JP2017033349A - Information processing apparatus, information processing program, and information processing system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To arrange objects to be moved, such as chairs or desks, properly.SOLUTION: An information processing apparatus includes: leg-part identifying means which identifies current positions of legs in a target area, on the basis of detection information received from multiple units of detection means arranged in the target area; positional relation identifying means which identifies a combination of legs having a positional relationship included in the same object, on the basis of positional relationships of the legs of the objects stored in advance and the current positional relationships of the legs; object position identifying means which identifies current arrangement of the objects, on the basis of whether the type and number of the objects calculated based on the specified combination of the legs coincide with the type and number of the objects included in a target arrangement position; and displacement instruction means which outputs displacement information for moving the objects, when the current arrangement does not coincide with the target arrangement position.SELECTED DRAWING: Figure 10

Description

  The present invention relates to an information processing apparatus, an information processing program, and an information processing system.

In a room having a plurality of chairs and desks such as a conference room, the arrangement location of the chairs and desks may be changed according to the purpose. Especially in a rental conference room that lends a conference room to various users on an hourly basis, all the chairs and desks are arranged in a U-shape or U-shape according to the number of users and the purpose of use. It is often necessary to change the location of the chair or desk each time the user to be used is changed, such as arranging them to face in the direction. Here, the usage time of the user who rented the conference room often includes the time to change the layout of the desk or chair, but the desk or chair is placed before the start of the conference or seminar, and the original If it returns to arrangement | positioning, even if it is a small room, it will take 10 to 20 minutes, and the time which a user can use practically may become short.
On the other hand, in Patent Document 1, in order to arrange a desk or chair without using human hands, the presence of the desk or chair is detected by a weight sensor provided under the floor, and the magnetic body provided on the leg of the desk or chair is removed from under the floor. A system has been proposed in which a desk or chair is moved to a position specified by a user by suction.

When the system as described above is used, a desk, a chair or the like can be automatically arranged at a position designated by the user.
However, in the system as described above, the presence of a desk or chair is detected only by weight. Therefore, when one desk or chair is installed in the detection range of one weight sensor, the position of the desk or chair is However, if the detection range of one weight sensor includes two or more desks or chairs, or the desk or chair is placed across the detection ranges of two or more weight sensors If it is, the location of the desk or chair cannot be recognized correctly. Therefore, for example, four legs, each of two adjacent legs of two chairs arranged next to each other, are recognized as the legs of one chair, and the two chairs are carried at the same time. There was a problem that the chair and the chair could not be placed accurately.
The present invention has been made in view of the above points, and an object thereof is to correctly arrange a plurality of moving objects such as chairs and desks.

  In order to solve the above-described problems and achieve the object, the information processing apparatus of the present invention uses detection information acquired from a plurality of detection units that are installed at different positions in a target area and detect the presence or absence of a moving target. An information processing apparatus that outputs movement information for moving each moving target to a target arrangement position to a moving unit that moves each moving target based on each leg. A movement target storage unit that stores a positional relationship between each movement target type, an arrangement position storage unit that stores a target arrangement position of each of the movement targets in the target region, and an output from each of the detection units A leg position specifying unit that specifies a current position of each leg in the target area based on the detected information and information on an installation position of each detection unit in the target area. And for each leg identified by the leg position identifying means, based on the current positional relationship between the legs and the positional relationship between the legs stored in the movement target storage means , A positional relationship specifying means for specifying a combination of legs in a positional relationship that can belong to the same moving object, and a movement within the target region based on the combination of the legs specified by the positional relationship specifying means The type and number of objects are calculated, and based on whether or not the calculated type and number of movement objects match the type and number of movement objects included in the target placement position, The movement target position specifying means for specifying the arrangement of the movement object, the arrangement comparison means for determining whether or not the current arrangement of each movement object and the target arrangement position match, and the arrangement comparison means Movement instruction means for outputting the movement information for moving the movement object at least at a position different from the target arrangement position to the movement means when it is determined that the arrangement of the object and the target arrangement position do not match And.

  According to the present invention, when a plurality of chairs and desks are automatically arranged, the chairs and desks can be correctly arranged by correctly recognizing the chairs and the legs of the desks.

It is a figure which shows the example of arrangement | positioning of movement objects, such as a chair and a desk of this embodiment. It is a whole block diagram of the arrangement | positioning system of this embodiment. It is a figure which shows the example of arrangement | positioning of the pressure sensor 201 of this embodiment. It is a figure which shows the example of the moving means 202 of this embodiment. It is a figure which shows the hardware constitutions of the arrangement | positioning server 203 of this embodiment. It is a functional block diagram of the arrangement | positioning server 203 of this embodiment. It is a figure which shows the example of data of the layout database 601 of this embodiment. It is a figure which shows the example of data of the movement object database 602 of this embodiment. It is a top view at the time of seeing the chair 102 of this embodiment from upper direction. It is a figure which shows the flow of a process of the arrangement | positioning server 203 whole of this embodiment. It is a figure which shows the flow of a process of the movement object leg specific | specification part 603 of this embodiment. It is a figure which shows the example which performed the binarization process in the image which shows the area | region where the chair of this embodiment exists. It is a figure which shows the example which performed the pattern matching in the image of FIG. 13 of this embodiment. It is a figure which shows the example of the shape of the leg part of the moving object of this embodiment. It is a figure which shows the example of the leg | leg part list 1501 of this embodiment. It is a figure which shows the flow of a process of the adjacent leg specific part of this embodiment. It is a figure which shows the example of the distance list | wrist 1701 of this embodiment. It is a figure which shows the example of the combination of the leg part of this embodiment. It is a figure which shows the example of the distance list | wrist 1701 after being updated by the adjacent leg specific | specification part 604 of this embodiment. It is a figure which shows the example of the combination of the leg part after being updated by the adjacent leg part specific | specification part 604 of this embodiment. It is a figure which shows the flow of a process of the movement target specific | specification part 605 of this embodiment. It is a figure which shows an example of the present arrangement | positioning of the desk 101 and the chair 102 of this embodiment. It is a figure which shows the position of the leg part in arrangement | positioning of FIG. It is a figure which shows an example at the time of performing template matching accidentally in arrangement | positioning of FIG. It is a figure which shows an example at the time of performing template matching accidentally in arrangement | positioning of FIG. It is a figure which shows the movement object list | wrist 2601 of this embodiment. It is a figure which shows the flow of a process of the movement target direction specific | specification part of this embodiment. It is a figure which shows the top view and side view of the moving object of this embodiment. It is a figure which shows the pressure concerning the chair 102 of this embodiment. It is a figure which shows the example which added the upper directionality to the movement object list | wrist 2601 of this embodiment. It is a figure for demonstrating the directionality in this embodiment.

The embodiment will be described by taking as an example a case in which a moving object is moved to an arrangement designated by the user by a moving means provided in each moving object in a space such as a room where there are moving objects such as a plurality of chairs and a plurality of desks. .
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram illustrating an example of arrangement of moving objects such as a chair and a desk according to the present embodiment. A desk 101 and a chair 102 indicated by solid lines in FIG. 1 represent the positions of the current arrangement. In addition, a desk 101 and a chair 102 indicated by dotted lines in FIG. 1 represent target arrangement positions. The arrangement system of the present embodiment is a system for moving the desk 101 and chair 102 indicated by solid lines to the positions of the desk 101 and chair 102 indicated by dotted lines, respectively. The object to be moved here refers to objects that may be installed in rooms such as conference rooms, such as desks, chairs, sofas, electronic blackboards, whiteboards, tables for installing projectors, coat hangers, podiums, etc. .

FIG. 2 is an overall configuration diagram of the arrangement system according to the present embodiment. In FIG. 2, the arrangement server 203, the pressure sensor 201, and the moving means 202 are communicably connected via a wired or wireless network.
The pressure sensor 201 is a sensor that detects pressure from a grounded object. In this embodiment, the pressure sensors 201 are installed at different positions at regular intervals below the floor of a space 301 in which moving objects such as desks and chairs are arranged as shown in FIG. FIG. 3 is a diagram showing an arrangement example of the pressure sensor 201 of the present embodiment, and shows that the pressure sensor 201 is installed in each of the squares obtained by dividing the space 301 at a constant interval. That is, in the example of FIG. 3, the pressure sensors 201 are arranged in a matrix in the space 301. The pressure sensor may be arranged as long as the position of the leg to be moved can be specified, and may be arranged in a honeycomb shape or a staggered shape (or alternately).

Here, the pressure sensor 201 detects the magnitude of pressure from above the floor, and pressure information such as whether or not pressure is applied (whether there is a moving object), the magnitude of pressure, and an identification number of the pressure sensor 201. Is transmitted to the placement server 203 via a wired or wireless network. The identification number is a unique number given to each pressure sensor 201 so that each pressure sensor can be distinguished from other pressure sensors. Here, the pressure sensor 201 may be a resistance wire type or a diffusion type using a semiconductor, and any type can be used as long as it can determine whether pressure is applied from above and the magnitude of the pressure applied from above.
The moving means 202 is a device for automatically moving the moving object. In the present embodiment, the moving means is attached to each leg of the moving object as shown in FIG. 4, and has a motor and a control unit in order to enable the moving object to run independently of human hands. In the present specification, elements that are objects to be moved and that are in contact (ground) with the floor (grounding surface) of the space 301 are referred to as “legs” for convenience of explanation. The moving means receives a movement trajectory for moving the movement target from the arrangement server 203 to be described later, and moves the movement target according to the movement trajectory.

Further, the moving means 202 may be a device that moves the chair and the desk by attracting a magnetic body that is arranged under the floor and is attached to the legs of the chair and the desk.
The arrangement server 203 analyzes which moving object is present at which position based on the pressure information received from the pressure sensor 201. Also, the input of the target arrangement position for each moving object is received from the user, the moving distance, direction, method, etc. are calculated based on the analyzed moving object position, and the moving means 202 is instructed.

Next, the hardware configuration of the placement server 203 of this embodiment will be described. FIG. 5 is a diagram illustrating a hardware configuration of the arrangement server 203 according to the present embodiment.
The arrangement server 203 according to the present embodiment has the same configuration as a general information processing terminal. That is, the arrangement server 203 according to the present embodiment includes a CPU (Central Processing Unit) 501, a RAM (Random Access Memory) 502, a ROM (Read Only Memory) 503, an HDD (Hard Disk Drive) 504, an I / F 505, and an NIC. (Network Interface Controller) 508 is connected via a bus.

Further, an LCD (Liquid Crystal Display) 506 and an operation unit 507 are connected to the I / F 505.
The CPU 501 is a calculation unit and controls the operation of the entire placement server 203.
A RAM 502 is a volatile storage medium capable of reading and writing information at high speed, and is used as a work area when the CPU 501 processes information.
The ROM is a read-only nonvolatile storage medium, and stores a program such as firmware.
The HDD 504 is a nonvolatile storage medium capable of reading and writing information, and stores an OS (Operating System), various control programs, application programs, and the like.

The I / F 505 connects and controls a bus and various hardware and networks.
The LCD 506 is a visual user interface for the user to check the state of the placement server 203.
The operation unit 507 is a user interface such as a keyboard and a mouse for the user to input information to the arrangement server 203.
The NIC 508 is a network interface controller and is an adapter for connecting the arrangement server 203 to the network.

Next, functions of the placement server 203 of this embodiment will be described. FIG. 6 is a functional block diagram of the arrangement server 203 of this embodiment.
The layout database 601 is a database showing the installation positions of all the movement target targets existing in the space 301 shown in FIG. In the layout database 601, as shown in FIG. 7, for each type of movement target (desk 1, chair 1...), The target installation position (location 1, place 2...) Of each movement target and the type of movement target. The number of each (corresponding to the number of installation positions) is stored. The data of each movement target includes the coordinates of each leg of the movement target and the direction of each movement target. For example, for the movement target whose type is the desk 1 and the target installation position is the place 1, the coordinates (6, 17), (12, 14), (11, 12), (5, 15) of the legs 1 to 4 are used. ) And data in the direction (1,2) ← (3,4) are stored. “Direction (1, 2) ← (3, 4)” indicates that the legs 1 and 2 are the front side and the legs 3 and 4 are the rear side.
Information on the layout stored in the layout database 601 is received from the user via the operation unit 507 in FIG. 5 when the layout of each movement target is changed, and the layout database 601 receives the designation of the position and orientation of each movement target. You may make it memorize | store. Alternatively, a plurality of predetermined layouts are stored in a storage area different from the layout database, and are designated when a designation of which layout is a target layout is received from the user via the operation unit 507. The layout may be read from the storage area into the layout database 601.

The movement target database 602 is a database indicating information on the form of the movement target. As shown in FIG. 8, for each type of movement target, the name of the movement target, the number of legs, the presence of directionality, the pressure difference The relationship between the pressure value and the direction, the shape of the leg, and the length of each side of the figure when the moving object is viewed from above are stored in association with each other. Here, the information on the shape of the leg includes information on the ground contact shape of the leg to be moved and information indicating the range of the pressure sensor to which pressure is applied by the leg. In FIG. 8, as an example of the leg shape information, an image obtained by superimposing a figure indicating the ground contact shape of the leg on the square indicating one pressure sensor for each square is the shape of the leg. It is stored as information. FIG. 9 is a diagram showing a figure of the chair 1 shown in the movement target database in FIG. 8 as viewed from above. Side 1 and side 2 in the chair 1 in FIG. 8 are the lengths of the sides 901 and 902 in FIG. Is shown. Reference numerals 903a, 903b, 903c, and 903d denote the positions of the legs.
In the case of this embodiment, since the figure of the existing moving object viewed from above is a rectangle and the leg portion is located at the vertex of the rectangle, the length of the side is stored. If the figure seen from above is not a polygon but a circle or an ellipse, or if the leg is not positioned at the vertex of the polygon even if it is a polygon, the length between adjacent legs It is preferable to memorize.

  Returning to FIG. 6, the movement target leg specifying unit 603 specifies a range in which pressure is applied based on the pressure information received from the pressure sensor 201, and moves all the movement targets installed in the space 301 illustrated in FIG. 3. Identify the position of the leg of the. Here, the placement server 203 stores in advance coordinate information in which the coordinates in the space 301 indicating the position where each pressure sensor 201 is installed and the identification information of each pressure sensor 201 are associated with each other. The target leg identifying unit 603 identifies the position / range where pressure is applied by referring to the coordinate information. Details of the processing of the movement target leg specifying unit 603 will be described later.

The adjacent leg specifying unit 604 moves according to the length of the side of each movement target stored in the movement target database 602 and the number of each type of movement target stored in the layout database 601. Among each leg part specified by the specifying part 603, it is specified which leg part and the leg part is a combination of leg parts forming a side when the moving object is viewed from above. For example, in the case of the chair 1 in FIG. 9, it is specified that the combination of legs forming the sides when viewed from above is 903a and 903b, 903a and 903d, 903b and 903c, and 903c and 903d. Details of the processing of the adjacent leg specifying unit 604 will be described later.
The movement target specifying unit 605 specifies to which side each leg combination that forms a side when the movement target specified by the adjacent leg specifying unit 604 is viewed from above belongs to the pressure coordinate detection unit. It is specified to which moving object each detected leg belongs. Thereby, it is specified which moving object is located where. Details of the processing of the movement target specifying unit 605 will be described later.

The movement target direction identification unit 606 identifies the current direction of the movement target that needs to be arranged in the orientation determined when the arrangement is performed. For example, when a desk and a chair are arranged, the user desires to arrange the desk next to the side facing the back of the chair without arranging the desk and the side having the back of the chair next to each other. There are many cases. Similarly, there are desks in which the direction in which a chair can be stored is determined. Therefore, it is necessary to specify the current direction of the moving object when the moving object is arranged.
The layout confirmation unit 607 matches the position of each movement target currently arranged in the space 301 specified by the movement target specifying unit 605 and the movement target direction specifying unit 606 with the position of each movement target stored in the layout database 601. To check. The arrangement server 203 terminates the processing when it is determined by the layout confirmation unit 607 that they match, and requests the movement track calculation unit 608 to calculate the movement track of each moving object when it is determined that they do not match. .

The movement trajectory calculation unit 608 is stored in the layout database 601 based on the position of each movement target specified by the movement target specification unit 605 and the direction of the movement target determined by the movement target direction specification unit 606. In order to arrange the movement target according to the target layout, the movement trajectory of each movement target is calculated.
The movement trajectory transmission unit 609 transmits a movement command including information on the movement trajectory of each movement target specified by the movement trajectory calculation unit 608 to the movement unit 202.
Here, the movement target leg specification unit 603, the adjacent leg specification unit 604, the movement target specification unit 605, the movement target direction specification unit 606, the layout confirmation unit 607, the movement track calculation unit 608, and the movement track transmission unit 609 are, for example, It is a program module stored in the ROM 503 of the arrangement server 203, and the functions of each unit are realized by executing the program on the CPU 501.

Next, the overall processing flow of the placement server 203 of this embodiment will be described. FIG. 10 is a diagram showing an overall processing flow of the arrangement server 203 of this embodiment.
First, the movement target leg specifying unit 603 of the placement server 203 receives pressure information from each pressure sensor 201 (step S1001). Further, the movement target leg specifying unit 603 specifies the position of the pressure sensor 201 in the space 301 based on the coordinate information of the pressure sensor 201, identifies all the leg parts to be moved, and The position of each part is specified (step S1002).
Next, when the adjacent leg specifying unit 604 of the placement server 203 selects a combination of two legs from each identified leg, all possible combinations of the legs are listed, and each of the two legs is listed. The distance between the parts is calculated and stored as a list. Further, the adjacent leg specifying unit 604 compares the length of the side of the figure viewed from above stored in the movement target database 602 with the distance between the two legs, and from above stored in the movement target database 602. A combination of distances that does not match the length of the side of the seen graphic is deleted from the list (step S1003).

Next, the movement target specifying unit 605 of the placement server 203 performs pattern matching based on the number of each type of movement target stored in the layout database 601 and the information on the type of movement target stored in the movement target database 602. This is performed to identify to which movement object the combination of legs shown in the list generated in step S1003 belongs. Further, the current position of each movement target is specified (step S1004).
Next, the movement target direction specifying unit 606 specifies the current direction of each movement target based on the pressure information received from the pressure sensor 201 (step S1005).
Here, the layout confirmation unit 607 compares the current position and orientation of each movement target specified in steps S1004 and S1005 with the position and orientation of each movement target stored in the layout database 601. The layout confirmation unit 607 determines whether or not the current position and orientation of all the movement targets match the target installation position and orientation (step S1006). Here, even if the position and the direction do not completely match, if the position shift and the direction shift are within a certain range, the layout check unit 607 may consider that the position and the direction match. .

If the layout confirmation unit 607 determines that they match (step S1006: YES), the placement server 203 ends the process because there is no need to move each movement target.
If the layout confirmation unit 607 determines that they do not match (step S1006: NO), the movement trajectory calculation unit 608 determines the current position of each movement target specified in step S1004 and the current state determined in step S1005. In accordance with the direction of the moving object, the movement trajectory of each moving means 202 for arranging each moving object at the position of each target moving object stored in the layout database 601 is calculated (step S1007).
Further, the movement trajectory transmission unit 609 transmits movement information indicating the movement trajectory calculated in step S1007 to each moving means 202 attached to each movement target in a movement command (step S1008). The movement means that has received the movement command moves each movement target along the movement locus in accordance with the movement command.

Further, returning to the processing from step S1001, the placement server 203 performs the processing from current step S1001 to step S1005, so that the position and orientation after movement match the position and orientation stored in the layout database. The process is repeated until the current position and orientation and the position and orientation of each movement target stored in the layout database match for all movement targets.
By the above processing, when a plurality of chairs and desks are automatically arranged, the chairs and desks can be correctly arranged by correctly recognizing the chairs and desk legs.

Further, by reconfirming the position of the movement target after the arrangement of the movement target, even if an incorrect arrangement is performed, it is possible to perform the rearrangement and correct the correct arrangement.
In the embodiment of the present invention, the list generated by each unit is temporarily stored in a storage area dedicated to each unit provided in the RAM 502 shown in FIG.

Here, the details of the processing of the movement target leg specifying unit 603 in step S1002 of FIG. 10 described above will be described with reference to FIG. FIG. 11 is a flowchart showing the processing of the movement target leg specifying unit 603 of this embodiment.
First, pressure information indicating whether or not pressure is applied to each pressure sensor 201 and identification information for identifying each pressure sensor 201 are received from each pressure sensor 201 (step S1101).
Next, an image indicating that the space 301 is divided into a mesh by a grid is generated so that one pressure sensor 201 is arranged in one cell, and a labeling process is performed (step S1102). Specifically, as shown in FIG. 12, two square images with the pressure sensor 201 to which pressure is applied are set to 1, and a square cell with the pressure sensor 201 to which no pressure is applied is set to 0. Convert to value. Furthermore, when adjacent pixel values match, it is possible to identify the four regions 1301 as four regions 1301a to 1301d as shown in FIG. 13 by applying the same label.

Next, the shape of each movement target leg as shown in FIG. 14 is acquired from the movement target database, and the number of each type of leg is acquired from the layout database (step S1103). FIG. 14 is a diagram showing the shape of each leg stored in the movement target database, and the three images in the left column in FIG. 14 show the shape of each leg stored as information on the shape of the leg in the movement target database. These are images showing the shape, and the three images in the right column are images obtained by extracting only the information indicating the ground contact shape from the images showing the shape of each leg in the left column. In FIG. 14, the leg of the chair 1 shown in (a) is circular and applies pressure to a maximum of nine pressure sensors 201, and the leg of the desk 1 shown in (b) is rectangular and has a maximum of six pressures. The pressure is applied to the sensor 201, and the leg portion of the chair 2 shown in (c) is L-shaped and indicates that pressure is applied to a maximum of 30 pressure sensors 201.
Here, template matching is performed based on the acquired shape of each leg and the number of each type of leg (step S1104). Template matching is a technique for detecting a location of a specific pattern in an input image by comparing a template image for detecting a specific pattern with an input image. In the present embodiment, an image indicating the shape of the leg stored in the movement target database as information on the shape of the leg acquired from the movement target database is used as a template image and compared with the image subjected to the labeling process in step S1102. Thus, it is specified which region in step S1102 is a leg part belonging to which type of moving object.

  Further, it is determined whether the number of legs of each type matches the number of legs of each type from the layout database (step S1105). By this process, even when the legs are adjacent to each other and an area where pressure is applied by two or more legs is recognized as one area, two or more legs are included in one area. Can be recognized. For example, when the leg of the chair 1 and the leg of the desk 1 are adjacent to each other and the leg of the chair 2 is recognized, the number of recognized leg portions is obtained from the layout database. Since it is different from the number of legs of each type, it is possible to determine that the leg is erroneously recognized, and it is possible to correctly recognize the position of each type of leg.

  If it is determined in step S1105 that they do not match (step S1105: NO), the process returns to step S1104 again to perform template matching again. If it is determined in step S1105 that they match (step S1105: NO), the coordinates of each recognized leg are shown for each leg as shown in FIG. The type and pressure value are associated with each other and stored in the leg list 1501 (step S1106). Here, the pressure value is, for example, the total value of the pressures applied to the pressure sensors 201 arranged in the squares recognized as the same leg region in the template matching in step S1104. In addition, the coordinate in FIG. 15 has shown the center coordinate of the leg part as an example.

Next, details of the processing of the adjacent leg specifying unit 604 in step S1003 of FIG. 10 described above will be described with reference to FIG. FIG. 16 is a flowchart showing the processing of the adjacent leg identifying unit 604 of the present embodiment.
First, the leg list 1501 (FIG. 15) generated by the movement target leg specifying unit 603 is acquired (step S1601). Next, distances between all combinations of coordinates when two coordinates included in the leg list 1501 are selected are stored in the distance list 1701 as shown in FIG. 17 (step S1602). In FIG. 18, when there is one desk and two chairs, all combinations in the case where one of the coordinates is P1 are indicated by dashed arrows. Next, with reference to the movement target database 602, the lengths of all the sides of each movement target are acquired (step S1603). Further, the distance of the first combination registered in the distance list is acquired (step S1604), and it is determined whether the acquired distance matches the length of the side registered in the movement target database acquired in step S1603 ( Step S1605).

  Here, for both one leg located at a certain coordinate and the other leg combined with the one leg in step S1603, the shape of the leg is the same by the processing in the movement target leg identifying unit 603. If it is known that the leg is the type of movement target, compare the distance between the legs with only the length of the side of the type of movement that the legs belong to, and move the other type of movement. It is not necessary to compare with the length of the target side. For example, in the leg combination identification number C1 of FIG. 17, it can be determined that the shapes of the legs of P1 and P2 are both the shape of the desk 1 by referring to the leg list 1501 shown in FIG. Therefore, the length of the side to be compared with the distance between P1 and P2 may be only 40 cm and 30 cm which are the length of the side of the chair 1. However, since the shape of the leg specified by the movement target leg specifying unit 603 may be erroneously determined depending on the number of pressure sensors 201, here, the lengths of all sides are compared.

Further, in order to consider that there is an error in the coordinates specified by the movement target leg specifying unit 603, even if the distance and the length of the side do not match, they are considered to match if they are within a specific range. May be.
If it is determined in step S1605 that they do not match (step S1605: NO), the combination is deleted from the distance list (step S1606). Finally, it is determined whether or not there is a combination that has not been compared in the distance list (step S1607). If there is no combination that has not been compared yet (step S1607: YES), the process ends. When there is a combination that has not been compared yet (step S1607: YES), a combination that has not been compared yet is acquired (step S1608), and the processing after step S1605 is repeated.

  By performing the above processing, the distance list 1701 in FIG. 17 is updated to a distance list 1901 as shown in FIG. Here, the combination of the leg combination identification numbers C2 and C3 in FIG. 17 is deleted because the side having the same length is not registered in the movement target database. Thereby, as shown in FIG. 20, it is specified that the leg part which forms the leg part P1 and the side to be moved is P2 and P9. In addition, the other leg portions are identified by the same processing as to which leg portion and side to be formed when the moving object is viewed from above.

Next, details of the processing of the movement target specifying unit 605 in step S1004 of FIG. 10 described above will be described with reference to FIG. FIG. 21 is a flowchart showing the processing of the movement target specifying unit 605 of this embodiment.
First, the distance list 1901 (FIG. 19) generated by the adjacent leg specifying unit 604 is acquired (step S2101).

Next, referring to the movement target database 602, the form of each movement target is specified based on the length of the side when viewed from above each movement target (step S2102). For example, in the case of the desk 1, it can identify that it is a rectangular shape whose long side is 120 cm and whose short side is 30 cm with reference to the movement target database shown in FIG.
Next, based on the form of each moving object specified in step S2102, which one of the moving objects is located in which position in the space 301, and one possible arrangement of each moving object is calculated. (Step S2103). Specifically, when one desk 101 and two chairs 102 and 102 are arranged as shown in FIG. 22 at the current stage, the coordinates of twelve locations such as P1 to P12 shown in FIG. It is added to the list 1501 and added to the distance list 1901 indicating the distances of possible leg combinations of the legs P1 to P12. Here, when the distance between P4 and P6 is the same as the distance between P6 and P8, the combination of the leg portions P6 and P8 is determined by the adjacent leg specifying portion to be equal to the length of the side of the chair 1, and the distance Not deleted from list 1901. In other words, the distance list 1901 may actually include a combination of legs that do not form a side when the moving object is viewed from above. Therefore, in this case, it may be determined that the arrangement is different from the actual arrangement as shown in FIGS.
Therefore, next, the number of objects to be moved is acquired from the layout database 601 (step S2104).

  Further, the obtained number of moving objects matches the number of moving objects in the arrangement specified in S2103, and each leg registered in the leg list 1501 is one of the moving target legs. It is determined whether it is specified as (step S2105). Here, if the arrangement calculated in step S2103 is an arrangement as shown in FIG. 24 or FIG. 25, it is known that the arrangement is incorrect because it differs from the number of moving objects acquired in the layout database 601. For example, even if the result of step S2103 is that one desk 1 and three chairs 1 are obtained as shown in FIG. 24, the actual number of desks 1 and chairs 1 can be obtained by referring to the layout database 601. Since it can be confirmed that there are two, it can be seen that the arrangement as shown in FIG. 24 is incorrect.

  Next, if it is determined in step S2105 that they do not match (step S2105: NO), the possible arrangements are calculated again so that the arrangements other than the combinations performed so far are obtained (step S2107). The process is repeated until the number of objects matches the actual number of objects and each leg registered in the leg list is specified as any one leg to be moved. If it is determined in step S2105 that they match (step S2105: YES), it is determined that the arrangement of the moving objects determined in S2103 is the correct combination, and each moving object as shown in FIG. 26 has which leg portion. A movement target list 2601 indicating this is generated (step S2106).

  In step S2101, the leg list 1501 is obtained together with the distance list 1901. By referring to the leg list 1501 in step S2103, the type of the movement target to which each leg belongs is confirmed, and the movement target confirmed by each leg is confirmed. It is also possible to calculate an arrangement that belongs to this type. Also, any possible arrangement of the legs calculated so as to belong to the type of movement object confirmed in S2103 and S2107 differs from the number of movement objects acquired in the layout database 601 in step S2105. May be judged. Furthermore, there is a case where there is no arrangement in which each leg part belongs to the type of moving object confirmed. Only in these cases, a possible arrangement may be calculated from only information on the distance between the legs without confirming the type of movement target to which each leg belongs. If the movement target leg specifying unit 603 correctly determines the type of movement target to which each leg belongs in step S1104, the arrangement of each movement target is based on the information on the type of movement target to which each leg belongs. It is highly possible that the correct arrangement can be calculated by calculating. However, in the case where the ground contact shapes of a plurality of types of moving target legs are the same, the type of moving target to which each leg stored in the leg list 1501 belongs is erroneously determined. This is because it is necessary to calculate the arrangement of each movement target without referring to the information on the type of movement target to which each leg belongs.

  Next, details of the processing of the movement target direction specifying unit 606 in step S1005 of FIG. 10 described above will be described with reference to FIG. FIG. 27 is a flowchart showing the processing of the movement target direction specifying unit 606 of the present embodiment.

First, the movement target direction identification unit 606 acquires the movement target list 2601 generated by the movement target identification unit 605 (step S2701). Also, the type of moving object having directionality is extracted from the moving objects stored in the moving object database 602 (step S2702). Here, the moving object with directionality is a chair with a backrest in any one direction such as the chair 1 shown in FIG. 28, a desk that can accommodate the chair from a specific one direction such as the desk 1, etc. This means a movement target that may be designated by the user in the direction of placement when placing. For example, from the movement target database 602 in FIG. 8, it is specified that the movement target having directionality is the desk 1, the chair 1, and the desk 2 by referring to the directionality item.
Next, according to the type of the movement target extracted in step S2702, a directional movement target is specified among the movement targets stored in the movement target list 2601 (step S2703). For example, in the movement target list 2601 in FIG. 26, F1, F2, and F3 are identified as moving objects having directionality.

Next, the pressure applied to each coordinate point of each movement target specified in step S2703 is acquired, and the pressure value applied between the legs stored in the distance list 1901 as a combination is calculated (step S2704). The pressure applied between the legs is obtained by referring to the leg list 1501 for the pressure value applied to each leg in the combination of the legs stored in the distance list 1901. It can be calculated by summing up the values. For example, in the chair 1 shown in FIG. 29, by referring to the leg list 1501 shown in FIG. 15, the pressure value applied to P3 is 100, the pressure value applied to P4 is 150, the pressure value applied to P5 is 100, and P6. Since it can be seen that the pressure value is 150, between the combinations of the legs stored in the distance list (P3, P4), (P3, P5), (P4, P6), (P5, P6) It can be seen that the pressure values applied to are 250, 200, 300 and 250, respectively.
Next, it is determined whether or not there is a bias in the pressure value applied between the legs (step S2705). Specifically, it is determined whether or not the pressure values applied between the legs calculated in step S2704 all match. If they match, it is determined that there is no bias. To do.
Here, when there is a difference between the pressure values, it may be determined that the pressure values match if the pressure value difference is within a certain range.

In the chair 1 shown in FIG. 29, the pressure values applied between the legs are 250, 200, 300, and 250, respectively, so that the respective pressure values do not match and it can be determined that there is a bias.
If it is determined in step S2705 that there is a bias (step S2705: YES), the movement target is determined from the pressure value applied between each leg calculated in step S2704 and the directionality and orientation information registered in the movement target database. The direction is specified (step S2706). As a specific method, referring to the movement target database 602 shown in FIG. 8, information on the presence / absence of the direction of the corresponding movement target, the pressure difference, and the relationship between the pressure value and the direction is acquired, By specifying the combination of the legs having the highest pressure value among the pressure values, the direction in which they are facing may be specified, or the pressures applied to the combinations of the opposite legs may be compared, and two sets that do not match The direction may be specified by determining which direction has a direction between the combination of legs and determining which combination has a higher pressure value. For example, in the chair 102 in FIG. 29, the highest pressure is applied between P4 and P6, and referring to the movement target database shows that the side with the highest pressure is behind, so P4 and P6 are on the rear side. It can be seen that P3 and P5 are the front side.

  Next, the directionality specified in step S2706 is stored in the movement target list in association with each movement target (step S2707). By performing step S2707, for example, the movement target list 2601 in FIG. 26 is updated to the movement target list 3000 shown in FIG. Here, in FIG. 30, (2, 3) → (1, 4) is stored in association with the directionality of the moving object F1, but as shown in FIG. A certain P2 and P9 which is the leg 3 are the rear side of the moving object F1, and P1 which is the leg 1 and P10 which is the leg 4 are the front side of the moving object F1.

With the above processing, it becomes possible to specify how and where each moving object such as a plurality of chairs and desks arranged in the room is arranged, and when moving objects are automatically arranged, It becomes possible to recognize the chair and the leg of the desk correctly.
Therefore, it is possible to automatically arrange the objects to be moved such as desks and chairs as specified by the user without using human hands, so the arrangement of equipment such as desks and chairs is changed frequently in rental conference rooms, etc. It is possible to make effective use of the room that needs to be done.

  Each function of the placement server described above can be realized by causing a computer to execute a program that encodes each processing procedure executed by the placement server. In addition, the program can be distributed to and executed by each computer by recording it on various computer-readable recording media or via an electric communication line such as the Internet.

[Summary of Embodiment, Action, and Effect of the Present Invention]
<First embodiment>
In this aspect, detection information (pressure information) acquired from a plurality of detection means (pressure sensors 201) that are installed at different positions in the target area (space 301) and detect the presence or absence of a movement target (desk, chair,...). This is an embodiment relating to an information processing apparatus (arrangement server 203) that outputs movement information for moving each movement target to a target arrangement position to a moving means for moving each movement target.
The information processing apparatus includes a movement target storage unit (movement target database 602) that stores the positional relationship between the legs of each movement target for each type of movement target, and each target arrangement position of each movement target within the target area. Each of the legs in the target area based on the arrangement position storage means (layout database 601) that stores the information, the detection information output from each detection means, and the information on the installation position of each detection means in the target area. Leg position specifying means (moving target leg specifying section 603) for specifying the current position of each leg, and for each leg specified by the leg position specifying means, the current positional relationship between the legs and the movement target storage Based on the positional relationship between the legs stored in the means, the positional relationship specifying means (adjacent leg specific feature) for specifying a combination of legs that can belong to the same moving object. Section 604) and the leg combination specified by the positional relationship specifying means, the type and number of moving objects in the target area are calculated, and the calculated type and number of moving objects and the target arrangement position are calculated. Based on whether or not the types and number of the movement targets included are the same, a movement target position specifying unit (movement target specifying unit 605) for specifying the current arrangement of each movement target, and the current arrangement of each movement target When the arrangement comparison unit (layout confirmation unit 607) for determining whether or not the target arrangement position matches the target arrangement position and the arrangement comparison unit determines that the current arrangement and the target arrangement position do not coincide, at least the target arrangement position And movement instruction means (movement locus transmitting unit 609) for outputting movement information for moving a movement target at a position different from the movement object to the movement means.

According to this aspect, when a plurality of chairs and desks are automatically arranged, the chairs and desks can be correctly arranged by correctly recognizing the chairs and the legs of the desks.
That is, in this aspect, the detecting means detects the position of the leg, and the positional relationship specifying means extracts the leg that can belong to the same moving object. Here, the positional relationship specifying means may determine that these leg portions may belong to the same movement target when the leg portions can be determined as those of the same type of movement target. Then, the movement target position specifying means presumably calculates the current arrangement (position and orientation) of the movement target from the arrangement of the legs. If a plurality of legs are detected as a single leg by the detection means, the type and number of movement targets calculated do not match the type and number of movement targets included in the target placement position. . If they do not match, the recognition of the moving object is incorrect, and therefore the process of calculating the arrangement of the moving object until the type and number of the moving object calculated and the type and number of the moving objects included in the target arrangement position match. repeat.
In this way, since it is determined whether or not the calculated type and number of moving objects match the type and number of moving objects included in the target placement position, the leg of the moving object can be correctly recognized. As a result, it is possible to correctly arrange the movement target.

<Second embodiment>
In the information processing apparatus (placement server 203) according to this aspect, the movement target storage unit (movement target database 602) stores the distance between the legs of each movement target (desk, chair,...) For each type of movement target. The positional relationship specifying unit (adjacent leg specifying unit 604) is configured to combine each leg specified by the leg position specifying unit (movement target leg specifying unit 603) with each other leg. By comparing the distance between the legs and the distance between the legs stored in the movement target storage means, the combination of legs that can belong to the same movement target is specified. And
According to this aspect, when the distance between the legs cannot be the distance between the legs of the moving target existing in the target area (space 301), the positional relationship specifying means (adjacent leg specifying unit 604) This combination of legs can be excluded (step S1606). As a result, subsequent processing can be simplified.

<Third embodiment>
In the information processing apparatus (placement server 203) according to this aspect, the movement target storage unit (movement target database 602) stores the distance between adjacent legs.
For example, when the moving object is observed from above, the moving object has a polygonal shape, and when the leg part is positioned at the vertex of the polygon, the distance between the adjacent leg parts becomes the length of the side of the polygon. If at least information on the length of the side of the movement target is held, the movement target can be easily specified from the connection of the adjacent legs.

<Fourth embodiment>
In the information processing apparatus (arrangement server 203) according to this aspect, the movement target storage unit (movement target database 602) stores the ground contact shape of the leg of each movement target, and the leg position specifying unit (movement target) The leg identifying unit 603) detects each leg detected by the detecting means (pressure sensor 201) based on the ground contact shape of the leg obtained from the detection information and the ground contact shape of the leg stored in the movement target storage means. It is characterized by identifying the type of moving object to which the leg belongs.
When the contact shape of the leg is different for each type of movement object, the type of the movement object can be specified only by the contact shape, and subsequent processing can be simplified.

<Fifth embodiment>
In the information processing apparatus (arrangement server 203) according to this aspect, the detection information includes the magnitude of pressure applied to each detection unit (pressure sensor 201) from each leg, and includes a movement target storage unit (movement target database 602). ) Stores pressure information related to the pressure applied by each leg to the ground contact surface in association with the type of movement target, and the magnitude of pressure from each leg output from the detection means and the movement target storage A moving target direction specifying means (moving target direction specifying unit 606) for specifying the direction of each moving target based on the difference in pressure by each leg corresponding to the position of each leg in each moving target stored in the means. It is provided with.
Among the objects to be moved, there are objects that need to be arranged in a predetermined direction, such as a chair having a backrest or a desk in which the direction in which the chair is stored is determined. If the arrangement of the leg portions to be moved is symmetrical in the front-rear direction, the direction of the movement target cannot be specified only by the positional relationship of the leg portions. In this aspect, the direction of the moving object can be specified based on the difference in the magnitude of the pressure from each leg.

DESCRIPTION OF SYMBOLS 101 ... Desk 1 102 ... Chair 1 201 ... Pressure sensor 202 ... Moving means 203 ... Arrangement server 301 ... Space 501 ... CPU 502 ... RAM 503 ... ROM 504 ... HDD 505 ... I / F 506 ... LCD 507 ... Operation part 901 ... Chair Long side when viewed from above 902 ... Short side when viewed from above the chair 903a ... Leg 903b ... Leg 903c ... Leg 903d ... Leg 1301 ... Leg 2801 ... Desk 2 2802 ... Chair 2

JP 2008-77539 A

Claims (7)

Based on detection information acquired from a plurality of detection means that are installed at different positions in the target area and detect the presence or absence of the movement target, movement information for moving each movement target to the target arrangement position is An information processing apparatus for outputting to a moving means for moving each moving object,
Movement target storage means for storing the positional relationship between the legs of each movement target for each type of movement target;
Arrangement position storage means for storing the respective target arrangement positions of the respective movement targets in the target area;
A leg that identifies the current position of each leg in the target area based on the detection information output from each detection means and information on the installation position of each detection means in the target area. Part position specifying means;
About each leg specified by the leg position specifying means, based on the current positional relationship between the legs and the positional relationship between the legs stored in the movement target storage means A positional relationship specifying means for specifying a combination of legs in a positional relationship that can belong to the movement target;
Based on the combination of legs specified by the positional relationship specifying means, the type and number of moving objects in the target area are calculated, and the type and number of the moving objects calculated and included in the target arrangement position A moving target position specifying means for specifying the current arrangement of each moving target based on whether or not the type and number of moving objects to be matched match;
Arrangement comparison means for determining whether or not the current arrangement of each of the movement targets and the target arrangement position match;
When the arrangement comparing means determines that the current arrangement and the target arrangement position do not match, at least the movement information for moving the movement object at a position different from the target arrangement position is the movement means. Movement instruction means for outputting to
An information processing apparatus comprising: The moving object storage means stores the distance between the legs of each moving object for each type of moving object,
The positional relationship specifying means is stored in the movement target storage means and the distance between the legs when the legs specified by the leg position specifying means are combined with the other legs. The information processing apparatus according to claim 1, wherein a combination of legs in a positional relationship that can belong to the same movement target is specified by comparing the distances between the legs.   The information processing apparatus according to claim 2, wherein the movement target storage unit stores a distance between adjacent legs. The movement target storage means stores the ground contact shape of the legs of each movement target,
The leg position specifying unit is configured to detect each leg detected by the detection unit based on a ground contact shape of the leg obtained from the detection information and a ground contact shape of the leg stored in the movement target storage unit. The information processing apparatus according to any one of claims 1 to 3, wherein a type of a movement target to which the section belongs is specified. The detection information includes the magnitude of pressure applied from the legs to the detection means,
The movement target storage means stores pressure information related to the pressure applied by each leg to the ground surface in association with the type of the movement target,
The difference in pressure due to each leg according to the position of each leg in the movement object stored in the movement object storage means and the magnitude of the pressure from each leg outputted from the detection means 5. The information processing apparatus according to claim 1, further comprising a movement target direction specifying unit that specifies a direction of each of the movement targets based on the information. Based on detection information acquired from a plurality of detection means that are installed at different positions in the target area and detect the presence or absence of the movement target, movement information for moving each movement target to the target arrangement position is An information processing program that is executed in an information processing apparatus that outputs to a moving unit that moves a moving object,
The information processing apparatus;
Movement target storage means for storing the positional relationship between the legs of each movement target for each type of movement target;
Arrangement position storage means for storing the respective target arrangement positions of the respective movement targets in the target area;
A leg that identifies the current position of each leg in the target area based on the detection information output from each detection means and information on the installation position of each detection means in the target area. Part position specifying means;
About each leg specified by the leg position specifying means, based on the current positional relationship between the legs and the positional relationship between the legs stored in the movement target storage means A positional relationship specifying means for specifying a combination of legs in a positional relationship that can belong to the movement target;
Based on the combination of legs specified by the positional relationship specifying means, the type and number of moving objects in the target area are calculated, and the type and number of the moving objects calculated and included in the target arrangement position A moving target position specifying means for specifying the current arrangement of each moving target based on whether or not the type and number of moving objects to be matched match;
Arrangement comparison means for determining whether or not the current arrangement of each of the movement targets and the target arrangement position match;
When the arrangement comparing means determines that the current arrangement and the target arrangement position do not match, at least the movement information for moving the movement object at a position different from the target arrangement position is the movement means. Movement instruction means for outputting to
An information processing program that functions as a computer program. An information processing system that moves each moving target to a target arrangement position based on detection information acquired from a plurality of detecting means that are installed at different positions in the target area and detect the presence or absence of the moving target,
Moving means for moving each of the moving objects;
Movement target storage means for storing the positional relationship between the legs of each movement target for each type of movement target;
Arrangement position storage means for storing the respective target arrangement positions of the respective movement targets in the target area;
A leg that identifies the current position of each leg in the target area based on the detection information output from each detection means and information on the installation position of each detection means in the target area. Part position specifying means;
About each leg specified by the leg position specifying means, based on the current positional relationship between the legs and the positional relationship between the legs stored in the movement target storage means A positional relationship specifying means for specifying a combination of legs in a positional relationship that can belong to the movement target;
Based on the combination of legs specified by the positional relationship specifying means, the type and number of moving objects in the target area are calculated, and the type and number of the moving objects calculated and included in the target arrangement position A moving target position specifying means for specifying the current arrangement of each moving target based on whether or not the type and number of moving objects to be matched match;
Arrangement comparison means for determining whether or not the current arrangement of each of the movement targets and the target arrangement position match;
When the arrangement comparing means determines that the current arrangement and the target arrangement position do not match, at least the movement information for moving the movement object at a position different from the target arrangement position is the movement means. Movement instruction means for outputting to
An information processing system comprising:

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