JP2002361576A - Service providing system to work inside three-dimensional space - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a service providing system to provide a service including a higher grade of information and/or operations to any person engaged in the task in any facility of different sort, patients in a ward in hospital, etc. SOLUTION: The service providing system to work in a three-dimensional space has a wearable system 11 put on the body of a person 10 and having a function to sense the vital organism information and voices of the person and a three-dimensional space robot system 12 including a part formed movably to any place in the three-dimensional space and having a function to sense the face information of the person 10 and the information of inside the space, wherein the robot system 12 conducts communications with the wearable system 11 via a communications system 13, and thereby the person's 10 will and understanding are grapsed, and the service including information and/or operations required of the person concerned is provided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to, for example, various factories,
Workers in the three-dimensional space of facilities such as offices and hospitals,
Provide various services to humans such as staff and patients 3
The present invention relates to a service providing system in a three-dimensional space.

[0002]

2. Description of the Related Art Conventionally, it is possible to understand human intentions to a certain level by using a wearable computer or an intelligent robot. For example, a wearable computer can predict human intention by cognitive techniques such as voice recognition and facial expression recognition.
Similarly, the intelligent robot can search for a human intention by voice recognition and facial expression recognition, and can perform a support operation supporting the human operation based on the result.

[0003]

As described above, conventionally, it is technically possible for a wearable computer and an intelligent robot to individually understand human intentions. However, mechanisms for performing more advanced processing such as close cooperation between a wearable computer and an intelligent robot, work based on behavior prediction after understanding intentions, or physical rescue activities for humans have not been developed.

[0004] The present invention provides a three-dimensional space service providing system capable of providing services such as more advanced information and work to people working in various facilities and patients in a hospital room. The purpose is to:

[0005]

In order to solve the above-mentioned problems, a three-dimensional space information providing system according to the present invention includes a wearable system mounted on a human body and moving to an arbitrary place in the three-dimensional space. 3 including parts that can be configured
It is composed of a three-dimensional space robot system.

[0006] The wearable system includes a first sensor group for detecting at least human biological information and voice, and the first sensor group.
A first transmission / reception device that transmits a detection signal from the sensor group to the three-dimensional space robot system and receives a signal transmitted from the three-dimensional space robot system, and a first transmission / reception device that processes a signal transmitted / received by the first transmission / reception device It is configured to include one computer.

On the other hand, the three-dimensional space robot system transmits at least a second sensor group for detecting image information of a person and information in the three-dimensional space, and a detection signal from the second sensor group to the wearable system. The second transmission / reception device receives a signal transmitted from the wearable system, and a second computer processes a signal transmitted / received by the second transmission / reception device. Then, the three-dimensional robot system communicates with the wearable system to provide a service including at least one of information and work required by the person by understanding the intention of the person.

[0008] The wearable system has a tendon sensor as a part of the first sensor group for determining at least one of movement, force, and strength of the arm, wrist, palm, and finger of the human body. At least one of the arm, wrist, palm and finger is determined by the arithmetic processing from the output signal of the sensor and the degree of force, and the first transmitting / receiving device transmits the information of the movement and the degree of force to the three-dimensional robot system. I do.

The tendon sensor is arranged on a surface of a detection site, which is at least one of an arm, a wrist, a palm, and a finger of a human body, so as to emit light toward an internal tissue of the detection site. Emission wavelength spectrum from 600 nm to 120
At least one light emitting element within a range of 0 nm, and light emitted from the light emitting element and emitted from the surface of the detection site after interacting with the internal tissue, and outputting an output signal corresponding to the received light. It is composed of at least one light receiving element arranged on the surface of the detected part so as to generate as an output signal of the tendon sensor.

According to one aspect, the three-dimensional space robot system according to the present invention is provided with a space movement system provided so as to be able to float in a three-dimensional space and to be able to travel on the ground in the three-dimensional space. Has a taxi system,
The taxi system performs a process of providing a service by grasping the understanding of human intentions by itself or through a space movement system. The space movement system has at least one space movement robot including, for example, a balloon and a propulsion device that applies a propulsion force to the balloon, and has a second sensor group, a second transmission / reception device, and a second computer mounted on the balloon. .

Further, according to the present invention, the arm, wrist,
An emission wavelength spectrum arranged to irradiate light toward an internal tissue of the detection site on a surface of the detection site which is at least one of a palm and a finger has a wavelength of 600 nm to 120 nm.
At least one light emitting element within a range of 0 nm, and light emitted from the light emitting element and emitted from the surface of the detection site after interacting with the internal tissue, and outputting an output signal corresponding to the received light. At least one light receiving element arranged on the surface of the detected part to be generated, and at least one movement and force of the human body arm, wrist, palm and finger by arithmetic processing from an output signal of the light receiving element. And a means for determining.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a conceptual diagram of a service providing system in a three-dimensional space according to an embodiment of the present invention.
The three-dimensional space service providing system includes, for example, a wearable system 11 mounted on a human body 10 such as a worker working in a factory, a staff working in an office, a patient in a hospital, and a three-dimensional space robot. System 1
2, and wireless or wired communication between the wearable system 11 and the three-dimensional space robot system 12,
Alternatively, the communication system 13 includes a communication system 13 using both wireless and wired communication.

The wearable system 11 is built in an object (eg, glasses, hats, earrings, necklaces, neckties, ties, pendants, batches, name plates, watches, jackets, belts, shoes, socks, etc.) to be worn on the body. It is configured to include a sensor group, a computer, a display, and a transmitting / receiving device forming a part of the communication system 13, and these components automatically recognize each other (wear and
play mode), which is an intelligent wearable system that can define a plurality of commands and smoothly proceed with a conversation with the three-dimensional space robot system 12.

The three-dimensional space robot system 12 includes a part which moves to an arbitrary place in the three-dimensional space where the human 10 is located, and provides a service such as provision of various information and work to the human 10. System
A sensor group for monitoring information on the body of the human 10 and the surrounding environment, a computer, and a transmitting / receiving device constituting another part of the communication system 13 are mounted.

The wearable system 11 and the three-dimensional space robot system 12 operate cooperatively and cooperatively while communicating wirelessly or by wire using the communication system 13. Therefore, based on signals from various sensors incorporated in the wearable system 11 and the three-dimensional space robot 12, the computer performs understanding of the intention of the human 10 based on the situation where the human 10 is placed, and The computer or the three-dimensional robot system 12 can provide information and tasks desired by the human 10 based on the understanding.

FIG. 2 shows an example of a system configuration of a service providing system in a three-dimensional space according to the present embodiment, the concept of which is shown in FIG. 3D space robot system 12
Is composed of a space movement system 21, a taxiing system 22, and a base system 23.

The space movement system 21 is a robot system that moves in a three-dimensional space by a propulsion device using, for example, the buoyancy of a balloon and the ejection of gas. It has a function of acquiring environment information and transmitting it to the taxi system 22.

The taxiing system 22 is a robot system that performs taxiing using wheels. In the present embodiment, the taxiing system 22 plays a role as an information collection and analysis center as described later. for,
It itself provides services directly or via the space mobility system 12. Further, the taxiing system 22 issues a command such as a movement command to the space movement system 21.

The base system 23 is a robot system installed on at least one of the ground, the wall surface and the ceiling, and mainly docks with the space movement system 21 to charge the space movement system 21 and supply gas. The base system 23 can also perform fixed point observation and work from a wall surface or a ceiling surface.

Each of the robot systems 21, 22, and 23 constituting the three-dimensional space robot system 12 can communicate with the wearable system 11 by the communication system 13 and can also communicate with each other. The communication system of the communication system 13 may be wireless or wired, or may be a system using both of them.

FIG. 3 shows a system configuration of the wearable system 11. As a sensor group provided in the wearable system 11, first, a temperature sensor (a thermometer) 101, a blood pressure sensor 102, a heart rate sensor 103, and an electroencephalogram sensor 104, which are sensors for managing the health of the human 10, are provided. Next, an MV (Micro Vibration) sensor 105
Is a sensor that detects minute vibrations of the human body surface, and is used to grasp the mental state of the human 10. The tendon sensor 106 is a sensor that detects a state of a tendon such as a flexor muscle of a wrist of a human body, as will be described in detail later, and is used to detect a movement (gesture) of the wrist of the human 10 and a degree of force. The information detected by the sensors 101 to 106 regarding the human 10 is collectively referred to as biological information. The microphone (acoustic sensor) 107 is
Is provided for inputting a command such as a request for service content by voice.

The output signals of these sensors 101 to 107 are supplied to a sensor interface 1 including an amplifier and an A / D converter for converting an analog signal to a digital signal.
08, the data is taken into a computer 109 including a CPU and a memory (RAM / ROM).

The computer 109 is connected with an input device 110 such as a keyboard for the human 10 to input commands to the computer 109, a transmitting / receiving device 111, a display 113 and a speaker 114. The display 113 is, for example, a head-mounted display mounted on the head of the human 10, and the speaker 114 is a headphone mounted on the ear of the human 10.

The transmission / reception device 111 is a device that performs wireless communication based on, for example, the Bluetooth (Bluetooth) standard between the wearable system 11 and the space movement system 21 and the base system 23 of the three-dimensional space robot system 12 via the antenna 112. Yes, encoder / decoder,
It comprises a modulator / demodulator and an amplifier.

For example, the sensor group 101 loaded into the computer 109 via the sensor interface 108
Signals output from the input device 110 and commands from the input device 110 are transmitted directly from the transmitting / receiving device 111 to the ground traveling system 22 of the three-dimensional space robot system 12 via the antenna 112 under the control of the computer 109. Alternatively, it is transmitted to the taxiing system 22 via the space movement system 21.

The signals transmitted to the wearable system 11 from the space movement system 21 and the ground traveling system 22 of the three-dimensional space robot system 12 are as follows:
Received by the transmitting / receiving device 111 via the antenna 112,
After being loaded into the computer 109, the display 1
13 and the speaker 114.

Sensors 101 to 107, sensor interface 108, computer 109, input device 110, transmission / reception device 111, display 113, and speaker 11
4 is supplied by a secondary battery 115.

In the above configuration, the sensor interface 108, the computer 109, the input device 110, and the transmission / reception device 111 may be mounted on socks worn by the person 10. For example, a small / thin keyboard that constitutes the input device 110 at a portion corresponding to the sole of the sole of the sock, a secondary battery 115 (pressure rechargeable secondary battery) at a portion corresponding to the heel ridge, and a heel ridge. An electronic circuit module including an integrated circuit including the sensor interface 108, the computer 109, and the transmitting / receiving device 111 can be mounted between the metatarsal heads.

FIG. 4 shows a more specific configuration in a real space of the system for providing services in a three-dimensional space according to the present embodiment. Ground (floor) 31A, wall 31B and ceiling 31
A plurality (three in the example in the figure) of space-moving robots freely moving in a three-dimensional space using a balloon as a space movement system 21 shown in FIG. 2 in a three-dimensional space formed by C 21A, 21B and 21C are provided. The ground traveling system 22 is a robot that travels on the ground 31A by the wheels 313. Further, as the base system 23 shown in FIG. 2, three ground base systems 23A, a wall base system 23B, and a ceiling base system 23C are provided. Hereinafter, each part of FIG. 4 will be described in detail.

First, a specific configuration example of the space movement system 21 will be described with reference to FIGS. Here, the spatial mobile robot 2 moving near the ceiling in FIG.
1C will be described.
A and 21B have the same configuration.

In FIG. 5, a balloon 200 having an elliptical cross section is filled with a gas of an element lighter than air, for example, He gas or hydrogen gas. A hood 201 is provided below the balloon 200, and a small and light motor 202 and a main propeller 203 for propulsion driven by the motor 202 are provided in the hood 201 as shown in FIG.
And an actuator 204 and a directional snake 205 driven by the actuator 204 are provided. A sub-propeller 206 driven by a motor (not shown) is provided before and after the balloon 200 in the propulsion direction, and lightweight wheels 207 are mounted on the upper surface of the balloon 200.

The balloon 200 is provided with a pressure adjusting valve (not shown) for adjusting the internal pressure. The size and shape of the balloon 200 can be appropriately changed by the adjustment by the pressure adjusting valve. Further, in the present embodiment, the main propeller 203 and the sub-propeller 205 are used to obtain a propulsive force by interaction with the airflow in the three-dimensional space. However, a jet propulsion device that ejects gas harmlessly to the human body is used. May be used. Furthermore, the space mobile robot 2
If the initial speed is given by a spring (not shown) when moving 1C, the space mobile robot 21C can be quickly moved to the desired position without increasing the power of the propulsion device more than necessary.

FIG. 6 shows an enlarged cross section of a part of the main body of the balloon 200. In FIG. 6, the hood 201 is omitted. Insulating film 21 such as polyester
1, a thin-film solar cell 212 is attached to the lower surface, and the thin film of the solar cell 212 forms the outer skin of the balloon 200. Sensor group 2 described later on a thin film on solar cell 212
13 and the above-described motor 202, main propeller 203, actuator 204, and directional snake 205 are arranged.

On the upper surface of the insulator film 211 in the drawing, a thin-film printed circuit board 218 constituting the endothelium of the balloon 200 is arranged. On this thin-film printed circuit board 218, an electronic circuit module 219 composed of an integrated circuit and a secondary battery 220 are provided. In the electronic circuit module 219, a sensor interface, a computer, and a transmission / reception device described later are mounted. The wiring between the electronic circuit modules 219 and the wiring between the electronic circuit module 219 and the secondary battery 220 are formed by a wiring layer 221 on the thin film printed circuit board 218.
Done by

FIG. 7 is a block diagram showing the system configuration of the space mobile robot. First, as a sensor group 213 shown in FIG. 6, a visible image sensor 231, an infrared image sensor 232, a temperature sensor 233, a humidity sensor 23
4. An acoustic sensor 235 and a position sensor 236 are provided. The visible image sensor 231 may be a video camera, or may be an electronic still camera that captures images at regular time intervals.

The visible image sensor 231 is mainly for imaging the face of the human 10, and is used for, for example, a TV conference or a TV telephone. Infrared image sensor 232
Is for capturing an infrared image of the entire three-dimensional space, and is provided for the purpose of, for example, predicting a fire or detecting an intruder. Temperature sensor 233 and humidity sensor 234
Is used to monitor the environment (comfort level) in the three-dimensional space. The acoustic sensor 235 is used for voice input and environmental measurement (grasping the state of noise).
Is provided for detecting the position of the space mobile robot and controlling its position.

The output signals of the sensors 231 to 236 are sent to the CPU and the memory (RA) via a sensor interface 238 including an amplifier and an A / D converter, as in the case of FIG.
(M / ROM).

The computer 239 has a driver circuit of the propulsion device 240 for propelling the balloon 200, that is, the motor 20 for driving the main propeller 203 shown in FIGS.
2. A driver circuit such as an unillustrated motor for driving the actuator 204 for driving the directional snake 205 and the sub-propeller 206 is connected, and a transmission / reception device 241 is further connected. The driver circuit is controlled by the computer 239 based on a movement command signal transmitted from the taxiing system 22 via the transmission / reception device 241 and a position detection signal from the position sensor 236. Thereby, the propulsion device 24
0 operates so that the space mobile robot moves to the position in the three-dimensional space instructed by the movement instruction signal.

The transmitting / receiving device 241 is a device that performs wireless communication based on the Bluetooth standard, for example, with the wearable system 11, the ground running system 22, and the base system 23 via the antenna 242, and includes an encoder / decoder, It comprises a modulator / demodulator and an amplifier.

For example, a sensor group 213 captured by the computer 239 via the sensor interface 238
Out of the output signals, the visible image sensor 231, the infrared image sensor 232, the temperature sensor 233, and the humidity sensor 2
Signals from the acoustic sensor 235 and the acoustic sensor 235 are transmitted from the transmitting / receiving device 241 to the taxiing system 22 via the antenna 242 under the control of the computer 239.

A signal transmitted from the wearable system 11 or the taxi system 22 to the space mobile system 21 is transmitted and received by the transmitting / receiving device 241 via the antenna 242.
And is taken into the computer 239. When the computer 239 receives the movement command signal from the taxi system 22, it controls the propulsion device 240 based on the movement command signal and the position detection signal from the position sensor 236 as described above. Further, the computer 239 simply relays the signal transmitted from the wearable system 11 or performs an appropriate process, and then transmits the signal to the ground traveling system 22 which is an information collection and analysis center.
Relay control for transmission from the antenna 242 via the communication terminal 41 is performed.

The power supply to the sensors 231 to 236, the sensor interface 238, the computer 239, the driver circuit of the propulsion device 240, and the transmission / reception device 241 is shown in FIG.
The operation is performed by the solar cell 212 described in the above, or the secondary battery 220 charged by energy from the solar cell 212.

Next, referring to FIG.
An example of the operation of the space mobile robots 21A, 21B, and 21C in the three-dimensional space will be described. FIG. 8A illustrates a state in which the space mobile robot 21 </ b> A moves up and down and the ground traveling system 22 performs height control. That is, in a state where the space mobile robot 21A is floating by the buoyancy of the gas filled in the balloon 200, the sub-propellers 2 attached to both sides of the balloon 200
When, for example, 06 is rotated forward, the space moving robot 21A rises by injecting gas downward, and when the sub-propeller 206 is rotated, for example, in reverse, the space moving robot 21A descends by injecting gas upward. When the main propeller 203 is rotated forward or backward in this state,
The space mobile robot 21A moves in a horizontal plane, and the moving direction in the horizontal plane can be controlled by the direction snake 205.

As shown in the lower part of FIG. 8A, the wire 25 connected to the space mobile robot 21A is wound by using, for example, a hoisting wrench 24 provided in the taxiing system 22. It is possible to control the height position by lowering the space mobile robot 21A against the buoyancy of the balloon 200. Note that a communication cable may be built in the wire 25, and the communication between the space mobile robot 21A and the ground traveling system 22 may be performed by wired communication.

Further, here, the space mobile robot 21A
The wire 25 connected to the lower surface of the
The wire is connected to the upper surface of the space mobile robot 21A, and the wire is wound by a hoisting wrench provided in the ceiling base system 23. Can also be adjusted. Of course, it is also effective to adjust the height of the space mobile robot 21A by using both of them.

FIG. 8B shows a state where the space mobile robot 21B travels along the wall surface 31B. In this case, the main propulsion force is obtained by rotating the main propeller 203, and the sub-propeller 205 is rotated forward, for example, to inject gas in the direction opposite to the wall surface 31B.
The vehicle travels along the wall surface 31B in the direction controlled by the directional snake 205 while being pressed against the 1B with an appropriate force.

FIG. 8C shows a state where the space mobile robot 21C travels along the ceiling 31C. Basically, as in the case of FIG. 8B, a main propulsion force is obtained by rotating the main propeller 203, and the sub-propeller 205 is rotated forward, for example, to inject gas in a direction opposite to the ceiling 31C. Space robot 2
1C, while the wheel 207 is pressed against the ceiling 31C with an appropriate force, the ceiling 3C moves in the direction controlled by the directional snake 205.
Drive along 1C.

As described above, in each of FIGS. 8A, 8B, and 8C, the buoyancy vector of the balloon 200 and the propulsion device 2
Main propeller 203 and auxiliary propeller 205 constituting 40
It is possible to move the space mobile robots 21A, 21B, 21C to a desired position and direction by combining the three components with the thrust vector in two directions due to the rotation of.

FIG. 9 is a block diagram showing an example of a system configuration of the taxiing system 22. A visible image sensor (may be a video camera) 301 as a sensor group, a position sensor 302 for detecting the position of the ground running system 22 on the ground, and an acceleration sensor 303 for detecting acceleration during running of the ground running system 22. Is provided. The visible image sensor 301 is used for capturing an image of the person 10 and inputting its gesture, or for detecting an intruder.

The output signals of the sensors 301 to 303 are connected to a CPU and a memory (RAM / ROM) via a sensor interface 308 including an amplifier and an A / D converter, as in the case of FIGS. Computer 309. The computer 309 includes an input device 310 such as a keyboard for a human to input a command to the computer 309, a transmitting / receiving device 311, a display for outputting an output result of the computer 309, and an output device including a printer or an electronic image recording device. 31
3. The drive circuit of the motor 314 for driving the wheels 315 and the actuator 31 for driving the robot arm 317
6 drive circuits are connected. Robot arm 317
Are for performing various operations desired by the human 10.

The transmission / reception device 311 performs wireless communication based on, for example, the Bluetooth standard via the antenna 312 for the wearable system 11, the space mobile system 21 (the space mobile robots 21A, 21B, 21C) and the base system 23.
And an encoder / decoder, a modulator / demodulator, and an amplifier.

For example, the spatial movement system 21 (the spatial movement robots 21A, 21B, 21
When a movement command for C) is input, the computer 30
9 from the transmitting / receiving device 311 under the control of the antenna 31
2, a movement command signal is transmitted to the space movement system 21. Further, a signal transmitted from the wearable system 11 or the space movement system 21 is received by the transmission / reception device 311 via the antenna 312, and is taken into the computer 309.

Power is supplied to the sensors 301 to 303, the sensor interface 308, the computer 309, the input device 310, the transmission / reception device 311, the output device 313, and the above driver circuits by the secondary battery 318.

The above-described taxi system 22 also has a role as an information collection and analysis center as described above. Specifically, for example, data of an image captured by the visible image sensor 301 or the spatial mobile robots 21A, 21B,
Visible image sensor 213 in FIG. 7 mounted on 21C
The computer 309 performs image recognition on image data captured by the camera and transmitted by wireless communication, and the microphone 107 shown in FIG.
A, acoustic sensor 2 in FIG. 7 mounted on 21B, 21C
Speech recognition is performed by the computer 309 on the speech data detected by 35 and transmitted by wireless communication. The ground traveling system 22 also manages a wireless communication network.

Further, since the taxi system 22 has a display included in the visible image sensor 301 and the output device 313, the taxi system 2
2 and the person 10 wearing the wearable system 11 can hold a TV conference or a TV phone call.

FIG. 10 shows the base system 23 (23A, 2
3B, 23C) is a block diagram showing a system configuration. The sensor group includes a visible image sensor (may be a video camera) 401 for monitoring the three-dimensional space, and the spatial mobile robots 21A, 21B, 2 to the base system 23.
A proximity sensor 402 for detecting the proximity of 1C is provided.

The output signals from the sensors 401 and 402 are supplied to a C interface via a sensor interface 408 including an amplifier and an A / D converter in the same manner as in FIGS. 3, 7 and 9.
Computer 4 including PU and memory (RAM / ROM)
09. The computer 409 includes a keyboard and other input devices 410 for a human to input commands to the computer 409, a transmitting / receiving device 411, a docking device 413, a charger 414, and a compression cylinder 41.
5 is connected.

The transmission / reception device 411 performs wireless communication based on, for example, the Bluetooth standard between the wearable system 11, the space mobile system 21 (the space mobile robots 21A, 21B, 21C) and the ground running system 22 via the antenna 412. .

The docking device 413 allows the space mobile robots 21A, 21B, and 21C to operate in the three-dimensional space monitored by the visible image sensor 401.
A, 23B, and 23C indicate that the proximity sensor 402
Mobile robots 21A, 21
This is a device for docking by capturing B and 21C with a robot hand or the like (not shown).

The charger 414 is configured to dock the space mobile robots 21A, 21B, and 21C with the base systems 23A, 23B, and 23C by the docking device 413 in accordance with a command from the computer 309, and to transfer the space mobile robots 21A, 21B, The secondary battery 220 shown in FIGS. 6 and 7 in 21C is charged.

The compression cylinder 415 is filled with, for example, a compressed He gas (liquefied gas), and the computer 309 is in a state where the space mobile robots 21A, 21B, 21C are docked with the base systems 23A, 23B, 23C by the docking device 413. The balloon 2 shown in FIG. 5 of the space mobile robots 21A, 21B, 21C based on a command from
00 is filled with a gas such as He gas or hydrogen gas.

Next, FIG. 3 in the wearable system 10
The tendon sensor 106 shown therein will be specifically described.
The tendon sensor 106 has, for example, an emission wavelength spectrum band of 6
A light-emitting element (for example, a near-infrared light-emitting diode) in the range of near-infrared light of 00 nm to 1500 nm, and a light-receiving element (for example, a photodiode) for receiving scattered light of light from the light-emitting element are provided. The light emitting element and the light receiving element are arranged on a wrist, an arm or an ankle.

With the tendon sensor 106 having such a configuration, the movement of the wrist or the ankle, or the movement of the finger of the hand or toe or the degree of force application can be converted into an electric signal in real time and extracted. The output signal of the tendon sensor 106 is transmitted to the computer 10 via the sensor interface 108.
9, the movement of the space mobile robots 21A, 21B, 21C and the movement of the robot arm 315 in the ground traveling system 22 can be remotely controlled via the transmission / reception device 111.

The principle of detection of an example of a tendon sensor applied to a wrist and a finger will be described below with reference to FIGS. The tendon is usually wrapped in a tendon sheath, which has a synovial sheath containing synovial fluid. For near-infrared light, the tendon is a scatterer, but the synovial fluid is a medium with little light scattering and absorption (Reference 1: “Anatomy” Kanahara Publishing, Reference 2: Katsuyuki Yamamoto et al. “Near-infrared light” Measurement and control of "measurement of muscle metabolism by optical tissue oxygen monitor"
Vol. 39, No. 4, p. 283, April 2000).

Accordingly, when near-infrared light is emitted from the surface of the human body toward the tendon using the light emitting element, the light interacts with the tendon through the synovial fluid and returns to the surface of the human body again. The intensity of this return light (backscattered light) depends on the position of the tendon and tendon sheath moved in response to the movement of the arm, wrist, palm or finger, and the degree of tendon expansion and contraction. By doing so, it can function as a tendon sensor.

More specifically, the tendon sensor 106 according to the present embodiment is provided on the surface of a detection site which is at least one of an arm, a wrist, a palm, and a finger of a human body. Finger flexor (tendon), deep finger flexor (tendon), carpal flexor (tendon), total finger extensor (tendon), adductor thumb, worm-like muscle,
Tendon sheath, synovial sheath, synovial fluid, abductor muscle, elbow muscle, carpal flexor, ulna,
(E.g., a humerus), at least one light emitting element having an emission wavelength spectrum in a range of 600 nm to 1200 nm arranged to irradiate light toward the humerus, emits light from the light emitting element, and interacts with the internal tissue ( (Backscattering, forward scattering or absorption), and receives light emitted from the surface of the detected part, and generates an output signal corresponding to the received light as an output signal of the sensor on the surface of the detected part. And at least one light-receiving element arranged in the first position.

In response to the output signal from the tendon sensor 106, at least one of the arms, wrists, palms and fingers of a human body is subjected to arithmetic processing by a computer 109 which takes in the output signal via the sensor interface 108 and applies force. Condition is required. The information on the degree of movement and power obtained in this manner is transmitted to the space movement system 21, the ground traveling system 22, and the base system 23 by the transmission / reception device 111, so that the three-dimensional space robot system 12 is Remotely operated.

In FIG. 11, a flexor tendon from the forearm wrapped in the synovial sheath to the palm is irradiated by a near-infrared light emitting diode (LED) 501 from a direction perpendicular to the tendon, and a plurality of backscattered lights are emitted. Detected by a photodiode (PD) 502. In FIG. 12, the flexor tendon from the forearm to the palm similarly wrapped in the synovial sheath is irradiated by the near-infrared light emitting diode 501 in a direction parallel to the tendon, and the backscattered light is emitted from the photodiode 5.
02 is detected. The basic principle is that in any case, the deformation or movement of the optical waveguide composed of tendon and synovial fluid is detected using near-infrared light. Is a light scattering medium.

In the case of FIG. 11, since the tendon moves and expands and contracts by the movement of the finger, the synovial fluid also moves and deforms accordingly. When light from the light emitting diode 501 enters the tendon from the body surface in a direction perpendicular to the tendon, multiple scattering occurs in the tendon and synovial fluid regions,
Transmission and absorption occur, and a part of the light enters the plurality of photodiodes 502 through various optical paths. At this time, assuming that the signal outputs of the three photodiodes are S1, S2, and S3 and F is a transfer function, S1 = F (movement of the ring finger and force) S2 = F (movement of the middle finger and force) S3 = F (the movement of the index finger and the strength of the force).

Therefore, if the inverse transfer function RF of F is obtained by an experiment, the movement of the finger and the degree of application of force can be reproduced from S1, S2, and S3.

On the other hand, FIG. 12 shows a case where light is incident parallel to the superficial digital flexor muscle (tendon). In this case, the signal output S4 from the photodiode 502 is scattered light due to the bending of the wrist and the force applied. Since the intensity of the wrist changes, S4 = F using the transfer function F (the bending angle of the wrist and the strength of the force). Accordingly, by calculating the inverse transfer function RF of F from S4, it is possible to obtain the bending angle of the wrist and the degree of force application.

FIG. 13 is a view showing a specific example of mounting the muscle sensor 106 based on such a principle. In this example, the whole is configured as a wristwatch. The light emitting diodes 601 and 602 as the light emitting elements described above and the photodiode group 603 as the light receiving element are mounted on a base 600 having a band shape of a wristwatch, and further, an electronic circuit module 604 including an integrated circuit, an antenna 605, and A secondary battery 606 is mounted.

The electronic circuit module 604 includes a multiplexer 611 and a multiplexer 61 for multiplexing the output signals of the photodiode group 603 as shown in FIG.
The transmitter 612 is excited by the output signal of the transmitter 612, and the power amplifier 613 is configured to amplify the power of the output signal of the transmitter 612 and supply the amplified signal to the antenna 614. The electronic circuit module 604 also includes an LD drive circuit (not shown) for driving the light emitting diodes 601 and 602.

When the muscle sensor 106 is used as a part of the wearable system 11 in the three-dimensional spatial information providing system shown in FIGS. 1 and 2 as shown in FIG. 3, the output signal of the photodiode group 603 is Sensor 1
As the output of 06, the sensor interface 108 in FIG.
, Or a receiver for receiving radio waves transmitted from the antenna 605 may be included in the sensor interface 108.

The muscle sensor 10 described with reference to FIGS.
6 can also be applied to the control of a robot hand. FIG. 15 is a diagram showing the configuration of the receiving side in this case, and is installed at a remote place away from the position where the muscle sensor 106 is installed. The radio wave transmitted from the antenna 605 of the muscle sensor 106 is received by the antenna 620,
After amplification and detection at 21, the demultiplexer 623
Thus, components corresponding to the respective output signals of the photodiode group 603 are separated. Demultiplexer 62
The output signal of No. 3 is input to a data processing device 624 configured using, for example, a computer, and the output of the data processing device 624 controls the robot hand 625.

With such a configuration, by controlling the robot hand 625 based on the movement of a human arm, wrist or finger detected by the muscle sensor 106,
A manipulator device can be realized.

As an example of a conventional manipulator device, a skin surface electrode is arranged near the wrist of a human body to detect a surface myoelectric signal (EMG: Electromyography), and the signal is subjected to frequency analysis and neural network processing.
An experimental example in which a robot hand is moved by converting signals into signals corresponding to the movements of five fingers has been reported (Ref. 3: "Neural network recognition of skin surface myoelectric signals for controlling myoelectric operation hands"). ”Transactions of the Society of Instrument and Control Engineers V
ol. 30, No2, p216, 1964).

In this conventional example, since a complex action related to finger operation is detected as a surface EMG signal on which the sum is superimposed, the signal is given a meaning (corresponding to the movement of the finger). Signal processing must be performed. Also,
In order to increase the recognition rate, the system becomes large-scale, is not suitable for portability, and has a limit in operation speed.

On the other hand, in the muscle sensor 106 described in the present embodiment, the tendon expansion and contraction and the position fluctuation of the tendon inside the human body which dynamically transmits the movement of the arm, wrist, palm or finger and the degree of force application. Is directly detected, it is possible to control the robot hand 625 without requiring complicated signal processing as required in Reference 3.

Next, a specific application example of the three-dimensional space service providing system according to the present embodiment will be described.
Here, a case where the present invention is applied to factories, offices (offices), and hospitals will be described. However, the three-dimensional space service providing system can be applied to other uses.

(In the case of a factory) First, a case where the three-dimensional space service providing system of the present embodiment is applied to a production line of a manufacturing factory or a maintenance factory such as an automobile, an aircraft or a ship will be described. When the three-dimensional space service providing system of the present embodiment is applied to a production line, a worker working on the production line wears the wearable system 11. By monitoring the production line from the three-dimensional space by the three-dimensional robot system 12, the safety and hygiene of the worker can be managed, and the work efficiency can be improved. Further, the fatigue state of the worker can be monitored by the three-dimensional space robot system 12 via the wearable system 11.

On the other hand, when the three-dimensional space service providing system according to the present embodiment is applied to a maintenance shop, the worker sets the maintenance target on the display 11 of the wearable system 11.
3 allows the user to work while watching. The management of worker safety and hygiene, the improvement of work efficiency, and the monitoring of worker fatigue are the same as in the case of application to a production line.

(In the case of an office) When the three-dimensional space service providing system of the present embodiment is applied, a TV conference or a TV telephone can be performed from an arbitrary place in a room where staff members are performing business by the three-dimensional space robot system 12. It is possible to do. Further, since the living room environment monitor and the psychological state and the health state can be monitored simultaneously by the three-dimensional spatial robot system 12 via the wearable system 11, even if the staff is working alone alone, safety is ensured. Can manage health. Further, it is possible to request the taxi system 22 or the space movement system 21 of the three-dimensional space robot system 11 to perform copying, searching for materials, tea service, and the like. That is, in this case, the three-dimensional space service providing system functions as a competent secretary.

(In the case of a hospital) If the three-dimensional space service providing system of this embodiment is applied, for example, the patient's biological information can be three-dimensionally transmitted through the wearable system 11 while the patient is lying on a normal bed. It can be constantly monitored by the space robot system 12.

If the patient requests by voice, the three-dimensional space robot system 11, especially the space movement system 21 (space movement robots 21A, 21B, 21C) approaches the patient from the ceiling and performs TV conversation with the doctor. Can be. In addition, the space movement system 21 and the taxi system 22
The function as a care robot can be performed in cooperation. Furthermore, it is possible to make a comprehensive judgment on the patient's biological information, facial expression, and movement via the wearable system 11, and to automatically contact the doctor as needed.

[0086]

As described above, according to the present invention, a higher level of information and information can be obtained for persons working in various facilities such as various factories, offices and hospitals and patients in hospital rooms. A service providing system in a three-dimensional space capable of providing services such as work can be provided.

[Brief description of the drawings]

FIG. 1 is a diagram showing an outline of a service providing system in a three-dimensional space according to an embodiment of the present invention;

FIG. 2 is a diagram showing a schematic configuration of a service providing system in a three-dimensional space according to the embodiment;

FIG. 3 is a block diagram showing a specific configuration example of a wearable system according to the embodiment;

FIG. 4 is an exemplary diagram showing a more specific configuration example of a service providing system in a three-dimensional space according to the embodiment;

FIG. 5 is a diagram showing a configuration of a space mobile robot in the embodiment.

FIG. 6 is a sectional view showing a mounting structure of the space mobile robot in the embodiment.

FIG. 7 is a block diagram showing a specific example of a system configuration of the space mobile robot according to the embodiment;

FIG. 8 is a view showing various operation examples of the space mobile robot in the embodiment.

FIG. 9 is a block diagram showing a specific configuration example of a taxiing system in the embodiment.

FIG. 10 is a block diagram showing a specific configuration example of a base station system according to the embodiment;

FIG. 11 is a diagram illustrating the principle of a tendon sensor according to the embodiment;

FIG. 12 is a diagram illustrating the principle of the tendon sensor according to the embodiment;

FIG. 13 is a diagram showing a mounting example of the tendon sensor according to the embodiment;

FIG. 14 is a block diagram illustrating an example of a system configuration on a transmission side when the tendon sensor according to the embodiment is used for remote control of a hand robot.

FIG. 15 is a block diagram showing a system configuration example on the receiving side when the tendon sensor according to the embodiment is used for remote control of a hand robot.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 ... Wearable system 12 ... Three-dimensional space robot system 13 ... Communication system 21 ... Space movement system 22 ... Ground running system 23 ... Base system 24 ... Hoisting wrench 25 ... Wires 21A, 21B, 21C ... Space movement robot 23A ... Ground base system 23B ... wall base system 23C ... ceiling base system 101-107 ... sensor group 109 ... computer 110 ... input device 111 ... transceiver device 112 ... antenna 113 ... display 114 ... speaker 200 ... balloon 201 ... hood 202 ... propeller drive motor 203 ... main Propeller 204 Actuator 205 Serpentine 206 Sub-propeller 207 Wheel 211 Insulating film 212 Thin-film solar cell 213 Sensor group 219 Integrated circuit 220 Thin-film secondary battery 239 Computer 240 Propulsion device 241 Transmission / reception device 242 Antenna 301-323 Sensor group 309 Computer 310 Input device 311 Transmission / reception device 312 Antenna 313 Output device 314 Motor 315 Wheel 316 Actuator 317 Robot arm 318 ... Secondary batteries 401 to 402... Sensor group 409... Computer 410... 603 light receiving element 604 integrated circuit 605 antenna 606 secondary battery 611 multiplexer 612 transmitter 613 power amplifier 621 receiver 623 demultiplexer 624 data processing device 62 5 ... Robot hand

Claims (6)

[Claims] 1. A wearable system mounted on a human body, and a three-dimensional space robot system including a part configured to be movable to an arbitrary position in a three-dimensional space, wherein the wearable system includes at least the A first sensor group for detecting human biological information and voice, and a detection signal from the first sensor group is transmitted to the three-dimensional space robot system, and a signal transmitted from the three-dimensional space robot system is received. A first transmission / reception device, and a first computer for processing a signal transmitted / received by the first transmission / reception device, wherein the three-dimensional space robot system detects at least the human image information and information inside the three-dimensional space.
A sensor group, a second transmission / reception device that transmits a detection signal from the second sensor group to the wearable system, receives a signal transmitted from the wearable system, and processes a signal transmitted / received by the second transmission / reception device. The three-dimensional robot system communicates with the wearable system to provide a service including at least one of information and work required by the human by understanding the human intention. Characteristic three-dimensional space service providing system. 2. The wearable system according to claim 1, further comprising: a tendon sensor for determining at least one of a movement, a force, and a force of an arm, a wrist, a palm, and a finger of a human body as a part of the first sensor group. 1 computer obtains at least one of the movement of the arm, the wrist, the palm and the finger and the strength of the force by an arithmetic processing from the output signal of the tendon sensor, and the first transmitting / receiving device obtains the information of the movement and the strength of the force. The system for providing services in a three-dimensional space according to claim 1, wherein the service is transmitted to the three-dimensional space robot system. 3. The tendon sensor is disposed on a surface of a detection site, which is at least one of an arm, a wrist, a palm, and a finger of a human body, so as to irradiate light toward an internal tissue of the detection site. Emission wavelength spectrum of 600 nm to 1200 nm
At least one light-emitting element within the range of, and receives light emitted from the light-emitting element and emitted from the surface of the detection site after interacting with the internal tissue, and outputs according to the received light. 3. The service providing system in a three-dimensional space according to claim 2, further comprising: at least one light receiving element disposed on a surface of the detected part so as to generate a signal as an output signal of the tendon sensor. 4. The three-dimensional space robot system comprises: a space movement system provided so as to float in the three-dimensional space and a ground traveling system provided so as to run on the ground in the three-dimensional space. 2. The three-dimensional space according to claim 1, wherein the ground traveling system performs the process of providing the service by grasping the understanding of the human intention by itself or via the space movement system. 3. Service delivery system. 5. The space moving system has at least one space moving robot composed of a balloon and a propulsion device for applying a propulsive force to the balloon, wherein the balloon has the second sensor group and a second transceiver. The service providing system in a three-dimensional space according to claim 4, further comprising a second computer and a second computer. 6. An emission wavelength spectrum arranged on a surface of a detection site which is at least one of an arm, a wrist, a palm and a finger of a human body so as to irradiate light toward an internal tissue of the detection site. At least one light emitting element having a wavelength within a range of 600 nm to 1200 nm, and light emitted from the light emitting element and emitted from the surface of the detection site after interacting with the internal tissue, and the received light is received. At least one light-receiving element arranged on the surface of the detected part so as to generate an output signal corresponding to the at least one of an arm, a wrist, a palm, and a finger of a human body by an arithmetic processing from an output signal of the light-receiving element. And a means for determining the degree of movement and force.