JP5077077B2 - Movement explanation device and movement explanation program - Google Patents

Description

  The present invention relates to a movement explanation device for explaining an exhibit and a movement explanation program, and in particular, a movement explanation device for explaining an exhibit without obstructing a gaze of a viewer directed to the exhibit, And a movement explanation program.

  In recent years, it has been known that robots can explain the exhibits displayed in the hall. Various studies have been conducted so that such robots behave appropriately according to the situation at the time of explanation.

  For example, in order to start the explanation at an appropriate timing for the robot, a technique has been proposed in which an observer who looks at an exhibit determines whether or not an exhibitor has stopped at a certain place for a certain period of time, and starts the explanation when it stops. ing.

  Further, in order to prevent the explanation from being left in the impression for the onlooker, a technique has been proposed in which the position of the onlooker and the increase / decrease of the onlooker are grasped, and the robot's line of sight is evenly directed toward the onlooker.

JP 2007-152442 A JP 2007-50461 A

  However, in any of the technologies described above, the robot's standing position is determined based on the position of the exhibit regardless of where the spectator looks, and does not change until the explanation is completed. If such a robot is used to explain an exhibit, in some cases, the robot may enter the line of sight of the viewer directed at the exhibit, and the viewer cannot often view the exhibit. There was a problem. Therefore, it has been an issue for the robot to give an explanation without obstructing the gaze of the spectator directed toward the exhibit.

  Accordingly, the present invention has been made to solve the above-described problems of the prior art, and is capable of explaining the exhibit without interrupting the gaze of the spectator directed toward the exhibit. An object is to provide an apparatus and a movement explanation program.

  In order to solve the above-described problems and achieve the object, this device is a movement explanation device for explaining an exhibit, and an arbitrary point within a range including a place where the exhibit is arranged is set as a coordinate. In the associated coordinate system, the viewer coordinate acquisition means for acquiring coordinates indicating the position of the viewer of the exhibit, and in the coordinate system, the coordinates acquired by the viewer coordinate acquisition means and the coordinate indicating the position of the exhibit And a line-of-sight determining means for determining whether or not the line segment connecting the line and the shape approximating the own apparatus intersects, and when the line-of-sight determination means determines that the line segment and the shape intersect, And a corrected coordinate calculating means for calculating corrected coordinates that do not intersect each of the line segments with a shape approximating the device whose position is determined by the coordinates, and the corrected coordinate calculating means. Until the calculated corrected coordinates and moving means for moving the own device, by comprising the requirements.

  In addition, this program is a movement explanation program for explaining an exhibit, and in a coordinate system in which an arbitrary point within a range including a place where the exhibit is arranged is associated with a coordinate, Approximate the viewer's coordinates acquisition procedure for acquiring the coordinates indicating the position of the viewer, and a line segment connecting the coordinates acquired by the viewer's coordinate acquisition procedure and the coordinates indicating the location of the exhibit in the coordinate system. A line-of-sight determination procedure for determining whether or not the shape intersects, and when it is determined by the line-of-sight determination procedure that the line segment and the shape intersect, the coordinates in the coordinate system, and the position at the coordinate is A corrected coordinate calculation procedure for calculating corrected coordinates that do not intersect each of the line segments with a shape that approximates a fixed device, and a corrected coordinate calculated by the corrected coordinate calculation procedure And transfer procedures for moving the device, that it contained a requirement.

  Determining whether or not the line connecting the exhibit and the spectator crosses itself, calculating the position where it does not cross, and moving to the calculated position, thereby explaining the exhibit without blocking the sight of the spectator Can be performed.

  Exemplary embodiments of a movement explanation device and a movement explanation program according to the present invention will be explained below in detail with reference to the accompanying drawings.

  First, the outline of the movement explanation apparatus according to the present embodiment will be described with reference to FIG. FIG. 1 is a diagram for explaining the outline of the movement explanation device according to the present embodiment. As shown in FIG. 1, the movement explanation device 13 is provided with a coordinate system capable of pointing an arbitrary point in the exhibition hall with coordinates (x, y, z). The coordinates are determined based on the origin 10 corresponding to a predetermined point on the floor of the exhibition hall. When the target point is given, the movement explanation device 13 calculates the distance from the coordinate indicating the current position to the coordinate of the target point in the coordinate system, and controls the moving means for moving the own device based on the calculation result. Moving.

  When explaining the exhibit 17 arranged at a predetermined position in the exhibition hall, the movement explanation device 13 first moves to a position indicated by coordinates 12, for example. The coordinates 12 are set in advance in the storage means provided in the movement explanation device 13 by the operator. As a technique for moving the movement explanation device 13 appropriately and accurately from the coordinate indicating the current position to the target coordinate 12, for example, an existing autonomous movement technique is used. When located at the position indicated by the coordinate 12, the movement explanation device 13 acquires the coordinate 14 and the coordinate 15 indicating the position of the spectator who looks at the exhibit 17.

  The coordinate 11 is a coordinate indicating the position of the exhibit 17, and is set in advance in the storage means provided in the movement explanation device 13 by the operator, like the coordinate 12. Here, the line segment connecting the coordinate 14 and the coordinate 11 and the line segment connecting the coordinate 15 and the coordinate 11 can be regarded as the line of sight of each spectator. Therefore, before starting the explanation, the movement explanation device 13 determines whether each line segment intersects with a predetermined figure that approximates the own device whose position is determined at the coordinates 12. When intersecting, it can be considered that the movement explanation device 13 blocks the line of sight of each spectator who watches the exhibition 17. In FIG. 1, a cylinder is shown as a figure that approximates the movement explanation device 13, but the figure is not limited to a cylinder, and may be a sphere, for example.

  As shown in FIG. 1, when the line segment connecting the coordinate 14 and the coordinate 11 intersects the cylinder 13, the movement explanation device 13 calculates, for example, the coordinate 16 as a position that does not block the sight line of the onlooker, Move to the position indicated by 16. A line segment connecting the coordinate 14 and the coordinate 11 or a line segment connecting the coordinate 15 and the coordinate 11 does not intersect the cylinder approximating the movement explanation device 13 whose position is determined at the coordinate 16. Hereinafter, such coordinates 16 are referred to as corrected coordinates.

  As described above, if the movement explanation device 13 blocks the sight line of the spectator at the coordinates where the position is first determined, the movement explanation device 13 calculates the corrected coordinates, moves to the corrected coordinates, and then starts the explanation. By doing so, it is possible to explain the exhibit 17 without obstructing the line of sight of the viewer directed toward the exhibit 17.

  Next, the configuration of the movement explanation device according to the first embodiment will be described with reference to FIG. FIG. 2 is a block diagram illustrating the configuration of the movement explanation device according to the first embodiment. As illustrated in FIG. 2, the movement explanation device 100 includes a control unit 110, a storage unit 120, a right axis motor 130, a left axis motor 140, a stereo camera 150, and a speaker 160.

  The right axis motor 130 and the left axis motor 140 are devices that rotate wheels (not shown) attached to the movement explanation device 100. By controlling the rotation speed and rotation direction of the right axis motor 130 and the left axis motor 140, the movement explanation device 100 is moved back and forth, turned left and right, or rotated on the spot.

  Stereo camera 150 captures the periphery of movement explanation device 100 and inputs stereo image information to control unit 110. The speaker 160 reproduces audio information received from the control unit 110 as audio.

  The storage unit 120 is a storage unit that stores various types of information, and stores control information 121, audio information 122, map information 123, and constant information 124. When the movement explanation device 100 is activated, the control unit 110 reads various information stored in the storage unit 120.

  The control information 121 is information for controlling the movement and the like of the movement explanation device 100. As shown in FIG. 3, the exhibition number, the exhibition coordinates, the best viewing angle, the basic explanation position coordinates, the direction, and the like are associated with each other. It is what was done. The exhibit number is an identification number for identifying the exhibit. The exhibit coordinates are coordinates indicating the position of the exhibit indicated by the exhibit number. The best viewing angle is a predetermined angle set by the operator with respect to the exhibit indicated by the exhibit number. The basic explanation position coordinates are coordinates indicating the start position of the movement explanation device 100 that explains the exhibit indicated by the exhibit number. The direction is a predetermined angle set by the operator with respect to the exhibit indicated by the exhibit number.

  The above-described best viewing angle will be specifically described with reference to FIG. FIG. 4 is a diagram for explaining the best viewing angle. As shown in FIG. 4, the coordinate 20 is a coordinate on the xy plane of the coordinate 21 indicating the position of the exhibit 24. The half line 22 with the coordinate 20 as an end is a set of points determined by the intention of the organizer of the exhibition hall as the position where the exhibit 24 can be best viewed. An angle 23 formed by the half line 22 with the y-axis is the best viewing angle.

  Here, the direction of the movement explanation device 100 immediately after the movement will be specifically described with reference to FIG. FIG. 5 is a diagram for explaining the direction of the movement explanation device 100. As shown in FIG. 5, when the movement explanation device 100 whose position is determined at the coordinate 30 moves straight from the coordinate 30 to the coordinate 31 by moving straight, the direction of the movement explanation device 100 is assumed to be an angle 32. . The angle 32 is an angle formed by a straight line passing through the coordinates 30 and 31 with the y-axis.

  The movement explanation device 100 that has moved to the basic explanation position coordinates must face the direction associated with the basic explanation position coordinates in the control information 121. Therefore, the movement explanation device 100 calculates an angle of rotation on the spot based on the current orientation and direction of the device itself.

  The audio information 122 is audio information of explanation contents of each exhibit. The map information 123 is information on the coordinates of an index installed in the exhibition hall, information on obstacles existing in the exhibition hall, and the like necessary for using the above-described autonomous movement technology. The constant information 124 is various constants used for a line-of-sight determination unit 113 and a corrected coordinate calculation unit 114 described later, and is set by an operator.

  The control unit 110 is a control unit that controls the entire movement explanation device 100, and includes a movement explanation control unit 111, a spectator coordinate acquisition unit 112, a gaze determination unit 113, and a corrected coordinate calculation unit 114.

  In order to explain each exhibit, the movement explanation control unit 111 performs a series of processes such as positioning the movement explanation device 100 at a designated coordinate and reproducing the audio of the explanation contents of the exhibit from the speaker 160. Specifically, the movement explanation control unit 111 calculates the distance from the coordinates indicating the current position to the basic explanation position coordinates associated with the youngest exhibit number in the control information 121. Then, the movement explanation control unit 111 moves the movement explanation device 100 by controlling the right axis motor 130 and the left axis motor 140 based on the calculation result. Here, the movement explanation control unit 111 determines whether there is an obstacle up to the basic explanation position coordinates by referring to the map information 123, and if there is an obstacle, avoids the obstacle. The route to be moved is determined and the movement explanation device 100 is moved to the basic explanation position coordinates. In addition, the movement explanation control unit 111 determines its own position based on an index installed in the exhibition hall, and corrects an error after movement.

  When the movement explanation device 100 is moved to the basic explanation position coordinates, the movement explanation control unit 111 next calculates the current direction of the own apparatus and the direction associated with the basic explanation position coordinates in the control information 121. An angle of rotation on the spot is calculated based on the difference, and the movement explanation device 100 is rotated by controlling the right axis motor 130 and the left axis motor 140 based on the calculation result. Then, the movement explanation control unit 111 outputs a control signal to the spectator coordinate acquisition unit 112.

  The spectator coordinate acquisition unit 112 acquires coordinates indicating the position of the spectator of the exhibit. Specifically, when receiving the control signal from the movement explanation control unit 111, the spectator coordinate acquisition unit 112 controls the stereo camera 150 to obtain a stereo image around the movement explanation device 100. Then, the spectator coordinate acquisition unit 112 identifies each spectator's face from the stereo image, and calculates coordinates indicating the position of the face. An existing face recognition technique is used as a technique for identifying a human face from an image. If the face is identified in the stereo image, the coordinate indicating the position of each spectator's face is calculated based on the coordinate indicating the current position of the movement explanation device 100 and the parallax by the existing distance measurement technique using the stereo image. Is done. Then, the onlooker coordinate acquisition unit 112 outputs the calculated coordinates to the line-of-sight determination unit 113.

  In this embodiment, the spectator coordinate acquisition unit 112 controls the stereo camera 150 and calculates the coordinates indicating the position of each spectator's face. However, the movement explanation control unit 111 positions the movement explanation device 100. Coordinates may be input to the line-of-sight determination unit 113 after the end of. Therefore, for example, a device different from the movement explanation device 100 shoots a stereo image around the exhibit, and similarly, coordinates indicating the position of each spectator's face are calculated and transmitted to the movement explanation device 100. Also good.

  The line-of-sight determination unit 113 determines whether or not the movement explanation device 100 blocks the line of sight of a spectator who looks at the exhibit. Specifically, when receiving the coordinates indicating the position of each spectator's face from the spectator coordinate acquisition unit 112, the line-of-sight determination unit 113 performs a determination process based on the exhibit coordinates and the basic explanation position coordinates in the control information 121. . As a result of the determination, when the movement explanation device 100 blocks the sight line of the spectator, the sight line determination unit 113 outputs coordinates indicating the position of each spectator's face to the corrected coordinate calculation unit 114. On the other hand, when the sight line of the onlooker is not obstructed, the sight line determination unit 113 outputs a control signal to the movement explanation control unit 111.

  The movement explanation control unit 111 that has received the control signal reproduces sound from the speaker 160 based on the sound information 122. Then, the movement explanation control unit 111 performs the same processing using the basic explanation position coordinates associated with the next youngest exhibit number in the control information 121. Thus, the movement explanation control unit 111 sequentially uses the basic explanation position coordinates in accordance with the exhibit number.

  The determination process performed by the line-of-sight determination unit 113 will be described with reference to FIG. As shown in FIG. 6, the line-of-sight determination unit 113 approximates the movement explanation device 100 whose position is determined to the coordinate 40 that is the basic explanation position coordinate as a cylinder 41. The line-of-sight determination unit 113 uses, for example, r and h in the constant information 124 to determine a cylinder 41 with a radius r centered on the coordinate 40 as the bottom surface and a height h. Then, the line-of-sight determination unit 113 determines whether or not a line segment connecting the coordinates indicating the position of the face of the spectator and the coordinates 43 that are the exhibit coordinates intersects the cylinder 41. When the line segment and the cylinder 41 intersect, the movement explanation device 100 is regarded as blocking the sight line of the onlooker. For this determination method, a general method for determining the intersection of a cylinder and a line segment is used. In FIG. 6, since the line segment connecting the coordinate 42 indicating the position of a certain spectator's face and the coordinate 43 intersects the cylinder 41, the line-of-sight determination unit 113 indicates the position of each spectator's face to the corrected coordinate calculation unit 114. Output coordinates.

  By the way, an exhibit may be arranged, for example, suspended from the ceiling of an exhibition hall. If the exhibit located at the position indicated by the coordinate 43 in FIG. 6 is located at the position indicated by the coordinate 44 in FIG. 7, the line segment connecting the coordinate 42 and the coordinate 44 does not intersect the cylinder 41. As described above, by providing a three-dimensional coordinate system, it is possible to eliminate unnecessary movement of the movement explanation device 100 depending on the position where the exhibit is arranged.

  The corrected coordinate calculation unit 114 calculates coordinates indicating the position where the movement explanation device 100 does not enter the line of sight of the spectator who sees the exhibit. Specifically, upon receiving coordinates indicating the position of each spectator's face from the line-of-sight determination unit 113, the corrected coordinate calculation unit 114 calculates correction coordinates based on the exhibit coordinates and the best viewing angle in the control information 121. I do. Then, the corrected coordinate calculation unit 114 outputs the calculated corrected coordinates to the movement explanation control unit 111.

  A calculation process performed by the corrected coordinate calculation unit 114 will be described with reference to FIG. In this calculation process, coordinates on the xy plane of each coordinate are used. As shown in FIG. 8, the angle between the coordinates indicating the position of the face of the spectator and the straight line passing through the exhibit coordinates and the y axis is calculated, the coordinate 50 where the maximum angle θr is calculated, and the minimum angle θl. The coordinate 53 for which is calculated is selected. Here, the coordinates 51 are the coordinates on the xy plane of the exhibit coordinates in the control information 121. The angle θ formed by the half line 52 having the coordinate 51 as the end and the y axis is the best viewing angle in the control information 121. The angle | θr−θ | formed by the line θ connecting the coordinates 50 and 51 and the angle | θl−θ | formed by the line connecting the coordinates 53 and 51 is determined by the angle θ. Calculated. Then, | θr−θ | and | θl−θ | are compared, and the smaller one is determined to determine the corrected coordinates closer to the calculated line segment. In FIG. 8, | θl−θ | is smaller than | θr−θ |, and it is determined that the corrected coordinates are determined near the line segment connecting the coordinates 53 and 51.

  The larger | θr−θ | or | θl−θ | is, the more the movement explanation apparatus 100 has to move to a place far away from the exhibit so as not to block the viewer's line of sight. By determining the corrected coordinates as described above, the movement explanation device 100 can be explained as close to the exhibit as possible, the exhibition hall is narrow, and the movement explanation device 100 has no room for movement. It is valid.

  Next, the calculation process performed by the corrected coordinate calculation unit 114 will be described with reference to FIG. As shown in FIG. 9, the distance R between the coordinate 54 that is the basic explanation position coordinate and the coordinate 51 that is the exhibit coordinate is calculated. Then, a coordinate 55 having an angle with the y-axis of θl−Δθ and existing on a half line with the coordinate 51 as an end and having a distance R from the coordinate 51 is determined as a corrected coordinate. Since the distance R is a constant, it may be set in the constant information 124 and the corrected coordinate calculation unit 114 may use R in the constant information 124.

  9 will be specifically described with reference to FIG. FIG. 10 is a diagram for explaining Δθ. The line segment connecting the coordinate 53 and the coordinate 51 can be regarded as a line of sight when the viewer whose face position is indicated by the coordinate 53 looks at the exhibit, and the movement explanation device 100 does not have to enter this line of sight. Therefore, the position where the movement explanation device 100 is located is preferably the coordinate 54 in which the distance between the coordinate 53 and the line segment connecting the coordinates 51 is r and the distance from the coordinate 51 is R. As described above, r is a radius of a circle that is a bottom surface of a cylinder defined as an approximate form of the movement explanation device 100. At this time, the angle Δθ that the line segment connecting the coordinate 53 and the coordinate 51 forms with the line segment connecting the coordinate 54 and the coordinate 51 is calculated as arcsin (r / R). Since this Δθ is a constant, it may be set in the constant information 124 and the corrected coordinate calculation unit 114 may use Δθ in the constant information 124.

  The movement explanation control unit 111 that has received the corrected coordinates determined as described above calculates the distance from the basic explanation position coordinates to the corrected coordinates, and controls the right axis motor 130 and the left axis motor 140 based on the calculation result. Then, the movement explanation control unit 111 is moved. When the movement explanation device 100 is moved to the corrected coordinates, the movement explanation control unit 111 next calculates an angle of rotation on the spot so that the front of the own device faces the onlooker.

  An angle calculation process performed by the movement explanation control unit 111 will be described with reference to FIG. As shown in FIG. 11, a coordinate 56 that exists on a half line with the coordinate 51 as an end and whose distance from the coordinate 51 is L is calculated. The distance L is a constant, and the movement explanation control unit 111 uses L in the constant information 124. The distance L is preferably set so that the movement explanation device 100 faces the center of the spectator who gathered in the exhibit. By calculating the coordinate 56, the angle θc formed by the straight line passing through the coordinate 56 and the coordinate 55 and the y-axis is calculated. Then, the angle of rotation on the spot is calculated based on the difference between the current direction of the device and the angle θc. As described above, the movement explanation control unit 111 controls the right axis motor 130 and the left axis motor 140 based on the calculation result to rotate the movement explanation device 100.

  In FIG. 8, it has been described that | θl−θ | is smaller than | θr−θ |, and it is determined that the corrected coordinates are determined near the line segment that connects the coordinates 53 and 51. 12 is used to explain the reverse case. Similarly, as shown in FIG. 12, the angle between the coordinate indicating the position of the face of the spectator and the straight line passing through the exhibit coordinates and the y-axis is calculated, the coordinate 50 where the maximum angle θr is calculated, and the minimum The coordinate 57 for which the angle θl is calculated is selected. Then, an angle | θr−θ | formed by the line segment connecting the coordinates 50 and 51 and the half line 52 and an angle | θl−θ | formed by the line segment connecting the coordinates 57 and 51 are calculated. The Then, | θr−θ | and | θl−θ | are compared. In FIG. 12, | θr−θ | is smaller than | θl−θ |, and the corrected coordinates are closer to the line segment connecting the coordinates 50 and 51. It is decided to determine.

  The calculation process performed by the corrected coordinate calculation unit 114 will be described with reference to FIG. As shown in FIG. 13, a coordinate 58 having an angle with the y-axis of θr + Δθ and existing on a half line with the coordinate 51 as an end and having a distance R from the coordinate 51 is determined as a corrected coordinate. . Δθ is a value calculated by arcsin (r / R) as described above.

  In this way, after determining whether the corrected coordinates are to be calculated near one of the line segments, without correcting one correction position, the corrected coordinates are calculated in any of the line segments in the above calculation process, You may make it select the nearer distance from a basic description position coordinate. In this way, it is possible to shorten the distance for moving the movement explanation device 100 as compared with the method for determining the corrected coordinates close to the exhibit. In addition, the time until the movement explanation device 100 starts explaining the exhibits can be shortened.

  Next, the processing operation of the control unit 110 according to the first embodiment will be described with reference to the flowchart illustrated in FIG. FIG. 14 is a flowchart illustrating a process flow of the control unit 110 according to the first embodiment.

  When the movement explanation device 100 is activated (Yes at Step S110), the control unit 110 reads the basic explanation position coordinates by the movement explanation control unit 111 (Step S111). And the control part 110 controls the right-axis motor 130 and the left-axis motor 140 by the movement description control part 111, in order to move the movement description apparatus 100 to a basic description position coordinate, and to make it direct in a predetermined direction after a movement ( Step S112).

  Then, the control unit 110 controls the stereo camera 150 by the spectator coordinate acquisition unit 112 to acquire coordinates indicating the position of the face of the spectator on the exhibit (step S113), and acquires stereo image information (step S114). .

  And the control part 110 determines whether the line segment which connects the coordinate of a spectator and the coordinate of an exhibit crosses with the approximate form of an own apparatus by the gaze determination part 113 (step S115). As a result of the determination, when intersecting (Yes at Step S115), the control unit 110 calculates corrected coordinates that do not enter the sight line of the spectator by the corrected coordinate calculation unit 114 (Step S116).

  Then, the control unit 110 moves the movement explanation device 100 from the basic explanation position coordinates to the correction coordinates, and directs the right axis motor 130 and the left axis motor 140 by the movement explanation control unit 111 in order to direct the viewer to the direction of the viewer after the movement. Control is performed (step S117). And the control part 110 reproduces | regenerates the audio | voice of exhibition description from the speaker 160 by the movement description control part 111 (step S118).

  On the other hand, if the result of determination is that they do not intersect (No at step S115), the control unit 110 reproduces the audio of the exhibition explanation from the speaker 160 while remaining at the basic explanation position coordinates (step S118).

  After the audio reproduction is finished, when all the exhibition explanations are not executed (No at Step S119), the control unit 110 reads out the next basic explanation position coordinates by the movement explanation control unit 111 (Step S120). Returning to the process shown as step 112. On the other hand, the control part 110 complete | finishes a process, when all exhibition description is performed (step S119 affirmation).

  As described above, in the first embodiment, in the coordinate system, it is determined whether or not the line segment connecting the coordinate indicating the position of the spectator's face and the coordinate where the exhibit is located intersects the approximate form of the movement explanation device 100. When the line-of-sight determination unit 113 determines and intersects, the corrected coordinate calculation unit 114 calculates corrected coordinates that define an approximate shape that does not intersect each line segment. Then, the movement explanation control unit 111 moves the movement explanation device 100 from the basic explanation position coordinates that are first positioned when explaining the exhibit to the correction coordinates. In this way, the movement explanation device 100 can explain the exhibit without obstructing the gaze of the onlooker directed toward the exhibit.

  In the second embodiment, an example is shown in which the viewer is guided to a position where the exhibit can be easily seen before determining whether or not the viewer's line of sight is blocked. In the following description, the same parts as those already described are denoted by the same reference numerals as those already described, and detailed description thereof will be omitted.

  FIG. 15 is a block diagram illustrating the configuration of the movement explanation device 100 according to the second embodiment. As illustrated in FIG. 15, the movement explanation device 100 includes a control unit 110, a storage unit 120, a right axis motor 130, a left axis motor 140, a stereo camera 150, and a speaker 160, as in the first embodiment. Prepare.

  The storage unit 120 stores control information 125 and guidance voice information 126 as different from the first embodiment. The control information 125 is information for controlling the movement of the movement explanation device 100. As shown in FIG. 16, in addition to the exhibition number, the exhibition coordinates, the best viewing angle, the basic explanation position coordinates, the direction, the control information 125 is executed. Unlike Example 1, the first angle, the second angle, the distance, and the like are associated with each other. The guidance voice information 126 is voice information to be reproduced when guiding a spectator.

  The control unit 110 includes a spectator guidance processing unit 115 which is different from the first embodiment. The spectator guidance processing unit 115 guides the spectator to a position where the exhibit is easy to see. Specifically, the spectator guidance processing unit 115 receives the control signal from the movement explanation control unit 111 that moves the movement explanation device 100 to the basic explanation position coordinates and rotates the movement explanation device 100 so as to face a predetermined direction. .

  The spectator guidance processing unit 115 that has received the control signal controls the stereo camera 150 to acquire a stereo image around the movement explanation device 100. The spectator guidance processing unit 115 identifies each spectator's face from the stereo image and calculates coordinates indicating the position of the face, similarly to the spectator coordinate acquisition unit 112 described in the first embodiment. The spectator guidance processing unit 115 then looks at the exhibit at a position that is difficult to see based on the coordinates of the exhibit in the control information 125, the first angle, the second angle and the distance, and the coordinates of each spectator calculated from the stereo image. Determine whether there are any onlookers to watch. The spectator guidance processing unit 115 first makes a determination based on the first angle and the second angle.

  The determination process performed by the spectator guidance processing unit 115 will be described with reference to FIG. As shown in FIG. 17, the angle between the coordinate indicating the position of the face of the spectator and the straight line passing through the exhibit coordinates and the y-axis is calculated, so that the maximum angle θr and the minimum angle θl are selected. . Then, it is determined whether the minimum angle θl is smaller than the first angle θa, and whether the maximum angle θr is larger than the second angle θb. If the minimum angle θl is smaller than the first angle θa, or the maximum angle θr is larger than the second angle θb, it is considered that there is a viewer who looks at the exhibit at a position that is difficult to see. In FIG. 17, since the maximum angle θr is larger than the second angle θb, it is determined that there is a viewer who looks at the exhibit at a position where it is difficult to see.

  As described above, when there is an onlooker who looks at the exhibit at a position that is difficult to see as a result of the determination based on the first angle and the second angle, the onlooker guidance processing unit 115 receives the guidance sound information 126 from the speaker 160. Play audio. For example, in FIG. 17, the spectator guidance processing unit 115 controls the right axis motor 130 and the left axis motor 140, and moves the movement explanation device 100 in the direction of the coordinate 60 where the maximum angle θr greater than the second angle θb is calculated. Then, sound such as “Please come here” is reproduced from the speaker 160.

  The spectator guidance processing unit 115 then makes a determination based on the distance in the control information 125. The determination process performed by the spectator guidance processing unit 115 will be described with reference to FIG. As shown in FIG. 18, the distance P, which is the maximum value, is selected as a result of calculating the distance between the coordinates indicating the position of the face of the onlooker and the exhibit coordinates. Then, it is determined whether or not the maximum distance P is greater than the distance S read from the control information 125. If the distance P, which is the maximum value, is larger than the distance S, it is considered that there is a viewer who looks at the exhibit at a position that is difficult to see. In FIG. 18, since the distance P is greater than the distance S, it is determined that there is a viewer who looks at the exhibit at a position that is difficult to see.

  As described above, when the result of the determination based on the distance is that there is a spectator who looks at the exhibit at a position that is difficult to see, the spectator guidance processing unit 115 reproduces the sound from the speaker 160 based on the guidance voice information 126. For example, the spectator guidance processing unit 115 reproduces a voice such as “Please gather a little closer” from the speaker 160.

  In addition, although the example which reproduces | regenerates audio | voices in order to urge a spectator to move the sight-seeing position has been shown, for example, a means for displaying an image such as a liquid crystal panel is provided on the movement explanation device 100, and characters for urging movement are provided. You may make it display.

  The number of times the spectator guidance processing unit 115 performs the above-described determination processes may be arbitrarily set. For example, in the second embodiment, the determination based on the angle and the determination based on the distance are each performed twice. After performing the determination process, the spectator guidance processing unit 115 outputs a control signal to the spectator coordinate acquisition unit 112.

  Next, the processing operation of the control unit 110 according to the second embodiment will be described with reference to the flowchart shown in FIG. FIG. 19 is a flowchart illustrating a process flow of the control unit 110 according to the second embodiment.

  When the movement explanation device 100 is activated (Yes at Step S110), the control unit 110 reads the basic explanation position coordinates by the movement explanation control unit 111 (Step S111). And the control part 110 controls the right-axis motor 130 and the left-axis motor 140 by the movement description control part 111, in order to move the movement description apparatus 100 to a basic description position coordinate, and to make it direct in a predetermined direction after a movement ( Step S112).

  Here, unlike the first embodiment, the control unit 110 performs guidance processing by the spectator guidance processing unit 115 (step S200). Hereinafter, the processing of the control unit 110 shown as step S113 to step S120 is the same as that of the first embodiment, and thus the description thereof is omitted.

  The guidance process shown as step S200 in FIG. 19 will be further described with reference to FIG. FIG. 20 is a flowchart showing details of the flow of guidance processing.

  The spectator guidance processing unit 115 controls the stereo camera 150 (step S211) and acquires stereo image information (step S212). And the spectator guidance processing unit 115 performs determination based on the first angle and the second angle in the control information 125 (step S213).

  As a result of the determination, if there is a spectator who looks at the exhibit at a position that is difficult to see (Yes in step S214), the spectator guidance processing unit 115 controls the right axis motor 130 and the left axis motor 140 to output a predetermined sound from the speaker 160. Is reproduced (step S215). Then, if the spectator guidance processing unit 115 has not performed the determination process based on the first angle and the second angle twice (No at Step S216), the process returns to Step S211.

  When the determination process is executed twice (Yes at step S216), the spectator guidance processing unit 115 performs a determination based on the distance read from the control information 125 (step S217).

  As a result of the determination, if there is a spectator who looks at the exhibit at a position that is difficult to see (Yes at Step S218), the spectator guidance processing unit 115 reproduces a predetermined sound from the speaker 160 (Step S219). If the determination process based on the distance is not executed twice (No at Step S220), the spectator guidance processing unit 115 controls the stereo camera 150 (Step S221) and acquires stereo image information (Step S221). S222), the process returns to step S217. Then, when the spectator guidance processing unit 115 executes the determination process based on the distance twice (Yes in step S220), the guidance process ends.

  As described above, in the second embodiment, the line-of-sight determination unit 113 determines whether or not the line segment connecting the coordinates indicating the position of the viewer and the coordinates where the exhibit is located intersects the approximate form of the movement explanation device 100. Before the display, the spectator guidance processing unit 115 determines whether or not there is a spectator who looks at the exhibit at a difficult position. As a result of the determination, if there is a spectator who looks at the exhibit at a position where it is difficult to see, a predetermined sound is reproduced from the speaker 160 to be guided to a position where the spectator is easily seen. In this way, it is possible to shorten the distance to which the movement explanation device 100 is moved in order not to obstruct the gaze of the spectator, as compared to the case where the spectators are crowded to view the exhibit and not guide it. It becomes.

  By the way, in the first embodiment and the second embodiment, the case where various processes are realized by hardware logic has been described. However, the present invention is not limited to this, and a program prepared in advance is executed by a computer. You may make it implement | achieve by doing. Thus, in the following, an example of a computer that executes a movement explanation program having the same function as the movement explanation device 100 shown in the first embodiment will be described with reference to FIG. FIG. 21 is a diagram illustrating a computer that executes a movement explanation program.

  As shown in the figure, the computer 200 as the movement explanation device 100 is configured by connecting a right axis motor 201, a left axis motor 202, a stereo camera 203, a speaker 204, an HDD 210, a RAM 220, a ROM 230, and a CPU 240 via a bus 250 or the like. Is done.

  The ROM 230 has a movement explanation program that exhibits the same function as the movement explanation device 100 shown in the first embodiment, that is, as shown in FIG. 21, a movement control program 231, an observer coordinate acquisition program 232, and a line of sight. A determination program 233 and a corrected coordinate calculation program 234 are stored in advance. These programs 231 to 234 may be appropriately integrated or distributed in the same manner as each component of the movement explanation device 100 shown in FIG.

  Then, the CPU 240 reads out these programs 231 to 234 from the ROM 230 and executes them, so that the programs 231 to 234 are, as shown in FIG. 21, the movement control process 241, the spectator coordinate acquisition process 242, and the line-of-sight determination process. 243, which functions as a corrected coordinate calculation process 244. Processes 241 to 244 correspond to the movement explanation control unit 111, the spectator coordinate acquisition unit 112, the line-of-sight determination unit 113, and the corrected coordinate calculation unit 114 shown in FIG.

  Further, as shown in FIG. 21, the HDD 210 stores a control information table 211, audio information 212, and map information 213. The control information table 211, the sound information 212, and the map information 213 correspond to the control information 121, the sound information 122, and the map information 123 shown in FIG. Then, the CPU 240 reads out the control information table 211 and expands it on the RAM 220, and executes a correction coordinate calculation process based on the control information data 221 stored in the RAM 220.

  The above-described programs 231 to 234 are not necessarily stored in the ROM 230 from the beginning. For example, a flexible disk (FD), a CD-ROM, a DVD disk, or a magneto-optical disk inserted into the computer 200 is used. , A “portable physical medium” such as an IC card, or a “fixed physical medium” such as an HDD provided inside or outside the computer 200, and further via the public line, the Internet, LAN, WAN, etc. Each program may be stored in “another computer (or server)” connected to the computer, and the computer 200 may read and execute each program from these programs.

It is a figure for demonstrating the outline | summary of the movement description apparatus which concerns on a present Example. 1 is a block diagram illustrating a configuration of a movement explanation device according to Embodiment 1. FIG. It is a figure which shows the specific example of the control information which concerns on Example 1. FIG. It is a figure for demonstrating the best viewing angle. It is a figure for demonstrating the direction of a movement description apparatus. It is a figure for demonstrating the determination process which a gaze determination part performs. It is a figure which shows the case where a line segment and a cylinder do not cross | intersect by the position where an exhibit is arrange | positioned. It is a figure for demonstrating the calculation process performed by the correction coordinate calculation part. It is a figure for demonstrating the calculation process performed by the correction coordinate calculation part. It is a figure for demonstrating (DELTA) (theta). It is a figure for demonstrating the direction after moving to a correction coordinate. It is a figure for demonstrating the calculation process performed by the correction coordinate calculation part. It is a figure for demonstrating the calculation process performed by the correction coordinate calculation part. 3 is a flowchart illustrating a flow of processing of a control unit according to the first embodiment. It is a block diagram which shows the structure of the movement description apparatus which concerns on Example 2. FIG. It is a figure which shows the specific example of the control information which concerns on Example 2. FIG. It is a figure for demonstrating the determination process based on an angle. It is a figure for demonstrating the determination process based on distance. 10 is a flowchart illustrating a flow of processing of a control unit according to the second embodiment. It is a flowchart which shows the flow of a guidance process. It is a figure which shows the computer which performs a movement description program.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Movement explanation apparatus 110 Control part 111 Movement explanation control part 112 Onlooker coordinate acquisition part 113 Gaze determination part 114 Correction coordinate calculation part 115 Onlooker guidance processing part 120 Storage part 121,125 Control information 122 Voice information 123 Map information 124 Constant information 126 Guidance Audio information 130 Right axis motor 140 Left axis motor 150 Stereo camera 160 Speaker

Claims (6)

A movement explanation device for explaining an exhibit,
In a coordinate system in which an arbitrary point within a range including a place where the exhibit is arranged is associated with a coordinate, a viewer coordinate acquisition unit that acquires a coordinate indicating the position of the viewer of the exhibit;
Line-of-sight determining means for determining whether or not a line segment connecting the coordinates acquired by the spectator coordinate acquiring means and the coordinates indicating the position of the exhibit intersects with a shape approximating the own apparatus in the coordinate system; ,
When the line-of-sight determining means determines that the line segment and the shape intersect, each line segment intersects with a coordinate in the coordinate system that approximates the own device whose position is determined by the coordinate. Corrected coordinate calculating means for calculating corrected coordinates without any problem,
Moving means for moving the device to the corrected coordinates calculated by the corrected coordinate calculating means;
A movement explanation device characterized by comprising:   The corrected coordinate calculation means selects a maximum angle and a minimum angle among angles formed by a straight line passing through the coordinate indicating the position of the exhibit and the coordinate indicating the position of the viewer and the coordinate axis in the coordinate system. 2. The movement explanation device according to claim 1, wherein an absolute value with respect to a predetermined angle is respectively calculated, and the corrected coordinates are calculated outside a straight line intersecting the coordinate axis at a smaller angle. The coordinate system is three-dimensional,
The movement explanation device according to claim 1, wherein the spectator coordinate acquisition unit acquires coordinates indicating a position of the spectator's face. Angle storage means for storing the first angle and the second angle;
The straight line passing through the coordinate indicating the position of the exhibit and the coordinate indicating the position of the viewer compares each angle formed with the coordinate axis in the coordinate system with each of the first angle and the second angle, and Viewing angle determination means for determining whether there is an angle larger than one angle or whether there is an angle smaller than the second angle;
When the viewing angle determination unit determines that there is an angle larger than the first angle or an angle smaller than the second angle, information that prompts the viewer to move the viewing position is output. First output means for
The movement explanation device according to claim 1, further comprising: Distance storage means for storing a predetermined distance;
Viewing distance determination means for comparing each distance from the coordinates indicating the position of the exhibit to the coordinates indicating the position of the spectator with the predetermined distance and determining whether there is a distance longer than the predetermined distance; ,
A second output means for outputting information for encouraging the viewer to move the viewing position when the viewing distance determination means determines that there is a distance longer than the predetermined distance;
The movement explanation device according to any one of claims 1 to 4, further comprising: A movement explanation program for explaining about exhibits,
In a coordinate system in which an arbitrary point within a range including a place where the exhibit is arranged is associated with a coordinate, a viewer coordinate acquisition procedure for acquiring a coordinate indicating the position of the viewer of the exhibit,
In the coordinate system, a line-of-sight determination procedure for determining whether or not a line segment connecting the coordinates acquired by the spectator coordinate acquisition procedure and the coordinates indicating the position of the exhibit intersects with a shape approximating the device itself; ,
When it is determined that the line segment and the shape intersect by the line-of-sight determination procedure, each of the line segments intersects with a coordinate in the coordinate system that approximates the own apparatus whose position is determined at the coordinate. A corrected coordinate calculation procedure for calculating corrected coordinates without any problems,
A moving procedure for moving the device to the corrected coordinates calculated by the corrected coordinate calculating procedure;
The movement explanation program characterized by including.

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