JP2013246617A - Space control system, movement system, movement module and movement surface member - Google Patents

Abstract

PROBLEM TO BE SOLVED: To construct such a functional space as an intelligent space by suppressing an increase of the number of devices such as sensors.SOLUTION: A system 1 includes: one or more devices 2 installed in a space; a movement module 3 which moves in the space; and a controller 4 for controlling the movement module 3. The system includes a movable device installed in the movement module 3 as one or more devices 2. The controller 4 recognizes the position of an object which is able to move in the space, and controls the movement module to move in the space in accordance with the position of the object.

Description

  The present invention relates to a space control system, a moving system, a moving device, and a moving surface member.

  The present inventors have proposed the concept of “intelligent space” for providing information services or physical services to a person or the like in a predetermined space such as a building room. In functional spaces such as intelligent spaces, recognize the position of people in the space, requests from people, the position of other objects in the space, and other situations in the space, and provide the necessary services Etc. can be done.

  Therefore, in order to construct a certain space as a functional space such as an intelligent space, a sensor (such as a camera) for recognizing a situation in the space such as the position of a person in the space is required. The intelligent space also requires equipment (projector, lighting) for providing information services or physical services. Hereinafter, devices installed in a space in order to construct the space as a functional space such as an intelligent space, such as a sensor and a service providing device, are collectively referred to as a “device”.

  The device is connected to the controller via a wired or wireless network. The controller controls the service providing device and the like based on the detection information from the sensor to cause the space to function as an intelligent space.

Joo-Ho Lee, Hideki Hashimoto, “Intelligent Space-Its concept and contents-”, Advanced Robotics Journal, Vol. 16, No. 4, pp. 265-280, 2002. Z. Zhang, “A flexile new technique for camera calibration”, IEEE Pattern analysis and machine intelligence, Vol. 22, No. 11, pp. 1330-1334, 2000.

In order to accurately recognize various situations at various positions in the space, a large number of sensors distributed in the space are required. Also, a large number of service providing devices need to be installed in the space in order to respond to changes in the position of the person to whom the service is to be provided.
However, installing a large number of devices such as sensors and service providing devices in the space causes an increase in cost.

  Therefore, conventionally, a method of covering a wider area with a small number of sensors has been proposed (see Non-Patent Document 2). However, even if such a method is used, not all the positions in the space can be covered by the sensors, so that many sensors are required to some extent.

  Therefore, an object of the present invention is to enable a functional space such as an intelligent space to be constructed while suppressing an increase in the number of devices such as sensors.

(1) The present invention includes one or more devices installed in a space, a moving module that moves in the space, and a controller that controls the moving module. The controller includes a movable device provided in a movement module and configured to be movable, wherein the controller recognizes a position of an object that can move in the space, and the movement module detects the position of the object according to the position of the object. It is a space control system characterized by performing control so as to move in space.

(2) The moving module is configured to move along a surface forming the space, and the surface includes a plurality of fixtures to which the moving module is fixed. It is preferable to be configured to move while fixing and releasing with respect to other fixing tools while maintaining the state fixed to the other fixing tools.

(3) It is preferable that the controller grasps the position of the moving module on the basis of the position of the fixture on which the moving module is fixed.

(4) It is preferable that the controller performs control so that the moving module moves following the movement of the object.

(5) The device includes one or more sensors, and the controller recognizes the position of the target object that can move in the space based on the detection information of the sensor, and responds to the position of the target object. Thus, it is preferable to perform control so that the moving module moves.

(6) The one or the plurality of sensors includes a movable sensor provided in the movement module to be movable, and the controller moves the movement module provided with the movable sensor after the movement. Based on detection information of the movable sensor, the position of the target object is recognized, and the movable module and / or the movable sensor provided with the movable sensor is provided according to the position of the target object recognized after the movement. It is preferable to perform control so that other moving modules other than the moving module are moved.

(7) The surface is preferably a ceiling surface or a wall surface of a building.

(8) The fixing device is configured to have a screw hole, and the moving module includes a screw portion that is screwed into the screw hole, and the screw module is screwed into the screw hole, thereby moving the moving module. Is preferably fixed to the surface.

(9) The present invention from another viewpoint includes a moving module and a moving surface member having a moving surface for moving the moving module, and the moving surface includes a fixture to which the moving module is fixed. A plurality of the moving modules are configured to move while being fixed to and released from other fixing devices while maintaining a state of being fixed to any of the fixing devices during movement. It is a mobile system.

(10) The present invention viewed from still another viewpoint includes a fixing portion that fixes and releases to any one of the plurality of fixing tools provided on the moving surface, and the fixing unit is configured to The moving module is configured to move while being fixed to and released from another fixing tool while maintaining the state fixed to the fixing tool.

(11) The present invention viewed from still another aspect is a moving surface member having a moving surface for moving the moving module, wherein the moving surface is provided in the moving module according to (10). It is a moving surface member provided with two or more fixtures fixed by.

It is a conceptual diagram of intelligent space. 1 is a block diagram of a system for intelligent space. (A) is a functional block diagram of a controller, (b) is a functional block diagram of a movement module. It is a flowchart which shows the reconstruction process of intelligent space. It is a figure which shows arrangement | positioning (initial state) of a device. It is a figure which shows the state by which the device was rearranged. It is a figure which shows the state by which the device was rearranged. It is a perspective view of a moving system. It is a perspective view of a movement module. It is a side view of a moving system. It is a figure which shows the example of a movement of a movement module. It is a figure which shows the example of a movement of a movement module. It is a figure which shows the 1st modification of a fixing mechanism. It is a figure which shows the 2nd modification of a fixing mechanism.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

[1. Overall system configuration]
1 and 2 show a system 1 for causing a space to function as an intelligent space, for example. The system 1 includes one or a plurality of devices 2 installed in the space in order to provide information services or physical services to a person or the like in the space. In the present embodiment, a space in a room of a building is described as an example of the space, but the space may be another space such as a corridor or an outdoor road.
In the present embodiment, the functional space realized by the system 1 is called “intelligent space”, but the functional space realized by the system 1 is smart space, pervasive computing, sensor network, and the like. Also good.

  In the present embodiment, the device 2 includes a sensor (sensing device) 21 that detects a situation in the space and an action device (service device) 22 that causes some action in the space.

  Hereinafter, a camera (image sensor) will be described as an example of the sensor 21, but as the sensor 21, various sensors capable of detecting a situation in an acoustic sensor, a tactile sensor, and other spaces can be employed.

The action device 22 is for causing some information to be presented to a person in the space, or for giving some kind of physical action to the person, and is mainly used for providing a service to the person in the space. It is done.
In the following, as shown in FIG. 2, a projector 22a and an illumination 22b will be described as examples of the action device 22, but various devices such as a speaker, a screen, a pointing device, and a switch are adopted as the action device 22. be able to.

  Furthermore, in this embodiment, as shown in FIG. 2, as the device 2, movable devices 21 and 22 that are provided in the movable module 3 and are movable in the space, and stationary devices that are not equipped with the movable module 3. 23, 24.

  The sensor 21, the projector 22a, and the illumination 22b are provided in the movement module 3 and are movable devices. The movement module 3 of the present embodiment is movable along the ceiling surface or wall surface forming the space, and does not move on the floor surface. Details of the moving module 3 will be described later.

As the stationary devices 23 and 24, the sensor 23 and the action device 24 are provided. The sensor 23 as a stationary device is also a camera (image sensor), and is installed at a position where an image covering the entire space can be acquired.
The stationary devices 23 and 24 may be omitted.

  Each of the plurality of mobile modules 3 can communicate with the controller (control server) 4 via the network 5. The controller 4 can give a command for controlling the movement module 3 to the movement module 3 and can acquire information from the movement module 3. In the present embodiment, a wireless network is adopted as the network 5, but a wired network may be used.

The movable devices 21 and 22 can communicate with the controller 4 via the network 5 via the movement module 3 or without the movement module 3. The stationary devices 23 and 24 can also communicate with the controller 4 via the network 5.
The controller 4 can give a command for controlling the device 2 to the device 2 and can acquire information from the device 2.

  The controller 4 recognizes the situation in the space such as the position of the object based on the detection information from the sensors 21 and 23 (for example, an image taken in the space). In the present embodiment, the “object” whose position is detected by the sensors 21 and 23 is assumed to be a human. However, the “object” to be detected is not limited to a human being, and may be various objects that can move in space, such as animals, vehicles, and robots.

  The controller 4 is configured by a computer (server), and the computer program installed in the computer executes each function as the controller 4 by being executed by the computer.

  FIG. 3A shows the function of the controller 4 that is exhibited by executing the program. The controller 4 includes a position recognition unit 41, an operation recognition unit 42, a device arrangement calculation unit 43, a movement module control unit 44, and a device control unit 45 as functional blocks that are exhibited by executing the program. Yes.

  The position recognizing unit 41 recognizes the position in space of the user (human) that is the detection target based on the detection information (images obtained by capturing the space) from the sensors 21 and 23. The position recognition unit 41 also recognizes the user's face direction (line-of-sight direction), operation direction, or the like as necessary.

The operation recognition unit 41 recognizes an operation on the system 1 performed by a user in the intelligent space. The operation on the system 1 may be performed via a physical operation device for operation, but an operation image (virtual operation device) projected on any place in the space by the projector 22a. On the other hand, it may be done by the user performing an operation for operation. Further, the operation on the system 1 may be performed by a user's voice.
Recognition of an operation performed on the virtual operation device is performed by analyzing a user's operation for the operation based on detection information of the sensor 21 such as the cameras 21 and 23 or an acoustic sensor.

  The controller 4 controls the action devices 22 and 24 according to the operation content recognized by the operation recognition unit 41 and operates the devices 22 and 24 appropriately.

  The device arrangement calculation unit 43 calculates the arrangement of the movable devices 21 and 22 according to the position of the user recognized by the position recognition unit 41. The device arrangement calculation unit 43 calculates, for example, an arrangement that is in the vicinity of the user and suitable for each device 2 to perform its function.

  The movement module control unit 44 controls the movement of each movement module 3 on which the device 2 is mounted according to the device arrangement calculated by the device arrangement calculation unit 43, and moves the movement module 3 and the device 2 mounted on the movement module 3. And move to the position calculated by the device arrangement calculation unit 43.

  The device control unit 45 controls the operation of each device 2. For example, the device control unit 45 controls the camera 21 such as shooting ON / OFF, zoom, pan, and tilt. The projector 22a is controlled to turn on / off the projection, transmit the projection image, pan, tilt, and the like. Further, the lighting 22b is controlled such as lighting ON / OFF, light amount adjustment, panning and tilting.

[2. Intelligent space reconstruction process]
In the system 1 of this embodiment, the position of the movable device 2 can be changed by the movement module 3. That is, the intelligent space can be reconstructed in real time.
By moving the device 2 following the movement of the user, the device 2 can appropriately operate in relation to the user (target object) without providing a large number of devices 2 in the space. For example, no matter where the user moves in the space, the device 2 can take an appropriate position in the vicinity of the user or for providing services by the device 2.

FIG. 4 shows an example of intelligent space reconstruction processing.
FIG. 5 shows the state of the space before reconstruction. That is, FIG. 5 shows an arrangement before reconstruction of a plurality of movable devices 2 (sensor 21, projector 22a, illumination 22b) mounted on the movement module 3 that can move on the ceiling surface. In FIG. 5, there is no user (human) in the space.

  FIG. 6 shows a state where the user has entered the space shown in FIG. When the user enters the space, the intelligent space is rebuilt. Moreover, the reconstruction of the intelligent space is performed in real time according to the movement of the user in the space.

  When a user enters the space, the position recognition unit 41 of the controller 4 recognizes the appearance of the user and its position based on the detection information of the stationary sensor 23 provided in a fixed position for monitoring the entire space. (Step S1). In step S1, position recognition may be performed using detection information of the sensor 21 that is the movable device 2, if possible.

  Moreover, instead of performing the user detection of step S1 based on the detection information of the stationary sensor 23, when the controller 4 is not present in the space, the first moving module 31 equipped with the sensor 21 is The entire space may be placed on standby at a monitorable position (initial position), and the movable sensor 21 may detect a user who has entered the user in the space.

  When the position recognition unit 41 recognizes the position of the user, the device arrangement calculation unit 43 calculates an appropriate arrangement of each device 3 based on the recognized user position (step S2). The device arrangement calculation unit 43 calculates, for the sensor 21, for example, a position closer to the user or a position where a plurality of users can be captured simultaneously if there are a plurality of users. A position where the image can be appropriately projected with respect to a position where the image can be visually recognized is calculated, and if it is illumination, for example, a position where light can be applied to the user is calculated. In calculating the position of the projector 22a, the orientation of the user's face may be taken into consideration.

When the device arrangement calculation unit 43 calculates the arrangement of each device 2, the movement module control unit 44 moves the movement module 3 based on the calculation result (step S3).
As a result, each device 2 (sensor 21, projector 22a, illumination 22b) mounted on the movement module 3 moves to the position calculated by the device arrangement calculation unit 43. Accordingly, each device 2 becomes a reconstructed intelligent space that is newly arranged in the space.

  When the first movement module 31 on which the sensor 21 is mounted moves in response to a command from the movement module control unit 3 and the sensor 21 captures a user (target object), the position recognition unit 41 Based on the detection information, a more accurate position of the user is recognized. When a new position of the user is newly recognized, the device arrangement calculation unit 43 recalculates an appropriate arrangement of each device 3 based on the new user position. Then, the movement module control unit 44 moves the movement module 3 based on the recalculated device arrangement (step S4). Thereby, the position of each device 2 is finely adjusted, and a more appropriate device arrangement (see FIG. 6) is obtained.

  In FIG. 6, each device 21, 22b, 22b is located in the vicinity of the user. For example, the illumination 22b is positioned substantially above the user, and the projector 22a is present at a position where an image can be projected onto the wall surface in front of the user.

When the devices are moved in steps S3 and S4, all the devices 2 may be moved in each step. In step S3, all the devices 2 are moved. In step S4, the sensor 21 is mounted. Only the first moving module 31 may be moved, or the second and third moving modules 32a and 32b on which the projector 22a and the illumination 22b are mounted may be moved.
Further, when the devices are moved in steps S3 and S4, only the sensor 21 may be moved in step S3, and the remaining devices 22a and 22b or all the devices 2 may be moved in step S4.

  Further, when the user moves in the space as shown in FIG. 7, the position recognition unit 41 recognizes the new position of the user based on the detection information of the sensor 21 and / or the sensor 23 (step S5), and the controller 4 repeats the processing of steps S2 to S4. Thereby, the controller 4 can move the movement module 3 (device 2) following the movement of the user.

  And the action device 2 can exhibit a function appropriately in each position after movement, and can provide services such as information presentation to the user.

[3. Mobile module (mobile system)]
FIGS. 8-10 has shown the movement system 7 provided with the movement module 3 of this embodiment, and the movement surface member 6 to which the movement module 3 moves.
The moving surface member 6 is used as a ceiling surface member serving as a ceiling surface forming a space and / or a wall surface member serving as a wall surface forming a space.

As shown in FIG. 8, the moving surface member 6 is configured by providing a plurality of fixtures 62 on the surface of a substantially flat plate-like main body 61. The fixture 62 of the present embodiment is configured by a nut tool having a screw hole 63. As shown in FIG. 10, the fixture 62 is embedded on the surface side of the main body 61, and the screw hole 63 is opened on the surface 61 a of the main body 61.
A screw part (fixed part) 324 b (described later) provided in the moving module 3 is screwed into the screw hole 63. The moving module 3 (and the device 2) can be fixed to the moving surface member 6 by screwing the screw portion 324b into the screw hole 63.

  The fixture 62 is regularly arranged in a two-dimensional manner on the moving surface member 6. In other words, when a grid orthogonal to two directions is assumed on the surface of the moving surface member main body 61, the fixture 62 is arranged at a position to be a grid point of the grid, and the interval between the adjacent fixtures 62 (grid All the distances are constant.

  As shown in FIGS. 9 and 10, the moving module 3 includes a module main body 31 to which the device 2 can be attached on the front side, a plurality of (four) leg portions 32 provided on the module main body 31, and a plurality of legs. And a screw device 33 provided in each of the portions 32.

The module main body 31 of this embodiment is configured as a base member to which the device 2 is attached. The device 2 is attached to the module main body 31 by a fixing member such as a screw (not shown).
The module main body 31 of the present embodiment is formed in a rectangular shape, but any structure that can support the device 2 is sufficient, and the shape is not particularly limited.

  The plurality of leg portions 32 of the present embodiment are provided at each of the four corners of the rectangular module body 31. The leg portion 32 is provided so as to extend from the module main body 31 toward the back surface side (moving surface member 6 side).

  The leg 32 includes a leg main body 321 attached to the module main body 31 and a motor 322 provided inside the leg main body 321. The motor 322 is provided such that the axial direction A of the motor rotation shaft 322a is directed from the module main body 31 toward the moving surface member 6 side. The motor rotation shaft 322 a is connected to the screw device 33. The screw device 33 can be rotated around the axis of the motor rotation shaft 322a by the rotation of the motor rotation shaft 322a.

The interval between the rotating shafts 322 a of the plurality (four) of motors 322 is set to be equal to the interval between the fixtures 32.
Since the motor 322 is provided in each of the plurality of leg portions 32, each screw device 33 can rotate independently.

In the present embodiment, the motor rotating shaft 322a and the screw device 33 are directly connected, but may be connected via a gear or the like.
Further, the leg portion 32 may be provided integrally with the screw device 33, and the leg portion 32 may be rotatable with respect to the module main body 31. Also in this case, the screw device 33 can be rotated around the axis of the motor rotation shaft 322a by the rotation of the motor rotation shaft 322a.

  The screw device 33 includes a screw device main body 331, a motor 332, a motor gear 333 provided on the motor rotation shaft 332 a of the motor 332, and a screw gear 334 that meshes with the motor gear 333.

  The screw device main body 331 is connected to the motor rotation shaft 322a of the leg portion 32, and can be rotated by the rotation of the motor rotation shaft 322a. The screw device main body 331 supports a motor 332 and a screw gear 334.

  The screw gear 334 is provided so that its axial direction is parallel to the axial direction A (direction perpendicular to the surface of the moving surface member). The screw gear 334 includes a gear portion 334a that meshes with the motor gear 333 on one end side in the axial direction, and a screw portion (fixed portion) 334b that is screwed into the screw hole 63 on the other end side in the axial direction.

  The screw gear 334 is movable in the screw gear axis direction by rotating around the screw gear axis by the rotation of the motor 332. By switching the rotation direction of the motor 332, the screw gear 324 can be moved toward and away from the moving surface member 6.

The screw portion 334 b of the screw gear 334 is inserted into the screw hole 63 while rotating (for example, clockwise), so that the screw portion 334 b is screwed into the screw hole 63. Further, by rotating the screw gear 334 in the direction opposite to that at the time of insertion (for example, counterclockwise), the screw portion 334 b comes out of the screw hole 63.
When the screw portion 334 b is screwed into the screw hole 63, the leg portion 32 having the screw device 33 is fixed to the moving surface member 61. That is, the moving module 3 and the device 2 are fixed with respect to the moving surface member 6. Further, since the screwing can be released, the moving module 3 can be moved on the moving surface member 6 by repeating the screwing (fixing) and the releasing thereof (details will be described later).
In addition, since the motor 332 is provided in each of the plurality of screw devices 331, each screw gear 334 can independently screw (fix) the screw hole 63 and release it.

  Since the moving module 3 includes the screw portions 334b in each of the plurality of leg portions 32, the other leg portion is fixed while fixing any one of the plurality of leg portions 32 to the moving surface member 6 (moving surface). By changing the screw hole 63 (fixing tool 42) to which 32 is fixed, the entire moving module 3 can be moved.

  In the screw device 33, the length from the axis of the rotation shaft 322a of the motor 322 of the leg portion 32 to the axis of the screw gear 334 is set to ½ of the interval between the screw holes 63 (fixing tool 62). Yes. Therefore, when the screw part (fixing part) 334b of the screw device 33 provided on a certain leg part 32 is fixed to a certain screw hole (fixing tool) 63, the screw part 334b is fastened to the screw hole 63. When the screw device 33 is released and the screw device 33 is rotated by 180 ° around the rotation shaft 322 a, the screw portion 334 b can be moved to a position where it can be inserted into another screw hole 63.

  The screw hole 63 to which the screw part 334b is fixed can be changed for each of the four leg parts 32. Moreover, the movement module 3 can move in an arbitrary direction along the moving surface.

  As shown in FIG. 3B, the motors 322 and 332 and the device 3 of the movement module 3 are controlled by a drive control unit 34 provided in the movement module 3. The drive control unit 34 receives a command (movement module control information, device control information) from the controller 4 and drives and controls a motor and the like according to the command.

FIG. 11 shows an example of how the moving module 3 moves. In FIG. 11, members indicated by hatching indicate members that have moved from the previous state.
FIG. 11A is fixed to the moving surface 6 in the illustrated posture at the position (initial position) of the upper left corner of the moving surface 6. Assuming that the moving surface 6 is a wall surface, the moving module 3 is fixed to the wall surface 6, and the four screw devices 33 hang downward (gravity direction) from the position of the screw hole 63 (fixing tool 62). Because of the arrangement (stable state arrangement), the moving module 3 does not require energy to maintain the posture shown in FIG. Note that the lattice shown in FIG. 11 is virtual, and a screw hole 63 (fixing tool 62) is provided at the position of the lattice point.

  In order for the moving module 3 to move from the position shown in FIG. 11A to the position shown in FIG. 11F, the operations shown in FIGS. 11B to 11F are performed. The operation described below is performed by the drive control unit 34 drivingly controlling the motors 322 and 332 based on a command from the controller 4.

First, the moving module 3 rotates the motors 322 of all the leg portions 32 at the position of FIG. 11A, and moves the module main body 31 to the upper right as shown in FIG. 11B.
Then, the moving module 3 releases the fastening by the screw portion 334b of the screw device 33 provided on the lower right leg 32, and rotates the lower right screw device 33 by 180 ° as shown in FIG. Then, the screw portion 334b of the screw device 33 provided on the lower right leg portion 32 is screwed into the screw hole 63 at that position (the screw hole right next to the original screw hole).

Further, as shown in FIG. 11D, for the lower left leg portion 32, the screw portion 334b of the screw device 33 is similarly screwed into the screw hole 63 adjacent to the right of the original screw hole.
Further, as shown in FIGS. 11 (e) and 11 (f), for the upper right and upper left leg portions 32, the screw portions 334b of the screw device 33 are similarly screwed into the screw holes 63 adjacent to the right of the original screw holes. Combine.
In this way, the screw device 33 is rotated in turn in each of the plurality of leg portions 32, and the fixing by the other three screw devices 33 is maintained while any of the screw devices 33 is rotating. Therefore, the moving device 3 is stably fixed to the moving surface member 6 during the movement.

  And the movement module 3 can finally move to the position shown in FIG.11 (g) by repeating operation | movement as shown in FIG.11 (b)-FIG.11 (f) suitably.

  In the present embodiment, the moving module 3 is fixed to any one of the fixing members 62 even when the moving module 3 is stopped or moving. Therefore, the controller 4 can accurately grasp the position of the moving module 3 on the basis of the position of the fixture 62 on the moving surface member 6.

The controller 4 keeps track of the positions (coordinates) of the screw holes 63 into which the screw portions 324b of the moving module 3 are screwed, and moves based on the positions of the screw holes 63 and the attitude of the moving module 3. Know the position of module 3.
For example, in the case of the position of the moving module 3 shown in FIG. 11A, the center of the moving module 3 is located at the position A1 in FIG. 12, but the screw portion 324b of the moving module 3 is fixed at this A1 position. It can be calculated by the coordinates (X ₁ , Y ₁ ), (X ₂ , Y ₁ ), (X ₁ , Y ₂ ), (X ₂ , Y ₂ ) of the screw hole 63 and the attitude of the moving module 3.

The posture of the moving module 3 can be detected by the angle of the screw device 33 with respect to the leg portion 32, and the angle of the screw device 33 with respect to the leg portion 32 can be detected by the rotation amount and the rotation direction of the motor 322.

Similarly, the position of A2 in FIG. 12 is also the coordinates (X ₃ , Y ₁ ), (X ₄ , Y ₁ ), (X ₃ , Y ₂ ) of the screw hole 63 to which the screw portion 324b of the moving module 3 is fixed. ), (X ₄ , Y ₂ ) and the attitude of the moving module 3.

  Furthermore, in addition to the positions A1 and A2, when the movement track R of the movement module according to the movement method of the movement module 3 shown in FIG. 11 is as shown in FIG. The calculation can be performed based on the coordinates of the screw hole 63 to which the screw portion 324 b of the moving module 3 is fixed and the attitude of the moving module 3.

In the present embodiment, the movable range of the moving module 3 is limited to the range and position where the fixing tool 62 is provided, but the position of the moving module 3 can be accurately detected based on the position of the fixing tool 62. Can do.
As a result, an error hardly occurs between the positions of the movable devices 21 and 22 grasped by the controller 4 and the actual positions of the movable devices 21 and 22. Accordingly, it is possible to accurately grasp the position of the movable devices 21 and 22 and appropriately reconstruct the intelligent space.

  Moreover, in this embodiment, since the movement module 3 maintains the state fixed to the movement surface member 6, energy, such as electricity, is not required. That is, since the screw part (fixed part) 324 is screwed into the screw hole 63 (fixing tool 62), the moving module 3 is fixedly attached to the moving surface member 6. Therefore, when movable devices such as the sensor 21, the projector 22a, and the illumination 22b are used in a fixed position, the power of the moving module can be turned off, and energy loss can be suppressed.

  Furthermore, in the moving system 7 of the present embodiment, the fixture 62 is provided on the ceiling surface or the wall surface, the ceiling surface and / or the wall surface is set to a movable range, and the floor surface which is the bottom surface of the space is the fixture. 62 is not provided. Therefore, although the movement module 3 can move on a ceiling surface or a wall surface, a floor surface does not move. Thus, it is advantageous without disturbing the movement or installation of users and others in the space.

  Furthermore, in the present embodiment, among the plurality (four) of leg portions 32, at least three leg portions 32 are always fixed in the screw holes 63 (fixing tool 62) of the moving surface member 6. The screw hole 63 (fixing tool 62) to which the remaining one leg 32 is fixed is changed. Therefore, the moving module 3 is always fixed to the moving surface member 6 in at least three places, and even if the moving surface is a surface facing downward such as a ceiling surface or a vertical surface such as a wall surface, A stable fixed state is obtained. The number of leg portions 32 need not be four, but may be two or more. If there are two or more legs 32, the moving module 3 can be moved while being fixed to the moving surface member 6 at least at one place.

[4. Modification of moving module fixing mechanism with respect to moving surface]
[4.1 First Modification]
FIG. 13 shows a first modification of the fixing mechanism of the moving module 3 with respect to the moving surface (moving surface member). In the first modification, a fixing mechanism by locking the sphere 71 is employed.

  Specifically, the fixture 62 embedded in the moving surface member 6 has a hole 64 into which the fixing portion 432b of the moving module 3 is inserted, and the recess 65 into which the sphere 71 can enter the inner surface of the hole 64. Is formed.

The fixed portion 334b of the moving module 3 includes a cylindrical body 72 that is inserted into the hole 64, and a spherical body 71 that is supported so as to be movable in the radial direction of the cylindrical body 72 from the outer peripheral surface near the tip of the cylindrical body 72. A worm 73 is provided on the inner peripheral side of the cylindrical body 72 so as to be movable in the axial direction, and a worm wheel 74 meshing with the worm 73 is provided.
The entire fixed portion 432b can be moved in the axial direction by the rotation of the motor 332 (can be moved close to and away from the moving surface member 6), similarly to the screw gear described above.

  The spherical body 72 is urged in the inner diameter direction of the cylindrical body 72 by the leaf spring 75, and does not protrude outward from the outer peripheral surface of the cylindrical body 72.

  In order to fix the fixing portion 334b to the fixing tool 62, the entire fixing portion 432b is moved upward from the state shown in FIG. 13A, and the tip of the cylinder 72 is moved as shown in FIG. 13B. Insert into hole 64. Then, the worm wheel 74 is rotated by a motor (not shown) to move the worm 73 upward. Thereby, the sphere 71 moves in the radially outward direction and enters the recess 65. As a result, the spherical body 71 is locked to the concave portion 65 and is prevented from coming off, and the fixing portion 334 b is fixed to the fixing tool 62.

  Since the worm 73 meshes with the worm wheel 74, the worm 73 is prevented from moving downward due to its own weight even if power is not supplied to the motor that rotates the worm wheel, and the fixed state is maintained. Is done.

[4.2 Second Modification]
FIG. 14 shows a second modification of the fixing mechanism of the moving module 3 with respect to the moving surface (moving surface member). In the second modification, a fixing mechanism by locking the arc-shaped hook 81 is employed.

  Specifically, the fixture 62 embedded in the moving surface member 6 has a hole 64 into which the fixing portion 432 b of the moving module 3 is inserted, and a guide into which the hook 81 is inserted into the upper surface of the hole 64. A hole 67 is formed.

The fixture 334 b of the moving module 3 includes a support body 82 whose tip is inserted into the hole 64, and an arc-shaped hook 81 that is rotatably supported by the tip of the support body 82. The hook 81 has a worm formed on the outer peripheral surface thereof, and meshes with a worm wheel 84 provided on the support 82.
The entire fixed portion 432b can be moved in the axial direction by the rotation of the motor 332 (can be moved close to and away from the moving surface member 6), similarly to the screw gear described above.

  In order to fix the fixing part 334b to the fixing tool 62, the entire fixing part 432b is moved upward from the state shown in FIG. 14A, and the tip of the support 82 is moved as shown in FIG. 14B. Insert into hole 64. Then, the worm wheel 84 is rotated by a motor (not shown) to rotate the hook 81 and enter the guide hole 67. As a result, the hook 81 is locked in the guide hole 67 to prevent the hook 81 from coming off, and the fixing portion 334 b is fixed to the fixing tool 62.

  Since the hook 81 is engaged with the worm wheel 84, the hook 81 is prevented from rotating and maintained in a fixed state even when power is not supplied to the motor that rotates the worm wheel.

[5. Addendum]
In addition, the matter disclosed above is an exemplification, and does not limit the present invention, and various modifications are possible.
For example, in the above embodiment, one device 2 is mounted on one moving module 3, but one device 2 is mounted on a plurality of moving modules 3, or a plurality of devices 2 are mounted on one moving module 3. May be.

  The power supply to the moving module 3 and the device 2 may be performed by a battery mounted on the moving module 3 or the device 2 or may be performed by wireless or wired power feeding from the moving surface member 6. When power is supplied from the moving surface member 6, a power supply point can be provided in the fixture 62 so that the mobile module 3 can receive power supply through the power supply point.

DESCRIPTION OF SYMBOLS 1 System 2 Device 3 Moving module 4 Controller 6 Moving surface member 7 Moving system 21 Sensor (movable device)
22a Projector (movable device)
22b Illumination (movable device)
62 Fixing part 63 Screw hole 334b Screw part

Claims (11)

One or more devices installed in the space;
A moving module moving in the space;
A controller for controlling the moving module;
With
The one or more devices include a movable device provided in the movable module and movable.
The controller recognizes the position of an object that can move in the space, and controls the moving module to move in the space according to the position of the object. system. The moving module is configured to move along a plane forming the space;
The surface includes a plurality of fixtures to which the moving module is fixed,
The system according to claim 1, wherein the moving module is configured to move while being fixed to and released from another fixing device while maintaining a state of being fixed to one of the fixing devices during movement. The system according to claim 1, wherein the controller grasps the position of the moving module on the basis of the position of a fixture on which the moving module is fixed. The system according to claim 1, wherein the controller performs control such that the moving module moves following the movement of the target object. The device includes one or more sensors,
The controller is
Recognizing the position of the object that can move in the space based on the detection information of the sensor,
The system according to any one of claims 1 to 4, wherein control is performed so that the moving module moves in accordance with a position of the object. The one or more sensors include a movable sensor provided in the movable module and movable.
The controller is
Recognizing the position of the object based on detection information of the movable sensor after the movement of the movement module provided with the movable sensor,
Control is performed so that the movement module provided with the movable sensor and / or another movement module other than the movement module provided with the movable sensor moves according to the position of the object recognized after movement. The system of claim 5. The system according to claim 2, wherein the surface is a ceiling surface or a wall surface of a building. The fixture is configured to have a screw hole,
The system according to claim 2, wherein the moving module includes a screw portion that is screwed into the screw hole, and the moving module is fixed to the surface by screwing the screw portion into the screw hole. A moving module;
A moving surface member having a moving surface for moving the moving module;
With
The moving surface includes a plurality of fixtures to which the moving module is fixed,
The moving system is configured to move while fixing and releasing with respect to another fixing tool while maintaining a state fixed to any fixing tool during the movement. A fixing portion for fixing and releasing to any one of the plurality of fixing tools provided on the moving surface;
A movement module configured to move while being fixed to and released from another fixture while maintaining the state of being fixed to any fixture by the fixing portion. A moving surface member having a moving surface for moving the moving module,
The moving surface member is provided with a plurality of fixtures fixed by the fixing portion provided in the moving module according to claim 10.

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