JP2016048472A - Method and device for determining measurement position of indoor environment information - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for easily and intuitively registering map information and measurement position in an indoor environment information measurement device which measures the environment information of a dedicated room for an ICT (Information and Communication Technology) device.SOLUTION: The indoor environment information measurement device includes: a measurement part 101 for measuring environment information; a driving part 102 connected to the measurement part; a person recognition part 104 having a person sensing sensor for recognizing a person; a map creation part 103 for measuring an indoor shape to create an indoor map; and a measurement position recognition part 105 for determining a position where indoor environment information should be measured. The method includes: allowing the person recognition part to transmit a movement signal to the driving part in accordance with the movement of a recognized operator to follow up the operator; allowing the map creation part to create the indoor map while following up the operator; and allowing the measurement position recognition part to acquire information indicating the indoor environment information measurement position from the operator to determine a measurement position.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a method and apparatus for determining a measurement position of indoor environment information, and more particularly to a method and apparatus for determining a measurement position of indoor environment information in a room dedicated to ICT (Information and Communication Technology) devices.

  In recent years, with the spread of the Internet and ICT services, power consumption in communication buildings and data centers where various communication devices and servers (hereinafter referred to as “ICT devices”) are installed has increased significantly. In addition, the amount of heat generated from the ICT device is rapidly increasing due to the higher functionality and higher density of the ICT device.

  Therefore, in communication buildings and data centers, the temperature is appropriately controlled by air conditioning in order to protect the ICT device itself from the heat generated when processing a large amount of information using a large number of highly functional and high density ICT devices. In a dedicated room (ICT device dedicated room) adjusted to ICT, a method of operating the ICT device is widely used.

  In the ICT device dedicated room, a locally high temperature space (heat pool) may be generated depending on the shape of the room and the positional relationship of the ICT device. When heat accumulation occurs, the ICT device is adversely affected. In addition, in order to eliminate the heat accumulation generated in the ICT device dedicated room, it is necessary to separately cool a specific place, which deteriorates the overall air conditioning efficiency of the ICT device dedicated room. Therefore, in order to find and eliminate the heat accumulation, it is necessary to measure environmental information such as the temperature of each place in the room dedicated to the ICT apparatus and the flow of air from the air conditioner.

  The environment information measurement of the ICT device dedicated room is generally performed by a wind speed sensor, a temperature sensor, or the like fixed at a specific position. However, since each ICT device room has a different shape, the sensor position and measurement position for measuring environmental information in the ICT device room are different. Therefore, it is necessary to determine and register the sensor position and the measurement position for each different room for the ICT device, and human costs are generated due to the installation of the sensor and the registration of the measurement position.

  On the other hand, in order to reduce the human cost due to the installation of the sensor, a method of measuring environmental information of the room dedicated to the ICT apparatus using a cart equipped with the sensor has been proposed. However, in the method of measuring environmental information using a carriage, human costs are required for registering the measurement position, and it is necessary for the person to move the carriage, so it is necessary to measure environmental information at each measurement point. There was a human cost of the time multiplied by the measurement location.

JP 2007-32954 A Japanese Patent No. 3996140

  In order to reduce human costs due to measurement position registration and measurement time, a method of measuring indoor environment information while moving autonomously has been proposed (for example, Patent Document 1 or Patent Document 2). However, in the above method, it is necessary to register the map information of the ICT device dedicated room and the measurement position of the ICT device dedicated room. The map information necessary for operating the robot in the ICT device dedicated room is rarely prepared in advance in a general ICT device dedicated room. Therefore, a step of creating map information is necessary. One method is to allow the robot to measure the shape of the room while manually operating the robot. However, in order to manually operate the robot, skill of the robot operator is required. Moreover, registration of the measurement position in the ICT device dedicated room is generally performed on an information terminal, and coordinate information on the map of the ICT device dedicated room is specified. However, in order to specify the measurement location in the ICT device dedicated room while looking at the plan view of the ICT device dedicated room on the terminal, it is still necessary for the terminal operator to be skilled, and where to measure in the room. After all, I had to make a decision while looking at the site. In such a case, a point corresponding to the place to be measured on the map is determined in order to determine a place that is likely to be hot in the ICT device dedicated room and to focus on the place that is determined to be hot. For example, it is difficult to directly specify and register the measurement position in the room dedicated to the ICT device. That is, the existing technology has a problem that it is impossible to create a map and register a measurement position at the same time.

In order to solve the above-described problem, a first aspect of the present invention includes a measurement unit that measures environmental information;
A drive unit connected to the measurement unit; a human recognition unit connected to the drive unit and having a human sensor for recognizing a person; and connected to the human recognition unit to measure a room shape and display a map of the room In an indoor environment information measuring apparatus having a map creation unit to be created and a measurement position recognition unit that is connected to the map creation unit and determines a position where the indoor environment information should be measured, the indoor environment information is measured. A position for determining the position of the operator in the person recognition unit, transmitting a movement signal to the drive unit in accordance with the movement of the recognized operator, and following the operator, At the same time as following the operator, the map creation unit creates the indoor map, and the measurement position recognition unit acquires information indicating the environmental information measurement position in the room from the operator. And Characterized in that it comprises a making a decision of place.

  The second aspect of the present invention is the indoor environment information measurement device according to the first aspect, wherein the information from the operator indicating the indoor environment information measurement location in the room is a radio signal, and the measurement position The recognition unit is characterized in that the measurement position is determined by receiving a radio signal indicating a measurement location from a radio signal generation device possessed by the operator.

  A third aspect of the present invention is the indoor environment information measurement device according to the first aspect, wherein the information from the operator indicating the indoor environment information measurement location is a gesture made by the operator. The gesture is recognized by comparing a gesture registered in advance with a gesture generated by the operator.

  According to a fourth aspect of the present invention, there is provided an apparatus for determining a position for measuring the indoor environment information included in the indoor environment information measuring apparatus for measuring the indoor environment information, the indoor environment information A driving unit that moves the measuring device and a human sensor that is connected to the driving unit and recognizes a person, and transmits a movement signal to the driving unit so as to follow the movement of the recognized operator. A person recognition unit that is connected to the person recognition unit, measures a room shape of the room and creates a map of the room, and is connected to the map creation unit and measures environmental information of the room. A measurement position recognizing unit for determining a position to be acquired, the information indicating the environmental information measurement position in the room from the operator, and determining the measurement position in the produced map; Characterized by having To.

  Further, a fifth aspect of the present invention is the method according to the fourth aspect, wherein the information indicating the environmental information measurement position in the room from the operator is a radio signal, and the measurement position recognition unit A measurement position is determined by receiving a radio signal indicating a measurement location from a radio signal generation device possessed by an operator.

  According to a sixth aspect of the present invention, there is provided the method according to the fourth aspect, wherein the information indicating the environmental information measurement position in the room from the operator is a gesture made by the operator, The registered gesture is recognized by comparing the gesture generated by the operator.

  As described above, according to the present invention, it is possible to provide a simple and intuitive method for registering map information and measurement positions in an indoor environment information measuring device that measures environment information of a room dedicated to an ICT device. It becomes. By recognizing human movement on the robot side, it is possible to simultaneously create map information and specify a measurement position, and the operation method does not require the skill of the operator.

It is a block diagram which shows the structure of the ICT apparatus exclusive room indoor environment information measuring device which concerns on one Embodiment of this invention. It is a perspective view which shows the mode of operation | movement of the indoor environment information measuring device in the room only for an ICT apparatus. It is a block diagram which shows the specific structure of the indoor environment information measuring device of FIG. It is a figure showing the human skeleton model which the person recognition part produced. It is a figure showing the ankle indirect center of the human skeleton model which the person recognition part produced. It is a figure which shows the relationship between the range which outputs a laser, and the shape of a person in the laser type range sensor provided in the map preparation part. (A) shows the relationship between the shape of the person and the height at which the laser range sensor is provided, (b) shows the output range of the laser light excluding the portion of the person's shape, and (c) The relationship between the output range of the laser beam in the ICT device dedicated room, the peripheral equipment and the operator is shown. It is a figure which shows the relationship between an operator's skeleton model and the registered gesture.

[Embodiment]
FIG. 1 is a block diagram showing a configuration of an indoor environment information measuring device for a room dedicated to an ICT device according to an embodiment of the present invention. The indoor environment information measuring device 100 includes a measuring unit 101 that measures environmental information (such as temperature, wind direction, and wind speed) of a room dedicated to the ICT device, and a drive unit that is connected to the measuring unit 101 and moves the indoor environment information measuring device 100. 102. The indoor environment information measuring device 100 is connected to a map creation unit 103 that measures the shape of the ICT device dedicated room and generates a map of the ICT device dedicated room, the map creation unit 103, and the drive unit 102. A person recognition unit 104 that recognizes and a measurement position determination unit 105 that is connected to the map creation unit 103 and determines a measurement position of room environment information based on a measurement location signal from the measurer.

  FIG. 2 is a perspective view showing the operation of the indoor environment information measuring device 100 in the ICT device dedicated room. The indoor environment information measurement device 100 moves to the measurement position 203 based on the map in the ICT device dedicated room 200 created by the map creation unit 103 and the measurement position acquired by the measurement position determination unit 105, and the environment at the measurement position 203. Measure information, especially temperature and wind speed. The measurement unit 101 of the indoor environment information measurement device 100 transmits a movement signal to the drive unit 102 so as to move to the measurement position 203, and the drive unit 102 is acquired by the map created by the map creation unit 103 and the measurement position determination unit 105. Based on the measured position, the indoor environment information measuring device 100 is moved to the measured position. When the indoor environment information measuring device 100 moves to the measurement position 203, the measuring unit 101 measures the environmental information.

  Here, before measuring the environmental information of the ICT device dedicated room 200, the indoor environment information measuring device 100 simultaneously creates a map of the ICT device dedicated room 200 and designates the measurement position 203 by the following method.

  First, the operator 201 enters the ICT device dedicated room 200 and searches for a position where environmental information of the ICT device dedicated room 200 should be measured. The indoor environment information measuring device 100 also enters the ICT device dedicated room 200 and creates a map of the ICT device dedicated room 200. Simultaneously with the creation of the map, the operator 201 is automatically followed, and the measurement position 203 is registered on the map of the ICT device dedicated room 200 being produced based on information from the operator 201.

  The person recognition unit 104 of the indoor environment information measuring device 100 recognizes the operator 201 in the front in the ICT device dedicated room 200, and the indoor environment information measuring device 100 operates as the operator 201 moves. A movement signal is sent to the drive unit 102 so as to automatically follow the operator 201 while maintaining a certain distance from the operator 201. In addition, the person recognition unit 104 continues to follow the operator 201 until the map of the ICT device dedicated room 200 is completed.

  The human recognition unit 104 is connected to a human sensor such as a laser range sensor or a camera. Data obtained through information from these human sensors is analyzed to discriminate between people and others, and the distance from the indoor environment information measuring device 100 to the operator 201 is measured.

  The drive unit 102 receives the signal from the person recognition unit 104 and moves the indoor environment information measurement device 100.

  The map creation unit 103 measures the shape of the ICT device dedicated room 200 while following the operator 201, and automatically creates a map of the ICT device dedicated room 200 based on the measured information.

  The indoor measurement position recognizing unit 105 follows the operator 201 and acquires the measurement position 203 of the ICT device dedicated room 200 based on the acquired information at the timing when the information notifying the measurement position from the operator 201 is acquired. decide. One realization form of the information that the operator 201 notifies of the measurement position is a wireless signal, and the measurement position recognition unit 105 receives the wireless signal indicating the measurement position from the wireless signal generation device that the operator 201 has. The measurement position 203 is determined based on the position of the operator 201.

  Another embodiment of the signal for notifying the measurement position is an operator 201 gesture. The fact that the operator 201 indicates a predetermined gesture is recognized by a camera connected to the measurement position recognition unit 105, and the measurement position 203 is determined based on the position of the measurer at the recognized timing.

[Example]
FIG. 3 is a block diagram showing a specific configuration of the indoor environment information measuring apparatus 100 of FIG. A thermometer 311 and an anemometer 312 are connected to the measurement unit 301. The temperature at the measurement position is measured with the thermometer, and the wind speed at the measurement location is measured with the anemometer 312. In addition, a laser range sensor 313 is connected to the map creation unit 303. The laser-type range sensor 313 measures the distance between the indoor environment information measuring device 100 and a surrounding object, and acquires information necessary for creating a map of the ICT device dedicated room 200. Furthermore, an RGB-D camera 314 serving as a human sensor is connected to the map creation unit 303, the person recognition unit 304, and the measurement position recognition unit 305. The map creation unit 303, the person recognition unit 304, and the measurement position recognition unit 305 recognize a person (the operator 201 in FIG. 2) by the RGB-D camera 314 that can capture a color image and a depth image.

  The human recognition unit 304 uses the RGB-D camera 314 to generate a human skeleton model. FIG. 4 is a diagram illustrating a human skeleton model created by the human recognition unit 304. Here, the skeleton model is position information of a human joint calculated based on information on a color image and a depth image. For example, it is possible to calculate a skeleton model using an image acquired from the RGB-D camera 314 with Kinect (registered trademark) for Windows SDK or the like.

  The person recognizing unit 304 further calculates the distance between the indoor environment information measuring device 100 and the operator 201 (see FIG. 2). Specifically, the distance from the center of both ankles of the operator 201 to the indoor environment information measuring device 100 is calculated. The center of the ankle indirectly of the operator 201 is determined based on the skeleton model. FIG. 5 is a diagram showing the indirect center of both ankles of the human skeleton model created by the human recognition unit 304.

  The person recognizing unit 304 sends a movement signal to the driving unit 302 so as to move the indoor environment information measuring apparatus 100 from the operator 201 (the center of both ankles indirectly) to a position obtained by subtracting a predetermined distance.

  Based on the movement signal received from the person recognition unit 304, the driving unit 302 calculates the rotation speed of a driving system such as a tire for generating a necessary moving distance.

  The map creation unit 303 creates a floor map using a technique such as simultaneous localization and mapping (SLAM) that estimates the self-location in the ICT device dedicated room 200 and creates a map of the ICT device dedicated room 200 in real time. . At this time, the indoor environment information measurement is performed using the movement distance calculated from the information from the laser range sensor 313 connected to the map creation unit 303 and the rotation speed information of the driving system such as the tire of the driving unit 302. A map of the device 100 is created. The laser range sensor 313 is a sensor that emits laser light and measures the distance from the indoor environment information measuring device 100 to a surrounding object. However, if the output of the laser range sensor is used as it is with a person in front, the operator 201 cannot get in the way of making an accurate map. Therefore, a map is created by removing the human-shaped portion from the laser output range of the laser range sensor 313.

  FIG. 6 is a diagram showing the relationship between the laser output range and the human shape in the laser range sensor 600 provided in the map creation unit 304. Here, FIG. 6A shows the relationship between the shape of the person and the height at which the laser range sensor 600 is provided, and FIG. 6B shows the output of the laser light excluding the portion of the person shape. The range is shown, and FIG. 6C shows the relationship between the output range of the laser beam in the ICT apparatus dedicated room 200, peripheral equipment, and the operator 201. Here, in order to delete the shape of a person, as shown in FIG. 6A, the human region is extracted from the skeleton model 601 using the output of the RGB-D camera 314 (see FIG. 3) connected to the map creation unit 304. Perform extraction. The laser type positioning sensor 600 is often provided near the ground of the indoor environment information measuring apparatus 100, specifically, at a height of about the foot of a person. Therefore, the foot, which is a person region at a height at which laser light is emitted as shown in FIG. 6A, is excluded from the output of the laser range sensor 600. The person area can be extracted using Kinect (registered trademark) for Windows SDK or the like. Then, the laser output range of the laser range sensor 600 is a range in which the two feet at the operator's standing position are removed, as shown in FIGS. 6B and 6C.

  The measurement position recognizing unit 305 recognizes the center of the ankle indirect (see FIG. 5) of the operator 201 that is ahead as the measurement position at the timing of receiving the wireless signal. The radio signal 201 is transmitted by the operator using a radio signal transmitter. The wireless signal transmitter has a button, and the operator 201 can transmit a wireless signal to the measurement position recognition unit 305 by pressing the button.

  As an alternative embodiment, the measurement position recognizing unit 305 recognizes the gesture of the operator 201 and registers the point where the operator 201 performs the gesture as the position of the environment information measurement. The gesture of the operator 201 is recognized by the measurement position recognition unit 305 based on the position of each joint of the skeleton model model of the operator 201 created by the output from the RGB-D camera 314 (see FIG. 3). Specifically, the skeleton model reflecting the gesture registered in advance in the measurement recognition unit and the skeleton model of the operator 201 are compared and recognized. FIG. 7 is a diagram illustrating a relationship between the skeleton model of the operator 201 and the skeleton model reflecting the registered gesture. Each time the output of the RGB-D camera 314 is obtained, the measurement position recognition unit 305 calculates the skeleton model of the operator 201 and compares it with a gesture registered in advance in the measurement position recognition unit 305. If the gesture registered in advance is rotated and translated, and the skeleton model of the operator 201 matches the gesture registered in advance with a certain error, the position of the operator 201 is recognized as the measurement position.

  Here, a method for recognizing the gesture of the operator 201 will be described. A vector n joints in which the gesture of the operator 201 and the registered gesture have x, y and z components,

Suppose that At that time, the following minimization is considered using the rotation matrix R and the translation vector t.

Where the center of gravity

And the vector from the gesture minus the center of gravity,

Then, the minimization problem of Equation (3) is

It can be expressed as. The problem is

Obtained by R satisfying R satisfying equation (4) can be calculated using singular value decomposition. When the value of δ calculated by the above procedure falls below a predetermined threshold value, the operator recognizes that the gesture for specifying the measurement point has been made by the operator, and performs measurement on a predefined skeleton model. Remember the position.

  The measurement position recognition unit 305 recognizes the position of the operator as an environment information measurement position by recognizing the operator's gesture, and registers the measurement position in the map created by the map creation unit 304.

  Since the present invention creates a map in the room dedicated to the ICT apparatus and registers the position at which the indoor environment information is measured on the map, the map information and the measurement position can be registered easily and intuitively. . The indoor environment information measuring device itself recognizes human movements, so that map information can be created and a measurement position can be specified at the same time without requiring operator skill.

100 indoor environment information measuring device 101, 301 measuring unit 102, 302 driving unit 103, 303 map creation unit 104, 304 person recognition unit 105, 305 measurement position recognition unit 200 ICT device dedicated room 201 operator 203 measurement position 311 thermometer 312 Anemometer 313, 600 Laser type positioning sensor 314 RGB-D camera 601 Skeleton model

Claims (6)

A measurement unit that measures environmental information;
A drive unit connected to the measurement unit;
A person recognition unit connected to the drive unit and having a human sensor for recognizing a person;
A map creation unit connected to the person recognition unit, measuring a room shape and creating a map of the room;
A method of determining a position for measuring the indoor environment information in an indoor environment information measuring apparatus connected to the map creating unit and having a measurement position recognizing unit for determining a position where the indoor environment information should be measured Because
In the person recognition unit, in accordance with the recognized movement of the operator, a movement signal is transmitted to the driving unit to follow the operator,
At the same time following the operator, the map creation unit creates the indoor map;
The measurement position recognition unit includes obtaining information indicating the environmental information measurement position in the room from the operator and determining the measurement position.   The information indicating the environmental information measurement location in the room from the operator is a radio signal, and the measurement position recognition unit receives a radio signal indicating the measurement location from the radio signal generation device possessed by the operator, The method according to claim 1, wherein the measurement position is determined.   The information indicating the location where the environmental information is measured from the operator in the room is a gesture made by the operator, and the gesture is recognized by comparing a pre-registered gesture with a gesture caused by the operator. The method according to claim 1. An apparatus for determining a position for measuring indoor environment information included in an indoor environment information measuring apparatus for measuring indoor environment information,
A drive unit for moving the indoor environment information measuring device;
A human recognition unit connected to the drive unit, having a human sensor for recognizing a person, and transmitting a movement signal to the drive unit so as to follow the movement of the recognized operator;
A map creation unit connected to the person recognition unit, measuring a room shape of the room and creating a map of the room;
A measurement position recognition unit that is connected to the map creation unit and determines a position where the environmental information in the room is to be measured, and obtains information indicating the environmental information measurement position in the room from the operator, And a measurement position recognizing unit for determining a measurement position on the map.   Information indicating the environmental information measurement position in the room from the operator is a radio signal, and the measurement position recognition unit receives a radio signal indicating a measurement location from a radio signal generation device of the operator. The apparatus according to claim 4, wherein the measurement position is determined.   The information indicating the position of the environment information measurement from the operator in the room is a gesture made by the operator, and the gesture is recognized by comparing a gesture registered in advance with a gesture caused by the operator. The device according to claim 4.

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