio frequency band_5G_b (for example, 28 GHz band) of the radio communication system “5G”. However, in the example of FIG. 2, the position wireless quality information 5034 does not record the wireless communication quality at the position_a.

In this embodiment, the location/wireless quality storage unit 503 stores at least location/wireless quality information for an area including the service area of the delivery service system. The service area of this delivery service system is the target area (target area) to which the navigation device 6 provides route information. The position/wireless quality storage unit 503 according to the present embodiment stores the wireless communication system (LTE, 5G, etc.) and the wireless frequency band (wireless frequency (band_LTE_a, radio frequency band_LTE_b, radio frequency band_5G_a, radio frequency band_5G_b, etc.), position radio quality information recorded in association with the position included in the target area and the radio communication quality at the position is stored. .

The location information and the wireless communication quality information recorded in the location wireless quality information are information transmitted from the mobile robot 2 or the mobile terminal 3 to the wireless quality information providing device 5, for example. Note that position information and wireless communication quality information measured by a device other than the mobile robot 2 and the mobile terminal 3 may be recorded in the position wireless quality information.

Also, the position information is, for example, GPS coordinates. For indoor facilities where GPS coordinates cannot be obtained, absolute position information obtained by indoor positioning technology such as IMES (Indoor Messaging System) may be used as position information. Also, the wireless communication quality information is, for example, RSRP (Reference Signal Received Power) indicating the received power of LTE.

The map information storage unit 504 stores nationwide road map data, associated facility data such as various facilities and shops, topography information, and the like. The road map data is given as link data in which, for example, a road on a map is divided into a plurality of parts using intersections and the like as nodes, and the parts between the nodes are defined as links. This link data includes data such as a link-specific identifier (link ID), link length, position information (longitude, latitude) of the start and end points (nodes) of the link, angle (direction) data, road width, and road type. consists of The road map data may include lane information indicating lanes through which the mobile robot 2 can pass. Moreover, the map information storage unit 504 may further store indoor map data.

Based on the location/wireless quality information stored for each wireless communication method and wireless frequency band in the location/wireless quality storage unit 503, the wireless quality movement cost conversion unit 505 converts each The wireless communication quality information recorded in association with the location information corresponding to the road is converted into a wireless quality link cost. The wireless quality link cost obtained by the wireless quality movement cost conversion unit 505 is stored in the map information storage unit 504 in association with the corresponding link data in the road map data of the map information storage unit 504 .

For example, the radio quality transfer cost conversion unit 505 divides the value of the radio quality link cost into three stages, and sets the radio quality link cost to "0" when the radio communication quality is sufficiently good, and sets the radio quality link cost to "0" when the radio communication quality is sufficiently good. If the radio communication quality is poor, the radio quality link cost is set to "high", and if there is a possibility that the radio communication will be disconnected, the radio quality link cost is set to "∞".
Note that if the wireless communication quality is above a certain level, the possibility of disconnection of the wireless communication is sufficiently low. From this, if a predetermined wireless communication quality is satisfied (for example, if the received power is equal to or higher than a predetermined value), the wireless quality link cost may be made small (eg, radio quality link cost '0'), otherwise the radio quality link cost may be made large (eg, radio quality link cost 'high' or '∞').

For example, the wireless quality moving cost conversion unit 505 selects a value near the lowest value of the wireless communication quality information considering the lowest value of the wireless communication quality information and an outlier from the wireless communication quality information group corresponding to each link data. It may be subject to conversion of the radio quality link cost. This is to calculate the possibility of disconnection of wireless communication as a risk when the mobile robot 2 travels on the road of the link data.

Note that the route search unit 604 of the navigation device 6, which will be described later, sequentially calculates (integrates) the cost of roads (links) from the departure point to the next reachable intersection (node) toward the destination. Choose the route with the lowest cost from the origin to the destination. Therefore, setting a small radio quality link cost value for a road makes the road more likely to be selected as a route.

The mobile terminal position information storage unit 506 stores the history of the position information of each mobile terminal 3 . For example, the GPS coordinates of each mobile terminal 3 are stored in association with the time.

The outdoor population density estimation unit 507 determines whether each mobile terminal 3 was indoors or outdoors based on the history of location information stored in the mobile terminal location information storage unit 506. Based on this, the outdoor population density is estimated for each preset area. Outdoor population density is the number of people present outdoors per unit area. The outdoor population density obtained by the outdoor population density estimation unit 507 is stored in the map information storage unit 504 in association with the corresponding link data in the road map data of the map information storage unit 504 .

For example, the outdoor population density estimation unit 507 determines that a certain mobile terminal 3 was indoors when it is determined that the change in location information is less than a certain amount and there is almost no change, and the change in location information is determined to be indoors. If it is determined that the value is equal to or greater than a certain value and has changed to some extent, it is determined that the person was outdoors.

In addition, the outdoor population density estimation unit 507 performs map matching by comparing the location information of each mobile terminal 3 with the road map data stored in the map information storage unit 504, and determines whether the mobile terminal 3 uses the road. It can be presumed that Map matching is a process of correcting position information obtained by GPS, which may contain errors, so that it is on the road using map information. Map matching is used, for example, in car navigation systems.

Moreover, the outdoor population density estimation unit 507 may determine whether the means of transportation of the mobile terminal 3 is walking or driving, based on the moving speed of the mobile terminal 3 .

The outdoor population density estimation unit 507 may estimate the outdoor population density for each month, day of the week, or time period. This is because even in the same area, the outdoor population density may vary greatly depending on the month, day of the week, time of day, and the like.

Moreover, the outdoor population density estimation unit 507 may estimate the outdoor population density by a method different from the method using the position information of the mobile terminal 3 . For example, the outdoor population density estimation unit 507 may estimate the outdoor population density based on the human image recognition result for the video file acquired by the video acquisition unit 513, which will be described later. The outdoor population density estimating unit 507 may also estimate the outdoor population density using the video captured by the mobile robot 2 and based on the human image recognition result for the captured video.

The base station information storage unit 508 stores base station information such as the location of the base station, the wireless communication method, and the wireless frequency band. The base station information may include information about the altitude at which the base station is installed and the antenna configuration of the base station. The base station information storage unit 508 stores base station information of base stations existing in an area including at least the service area of this delivery service system.

The building 3D information storage unit 509 stores 3D information about each building existing on the map, including size information such as the vertical length of the building. The base station information storage unit 508 stores at least three-dimensional information of buildings existing in an area including the service area of this delivery service system.

The meta information receiving unit 510 receives meta information with a video collecting device ID from the video collecting device 4 . The meta information storage unit 511 stores the meta information in association with the video collecting device ID based on the meta information with the video collecting device ID received by the meta information receiving unit 510 from the video collecting device 4 . The meta information stored in the meta information storage unit 511 is meta information of the video file stored in the video file storage unit 403 by the video collection device 4, and includes information indicating the imaging time and imaging position of the video file. is.

The video collection device/file identification unit 512 acquires a video file captured at a position where wireless communication quality is not recorded in the position/wireless quality information in the position/wireless quality storage unit 503 (wireless quality unrecorded position). Then, based on the meta information in the meta information storage unit 511 corresponding to the wireless quality unrecorded position and the video file acquisition target time, the video collection device 4 from which the video file is to be acquired and the acquisition target video file are specified. At this time, the timing at which the video file is captured may be restricted according to the radio frequency band of the radio communication quality that is not recorded in the location radio quality information.

In a radio frequency band such as the 28 GHz band used in 5G, which has a strong straightness, obstacles other than buildings such as people and vehicles may have a large effect on radio wave propagation. For this reason, there is a possibility that the radio wave propagation state may change greatly depending on the congestion of people and vehicles in a predetermined high frequency band such as the 28 GHz band. Depending on whether you want to acquire quality, the timing at which the video file is captured is limited.

For example, a video file captured at a timing (for example, a day of the week, a time period, etc.) at which the mobile robot 2 is scheduled to pass through a wireless quality unrecorded position is determined as an acquisition target video file. For this reason, the image collection device/file identification unit 512 acquires the movement range and the movement time zone in which the mobile robot 2 is scheduled to move from the order information storage unit 602 of the navigation device 6, which will be described later. The order information storage unit 602 stores scheduled delivery information, such as the place of departure, the destination, and the time of day when the mobile robot 2 delivers the product. The video collecting device/file identifying unit 512 collects metadata corresponding to the wireless quality unrecorded position included in the planned movement range of the mobile robot 2 and the planned movement time period (image file acquisition target time) of the mobile robot 2. Based on the meta information in the information storage unit 511, the video collection device 4 from which the video file is to be obtained and the video file to be obtained are specified.

On the other hand, in a low frequency band such as the 800 MHz band used in LTE as a radio frequency band, congestion of people and vehicles has little effect on radio wave propagation, so there is no need to set restrictions on the timing at which video files are captured. good too.

The video collecting device/file identifying unit 512 acquires from the meta information storage unit 511 the video collecting device ID and the meta information indicating the video collecting device 4 from which the video file is to be obtained and the video file to be obtained. The video collecting device/file identifying unit 512 notifies the video acquiring unit 513 of the video collecting device ID and the imaging time and imaging position indicated by the meta information.

Based on the video collecting device ID, the imaging time, and the imaging position notified from the video collecting device/file identifying unit 512, the video acquiring unit 513 sends the video collecting device 4 with the video collecting device ID with the imaging time. and request a video file corresponding to the imaging position (video file request). As a response to the video file request, the video acquisition unit 513 receives the video file corresponding to the imaging time and imaging position from the video collecting device 4 having the video collecting device ID.

The video analysis unit 514 performs image analysis on the video file acquired by the video acquisition unit 513 . In this image analysis, for example, various kinds of information such as the occupancy rate and average height of buildings, the occupancy rate and average height of vehicles, and the density of people are acquired.

The wireless quality estimation unit 515 estimates the wireless communication quality at the wireless quality unrecorded position based on the image analysis result of the video file by the video analysis unit 514 . Radio quality estimation section 515 records the estimation result of the radio communication quality of the radio quality unrecorded position in the position radio quality information in position/radio quality storage section 503 in association with the radio quality unrecorded position. As a result, the wireless communication quality estimated by the wireless quality estimation unit 515 is associated with the location where the wireless communication quality is not recorded (wireless quality unrecorded location) in the location wireless quality information in the location/wireless quality storage unit 503. is recorded.

An example of the radio communication quality estimation method according to this embodiment will be described below.

(Example 1 of wireless communication quality estimation method)
The wireless quality estimation unit 515 acquires obstacle density information indicating the density of obstacles at the wireless quality unrecorded position as the image analysis result of the video analysis unit 514 for the video file captured at the wireless quality unrecorded position. Obstacle density information includes the occupancy rate of buildings, the occupancy rate of vehicles, the density of people, and the like. Radio quality estimating section 515 estimates the radio communication quality at a position where radio quality is not recorded, based on the obstacle density information.

For example, the radio quality estimating unit 515 compares the obstacle density information with a predetermined permissible obstacle density upper limit threshold, and if the obstacle density information exceeds the permissible upper obstacle density threshold, The wireless communication quality is estimated to be "possibility of disconnection of wireless communication". In addition, radio quality estimation section 515 compares the obstacle density information with a predetermined allowable upper limit threshold for obstacle density and a predetermined reference threshold for obstacle density. If the threshold value is exceeded, the radio communication quality at the radio quality unrecorded position is estimated to be "poor radio communication quality, although not to the extent that radio communication is cut off". Also, the radio quality estimation unit 515 compares the obstacle density information with a predetermined obstacle density reference threshold, and if the obstacle density information is equal to or less than the obstacle density reference threshold, the radio communication quality at the position where the radio quality is not recorded is determined. , it is estimated that "the wireless communication quality is sufficiently good".

(Example 2 of wireless communication quality estimation method)
The wireless quality estimation unit 515 acquires obstacle average height information indicating the average height of obstacles at the wireless quality unrecorded location as the image analysis result of the video analysis unit 514 for the video file captured at the wireless quality unrecorded location. . The obstacle average height information is the average height of buildings, the average height of vehicles, and the like. Radio quality estimation section 515 estimates the radio communication quality at positions where radio quality is not recorded, based on the obstacle average height information.

For example, the radio quality estimation unit 515 compares the average obstacle height information with a predetermined allowable average obstacle height upper limit threshold, and if the average obstacle height information exceeds the allowable upper limit threshold for average obstacle height, the radio quality It is estimated that "there is a possibility that the wireless communication will be disconnected" as the wireless communication quality at the unrecorded position. In addition, radio quality estimation section 515 compares the average obstacle height information with a predetermined allowable upper limit threshold for average height of obstacles and a reference threshold for average obstacle height. In addition, when the obstacle average high reference threshold is exceeded, the radio communication quality at the position where the radio quality is not recorded is estimated to be ``the radio communication quality is not so bad as to disconnect the radio communication''. Also, the radio quality estimation unit 515 compares the obstacle average height information with a predetermined obstacle average height reference threshold, and if the obstacle average height information is equal to or lower than the obstacle average height reference threshold, the radio quality unrecorded position The wireless communication quality is estimated to be "sufficiently good wireless communication quality".

(Example 3 of wireless communication quality estimation method)
The wireless quality estimation unit 515 acquires obstacle density information and obstacle average height information at the wireless quality unrecorded position as the image analysis result of the video analysis unit 514 for the video file captured at the wireless quality unrecorded position. Based on the obstacle density information and the obstacle average height information, the radio quality estimator 515 estimates the radio communication quality at the position where the radio quality is not recorded.

For example, the radio quality estimation unit 515 calculates the total value of the obstacle density information and the average obstacle height information (hereinafter simply referred to as the total value) using a predetermined function that integrates the obstacle density information and the average obstacle height information. calculate. The radio quality estimator 515 compares the total value with a predetermined permissible obstacle total value upper limit threshold, and if the total value exceeds the total obstacle value permissible upper limit threshold, the radio communication quality at the position where the radio quality is not recorded is It is estimated that "wireless communication may be cut off". In addition, the radio quality estimation unit 515 compares the total value with a predetermined allowable upper obstacle total value threshold and a predetermined obstacle total value reference threshold. If the threshold value is exceeded, the radio communication quality at the radio quality unrecorded position is estimated to be "poor radio communication quality, although not to the extent that radio communication is cut off". Further, the radio quality estimation unit 515 compares the total value with a predetermined obstacle total value reference threshold, and if the total value is equal to or less than the obstacle total value reference threshold, the radio communication quality at the position where the radio quality is not recorded is " Wireless communication quality is good enough.”

(Example 4 of wireless communication quality estimation method)
The radio quality estimation unit 515 stores the base station information in the base station information storage unit 508, the terrain information in the map information storage unit 504, the three-dimensional building information in the three-dimensional building information storage unit 509, and the radio quality estimation unit 515. Using the image analysis result of the video analysis unit 514 for the video file captured at the recording position, the wireless communication quality at the wireless quality unrecorded position is estimated by the ray tracing method.

The ray tracing method is a method of estimating radio wave propagation characteristics by regarding radio waves as straight rays and geometrically tracing paths of reachable rays between transmission and reception points. In estimation of radio wave propagation characteristics using the ray tracing method, a ray emitted from a transmission point reaches an incident point after being reflected, diffracted, and transmitted by a structure or the like. Here, the characteristics of propagation loss (received power), propagation delay (delay spread), and arrival angle (angle spread) are estimated by using information on the propagation distance of each ray and the angle of incidence at the receiving point.

The radio quality estimation unit 515 estimates, for example, the received power (RSRP) at the radio quality unrecorded position as the radio communication quality at the radio quality unrecorded position by the ray tracing method.

(Example 5 of wireless communication quality estimation method)
Wireless quality estimation section 515 estimates the wireless communication quality at a position where wireless quality is not recorded by machine learning based on the three-dimensional information of the building in building three-dimensional information storage section 509 . The wireless quality estimating unit 515 may further use the image analysis result of the video analyzing unit 514 for the video file captured at the wireless quality unrecorded position for machine learning. In machine learning, the similarity of the building distribution between the location where the wireless communication quality is recorded in the location wireless quality information in the location/wireless quality storage unit 503 (wireless quality recorded location) and the location where the wireless quality is not recorded is calculated. Based on this, a machine learning model such as a neural network is trained so as to estimate the radio communication quality at the position where the radio quality is not recorded.

The video file acquired by the video acquisition unit 513 is, for example, a video file captured and recorded by a drive recorder mounted on a vehicle, and reflects the actual building situation at a wireless quality unrecorded position. For this reason, the image analysis result of the image analysis unit 514 for the image file at the position where the wireless quality is not recorded, which is acquired by the image acquisition unit 513, is the wireless quality that is not included in the three-dimensional building information in the building three-dimensional information storage unit 509. It is thought that this indicates the actual situation of the unrecorded position. Therefore, by using the image analysis result of the video analysis unit 514 for the video file captured at the wireless quality unrecorded position for machine learning, it is possible to improve the accuracy of estimating the wireless communication quality at the wireless quality unrecorded position. can be done.

In addition, using the vehicle occupancy rate and the density of people as the image analysis result of the video analysis unit 514 for the video file captured at the position where the wireless quality is not recorded, the tendency of the vehicle occupancy rate and the density of people is used for machine learning. can be learned. This will improve the accuracy of estimating wireless communication quality at locations where wireless quality is not recorded, for high frequency bands such as the 28 GHz band used in 5G, which are susceptible to obstacles such as vehicles and people other than buildings. You can get the effect of

As a method other than the example of the wireless communication quality estimation method described above, a method that does not use the image analysis result of the video file by the video analysis unit 514 may be used to estimate the wireless communication quality at a position where the wireless quality is not recorded.

For example, the radio quality estimating unit 515 may use a radio wave propagation model such as the Okumura-Hata model to estimate the radio communication quality at locations where the radio quality is not recorded. For example, when estimating the received power using a radio wave propagation model, based on the terrain information in the map information storage unit 504, the radio wave propagation model that best fits the terrain of the position where the radio quality is not recorded is selected from among a plurality of radio wave propagation models. is selected, and the selected radio wave propagation model is used to estimate the received power at the radio quality unrecorded location.

Also, the radio quality estimation unit 515 may estimate the radio communication quality at the radio quality unrecorded position based on the radio communication quality at the radio quality recorded position. For example, the radio communication quality at a position where the radio quality has not been recorded is estimated from the relationship between the radio communication quality at the radio quality recorded position and the distance between the radio quality recorded position and the base station.

[Navigation device]
A navigation device 6 navigates one or more mobile robots 2 from a starting point to a destination.

The navigation device 6 includes a travel cost calculation unit 601 , an order information storage unit 602 , a destination acquisition unit 603 , a route search unit 604 and a route distribution unit 605 . The navigation device 6 transmits and receives information to and from the radio quality information providing device 5 through communication.

Each function of the navigation device 6 is realized by the navigation device 6 having computer hardware such as a CPU and memory, and the CPU executing a computer program stored in the memory. The navigation device 6 may be configured using a general-purpose computer device, or may be configured as a dedicated hardware device. For example, the navigation device 6 may be configured using a server computer connected to a communication network such as the Internet. Also, each function of the navigation device 6 may be realized by cloud computing. Further, the navigation device 6 may be implemented by a single computer, or may be implemented by distributing the functions of the navigation device 6 to a plurality of computers. Further, the navigation device 6 may be configured to open a website using, for example, the WWW system.

The movement cost calculation unit 601 periodically uses the information stored in the map information storage unit 504 of the radio quality information providing device 5 to determine the radio communication method and radio frequency band for each link of each road. Calculate the total link cost for each Movement cost calculation section 601 calculates the total link cost using at least the radio quality link cost. The total link cost calculated by the movement cost calculation unit 601 is stored in the map information storage unit 504 in association with the corresponding link data in the road map data of the map information storage unit 504 .

Movement cost calculation section 601 weights each link of each road based on the radio quality link cost so that poor radio communication quality results in a low evaluation. For example, based on the radio quality link cost, the movement cost calculation unit 601 weights road links for which radio communication is likely to be disconnected so that the total link cost becomes the largest. may Thereby, stable wireless communication between the mobile robot 2 and the remote monitoring device 20 is realized.

Also, the movement cost calculation unit 601 may calculate the total link cost based on the outdoor population density. The movement cost calculation unit 601 may weight links of roads having an outdoor population density equal to or higher than a threshold so that the total link cost increases. This allows the mobile robot 2 to travel on roads with few people.

Further, the movement cost calculation unit 601 may calculate the total link cost based on at least one of the type of the mobile robot 2 and the content of the delivery by the mobile robot 2, and the road condition of each link of each road. good. The types of mobile robots 2 are classified according to the size, structure, and the like of the mobile robots 2 . Also, the types of mobile robots 2 are classified according to the wireless communication method and wireless frequency band that can be used by the mobile robot 2 . The contents of the delivery by the mobile robot 2 include, for example, the type of package to be delivered by the mobile robot 2 and the expected loading amount.

For example, the movement cost calculation unit 601 does not increase the overall link cost because a small mobile robot 2 can safely travel on a road link with a road width less than the threshold, but does not increase the total link cost for a large mobile robot. In the case of 2, the total link cost is increased. In addition, since it is assumed that it may be difficult for the mobile robot 2 to climb over bumps in the road depending on the structure of the mobile robot 2 , the movement cost calculation unit 601 does not allow the corresponding type of mobile robot 2 to link roads with bumps. , increase the total link cost. Further, when the type of parcel delivered by the mobile robot 2 is fragile, the movement cost calculation unit 601 preferably reduces the total link cost of the road link with less unevenness because it is preferable to travel on a road with less unevenness. On the other hand, the total link cost of the link of the road with many unevenness is increased.

Further, the travel cost calculator 601 may use evaluation factors used in known navigation systems as information used to calculate the total link cost. Evaluation factors used in known navigation systems are, for example, required link distance, required travel time, weighting based on road conditions and road width, weighting based on traffic signal frequency, weighting based on traffic congestion tendency, and the like.

The order information storage unit 602 receives order information for ordering products from the user terminal 1 and stores the received order information. The order information storage unit 602 performs purchase processing in cooperation with a purchase system (not shown) and formulates a product delivery plan. The order information storage unit 602 stores scheduled delivery information, such as the place of departure, the destination, and the time period for delivering the product by the mobile robot 2, according to the formulated product delivery plan. A destination acquisition unit 603 acquires destination information from the order information stored in the order information storage unit 602 .

Based on the total link cost calculated by the movement cost calculation unit 601, the route search unit 604 searches for a route from the departure point to the destination of the mobile robot 2 as the route that the mobile robot 2 is scheduled to travel. The destination of the mobile robot 2 is the location indicated by the destination information obtained by the destination obtaining unit 603 from the order information. The starting point of the mobile robot 2 is set in advance. For example, a product delivery base (for example, a physical distribution warehouse where products are stored, a store that handles delivery closest to the destination, etc.) is set in advance as the starting point of the mobile robot 2 . Further, when the mobile robot 2 is transported to the vicinity of the destination by a vehicle, the location of the transport destination of the mobile robot 2 is set in advance as the starting point of the mobile robot 2 .

As a route search method used by the route search unit 604, for example, the Dijkstra method, the A* algorithm, the genetic algorithm, or the like can be used.

The route distribution unit 605 transmits route information indicating the route searched by the route search unit 604 to the mobile robot 2 .

Next, a navigation method according to this embodiment will be described with reference to FIG. FIG. 3 is a flow chart showing an example of the procedure of the navigation method according to this embodiment.

(Step S1) The route searching unit 604 acquires a departure point where the mobile robot 2 starts traveling and a destination where the mobile robot 2 travels.

(Step S2) The route search unit 604 acquires the type of the mobile robot 2 and the content of the delivery.

(Step S3) The route search unit 604 recognizes the radio communication method and radio frequency band that can be used by the mobile robot 2 from the type of the mobile robot 2 acquired in step S2. Correspondence relationships between types of mobile robots 2 and available wireless communication systems and wireless frequency bands are set in navigation device 6 in advance.

(Step S4) The route search unit 604 designates the search range including the starting point and the destination of the mobile robot 2 acquired in step S1 and the link cost calculation condition to the movement cost calculation unit 601, and performs the search. Instruct to calculate the total link cost for each link for each road in range. Link cost calculation conditions include the type of the mobile robot 2 and the details of delivery. The link cost calculation conditions include at least information indicating the wireless communication system and wireless frequency band that the mobile robot 2 can use.

The movement cost calculation unit 601 calculates the total link cost for each wireless communication method and radio frequency band for each link of each road within the search range in response to the total link cost calculation instruction from the route search unit 604. . In calculating the total link cost, each link of each road is weighted so that poor wireless communication quality results in a low evaluation. The movement cost calculation unit 601 stores the calculated total link cost in the map information storage unit 504 in association with the corresponding link data in the road map data in the map information storage unit 504 . When there are a plurality of radio communication methods and radio frequency bands that can be used by the mobile robot 2, the movement cost calculation unit 601 calculates the radio communication cost that can obtain the best radio communication quality for each link of each road. The total link cost for the method and radio frequency band may be stored in the map information storage unit 504 in association with the corresponding link data.

The movement cost calculation unit 601 responds to the route search unit 604 with the completion of calculation of the total link cost.

(Step S5) The route search unit 604 calculates the total link cost calculated by the movement cost calculation unit 601 in step S4 from the departure point and the destination of the mobile robot 2 acquired in step S1. Search for a route to reach the ground. In this route search, a route that minimizes the total link cost of each link that passes from the starting point to the destination is searched.

(Step S6) The route distribution unit 605 transmits to the mobile robot 2 route information indicating the route of the search result of step S5.

FIG. 4 is an explanatory diagram for explaining an example of a route search method. FIG. 5 is an explanatory diagram for explaining the route search method according to this embodiment. In FIGS. 4 and 5, circles indicate nodes, and lines connecting nodes indicate links. In addition, S is the node of the departure point, and G is the node of the destination. Also, the number written on the link indicates the link cost. FIG. 4 shows link costs when wireless communication quality is not considered. On the other hand, FIG. 5 shows the total link cost according to the present embodiment when wireless communication quality is considered. Also, here, it is assumed that the link L2 has poor wireless communication quality and is highly likely to be disconnected.

In the case of the link costs in FIG. 4, as a result of the route search, the route with the smallest total link cost is "L1→L2→L3" as the route from the starting point "node S" to the destination "node G". is selected. Since the link cost in FIG. 4 does not consider the wireless communication quality, the link L2, which has a high possibility of disconnection of the wireless communication, is selected as the route. As a result, if the wireless communication between the mobile robot 2 and the remote monitoring device 20 is cut off on the selected route, the mobile robot 2 may become unable to be remotely monitored.

On the other hand, in FIG. 5, for the link L2, the total link cost "4+∞" is set by adding the wireless quality link cost "∞" to the link cost "4" in FIG. As a result, according to the total link cost in FIG. 5, the link L2, which has a high possibility of disconnection of wireless communication, is not selected as a route. In the case of the link costs in FIG. 5, as a result of the route search, the route from the starting point "node S" to the destination "node G" has the smallest total link cost, which is "L4→L5." is selected. According to this selected route “L4→L5”, stable wireless communication between the mobile robot 2 and the remote monitoring device 20 can be realized.

If it is impossible to reach the destination from the departure point without passing through a link that is likely to disconnect wireless communication, the link may be selected as the route from the departure point to the destination. . If a link with a high possibility of disconnection of wireless communication exists in the route of the search result, the route search unit 604 outputs wireless disconnection alert information indicating the link. A remote supervisor can recognize in advance a location where wireless communication between the mobile robot 2 and the remote monitoring device 20 is likely to be disconnected from the wireless disconnection alert information.

Next, the radio quality information providing method according to this embodiment will be described with reference to FIG. FIG. 6 is a flow chart showing an example of the procedure of the radio quality information providing method according to this embodiment.

(Step S101) The wireless quality information providing device 5 acquires a video file captured at a wireless quality unrecorded position.

(Step S102) The wireless quality information providing device 5 performs image analysis on the video file acquired in step S101.

(Step S103) The wireless quality information providing device 5 estimates the wireless communication quality at the wireless quality unrecorded position based on the result of the image analysis performed on the video file in step S102.

According to the above-described embodiment, it is possible to estimate the wireless communication quality of a position where the wireless communication quality is unknown and provide it to the navigation device 6 . As a result, the navigation device 6 can consider the radio communication quality of each candidate route from the departure point to the destination when performing navigation for the mobile robot 2, so that remote monitoring of the mobile robot 2 and remote monitoring can be achieved. It is possible to provide route information for achieving stable wireless communication with the device 20 . As a result, it is possible to realize stable wireless communication when remotely monitoring the mobile robot 2 by wireless communication.

Although the embodiments of the present invention have been described in detail above with reference to the drawings, the specific configuration is not limited to these embodiments, and design changes and the like are also included within the scope of the present invention.

In the above-described embodiment, the radio quality information providing device and the navigation device are configured as separate devices, but the radio quality information providing device and the navigation device may be configured as the same device.

Although the navigation system is applied to the delivery service system in the above-described embodiments, it may be applied to systems other than the delivery service system. For example, the navigation system according to the above-described embodiments may be applied to a road inspection service system that inspects roads using mobile robots.

In the above-described embodiment, the radio quality information providing device provided the radio communication quality information to the navigation device, but the use of the radio communication quality information is not limited to navigation. For example, wireless communication quality information may be used for communication area design and the like.

Also, in the above-described embodiments, a mobile robot is used as an example of a mobile body, but the mobile robot is not limited to this. As the moving object, a vehicle that automatically operates (automatic driving vehicle), an autonomous flying object, or the like may be applied.

Alternatively, a computer program for realizing the functions of the devices described above may be recorded in a computer-readable recording medium, and the program recorded in the recording medium may be read and executed by the computer system. Note that the “computer system” referred to here may include hardware such as an OS and peripheral devices.
In addition, "computer-readable recording medium" includes writable nonvolatile memories such as flexible discs, magneto-optical discs, ROMs and flash memories, portable media such as DVDs (Digital Versatile Discs), and computer system built-in media. A storage device such as a hard disk that

Furthermore, "computer-readable recording medium" means a volatile memory (e.g., DRAM (Dynamic Random Access Memory)), which holds the program for a certain period of time, is also included.
Further, the above program may be transmitted from a computer system storing this program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in a transmission medium. Here, the "transmission medium" for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
Further, the program may be for realizing part of the functions described above. Further, it may be a so-called difference file (difference program) that can realize the above-described functions in combination with a program already recorded in the computer system.

DESCRIPTION OF SYMBOLS 1... User terminal 2... Mobile robot 3... Portable terminal 5... Wireless quality information provision apparatus 6... Navigation apparatus 10... Navigation system 20... Remote monitoring apparatus 501... Operation monitoring part 502... Operation information Storage unit 503 Position/wireless quality storage unit 504 Map information storage unit 505 Wireless quality movement cost conversion unit 506 Mobile terminal location information storage unit 507 Outdoor population density estimation unit 508 Base station information Storage unit 509... Building 3D information storage unit 510... Meta information reception unit 511... Meta information storage unit 512... Video collection device/file identification unit 513... Video acquisition unit 514... Video analysis unit 515... Radio quality estimation unit 601 Movement cost calculation unit 602 Order information storage unit 603 Destination acquisition unit 604 Route search unit 605 Route distribution unit

Claims (8)

a location wireless quality storage unit that stores location wireless quality information recorded in association with location and wireless communication quality at the location;
a video acquisition unit that acquires a video file captured at a position where wireless communication quality is not recorded in the location wireless quality information;
a video analysis unit that performs image analysis on the video file acquired by the video acquisition unit;
a wireless quality estimating unit for estimating wireless communication quality at a location where the wireless communication quality is not recorded in the location wireless quality information, based on the result of the image analysis performed on the video file by the video analysis unit;
A radio quality information providing device. The location wireless quality storage unit stores the location wireless quality information for each wireless frequency band.
The radio quality information providing device according to claim 1. Restricting the timing at which the video file to be acquired by the video acquisition unit is captured according to the radio frequency band of the wireless communication quality that is not recorded in the location radio quality information;
The radio quality information providing device according to claim 2. When the radio frequency band of the radio communication quality not recorded in the position radio quality information is a predetermined high frequency band, the image acquisition unit detects that the mobile body performing radio communication while moving is not recorded in the position radio quality information. Acquiring the video file captured at a timing corresponding to a timing scheduled to pass through a position where wireless communication quality is not recorded;
The radio quality information providing device according to claim 3. a meta information storage unit that stores meta information indicating the imaging time and imaging position of a video file stored in a video collecting device in association with video collecting device identification information that identifies the video collecting device;
a video collection device file identification unit that identifies the video file to be acquired by the video acquisition unit and the video collection device to acquire the video file based on the meta information;
The radio quality information providing device according to any one of claims 1 to 4. a wireless quality information providing device according to any one of claims 1 to 5;
Navigation that provides route information indicating a route from a departure point to a destination based on the radio communication quality at each position provided from the radio quality information providing device to a mobile object that performs radio communication while moving. a device;
navigation system. a location wireless quality storing step of storing location wireless quality information recorded in association with location and wireless communication quality at the location in a location wireless quality storage unit;
a video acquisition step of acquiring a video file captured at a position where wireless communication quality is not recorded in the location wireless quality information;
a video analysis step of performing image analysis on the video file acquired in the video acquisition step;
a wireless quality estimation step of estimating the wireless communication quality at a position where the wireless communication quality is not recorded in the location wireless quality information based on the result of the image analysis performed on the video file in the video analysis step;
radio quality information provision method including; to the computer,
a location wireless quality storing step of storing location wireless quality information recorded in association with location and wireless communication quality at the location in a location wireless quality storage unit;
a video acquisition step of acquiring a video file captured at a position where wireless communication quality is not recorded in the location wireless quality information;
a video analysis step of performing image analysis on the video file acquired in the video acquisition step;
a wireless quality estimation step of estimating the wireless communication quality at a position where the wireless communication quality is not recorded in the location wireless quality information based on the result of the image analysis performed on the video file in the video analysis step;
A computer program for executing

Images