JP2014215053A - Azimuth detection device, method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately detect the rotation angle of a detection object centering on each coordinate axis of a three-dimensional orthogonal coordinate system in an azimuth detection device, method, and program.SOLUTION: The azimuth detection device is provided with a processor for estimating a yaw angle, a roll angle, and a pitch angle on the basis of an output detection signal from an optical sensor unit for receiving linearly polarized light from a light source. The sensor unit has one top face, a main body forming a polyhedron having M side faces (M is a natural number equal to or greater than 3), three or more polarized light receiving sensors disposed on the top face so as to differ in polarization direction by a certain angle from each other, and a plurality of non-polarized light receiving sensors disposed on the M side faces at intervals of a certain angle. The processor is configured to estimate the yaw angle on the basis of output detection signals of the three or more polarized light receiving sensors, and estimate the roll angle and pitch angle on the basis of output detection signals of the plurality of non-polarized light receiving sensors.

Description

  The present invention relates to an orientation detection device, method, and program.

  The orientation detection device can be used to detect the orientation of a person's head, the orientation of the person, and the like, which are examples of detection objects. For example, by knowing the orientation of a person's head, it is possible to collect information such as what the person is looking at and what he is interested in. In addition, by tracking the movement of a person's head, it is possible to feed back information related to the movement of the head that has been tracked in an interaction with a computer, a user interface, or the like. By using feedback information about the tracked head movement, various devices can be controlled by human movement (or gestures), information that is judged to be of interest to a person, and a sound field that takes into account the direction of the person. It is possible to provide various services such as control of audio equipment for generation.

  In the first example of the orientation detection device, the orientation of a person is detected using an acceleration sensor and a magnetic sensor attached to the person. However, in this first example, since the magnetic sensor is affected by disturbance of environmental magnetism, it is difficult to accurately detect the direction of the person.

  On the other hand, in the second example of the azimuth detecting device, light from a light source is irradiated to an optical sensor attached to a person, and the azimuth of the person is optically detected based on the received light intensity of the optical sensor. However, in this second example, it is difficult to accurately detect the direction of a person unless the light source irradiates light in a specific direction with respect to the optical sensor or uses a plurality of light sources.

  In the first and second examples described above, it is difficult to accurately detect the rotation angle of the detection target around each coordinate axis of the three-dimensional orthogonal coordinate system. That is, in the first and second examples described above, it is difficult to accurately detect, for example, the yaw (Yaw) angle, pitch (Pitch) angle, and roll (Roll) angle of the human head.

Japanese Utility Model Publication No. 6-40804 JP-A-9-319505

  In the conventional azimuth detecting device, it is difficult to accurately detect the rotation angle of the detection target around each coordinate axis of the three-dimensional orthogonal coordinate system.

  Therefore, an object of the present invention is to provide an azimuth detecting device, method, and program capable of accurately detecting a rotation angle of a detection target around each coordinate axis of a three-dimensional orthogonal coordinate system.

  According to one aspect of the present invention, an optical sensor unit that receives linearly polarized light from a light source, and a processor that estimates a yaw angle, a roll angle, and a pitch angle based on an output detection signal from the optical sensor unit, The yaw angle is a rotation angle about the Z axis perpendicular to the XY plane parallel to the ground of the XYZ coordinate system, the roll angle is a rotation angle about the X axis, and the pitch angle is a rotation about the Y axis. The sensor unit is arranged such that a main body forming a polyhedron having one upper surface, M (M is a natural number of 3 or more) side surfaces, and polarization directions are different from each other by a certain angle on the upper surface. Three or more polarized light receiving sensors and a plurality of non-polarized light receiving sensors arranged at a predetermined angular interval on the M side surfaces, wherein the processor is based on output detection signals of the three or more polarized light receiving sensors. Before Estimating the yaw angle, the orientation detecting device for estimating the roll angle and the pitch angle based on the plurality of output detection signal of the unpolarized light receiving sensor is provided.

  According to the disclosed azimuth detection apparatus, method, and program, it is possible to detect a rotation angle of a detection target around each coordinate axis of a three-dimensional orthogonal coordinate system.

It is a figure which shows an example of the light source and direction detection apparatus in one Example. It is a figure which shows an example of the external appearance of an azimuth | direction detection apparatus. It is a block diagram which shows an example of the hardware constitutions of the direction detection apparatus in one Example. It is a perspective view which shows an example of an optical sensor part. It is a top view which shows an example of an optical sensor part. It is a figure which shows an example of a polarized light receiving sensor. It is a figure which shows an example of a non-polarization light receiving sensor. It is a figure explaining an example of arrangement | positioning of a polarization light receiving sensor. It is a figure explaining an example of the relationship between an optical sensor part and each coordinate axis of a three-dimensional orthogonal coordinate system. It is a figure explaining the light-receiving area of a polarization light receiving sensor. It is a figure explaining the output of a polarization light receiving sensor. It is a figure which shows an example of polarized light received light intensity distribution. It is a figure which shows an example of a yaw angle. It is a figure explaining a roll angle and a pitch angle. It is a figure which shows an example of a ratio table. It is a flowchart explaining an example of an azimuth | direction detection process. It is a figure explaining the other example of arrangement | positioning of a light source. It is a figure explaining an example of the direction detection process in arrangement | positioning of the light source shown in FIG. It is a figure explaining estimation of the yaw angle in arrangement | positioning of the light source shown in FIG. It is a figure which shows the other example of an optical sensor part. It is a block diagram which shows an example of the hardware constitutions of the orientation detection apparatus in another Example. It is a figure explaining an example of the position detection of a some detection target. It is a figure which shows an example of the light source and orientation detection apparatus in another Example. It is a flowchart explaining an example of offline processing. It is a figure explaining an example of a grid. It is a flowchart explaining an example of online processing.

  In the disclosed orientation detection apparatus, method, and program, the processor estimates the yaw angle, roll angle, and pitch angle based on an output detection signal from an optical sensor unit that receives linearly polarized light from a light source. The sensor unit includes a main body forming a polyhedron having one upper surface, M (M is a natural number of 3 or more) side surfaces, and three or more polarizations arranged on the upper surface so that the polarization directions are different from each other by a predetermined angle. A light receiving sensor and a plurality of non-polarized light receiving sensors arranged at a predetermined angular interval on the M side surfaces. The processor estimates a yaw angle based on output detection signals of the three or more polarized light receiving sensors, and estimates a roll angle and a pitch angle based on output detection signals of the plurality of non-polarized light receiving sensors.

  Embodiments of the disclosed orientation detection apparatus, method, and program will be described below with reference to the drawings.

  FIG. 1 is a diagram illustrating an example of a light source and an orientation detection device according to an embodiment. In FIG. 1, a light source 11 is installed on a ceiling in a building, for example, and is directed to a predetermined polarization direction toward a floor in the building (that is, along a direction parallel to a Z-axis direction of an XYZ coordinate system described later). (I.e., linearly polarized light). A person 100 as an example of a detection target is equipped with an orientation detection device 21 described later, and the orientation detection device 21 detects light from the light source 11.

  FIG. 2 is a diagram illustrating an example of the appearance of the orientation detection device. In the example shown in FIG. 2, the azimuth detecting device 21 has the form of a headset and is attached to the head 100-1 of the person 100. The direction detection device 21 has an optical sensor unit 24 described later.

  FIG. 3 is a block diagram illustrating an example of a hardware configuration of the azimuth detecting device according to the embodiment. In this example, the azimuth detecting device 21 includes a CPU (Central Processing Unit) 22, a memory 23, an optical sensor unit 24, a communication unit 25, and a database (DB: Data-Base) unit 26 connected as shown in FIG. Have. The CPU 22 is an example of a processor or a computer, and controls the entire direction detection device 21. The memory 23 is an example of a storage unit, and stores various data such as a program executed by the CPU 22 and intermediate data of an operation executed by the CPU 22. The configuration of the optical sensor unit 24 that detects light from the light source 11 will be described later. The communication unit 25 is an example of a communication unit that communicates with an external device (not shown) in a wired and / or wireless manner. The azimuth detecting device 21 can transmit sensing information such as a yaw angle ψ, a pitch angle θ, and a roll angle φ estimated as described later from the communication unit 25 to an external device. The external device may communicate with the communication unit using, for example, a short-range wireless communication protocol including Bluetooth (registered trademark), provide a service based on sensing information from the direction detection device 21, You may change the contents of. The DB unit 26 has a database that stores various parameters, and may be provided in the memory 23.

  The storage means can be formed by a computer-readable storage medium. The computer-readable storage medium may be a semiconductor storage device. When the computer-readable storage medium is a magnetic recording medium, an optical recording medium, a magneto-optical recording medium, or the like, the storage means can be formed by a reader / writer that reads / writes information from / to the loaded recording medium.

  FIG. 4 is a perspective view showing an example of the optical sensor unit. In this example, as shown in FIG. 4, the optical sensor unit 24 includes a main body 241 having a triangular frustum shape. The main body 241 has a triangular upper surface 24-1, a triangular bottom surface 24-2, and three trapezoidal side surfaces (or slopes) 24-3.

  FIG. 5 is a plan view showing an example of the optical sensor unit. As shown in FIG. 5, three polarized light receiving sensors 241a1, 241b1, and 241c1 are provided on the upper surface 24-1 of the main body 241. The polarized light receiving sensors 241a1, 241b1, and 241c1 are disposed along corresponding sides of the upper surface 24-1. In addition, non-polarized light receiving sensors 241a2, 241b2, and 241c2 are provided on the three side surfaces 24-3 of the main body 241. The non-polarized light receiving sensors 241a2, 241b2, and 241c2 are disposed along the corresponding side of the bottom surface 24-2 or the corresponding side of the top surface 24-1.

  FIG. 6 is a diagram illustrating an example of a polarized light receiving sensor. The polarized light receiving sensor 241-1 shown in FIG. 6 can function as each polarized light receiving sensor 241a1, 241b1, 241c1. In FIG. 6, (a) shows a plan view of the polarized light receiving sensor 241-1 and (b) shows a side view of the polarized light receiving sensor 241-1. The polarized light receiving sensor 241-1 has a configuration in which a polarizing film 31 is provided on a light receiving sheet 32. In FIG. 6A, the parallel solid line shown in the polarizing film 31 schematically indicates the polarization direction. The surface of the light receiving sheet 32 and the surface of the polarizing film 31 are parallel to each other and parallel to the upper surface 24-1 to be attached. The area of the polarizing film 31 may be equal to or larger than the area of the light receiving sheet 32. Since the polarized light receiving sensor 241-1 receives the light from the light source 11 by the light receiving sheet 32 through the polarizing film 31, the received light accompanying the change in the posture of the optical sensor unit 24 (that is, the change in the posture of the head 100-1). The received light intensity can be detected based on the change in area.

  Since the deflection light receiving sensor 241-1 has the polarizing film 31, the polarization directions of the polarization light receiving sensors 241a1, 241b1, and 241c1 are different from each other by a certain angle as schematically shown by parallel solid lines in FIG. Then, they are different from each other by 120 °.

  FIG. 7 is a diagram illustrating an example of a non-polarized light receiving sensor. The non-polarized light receiving sensor 241-2 shown in FIG. 7 can function as the non-polarized light receiving sensors 241a2, 241b2, and 241c2. 7A is a plan view of the non-polarized light receiving sensor 241-2, and FIG. 7B is a side view of the non-polarized light receiving sensor 241-2. The non-polarized light receiving sensor 241-2 has a light receiving sheet 33 and does not have a polarizing film.

  FIG. 8 is a diagram for explaining an example of the arrangement of polarized light receiving sensors. 8A is a plan view of the polarized light receiving sensor 241-1 arranged horizontally, for example. FIG. 8B is a side view of the non-polarized light receiving sensor 241-2 arranged inclined, for example. In this example, the inclination angle of the side surface 24-3 and the non-polarized light receiving sensor 241-2 with respect to the horizontal plane (or the bottom surface 24-2) is α, and the vertical direction along the side surface 24-3 of the non-polarized light receiving sensor 241-2. The length in the direction is l.

  FIG. 9 is a diagram for explaining an example of the relationship between the optical sensor unit and each coordinate axis of the three-dimensional orthogonal coordinate system. FIG. 9 shows a state in which the upper surface 24-1 and the bottom surface 24-2 of the optical sensor unit 24 are parallel to the XY plane of the XYZ coordinate system, which is an example of a three-dimensional orthogonal coordinate system. The light source 11 includes a light emitting diode (LED) 11A and a linear polarization filter (or film) 11B. The center of rotation of the head 100-1 of the person 100 is indicated by C. In addition, a distance along the Z axis between the center of the optical sensor unit 24 and the rotation center C of the head 100-1 is denoted by D. For example, a rotation angle about the Z axis perpendicular to the XY plane is a yaw angle Ψ, a rotation angle about the Y axis is a pitch angle θ, and a rotation angle about the X axis is rolled. (Roll) The angle φ is defined.

  FIG. 10 is a diagram for explaining the light receiving area of the polarized light receiving sensor. In FIG. 10, a 1, b 1, c 1 indicate the light receiving areas of the polarized light receiving sensors 241 a 1, 241 b 1, 241 c 1, and the broken line indicates the polarization direction of the light source 11. Since there is a quantitative relationship between the received light intensity of the polarized light receiving sensors 241a1, 241b1, 241c1 having the polarizing film 31 and the yaw angle Ψ, the polarized light receiving sensors 241a1, 241b1 are used by using a known method. , 241 c 1, the yaw angle ψ can be estimated from the ratio of the total three-phase polarized light reception intensity. Further, the pitch rotation section can be specified based on the phase difference between the output detection signals of the polarized light receiving sensors 241a1, 241b1, and 241c1.

  FIG. 11 is a diagram for explaining the output of the polarized light receiving sensor. In this example, for convenience of explanation, an ADC (Analog-to-Digital Converter) for converting the output detection signals of the respective polarization light receiving sensors 241a1, 241b1, and 241c1 from analog to digital is provided in the optical sensor 24. Is output to the CPU 22. Further, an ADC (Analog-to-Digital Converter) for converting the output detection signals of the non-polarized light receiving sensors 241a2, 241b2, 241c2 from analog to digital is provided in the optical sensor 24, and the digital detection signals are output to the CPU 22. . In FIG. 3, it goes without saying that an ADC may be provided between the optical sensor unit 24 and the CPU 22.

  FIG. 12 is a diagram illustrating an example of the polarization received light intensity distribution. FIG. 12 shows a polarization received light intensity distribution when the upper surface 24-1 of the optical sensor unit 24 is parallel to the XY plane and rotated continuously by 180 ° about the Z axis for a total of three times. In FIG. 12, the vertical axis represents received light intensity a, b, c based on the output detection signals of the polarized light receiving sensors 241a1, 241b1, 241c1 in arbitrary units, and the horizontal axis represents time t in arbitrary units.

  FIG. 13 is a diagram illustrating an example of the yaw angle. FIG. 13 shows the yaw angle Ψ estimated from the polarization received light intensity distribution of FIG. In FIG. 13, the vertical axis indicates the yaw angle ψ (°), and the horizontal axis indicates time t in arbitrary units.

  FIG. 14 is a diagram illustrating the roll angle and the pitch angle. In this example, it is assumed that roll rotation and pitch rotation occur at different timings in consideration of the observation result by human physiological kinematics. In order to specify the roll rotation and pitch rotation, first, the duty ratios of the output detection signals of the non-polarized light receiving sensors 241a2, 241b2, and 241c2 are calculated. Judge that it is not. Further, for example, when the increase / decrease in the output detection signals of the non-polarized light receiving sensors 241a2 and 241c2 is synchronized, it is determined that the pitch rotation is occurring, and when not synchronized, it is determined that the roll rotation is occurring. . The pitch rotation section or the roll rotation section can be specified based on the phase difference between the output detection signals of the non-polarized light receiving sensors 241a2, 241b2, and 241c2.

  Note that, for example, a ratio table of output detection signals of the non-polarized light receiving sensors 241b2 and 241a2 (or 241c2) is created in advance and stored in the memory 23 or the DB unit 26. The pitch rotation may be specified by searching the ratio table based on the ratio of the output detection signals of the sensors 241b2 and 241a2 (or 241c2). In this case, the polarity of the rotation direction of the pitch rotation can be estimated from the increase / decrease direction of the output detection signal of the non-polarized light receiving sensor 241b.

  FIG. 15 is a diagram illustrating an example of the ratio table. In the example shown in FIG. 15, the ratio b2 / Total of the output detection signal of the non-polarized light receiving sensor 241b2 with respect to the total of the output detection signals of the non-polarized light receiving sensors 241a2, 241b2, and 241c2 with respect to the pitch angle θ (°) Stored is the ratio a2 / Total of the polarized light receiving sensor 241a2 with respect to the total output detection signals of the non-polarized light receiving sensors 241a2, 241b2, and 241c2.

  Note that a ratio table can be created for the roll angle φ (°) as in the case of the pitch angle θ (°).

  FIG. 16 is a flowchart illustrating an example of the orientation detection process. The azimuth detection process shown in FIG. 16 can be realized by the CPU 22 shown in FIG. 3 executing a program stored in the memory 23. In FIG. 16, in step S1, a corresponding digital detection signal is acquired from the output detection signals of the polarized light receiving sensors 241a1, 241b1, and 241c1. In step S2, the yaw angle Ψ is specified by the method as described above based on the digital detection signal acquired in step S1.

  In step S3, a corresponding digital detection signal is acquired from the output detection signals of the non-polarized light receiving sensors 241a2, 241b2, and 241c2. In step S4, the roll rotation section and the pitch rotation section are specified by the method as described above based on the digital detection signal acquired in step S3. In step S5, it is determined whether roll rotation or pitch rotation is present. If the determination result is NO, the process returns to step S1. On the other hand, if the determination result in step S5 is YES, it is assumed that roll rotation and pitch rotation occur at different timings, and therefore roll rotation or pitch rotation is identified in step S6.

  In step S7, it is determined whether or not the identification result in step S6 is pitch rotation. If the determination result is NO, the process proceeds to step S8, and if the determination result is YES, the process proceeds to step S9. In step S8, the roll angle is estimated by the method as described above, and the process returns to step S1. In step S9, the pitch angle is estimated by the method as described above, and the process returns to step S1.

  Accordingly, the rotation angle of the detection target around each coordinate axis of the three-dimensional orthogonal coordinate system, that is, the roll angle φ, the pitch angle θ, and the yaw angle Ψ can be accurately estimated, and φ, θ, Ψ Based on this, it is possible to detect the posture of the head 100-1 of the person 100 (that is, the orientation relative to the light source 11).

  FIG. 17 is a diagram for explaining another example of the arrangement of the light sources, and FIG. 18 is a diagram for explaining an example of the orientation detection process in the arrangement of the light sources shown in FIG. FIG. 18 shows a state in which the yaw angle Ψ (in this example, counterclockwise) is rotated from the state of FIG. 17 as indicated by a broken line. 17 and 18, the light source 11 is installed on a wall in a building, for example, and irradiates light in a horizontal direction (that is, along a direction parallel to the XY plane) toward an opposing wall in the building. 17 and 18, the same parts as those in FIGS. 5 and 9 are denoted by the same reference numerals, and the description thereof is omitted. In this example, since the yaw angle ψ of the optical sensor unit 24A is estimated using only the received light intensity from the output detection signals of the non-polarized light receiving sensors 241a2, 241b2, 241c2, it is not necessary to provide a polarizing filter on the light source 11 side.

FIG. 19 is a diagram for explaining the estimation of the yaw angle in the arrangement of the light sources shown in FIG. In FIG. 19, hatching indicates the position of the non-polarized light receiving sensor 241a2, for example. For example, the received light intensity Sa, Sb of the non-polarized light receiving sensors 241a2, 241b2 is
Sa = P · l ² · sin (α) · sin (Ψ) −π / 6 <Ψ <π−π / 6
Sb = 0−π / 6 <Ψ <π−π / 6
The received light intensity Sa and Sb have a phase difference of 120 °. Here, since P, l, and α are constants, the absolute value of the yaw angle ψ can be calculated from the output detection signals of the non-polarized light receiving sensors 241a2 and 241b2. Furthermore, the section of the yaw rotation can be specified based on the definition of the XYZ coordinate system of the optical sensor unit 24 described with reference to FIG. As described above, when the light source 11 emits light in the horizontal direction, the yaw angle Ψ can be estimated by using the optical sensor unit 24A having a relatively simple configuration as shown in FIGS.

  5 is irradiated with light from the light source 11 in the horizontal direction as in FIGS. 17 and 18, and the movement of the person 100 wearing the azimuth estimation device 21 is detected by the optical sensor. When the light to the unit 24 is limited to the movement that is not easily shielded, the yaw angle ψ, the pitch angle θ, and the roll angle φ can be estimated as in the example of FIG. Moreover, when irradiating the light from the light source 11 in a horizontal direction, it cannot be overemphasized that the upper surface 24-1 of the optical sensor part 24 of FIG. 5 is good also as an arrangement | positioning orthogonal to a horizontal direction.

  In the above example, the main body 241 of the optical sensor units 24 and 24A has a triangular frustum shape, but the main body 241 may be a polyhedron having one upper surface and three or more side surfaces. Further, the side surface may be perpendicular to the upper surface or may be inclined with respect to the upper surface. Further, the number of polarized light receiving sensors provided on the upper surface of the polyhedron is preferably three or more, and the number of non-polarized light receiving sensors provided on the side surfaces of the polyhedron is three or more, which is the same as the number of side surfaces. Is preferred.

  FIG. 20 is a diagram illustrating another example of the optical sensor unit. 20A is a perspective view of the optical sensor unit 24B, FIG. 20B is a plan view of the optical sensor unit 24B, and FIG. 20C is a side view of the optical sensor unit 24B. 20, the same parts as those in FIGS. 4 to 7 are denoted by the same reference numerals, and the description thereof is omitted.

  The main body 241 of the optical sensor unit 24B shown in FIG. 20 has a parallelepiped shape. Three polarized light receiving sensors 241-1 are arranged on the upper surface 24-1 of the main body 241 so that the polarization directions are different from each other by a certain angle (120 ° in this example) in the same positional relationship as in FIG. One non-polarized light receiving sensor 241-2 is provided on each of the four side surfaces 24-3 of the main body 241. In FIG. 20, the side surface 24-3 is perpendicular to the upper surface 24-1, but may be inclined at an angle other than 90 ° so as to expand toward the end in FIG. Further, when the number of polarized light receiving sensors 241-1 is N (N is a natural number of 3 or more), the polarization directions are arranged so as to be different from each other by a certain angle (360 ° / N). Further, the non-polarized light receiving sensor 241-2 is preferably provided on each side surface 24-3 of the main body 241, but it is sufficient that the non-polarized light receiving sensor 241-2 is arranged at a constant angular interval. For example, the number of side surfaces 24-3 is 2M (M is In the case of a natural number of 2 or more, a total of M non-polarized light receiving sensors 241-2 may be provided on every other side surface 24-3.

  FIG. 21 is a block diagram illustrating an example of a hardware configuration of an orientation detection device according to another embodiment. In FIG. 21, the same parts as those in FIG. The azimuth detecting device 21A shown in FIG. The acceleration sensor 27 is an example of an inertial sensor for detecting a standing position. The acceleration sensor 27 detects acceleration along three axes (for example, XYZ coordinate axes) by a known method and outputs three-axis acceleration information. The CPU 22 estimates the pitch angle θ and the roll angle φ by a known method based on the triaxial acceleration information. In this case, roll rotation and pitch rotation may occur at the same timing. In this example, for convenience of explanation, the optical sensor unit 24 having the configuration shown in FIG. 5 is used. However, for example, the optical sensor unit 24B having the configuration shown in FIG. The shape of the main body 241 is not limited to the triangular frustum shape.

  FIG. 22 is a diagram illustrating an example of position detection of a plurality of detection targets, and FIG. 23 is a diagram illustrating an example of a light source and an orientation detection device in another embodiment. 22 and 23, people 100A and 100B are equipped with the azimuth detecting device 21 having the same configuration, and stand in a circular area (or a light receiving zone) to which light from the light source 11 is irradiated. FIG. 22 schematically shows the postures of the heads 100-1 of the persons 100A and 100B by showing the optical sensor unit 24 of the azimuth detecting device 21 for convenience of explanation. In FIG. 23, (a) is a side view showing irradiation of light from the light source 11, and (b) is a plan view showing a circular area on the floor irradiated with light from the light source 11. In FIG. 23, PA and PB indicate the standing positions of the persons 100A and 100B, respectively, and CP indicates the center of the circular area. In FIG. 23, H in FIG. 23 indicates the height of the person 100A (the height position of the optical sensor unit 24).

  The CPU 22 estimates the pitch angle θ and the roll angle φ based on the triaxial acceleration information from the acceleration sensor 27, obtains the received light intensity distribution based on the output detection signal from the optical sensor unit 24, and the azimuth relationship with the light source 11. Can be estimated. Further, the CPU 22 can estimate the height H of the person 100 from the received light intensity obtained based on the output detection signal from the optical sensor unit 24. Therefore, the orientation detection device 21 worn by each person 100A, 100B can estimate the standing position and posture of each person 100A, 100B in the circular area. In this way, in addition to whether or not each person 100A, 100B is in the circular area, by estimating the standing position and posture, for example, the service to be provided is changed according to the standing position and posture of each person 100A, 100B. Thus, the quality of service can be improved.

  When the CPU 22 estimates the standing position and posture (the posture of the head 100-1) of the person 100 as described above, the CPU 22 obtains the received light intensity distribution based on the output detection signal from the optical sensor unit 24 as follows. Can do. Here, xi, yi, zi indicate the XYZ coordinate position of the person 100 (that is, the azimuth detecting device 21), r, p, y indicate the yaw angle Ψ, the pitch angle θ, and the roll angle φ, and pa1, pb1 , pc1 indicate output detection signals of the polarized light sensors 241a1, 241b1, and 241c1, and pa2, pb2, and pc2 indicate output detection signals of the non-polarized light sensors 241a2, 241b2, and 241c2.

{xi, yi, zi} + {r, p, y} → {pa1, pb1, pc1, pa2, pb2, pc2}
Therefore, it can be seen that the standing position of the person 100 can be specified as follows based on such a received light intensity distribution.

{pa1, pb1, pc1, pa2, pb2, pc2} + {r, p, y} → {xi, yi, zi}
The position detection process for detecting the standing position of the person 100 can be realized, for example, by executing offline processing described below in advance and then executing online processing.

  FIG. 24 is a flowchart illustrating an example of offline processing. The offline processing shown in FIG. 24 can be realized by the CPU 22 shown in FIG. 21 executing a program stored in the memory 23. In FIG. 24, in step S21, offline processing is started, and in step S22, the irradiation area of light from the light source 11 shown in FIG. 23 is a database DBi corresponding to a light receiving surface (or area) having a certain height Hi. Select. In step S23, the area is divided by size L, and in step S24, the center position (Xi, Yi) of the grid Gi is specified. FIG. 25 is a diagram illustrating an example of a grid.

  In step S25, the posture angle (roll, pitch, yaw) is divided at Θ = dα at the center position (Xi, Yi). In step S26, the received light intensity distribution in each posture is calculated or obtained based on the output detection signal (that is, actually measured value) of the optical sensor unit 24. In step S27, the received light intensity distribution and position obtained in step S26 are registered (ie, stored) in the DB unit 26. For example, in step S27, the received light intensity distribution, posture, and position coordinates are converted into vectors and registered in a kd tree (kd-tree) for search. In step S28, it is determined whether or not all grid processes have been completed. If the determination result is NO, the process proceeds to step S29, and if the determination result is YES, the process proceeds to step S30. In step S29, the value of i is incremented to i = i + 1, and the process returns to step S24. On the other hand, in step S30, the offline processing is completed.

  FIG. 26 is a flowchart illustrating an example of online processing. The online processing shown in FIG. 26 can be realized by the CPU 22 shown in FIG. 21 executing a program stored in the memory 23. In step S26, online processing is started in step S31, and the height H of the optical sensor unit 24 is specified in step S32. In step S33, the search DB stored at the height H by offline processing is specified.

  In step S34, the yaw angle Ψ is estimated based on the output detection signal from the optical sensor unit 24. In step S35, the roll angle φ and the pitch angle θ are estimated based on the triaxial acceleration information from the acceleration sensor 27. In step S36, the received light intensity distribution of the roll angle φ, the pitch angle θ, and the yaw angle ψ is acquired. In step S37, the registration position (Xi, Yi) of the received light intensity distribution is specified by the shortest neighbor search of the DB unit 26. For example, in step S37, a search vector {pa1, pb1, pc1, pa2, pb2, pc2} + {r, p, y} is created from the received light intensity distribution, and this search vector {pa1, pb1, pc1, pa2 , pb2, pc2} + {r, p, y}, the registration position (Xi, Yi) of the received light intensity distribution registered in the DB unit 26 by the offline processing is specified by the shortest neighbor search using the kd tree. In step S38, the position (Xi, Yi) specified in step S37 is approximated to the standing position of the person 100, and the process returns to step S34.

  Thereby, in addition to whether or not the person 100 is in the circular area to which the light from the light source 11 is irradiated, the standing position and posture of the person 100 in the circular area can be estimated.

The following additional notes are further disclosed with respect to the embodiment including the above examples.
(Appendix 1)
An optical sensor that receives linearly polarized light from the light source;
A processor for estimating a yaw angle, a roll angle and a pitch angle based on an output detection signal from the optical sensor unit;
The yaw angle is a rotation angle about the Z axis perpendicular to the XY plane parallel to the ground of the XYZ coordinate system, the roll angle is a rotation angle about the X axis, and the pitch angle is about the Y axis. Rotation angle,
The sensor unit is
A main body forming a polyhedron having one upper surface and M (M is a natural number of 3 or more) side surfaces;
Three or more polarized light receiving sensors disposed on the upper surface such that the polarization directions are different from each other by a certain angle;
A plurality of non-polarized light receiving sensors disposed at a predetermined angular interval on the M side surfaces;
The processor estimates the yaw angle based on output detection signals of the three or more polarized light receiving sensors, and estimates the roll angle and the pitch angle based on output detection signals of the plurality of non-polarized light receiving sensors. An azimuth detecting device characterized by that.
(Appendix 2)
The azimuth detecting device according to claim 1, wherein the processor estimates the pitch angle at a timing different from the roll angle.
(Appendix 3)
The azimuth detecting device according to appendix 1 or 2, wherein the upper surface of the main body of the optical sensor portion has a triangular shape or a quadrangular shape.
(Appendix 4)
The azimuth detecting device according to appendix 3, wherein the M side surfaces of the main body of the optical sensor unit are inclined so as to extend from the upper surface.
(Appendix 5)
The orientation according to any one of appendices 1 to 4, wherein the processor estimates the yaw angle based on a ratio of polarization received light intensity indicated by output detection signals of the three or more polarized light receiving sensors. Detection device.
(Appendix 6)
A first table showing a relationship between a ratio of received light intensity indicated by output detection signals of the plurality of non-polarized light receiving sensors prepared in advance and the roll angle; and output detection signals of the plurality of non-polarized light receiving sensors prepared in advance. Further comprising storage means for storing a second table indicating the relationship between the ratio of the received light intensity indicated by and the pitch angle,
The processor obtains a ratio of received light intensity indicated by output detection signals of the plurality of non-polarized light receiving sensors, and identifies the roll angle from the first table stored in the storage unit based on the obtained ratio. The azimuth detecting device according to any one of appendices 1 to 5, wherein a pitch angle is specified from the second table stored in the storage means.
(Appendix 7)
The azimuth detecting device according to any one of appendices 1 to 6, wherein the light source irradiates the light along a direction parallel to the Z-axis direction.
(Appendix 8)
The azimuth detecting device according to any one of appendices 1 to 6, wherein the light source irradiates the light along a direction parallel to the XY plane.
(Appendix 9)
An orientation detection method in which a processor estimates a yaw angle, a roll angle, and a pitch angle based on an output detection signal from an optical sensor unit that receives linearly polarized light from a light source,
The yaw angle is a rotation angle about the Z axis perpendicular to the XY plane parallel to the ground of the XYZ coordinate system, the roll angle is a rotation angle about the X axis, and the pitch angle is about the Y axis. Rotation angle,
The sensor unit includes a main body forming a polyhedron having one upper surface, M (M is a natural number of 3 or more) side surfaces, and three or more arranged on the upper surface such that the polarization directions are different from each other by a certain angle. A polarized light receiving sensor and a plurality of non-polarized light receiving sensors arranged at a predetermined angular interval on the M side surfaces;
The processor estimates the yaw angle based on output detection signals of the three or more polarized light receiving sensors, and estimates the roll angle and the pitch angle based on output detection signals of the plurality of non-polarized light receiving sensors. An orientation detection method characterized by the above.
(Appendix 10)
The direction detection method according to claim 9, wherein the processor estimates the pitch angle at a timing different from the roll angle.
(Appendix 11)
11. The azimuth detection method according to appendix 9 or 10, wherein the processor estimates the yaw angle based on a ratio of polarized light reception intensity indicated by output detection signals of the three or more polarization light reception sensors.
(Appendix 12)
A first table indicating a relationship between a roll angle and a ratio of received light intensity indicated by output detection signals of the plurality of non-polarized light receiving sensors prepared in advance, and a plurality of the non-polarized light receiving sensors prepared in advance. Storing a second table showing the relationship between the ratio of the received light intensity indicated by the output detection signal and the pitch angle;
The processor obtains a ratio of received light intensity indicated by output detection signals of the plurality of non-polarized light receiving sensors, and specifies the roll angle from the first table stored in the storage unit based on the obtained ratio. 12. The direction detection method according to any one of appendices 9 to 11, wherein a pitch angle is specified from the second table stored in the storage means.
(Appendix 13)
The direction detection method according to any one of appendices 9 to 12, wherein the light source irradiates the light along a direction parallel to the Z-axis direction.
(Appendix 14)
The direction detection method according to any one of appendices 9 to 12, wherein the light source irradiates the light along a direction parallel to the XY plane.
(Appendix 15)
For each posture determined by the yaw angle, the roll angle, and the pitch angle, the processor calculates the received light intensity distribution at different height positions in the area irradiated with light from the light source and the position in the area. Register in advance in the database section,
The yaw angle estimated based on the output detection signal of the optical sensor unit and the output detection of the inertial sensor by the processor referring to the database unit at the height position specified based on the output detection signal of the optical sensor unit The orientation according to any one of appendices 9 to 14, wherein a position registered from the database unit is specified by a received light intensity distribution acquired from the roll angle and the pitch angle estimated based on a signal. Detection method.
(Appendix 16)
A program for causing a computer to execute an orientation detection process for estimating a yaw angle, a roll angle, and a pitch angle based on an output detection signal from an optical sensor unit that receives linearly polarized light from a light source,
The yaw angle is a rotation angle about the Z axis perpendicular to the XY plane parallel to the ground of the XYZ coordinate system, the roll angle is a rotation angle about the X axis, and the pitch angle is about the Y axis. Rotation angle,
The sensor unit includes a main body forming a polyhedron having one upper surface, M (M is a natural number of 3 or more) side surfaces, and three or more arranged on the upper surface such that the polarization directions are different from each other by a predetermined angle. A polarized light receiving sensor and a plurality of non-polarized light receiving sensors arranged at a predetermined angular interval on the M side surfaces;
A procedure for estimating the yaw angle based on output detection signals of the three or more polarized light receiving sensors and estimating the roll angle and pitch angle based on the output detection signals of the plurality of non-polarized light receiving sensors. A program characterized by causing the program to be executed.
(Appendix 17)
The program according to claim 16, wherein the procedure estimates the pitch angle at a timing different from the roll angle.
(Appendix 18)
18. The program according to appendix 16 or 17, wherein the procedure estimates the yaw angle based on a ratio of polarized light receiving intensity indicated by output detection signals of the three or more polarized light receiving sensors.
(Appendix 19)
A first table indicating a relationship between a roll angle and a ratio of received light intensity indicated by output detection signals of the plurality of non-polarized light receiving sensors prepared in advance, and a plurality of the non-polarized light receiving sensors prepared in advance. Storing a second table showing the relationship between the ratio of the received light intensity indicated by the output detection signal and the pitch angle;
The procedure obtains a ratio of received light intensity indicated by output detection signals of the plurality of non-polarized light receiving sensors, and specifies the roll angle from the first table stored in the storage unit based on the obtained ratio. The program according to any one of appendices 16 to 18, wherein a pitch angle is specified from the second table stored in the storage means.

  As mentioned above, although the azimuth | direction detection apparatus, method, and program which were disclosed were demonstrated by the Example, this invention is not limited to the said Example, A various deformation | transformation and improvement are possible within the scope of the present invention. Needless to say.

1 Light source 1A LED
1B Polarizing Filter 21 Orientation Detection Device 22 CPU
23 Memory 24 Optical sensor unit 25 Communication unit 26 DB unit 27 Acceleration sensor 241 Main body 241a1, 241b1, 241c1 Polarized light receiving sensor 241a2, 241b2, 241c2 Non-polarized light receiving sensor

Claims (7)

An optical sensor that receives linearly polarized light from the light source;
A processor for estimating a yaw angle, a roll angle and a pitch angle based on an output detection signal from the optical sensor unit;
The yaw angle is a rotation angle about the Z axis perpendicular to the XY plane parallel to the ground of the XYZ coordinate system, the roll angle is a rotation angle about the X axis, and the pitch angle is about the Y axis. Rotation angle,
The sensor unit is
A main body forming a polyhedron having one upper surface and M (M is a natural number of 3 or more) side surfaces;
Three or more polarized light receiving sensors disposed on the upper surface such that the polarization directions are different from each other by a certain angle;
A plurality of non-polarized light receiving sensors disposed at a predetermined angular interval on the M side surfaces;
The processor estimates the yaw angle based on output detection signals of the three or more polarized light receiving sensors, and estimates the roll angle and the pitch angle based on output detection signals of the plurality of non-polarized light receiving sensors. An azimuth detecting device characterized by that.   The azimuth detecting apparatus according to claim 1, wherein the processor estimates the pitch angle at a timing different from the roll angle.   The azimuth detecting device according to claim 1, wherein the upper surface of the main body of the optical sensor portion has a triangular shape or a quadrangular shape.   The azimuth detecting device according to claim 3, wherein the M side surfaces of the main body of the optical sensor unit are inclined so as to extend from the upper surface.   5. The processor according to claim 1, wherein the processor estimates the yaw angle based on a ratio of polarization received light intensity indicated by output detection signals of the three or more polarization light receiving sensors. 6. Orientation detection device. An orientation detection method in which a processor estimates a yaw angle, a roll angle, and a pitch angle based on an output detection signal from an optical sensor unit that receives linearly polarized light from a light source,
The yaw angle is a rotation angle about the Z axis perpendicular to the XY plane parallel to the ground of the XYZ coordinate system, the roll angle is a rotation angle about the X axis, and the pitch angle is about the Y axis. Rotation angle,
The sensor unit includes a main body forming a polyhedron having one upper surface, M (M is a natural number of 3 or more) side surfaces, and three or more arranged on the upper surface such that the polarization directions are different from each other by a certain angle. A polarized light receiving sensor and a plurality of non-polarized light receiving sensors arranged at a predetermined angular interval on the M side surfaces;
The processor estimates the yaw angle based on output detection signals of the three or more polarized light receiving sensors, and estimates the roll angle and the pitch angle based on output detection signals of the plurality of non-polarized light receiving sensors. An orientation detection method characterized by the above. A program for causing a computer to execute an orientation detection process for estimating a yaw angle, a roll angle, and a pitch angle based on an output detection signal from an optical sensor unit that receives linearly polarized light from a light source,
The yaw angle is a rotation angle about the Z axis perpendicular to the XY plane parallel to the ground of the XYZ coordinate system, the roll angle is a rotation angle about the X axis, and the pitch angle is about the Y axis. Rotation angle,
The sensor unit includes a main body forming a polyhedron having one upper surface, M (M is a natural number of 3 or more) side surfaces, and three or more arranged on the upper surface such that the polarization directions are different from each other by a certain angle. A polarized light receiving sensor and a plurality of non-polarized light receiving sensors arranged at a predetermined angular interval on the M side surfaces;
A procedure for estimating the yaw angle based on output detection signals of the three or more polarized light receiving sensors and estimating the roll angle and pitch angle based on the output detection signals of the plurality of non-polarized light receiving sensors. A program characterized by causing the program to be executed.

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