JP2006174185A - Topology estimation system and topology estimation method, its program, and recording medium - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To estimate object topology of all space by a simple system composition even in space where objects such as many human beings, robots, etc. comparatively densely exist. <P>SOLUTION: An object device is provided with an ID transmitter which transmits around a self object ID and a transmission direction ID, an ID receiver which receives the object ID and the transmission direction ID transmitted from an around other object device, and an information sending part which sends a self object ID, an object ID of a received other object device, and a transmission direction ID to a circumstance device. The circumstance device is provided with a an information receiver which receives object information transmitted from the object device, a database part which stores received object information, and a processing part which obtains relative position relation with other objects for each object based on the stored object information, and obtains object topology from the accumulated data of the acquired relative position relation. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a system for estimating a topology indicating a connection between objects existing in a space where an information support service is provided.

  In recent years, mobile users have accessed various digital information through wireless communication. For this reason, in selecting appropriate information from a vast amount of digital information, situation dependency is becoming increasingly important.

  In a space with many objects such as humans, robots, and exhibits, the interaction information between objects is important for situation estimation. To obtain this interaction information, the absolute position of each object in the space is indicated. Rather than using absolute position coordinates, it is considered more useful to use a topology that shows the connection of all objects in the space obtained from the relationship between the relative positions and orientations of the objects. In particular, if it is possible to estimate not only the positional relationship between objects but also the orientation relationship, it is more suitable for the situation of users who change from moment to moment when users such as humans and robots move in exhibits and environmental objects. Various information support can be realized.

  However, in the past, the absolute position of an object was determined with high accuracy, so the conventional method for detecting positions using multiple cameras and a position detection system using ultrasonic waves, magnetic fields, infrared light, and radio waves could be used. If high-accuracy position detection is performed in a congested space such as various event venues such as exhibition halls and reception halls, there are cases where it takes time to arrange the apparatus and the detection accuracy becomes unstable.

  Therefore, in view of the circumstances as described above, the present invention can estimate the object topology in the entire space with a simple system configuration even in a space where a large number of objects such as humans and robots exist relatively densely. An object of the present invention is to provide a topology estimation system and a topology estimation method, a program thereof, and a recording medium.

  In order to solve the above problems, the present invention firstly, object information wirelessly transmitted from the object device 1 of each object existing in the space, for example, as illustrated in the functional block diagram of FIG. In the topology estimation system that estimates the topology of an object in the space by the environment device 2 based on the object device 1, the object device 1 includes an ID transmission unit 11 that transmits its own object ID and a transmission direction ID of the object ID to the surroundings, ID receiving unit 12 that receives the object ID and transmission direction ID of the other object device 1 transmitted by the other object device 1, and the object ID and transmission direction ID of the received other object device 1 and the other object device 1 Object information including and environment The environment device 2 includes an information receiving unit 21 that receives the object information transmitted by the object device 1, a database unit 22 that stores the received object information, and a storage unit that stores the received object information. Topology estimation characterized by having a processing unit 23 for obtaining a relative positional relationship with another object for each object based on the object information, and obtaining an object topology from the obtained set data of the relative positional relationship Provide a system.

  Second, the ID estimation unit 11 of the object device transmits the object ID and the transmission direction ID in a direction indicated by the transmission direction ID by an electromagnetic wave that travels straight through the space. system.

  Third, in a topology estimation method for estimating the topology of an object in the space by the environmental device based on the object information wirelessly transmitted from the object device of each object existing in the space, the information is transmitted from one object device. Further, the object information including the object ID and the object ID and the transmission direction ID of the other object device transmitted from the other object device and received by the one object device is collected and collected by the environmental device. Provided is a topology estimation method characterized in that a relative positional relationship with other objects is obtained for each object based on object information, and an object topology is obtained from a set data of the obtained relative positional relationships.

  4th and 5th provide the topology estimation program for making a computer perform the said topology estimation method, and the computer-readable recording medium which recorded the said program.

  According to the first topology estimation system, an object device is attached to each object such as a human being, a robot, and an exhibit existing in the target space, and the object ID between the object devices and its transmission direction ID, that is, which direction Information indicating whether or not the object ID has been transmitted (hereinafter, the object ID and the transmission direction ID are collectively referred to as “ID”) and the object information as a result of the exchange from each object device to the environmental device Based on the collected object information, the relative positional relationship with other objects, that is, the local and relative positional relationship centered on each object is obtained for each object, and the set data of this relative positional relationship Object topology of the whole space, that is, empty Overall and relative positions of all objects between the inner can be estimated.

  More specifically, for example, in a situation where the object devices A, B, C, and D possessed by each object existing in the space where the information support service is provided wirelessly send their IDs to the surroundings. First, when the object device A receives the IDs from the object devices B, C, and D, and wirelessly transmits its own object ID and the received other ID to the environmental device, the object device A and the other object ID Based on this, it can be seen that the object device A exists in the surrounding space of the object devices B, C, D, that is, within the range in which the ID transmitted from the object devices B, C, D can be received. The positional relationship with the devices B, C, and D can be determined, and the object device A can detect other objects based on the transmission direction ID. Object device B, C, can tell receives that originate ID toward any direction from D, thus it can be determined object device B, C, the directional relationship between D. As a result, the relative positional relationship represented by the position and direction with respect to the object devices B, C, and D with the object device A as the center is obtained.

  Similarly, the relative positional relationship with respect to each of the other object devices B, C, D is obtained.

  Then, the relative positional relationships among these object devices A, B, C, and D are aggregated to obtain the relative positional relationship between all the object devices A, B, C, and D in the entire space. This process executes a method for finding the optimal solution that eliminates or reduces the relative position of each relative positional relationship as much as possible, such as recursive operation, EM algorithm, spring model, Bayesian network, genetic algorithm, etc. And you can do it.

  Here, for example, when the object device A has not received the ID from the object device D, information on the relative positional relationship with respect to the object device D around the object device A cannot be obtained. In addition, this shows that the object device A and the object device D are not close to each other when viewed in the entire space.

  Further, for example, the object device A receives the ID from the object device B in front of it, but does not receive the ID from the object device D in front of it, and the object device B is behind the object device B. When both the ID from the device A and the ID from the object device D ahead are received, the relative positional relationship with respect to the object device D with respect to the object device A is unknown, but the object device B is the center. Since the relative positional relationship between the object device A and the object device D is known, the relative positional relationship among the object device A, the object device B, and the object device D can be estimated from these.

  Of course, innumerable cases other than these are conceivable, but as can be understood from the above description, the relative positional relationship of each object device A, B, C, D is a local relative to each other. The relative positional relationship obtained by collecting and analyzing as described above can be called the overall relative positional relationship between objects in the space, and this can be called the spatial positional relationship. This is an object topology showing the connection of all objects as seen from the whole.

  Note that the transmission direction ID included in the ID that the object device wirelessly transmits to the surroundings is information that is set in advance and stored in the device as to which direction the ID is transmitted from the object device. ID must also travel in that direction in the surrounding space. Therefore, as in the second topology estimation system described above, it is preferable to use electromagnetic waves that travel straight through the space for ID transmission, so that the ID is accurately transmitted in the direction indicated by the transmission direction ID. The ID is propagated along the direction in the surrounding space. As this electromagnetic wave, the one having directivity such as light such as infrared light or ultrasonic waves can be considered. For straightness and directivity, for example, when the transmission direction is set to 8 directions around the object device (front / rear left / right, right front / left front, right rear / left rear), There is a need for a degree of advancement that does not interfere with the direction, or even within the range that is acceptable in the topology estimation process even if there is interference.

  According to the third topology estimation method, a method that achieves the same effect as that of the first system is realized. According to the fourth and fifth programs and the recording medium, the same effect as the above method can be achieved. The obtained computer program and a recording medium such as a flexible disk, CD, or DVD on which it is recorded are realized.

  As an embodiment of the present invention, first, for the object device 1, for example, an optical ID transmitter (corresponding to the ID transmitter 11) that transmits its object ID and transmission direction ID to the surroundings in multiple directions with infrared light, for example. ), An optical ID sensor (corresponding to the ID receiving unit 12) that receives the object ID and transmission direction ID of the other object device 1 transmitted by the other object device 1 in the vicinity, and the own object ID A wireless LAN transmitter (corresponding to the information transmitting unit 13) that transmits object information including an object ID and a transmission direction ID of another object device 1 to the environment device 2 may be provided.

  As a more specific example, for example, as illustrated in FIGS. 2A and 2B and FIGS. 3A and 3B, the user wears the object device 1 from the neck and wears it. The front device (see FIG. 2) in charge of ID transmission and ID reception in the front half direction and the back device (see FIG. 3) in charge of ID transmission and ID reception in the rear half direction are hung from the neck. In such a state, it is incorporated so as to face the direction in which ID transmission and reception are possible. As a result, ID transmission and ID reception can be performed with the object device 1 worn by another person located in the transmission and reception range permitted by the front device and the back device.

  Of course, as long as ID transmission / reception with the surroundings and information transmission to the environmental device are possible, it is needless to say that the present invention is not limited to this form. The optical ID transmitter, front device / back device, optical ID sensor, wireless In addition to the LAN transmitter, an appropriate form can be adopted. Further, when various objects such as a robot are mounted, the form may be suitable for each.

  On the other hand, for the environmental device 2, for example, a wireless LAN base station (corresponding to the information receiving unit 21) that receives object information transmitted by the object device 1 and a database (stored in the database unit 22) that stores the received object information. And a computer that obtains an object topology from a set data of the obtained relative position relations (corresponding to the processing unit 23). Can be provided.

  In this case, for example, a plurality of wireless LAN base stations can be installed at appropriate positions in the space, for example, every 10 to 20 m so as to become wireless LAN access points. In addition, the database and the computer that handle data sent from these base stations may be separate or integrated with each other. In the former case, each is constructed so that data communication is possible, and in the latter case As an environment server, it can be constructed to execute accumulation and estimation processing in accordance with the instructions of the program stored in the main memory by the data file device and the central processing unit (CPU) in the server. If there are several hundred objects in the wireless LAN area and object information data is transmitted to the environment server via the wireless LAN base station, for example, every second, stable reception can be performed on the server side. There is a need.

As an object for which the system including the object device 1 and the environment device 2 as one embodiment as described above is a topology estimation target, for example,
・ A robot that can move around below a certain speed and emit odometer information,
・ People who move around based on preferences, schedules, relationships with other objects, etc.
・ Exhibits that are usually fixed in position and facility objects (also called stationary objects) can be considered.

In addition, as environmental information stored in advance by the environmental server,
・ Map information of space such as facilities,
・ Moveable area of each object,
The position and orientation of stationary objects,
And so on.

  Object topology estimation is performed using object information from each object device as described above, as well as these environment information. However, all or part of the environment information may be available in advance before estimation. For example, it is conceivable that all environment information is estimated based on information reception histories from all objects.

  Hereinafter, an outline of topology estimation will be described using an example shown in FIG.

  In the example of FIG. 4, there are an exhibit and five people around it as objects, and object devices assigned IDs 1 to 6 are attached to the objects, respectively. It is assumed that ID transmission and ID reception in the four rear directions are performed.

  First, the object of ID6 receives the information that ID2 is standing on the left front with a certain probability. In this positional relationship, there is a possibility that the display panel of ID1 may be blocked by ID2 when viewed from ID6, but information that ID6 exists in front of ID1 may be obtained. In front of ID6, it is detected that ID3 is present facing backward and ID5 is present facing forward. Although this information is obtained probabilistically due to the direction error of the ID transmitter / receiver and the detection omission, as described above, it is only the local relative positional relationship data, and finally, the data is aggregated. Based on this, the overall relative positional relationship, that is, the object topology, in which the contradiction of the object information of all objects is reduced, is estimated.

  Further, the area where the ID4 robot exists is relatively large when viewed from ID6. However, if ID4 has not received information from ID2 or ID5, there is a high possibility that it exists in the area behind ID6. On the other hand, ID3 and ID5 are present in front of ID6, and the positional relationship between ID5 and ID3 can also be distinguished from each other, so that not only the topology but also the positional accuracy is improved.

  The topology estimation accuracy is recursively estimated by a technique such as the EM algorithm using the position estimation as described above. At this time, the resolution of the ID transmission direction of the device (there may be a transmission of only the object ID without attaching a direction ID in all directions, or there is a high resolution of transmission with a direction ID in eight directions, for example) and ID reception resolution It depends on. In addition, it varies depending on whether all directions can be covered. For example, when transmitting from the neck to the side, ID transmission in all directions becomes probabilistic, such as when the shoulder becomes an obstacle and the ID does not reach the lower method. . In addition, there are influences such as a reception probability according to the reach distance, a blocking rate by an obstacle, and an interference rate at the time of simultaneous ID transmission. In addition, there may be a delay and a probability of arrival when transmitting radio waves.

  As described above, the topology of the entire object in the target space, that is, the overall and relative positional relationship of the object can be estimated. This is nothing but the generation of an object topology model that changes every moment in the entire space in real time based on object information that is sequentially acquired and collected.

  This object topology model can be expressed as a virtual topology map on a computer that is composed of the overall and relative positional relationship of objects in the target space, and can be used for various types that are more suitable for each user in the target space. Realization of information support.

  In the example of FIG. 4, for example, it is possible to grasp from the topology map that there are many other users such as the user ID 2 and the user ID 3 between the exhibit ID 1 and the user ID 6 and the exhibit ID 1 is difficult to see. In this case, it is possible to provide individual information support for the user ID 6 such as presenting guidance information that prompts the user to move to another exhibit via some medium.

It is a functional block diagram for demonstrating this invention. (A) and (b) are the figures which showed the whole image and enlarged image of one Embodiment of the object apparatus in this invention, respectively. (A) and (b) are the figures which showed the whole image and enlarged image of one Embodiment of the object apparatus in this invention, respectively. The conceptual diagram which showed an example of the positional relationship of an object.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Object apparatus 11 ID transmission part 12 ID reception part 13 Information transmission part 2 Environmental apparatus 21 Information reception part 22 Database part 23 Processing part

Claims (5)

In a topology estimation system for estimating the topology of an object in the space by an environmental device based on object information wirelessly transmitted from the object device of each object existing in the space,
Object device
An ID transmitter that transmits its own object ID and transmission direction ID to the surroundings;
An ID receiving unit that receives an object ID and a transmission direction ID of the other object device transmitted by other object devices in the vicinity, and includes its own object ID and the received object ID and transmission direction ID of the other object device It has an information transmission unit that transmits object information to the environmental device,
Environmental equipment
An information receiving unit for receiving object information transmitted by the object device;
A database unit that accumulates received object information, and a processing unit that obtains the relative positional relationship with other objects for each object based on the accumulated object information, and obtains the object topology from the set data of the obtained relative positional relationship A topology estimation system characterized by comprising: 2. The topology estimation system according to claim 1, wherein the ID transmission unit of the object device transmits the object ID and the transmission direction ID in a direction indicated by the transmission direction ID by an electromagnetic wave traveling straight through the space. In the topology estimation method for estimating the topology of the object in the space by the environmental device based on the object information wirelessly transmitted from the object device of each object existing in the space,
Object information transmitted from one object device, including its own object ID and the object ID and transmission direction ID of the other object device transmitted by the other object device and received by the one object device, Collected by the device,
A topology estimation method characterized in that a relative positional relationship with another object is obtained for each object based on collected object information, and an object topology is obtained from a set data of the obtained relative positional relationships.   A topology estimation program for causing a computer to execute the topology estimation method according to claim 3. A computer-readable recording medium on which the topology estimation program according to claim 4 is recorded.