JP2018174830A - Action guiding system and action guiding method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To guide a quadruped animal while reducing a time required for prior learning.SOLUTION: An action guiding system includes an irradiation device 106 for irradiation with light and a control part 104 for controlling the irradiation device 106 to have a point in a direction to cause a quadruped animal to move irradiated with a light. The irradiation device 106 is installed in a predetermined environment, and a driving device for changing the position or the direction in one or a plurality of directions is connected to the irradiation device 106. The control part 104 controls the driving device to cause the irradiation device 106 to irradiate the point with a light.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a behavior guidance system and a behavior guidance method.

  Conventionally, as a method of guiding a dog, the dog is trained to an arbitrary place by training the UAV (Unmanned Aerial Vehicle) in flight to follow the UAV, or the dog is equipped with a suit equipped with a vibration motor and a speaker A method of guiding by remembering the combination of vibration position and sound height and movement direction is studied.

“SWARMIX-Finding Linda”, SWARMIX, [online], [search on March 16, 2017], Internet <URL: http://www.swarmix.ch/swarmix-finding-linda/> Miller, J. and Bevly, DM "A system for autonomous canine guidance", Int. J. of Modeling, Identification and Control, 2013 Vol. 20, No. 1, pp. 33-46

  However, the conventional method has a problem that it takes a lot of time for the dog to learn in advance. Such a problem is not limited to dogs, but is a problem that occurs when tetrapods are induced by the above method.

  In view of the above circumstances, the present invention aims to provide a technique capable of guiding a quadruped animal by reducing the time required for prior learning.

  One aspect of the present invention is a behavior guidance system including: an irradiation device that emits light; and a control device that controls the irradiation device to emit the light at a point in a direction in which a quadruped animal is moved.

  One embodiment of the present invention is the behavior guidance system described above, wherein the irradiation device is installed in a predetermined environment, and a driving device that changes the position or orientation in one or more directions is connected to the irradiation device The control unit controls the driving device to cause the light to irradiate the point from the irradiation device.

  One aspect of the present invention is the above-described behavior guidance system, wherein the irradiation device is provided to a fixture attached to the body of the quadruped animal.

  One mode of the present invention is the above-mentioned action guidance system, wherein a plurality of the irradiation devices are installed in the fixture, and among the plurality of irradiation devices, the irradiation device according to the direction of moving the quadruped animal The light is emitted.

  One embodiment of the present invention is the behavior guidance system described above, further comprising a position information acquisition unit that acquires position information of the four-legged animal, the control unit further includes the fourth information acquired from the position information acquisition unit. The light is emitted in the direction toward the destination based on the position of the foot animal and the position of the destination.

  One mode of the present invention is the above-mentioned action guidance system, and the irradiation range showing the field which becomes the irradiation object of the above-mentioned light is decided according to the height of the viewpoint of the four-legged animal and the visual field of the four-legged animal. Be done.

  One mode of the present invention is the above-mentioned action guidance system, and in the irradiation device, the difference between the luminance value of the light reflected at the irradiation destination and the luminance value of the environment around the irradiation destination is equal to or more than a threshold I irradiate light.

  One aspect of the present invention is a behavior guiding method including a control step of irradiating light, and controlling the irradiating device to irradiate the light at a point in a direction in which a quadruped animal is moved.

  The present invention makes it possible to reduce the time required for prior learning and to guide quadrupeds.

It is a block diagram showing the system configuration of action induction system 100 in a 1st embodiment. FIG. 2 is a schematic block diagram showing a functional configuration of a laser module 10; It is a schematic block diagram showing the functional composition of control device 20 in a 1st embodiment. It is a figure which shows the example of an experiment regarding the distance which irradiates the light in irradiation information. It is a figure which shows the result of the experiment example regarding the distance which irradiates the light in irradiation information. It is a figure which shows the result of the experiment example regarding the moving speed of the light in irradiation information. It is a figure which shows the result of the experiment example regarding the irradiation time of the light in irradiation information. It is a sequence diagram which shows the flow of the process in the action guidance system 100 in 1st Embodiment. It is a block diagram showing the system configuration of action induction system 100a in a 2nd embodiment. It is a figure which shows the attachment position of irradiation apparatus, and an example of an angle error. It is a schematic block diagram showing the functional composition of laser module 10a. It is a figure which shows the attachment image of the laser module 10a. It is a sequence diagram which shows the flow of the process in the action guidance system 100a in 2nd Embodiment.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
(Overview)
The behavior guidance system in the present invention is a system that guides the behavior of an animal using light. The behavior guidance system is applicable to animals having the habit of following light among tetrapods. In the following description, the case where the present invention is applied to a dog will be described as an example.

First Embodiment
FIG. 1: is a block diagram showing the system configuration | structure of the action guidance system 100 in 1st Embodiment. The behavior guidance system 100 includes a laser module 10 and a control device 20. The laser module 10 and the control device 20 are connected by wire. The laser module 10 and the control device 20 may be connected wirelessly. In FIG. 1, it is assumed that the dog 30 is in the room.

The laser module 10 irradiates light of a luminance value of a predetermined size according to an instruction from the control device 20. The laser module 10 is fixedly installed in a predetermined environment.
The controller 20 outputs an instruction to control the laser module 10 to the laser module 10.

FIG. 2 is a schematic block diagram showing the functional configuration of the laser module 10. The laser module 10 includes an input unit 101, a position estimation unit 102, an irradiation information storage unit 103, a control unit 104, an actuator 105, and an irradiation device 106.
The input unit 101 inputs an instruction output from the control device 20. The instruction output from the control device 20 includes the coordinate position of the destination, the type of the dog 30, and the like. The destination indicates a point for guiding the dog 30. The type of the dog 30 may be a type such as a large dog, a medium-sized dog, a small dog or the like, or may be a dog breed.

The position estimation unit 102 estimates the current position of the dog 30 to be guided. For example, the position estimation unit 102 is an example of a position information acquisition unit that acquires position information of the dog 30.
The irradiation information storage unit 103 is configured using a storage device such as a magnetic hard disk drive or a semiconductor storage device. The irradiation information storage unit 103 stores irradiation information. The irradiation information is information related to irradiation, and is, for example, information on the speed at which light is moved, the distance of light irradiation, and the irradiation time for each type of dog 30. The speed at which light is moved represents the moving speed when light is irradiated to a certain position and then light is irradiated to the next position. The light irradiation distance represents the distance of the irradiation destination on the movement path to the destination with reference to the current position of the dog 30. For example, if the light irradiation distance is 1 m, it indicates 1 m ahead on the moving path from the current position of the dog 30 to the destination. The irradiation time represents the time to continue the light irradiation at one point. The irradiation information is preset.

The control unit 104 controls the actuator 105 and the irradiation device 106 based on the input instruction, the estimated current position of the dog 30, and the irradiation information.
The actuator 105 has a drive motor and can change position or orientation in one or more directions. The actuator 105 changes its position or orientation in one or more directions under the control of the control unit 104. At the tip of the actuator 105, an irradiation device 106 is provided.

  The irradiation device 106 irradiates light of a brightness value of a predetermined size according to the control of the control unit 104. More specifically, the irradiation device 106 sets the light whose difference between the luminance value of the light reflected at the irradiation destination and the luminance value of the environment around the irradiation destination (hereinafter referred to as the "luminance difference") is equal to or greater than the threshold. Irradiate. The luminance value of the light to be irradiated may be set in advance or may be set as appropriate by the user. Also, the irradiation device 106 is selected by the control unit 104 from among the brightness values of light set in advance according to the time zone and the weather such that the brightness difference of the light emitted by the irradiation device 106 becomes equal to or greater than the threshold. You may irradiate the light of the brightness value. As a light source irradiated by the irradiation device 106, for example, it is preferable that a laser light be used indoors, and a high-intensity LED (Light Emitting Diode) + lens be used outdoor. The color of the light source irradiated by the irradiation device 106 may be any color. The form of the light source may be any form. The irradiation device 106 is provided at the tip of the actuator 105. Therefore, in the irradiation device 106, the irradiation destination of the light is changed by changing the position or the orientation of the actuator 105.

FIG. 3 is a schematic block diagram showing a functional configuration of the control device 20 in the first embodiment.
The control device 20 includes a CPU (Central Processing Unit), a memory, an auxiliary storage device, and the like connected by a bus, and executes a control program. By execution of the control program, the control device 20 functions as a device including the instruction input unit 201, the control unit 202, and the output unit 203. Note that all or part of the functions of the control device 20 may be realized using hardware such as an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a field programmable gate array (FPGA). Also, the control program may be recorded on a computer readable recording medium. The computer readable recording medium is, for example, a portable medium such as a flexible disk, a magneto-optical disk, a ROM, a CD-ROM, or a storage device such as a hard disk built in a computer system. Also, the control program may be transmitted and received via a telecommunication line.

The instruction input unit 201 is configured using an existing input device such as a keyboard, a pointing device (mouse, tablet or the like), a touch panel, or a button. The instruction input unit 201 is operated by the user when inputting an instruction of the user to the control device 20. The instruction input unit 201 receives an input of an instruction. The instruction input unit 201 may also be an interface for connecting an input device to the control device 20. In this case, the instruction input unit 201 inputs, to the control device 20, an input signal generated in response to a user's input in the input device.
The control unit 202 controls the output unit 203 to cause the laser module 10 to output the instruction input through the instruction input unit 201.
The output unit 203 outputs the instruction input from the instruction input unit 201 to the laser module 10 according to the control of the control unit 202.

  FIG. 4 is a diagram showing an example of an experiment on the distance of irradiating light in the irradiation information. In addition, in FIG. 4, a dog breed whose viewpoint is located at a height of 0.7 m from the ground is described as an example. FIG. 4A shows an example of the distance division from the current position of the dog 30. As shown in FIG. As shown in FIG. 4A, the short distance, the middle distance, and the distance are 30 degrees to the right of the front of the face of the dog 30, with the depression angle direction downward from horizontal and the same angle when viewed from the dog 30. It will be the distance. The length of the short distance at this time is a range for the length of the forelimb. In addition, the irradiation range of the light by the laser module 10 is determined according to the height and visual field of the viewpoint of tetrapod animals (for example, dog 30). The irradiation range represents a region to be irradiated with light.

  FIG. 4 (B) is a diagram showing an experimental environment regarding the distance of light irradiation. As shown in FIG. 4 (B), the irradiation candidate point 31 and the mark 31a indicating the position where the dog 30 is placed (as the origin) are shown on the floor of the room used for the experiment. The light source uses a green laser pointer, and the laser pointer is driven using a servomotor to control the pitch angle and the yaw angle. The light source was fixed with a tripod at a position of X = 0 m and Y = -1 m when the front direction of the dog 30 is viewed from the X axis and the direction from left to right is Y axis when viewed from the orthogonal dog 30. The pitch angle and the yaw angle of the laser module 10 were randomly oscillated (maximum amplitude angle 3 °). The dog 30 is held so that the face of the dog 30 faces the front until irradiation (at this time, the hand of the dog 30 is prevented from entering the field of view), and the hand is released simultaneously with the start of the irradiation.

It was determined from the video recording the appearance of the dog 30 whether or not the dog 30 turned its face and whether it moved with the body. The experiment was conducted with two dogs 30 (hereinafter referred to as DogA and DogB, respectively). The position where the two dogs DoA and DogB turned to face and the position where they moved with the body were plotted at the angle seen from the dog 30, and the polygon connecting the outline of the position where each dog 30 responded and its center of gravity It is shown in FIG. FIG. 5 is a diagram showing the results of an experimental example on the distance for irradiating light in the irradiation information. FIG. 5 (A) shows the experimental result for DogA, and FIG. 5 (B) shows the experimental result for DogB. As a result shown in FIG. 5, it can be said that the irradiation position suitable for guidance is about 1 m in front of the dog 30, around 50 ° from directly below and near the first row to the second row from those near the far distance origin.
By performing the measurement as described above separately, it is possible to obtain the distance for irradiating light in the irradiation information for each type of dog 30.

Next, with reference to FIG. 6, the result of an experimental example regarding the moving speed of light in the irradiation information will be described. The experiment on the moving speed of light was also performed with DogA and DogB as in FIG. As shown in FIG. 6, when the image (light) moves at 0.5 m / s and 1.0 m / s, DogA and DogB easily react, but the image (light) moves at 2.0 m / s. It turns out that depending on the individual, it is difficult to react. As a result, it is considered that the moving speed of light suitable for induction is 0.5 m / s to 1.0 m / s, and it is not suitable when the moving speed is high (for example, when the speed is 2.0 m / s or more) Be
By performing the measurement as described above separately, it is possible to obtain the moving speed of light in the irradiation information for each type of dog 30.

Next, with reference to FIG. 7, the result of an experimental example regarding the irradiation time of light in the irradiation information will be described. The experiment concerning the irradiation time of light was also performed with DogA and DogB as in FIG. In the experiment regarding the irradiation time of light, it carried out by measuring the time which it took for reaction when the dog 30 reacted while irradiating light to a fixed position for 5 seconds. FIG. 7A is a table summarizing the experimental results, and FIG. 7B is the result of calculating the mean and the variance. Mean (s) shown in FIG. 7A is an average value of time taken to react when the dog 30 reacts while irradiating light at a predetermined position for 5 seconds. Standard deviation (s) shown in FIG. 7 (A) represents the variation of the time taken for the reaction when the dog 30 reacts while irradiating light at a constant position for 5 seconds. As shown in FIG. 7, the dog A responded in about 2 seconds and the dog B in about 1 second. From this, it can be seen that the time taken for the reaction differs for each dog 30. From the above results, it is considered that it is necessary to emit light for 2 seconds for guidance because it is better to perform light irradiation in accordance with the reaction of the dog 30 that takes time to notice.
By performing the measurement as described above separately, it is possible to obtain the irradiation time of the light in the irradiation information for each type of dog 30.

FIG. 8 is a sequence diagram showing a flow of processing in the behavior guidance system 100 in the first embodiment.
The instruction input unit 201 receives an input of an instruction from the user (step S101). For example, the input of the instruction of the coordinate position of the destination and the type of the dog 30 is received from the user. The control unit 202 controls the output unit 203 to cause the laser module 10 to output the input instruction. The output unit 203 outputs an instruction to the laser module 10 according to the instruction of the control unit 202 (step S102).

  The input unit 101 inputs an instruction output from the control device 20 (step S103). The input unit 101 outputs the input instruction to the control unit 104. When the instruction is input, the control unit 104 instructs the position estimation unit 102 to estimate the current position of the dog 30 to be guided. The position estimation unit 102 estimates the current position of the dog 30 to be guided according to the instruction of the control unit 104 (step S104). Specifically, first, the position estimation unit 102 detects a dog 30 to be guided by image recognition. Next, after being detected, the position estimation unit 102 measures the distance to the dog to be guided by the distance measurement sensor. Then, the position estimation unit 102 estimates the position of the dog 30 to be guided based on the current position of the own device and the distance.

  Thereafter, the control unit 104 determines the irradiation position of light based on the input instruction, the estimated current position of the dog 30, and the irradiation information (step S105). Specifically, first, the control unit 104 estimates a moving path from the destination included in the instruction and the current position of the dog 30 to the destination. Next, the control unit 104 refers to the irradiation information and acquires the irradiation information corresponding to the type of the dog 30 included in the instruction. And the control part 104 determines the irradiation position of light based on the distance which irradiates the light contained in the acquired irradiation information, the present position of the dog 30, and a movement path | route. For example, the control unit 104 determines, as the light irradiation position, a position on the moving path close to the position separated by the distance from which the light is irradiated from the current position of the dog 30. Thereafter, the control unit 104 controls the actuator 105 to irradiate light to the determined irradiation position. For example, the control unit 104 controls the actuator 105 so that light is emitted from the irradiation device 106 to the determined irradiation position. Then, the control unit 104 controls the irradiation device 106 to emit light. The irradiation device 106 irradiates light according to the control of the control unit 104 (step S106). Thereafter, the control unit 104 irradiates the light to the destination based on the speed of moving the light included in the irradiation information, the distance of irradiating the light, and the irradiation time.

  According to the behavior guidance system 100 configured as described above, it is possible to reduce the time required for prior learning and to guide a quadruped animal. Specifically, since the dog 30 has a tendency to chase light, it chases the irradiated light. Using this habit, the laser module 10 emits light on the moving path to the destination to guide the dog 30 to be guided. Therefore, tetrapods can be induced by reducing the time required for prior learning.

(Modification)
The laser module 10 may further include an imaging device. When configured in this manner, the imaging device is installed such that the optical axis of the irradiation device 106 and the optical axis of the lens of the imaging device face in substantially the same direction. Here, the substantially same direction indicates the direction in which the imaging device can capture the light emitted by the irradiation device 106.
The behavior guidance system 100 may include a plurality of laser modules 10.
In the present embodiment, a configuration is shown in which the actuator 105 irradiates light to the irradiation position by changing the position or the direction by the drive motor, but it is not necessary to be limited to this. For example, the laser module 10 may include a member capable of reflecting light (hereinafter referred to as "reflecting member"), and the reflecting member may be configured to reflect light emitted from the irradiation device 16 in any direction. . The reflecting member is, for example, a mirror that can be turned (eg, a micro electro mechanical systems (MEMS) mirror). In such a configuration, the control unit 104 controls the reflection member to reflect the light emitted from the irradiation device 106 in an arbitrary direction (for example, an irradiation position). In addition, when comprised in this way, the actuator 105 does not need to be equipped with a drive motor.

  In the present embodiment, the position estimation unit 102 estimates the current position of the dog 30 to be guided, but the position estimation unit 102 determines the current position of the dog 30 to be guided and the direction of the dog 30. It may be configured to estimate. For example, as a method of estimating the direction of the dog 30, training may be performed using teacher data obtained by learning. In addition, as a method of estimating the orientation of the dog 30, another technique may be used as long as estimation of the orientation is possible.

  When the position estimation unit 102 estimates the current position and orientation of the dog 30 to be guided, the control unit 104 determines, based on the input instruction, the estimated current position and orientation of the dog 30, and the irradiation information. , Determine the light irradiation position. Specifically, first, the control unit 104 estimates a moving path from the destination included in the instruction and the current position of the dog 30 to the destination. Next, the control unit 104 refers to the irradiation information and acquires the irradiation information corresponding to the type of the dog 30 included in the instruction. And the control part 104 determines the irradiation position of light based on the distance which irradiates the light contained in the acquired irradiation information, the present position and direction of the dog 30, and a movement path | route. For example, the control unit 104 determines a position on a moving path close to a position separated by a distance from the current position of the dog 30 which is the direction in which the dog 30 faces, as the light irradiation position. Thereafter, the control unit 104 controls the actuator 105 to irradiate light to the determined irradiation position. Then, the control unit 104 controls the irradiation device 106 to emit light. The irradiation device 106 irradiates light according to the control of the control unit 104.

Second Embodiment
FIG. 9 is a block diagram showing the system configuration of the action guidance system 100a in the second embodiment. The behavior guidance system 100 a includes a laser module 10 a and a control device 20. The laser module 10a and the control device 20 are connected wirelessly. In the action guidance system 100a, the laser module 10a is provided to the attachment 32 attached to the body of the dog 30 to be guided. The fixture 32 may be configured to wrap around the dog 30.

FIG. 10 is a view showing an example of the mounting position of the irradiation device and the angular error. As shown in FIG. 10, the magnitude of the angular error is the smallest at the head and the largest at the belly. More specifically, head <back << shoulder <chest << belly in ascending order of magnitude of angular error. From FIG. 10, it is shown that the head is most suitable as the mounting position of the irradiation device. However, in the case of attaching the irradiation device to the head, there is a problem that the direction can not be fixed. In this case, accurate guidance becomes difficult. Next to the head it is the back that is suitable for the mounting position of the irradiation device. However, when the irradiation device is attached to the back, there is a problem that the light source is to be installed at a place away from the body.
Incorporating the above-mentioned problems, it is considered that a shoulder or a chest is suitable as a position for attaching the irradiation device. In the following description, the case where an irradiation device is attached to a shoulder and a chest is described as an example.

FIG. 11 is a schematic block diagram showing a functional configuration of the laser module 10a. The laser module 10a includes an input unit 101, an irradiation information storage unit 103, a control unit 104a, irradiation devices 106a-1 to 106a-n (n is an integer of 2 or more), and a position information acquisition unit 107.
The laser module 10 a includes a control unit 104 a and irradiation devices 106 a-1 to 106 a-n instead of the control unit 104 and the irradiation device 106, a point newly provided with a position information acquisition unit 107, a position estimation unit 102 and an actuator 105. The configuration differs from the laser module 10 in that it does not have The laser module 10 a is the same as the laser module 10 in other configurations. Therefore, the description of the entire laser module 10a is omitted, and the control unit 104a, the irradiation devices 106a-1 to 106a-n, and the position information acquisition unit 107 will be described. In the following description, the irradiation devices 106 a-1 to 106 a-n will be described as the irradiation devices 106 a when not distinguished.

The irradiation device 106 a irradiates light of a luminance value of a predetermined size according to the control of the control unit 104 a. More specifically, the irradiation device 106 a emits light whose luminance difference is equal to or greater than a threshold. As a light source irradiated by the irradiation device 106 a, for example, it is preferable to use a laser beam if indoors and a high brightness LED + lens if outdoor. The color of the light source irradiated by the irradiation device 106a may be any color. The form of the light source may be any form. In addition, the irradiation devices 106a-1 to 106a-n are installed to face in different directions. For example, when three irradiation devices 106a are provided, they are installed to face in different directions on the chest and the shoulders of the dog 30, respectively.
The position information acquisition unit 107 acquires information on the current position of the dog 30.
The control unit 104a controls the irradiation device 106a based on the input instruction, the acquired current position of the dog 30, and the irradiation information.

FIG. 12 is a view showing an attachment image of the laser module 10a.
As shown in FIG. 12, the attachment 30 is attached to the dog 30. Here, the irradiation device 106 a included in the laser module 10 a is provided in the forward direction of the fixture 32. 12A shows an example in which the irradiation device 106a is provided on the chest and both shoulders of the dog 30, respectively. Moreover, the enlarged view of the mounting | wearing image of the irradiation apparatus 106a is shown to FIG. 12 (B). In addition, the other function part with which the laser module 10a is provided is provided in the inside of the fixture 32. FIG.

FIG. 13 is a sequence diagram showing a flow of processing in the behavior guidance system 100a in the second embodiment.
The instruction input unit 201 receives an input of an instruction from the user (step S201). For example, the input of the instruction of the coordinate position of the destination and the type of the dog 30 is received from the user. The control unit 202 controls the output unit 203 to output the input instruction to the laser module 10 a. The output unit 203 outputs an instruction to the laser module 10a according to the instruction of the control unit 202 (step S202).

The input unit 101 inputs an instruction output from the control device 20 (step S203). The input unit 101 outputs the input instruction to the control unit 104a. When an instruction is input, the control unit 104a acquires position information from the position information acquisition unit 107 (step S204).
Thereafter, the control unit 104a selects the irradiation device 106a to be irradiated with light, based on the input instruction, the acquired current position of the dog 30, and the irradiation information (step S205). Specifically, the control unit 104a estimates a movement path from the destination included in the instruction and the current position of the dog 30 to the destination. Then, the control unit 104a selects the irradiation device 106a facing the direction of the movement path among the plurality of irradiation devices 106a. For example, the control unit 104a selects, among the plurality of irradiation devices 106a, the irradiation device 106a that faces the direction closest to the direction of the movement path.

  Thereafter, the control unit 104a determines the irradiation position of the light by the selected irradiation device 106a (step S206). Specifically, the control unit 104a refers to the irradiation information and acquires the irradiation information corresponding to the type of the dog 30 included in the instruction. And control part 104a determines the irradiation position of light based on the distance which irradiates the light contained in the acquired irradiation information, and the present position of dog 30. For example, the control unit 104a determines, as the light irradiation position, a position separated by a distance from which light is irradiated from the current position of the dog 30. Then, the control unit 104a controls the irradiation device 106a to emit light. The irradiation device 106a emits light according to the control of the control unit 104a (step S207).

According to the action guidance system 100a configured as described above, the same effect as that of the first embodiment can be obtained.
Moreover, since the action guide system 100a is provided with the laser module 10a in the dog 30, the degree of freedom is higher than in the first embodiment. Thus, the laser module 10a can be widely guided by one laser module 10a.

(Modification)
The laser module 10a may further include an imaging device. When configured in this manner, the imaging device is installed so that the optical axis of the imaging device and the optical axis of the lens of the imaging device face in substantially the same direction.
The laser module 10a may have a drive motor and may be configured to be capable of changing the orientation of the irradiation device 106a by including an actuator capable of changing the position or orientation in one or more directions. When configured in this manner, the control unit 104a determines the irradiation position of light by the selected irradiation device 106a in the same manner as the process of step S105 in the first embodiment. Thereafter, the control unit 104a controls the actuator in order to irradiate light to the determined irradiation position. Then, the control unit 104a controls the selected irradiation device 106a to emit light. The irradiation device 106 a emits light according to the control of the control unit 104 a.

  In the present embodiment, the laser module 10a is configured to include a plurality of irradiation devices 106a. However, the present invention is not limited to this. For example, the laser module 10a may be configured to include a reflective member, and the reflective member may reflect light emitted from the irradiation device 16 in any direction. The reflective member is, for example, a mirror (eg, a MEMS mirror) that can be turned. When configured in this manner, the laser module 10a may be configured to include one irradiation device 106a. The control unit 104a controls the reflection member to reflect the light emitted from the irradiation device 106a in an arbitrary direction (for example, an irradiation position).

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes design and the like within the scope of the present invention.

DESCRIPTION OF SYMBOLS 10, 10a ... Laser module, 20 ... Control apparatus, 101 ... Input part, 102 ... Position estimation part, 103 ... Irradiation information storage part, 104, 104a ... Control part, 105 ... Actuator, 106, 106a-1-106a-n ... Irradiation device, 107 ... Position information acquisition unit, 201 ... Instruction input unit, 202 ... Control unit, 203 ... Output unit

Claims (8)

An irradiation device for irradiating light;
A control unit that controls the irradiation device to irradiate the light at a point in a direction in which the quadruped animal is moved;
Behavior guidance system provided with The irradiation device is installed in a predetermined environment,
The irradiation device is connected to a drive device that changes the position or orientation in one or more directions,
The action guiding system according to claim 1, wherein the control unit controls the driving device to cause the light to irradiate the point from the irradiation device.   The behavior induction system according to claim 1, wherein the irradiation device is provided to a fixture attached to a body of the quadruped animal. A plurality of the irradiation devices are installed in the fixture;
The action guidance system according to claim 3, wherein the control unit causes the light to be emitted from an irradiation device according to a direction in which the quadruped animal is moved among the plurality of irradiation devices. It further comprises a position information acquisition unit for acquiring position information of the quadruped animal,
The said control part irradiates the said light in the direction which goes to the said destination based on the position of the said tetrapod animal acquired from the said positional infomation acquisition part, and the position of the destination, The action induction system according to any one of the above.   The irradiation range representing the area to be irradiated with the light is determined according to the height of the viewpoint of the tetrapod and the visual field of the tetrapod. Behavior guidance system.   The irradiation device according to any one of claims 1 to 6, wherein the irradiation device irradiates light whose difference between the brightness value of the light reflected at the irradiation destination and the brightness value of the environment around the irradiation destination is equal to or greater than a threshold. Behavior guidance system as described. The irradiation device emits light,
The action guidance method which has a control step of controlling the said irradiation apparatus and irradiating the said light to the point of the direction to which a tetrapod animal is moved.

Images