WO2017047085A1 - 操作制御装置、操作制御方法及び記憶媒体 - Google Patents
操作制御装置、操作制御方法及び記憶媒体 Download PDFInfo
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- WO2017047085A1 WO2017047085A1 PCT/JP2016/004213 JP2016004213W WO2017047085A1 WO 2017047085 A1 WO2017047085 A1 WO 2017047085A1 JP 2016004213 W JP2016004213 W JP 2016004213W WO 2017047085 A1 WO2017047085 A1 WO 2017047085A1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/16—Human faces, e.g. facial parts, sketches or expressions
- G06V40/172—Classification, e.g. identification
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/041—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a variable is automatically adjusted to optimise the performance
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/445—Program loading or initiating
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
- G06F21/60—Protecting data
- G06F21/62—Protecting access to data via a platform, e.g. using keys or access control rules
Definitions
- the present invention relates to an operation control device that controls an operation on an operation target, an operation control method, and a program for realizing these.
- the measurement data of the same person is A configuration in which smart devices such as smartphones are aggregated is common. This ensures that the data obtained by the plurality of sensors is data collected by measurement from the same person. Therefore, in general, there is no system that doubts whether the measurement data obtained by a plurality of sensors is from the same person.
- Patent Documents 1 and 2 Techniques for performing control using ambiguous inference, so-called fuzzy logic, based on information obtained from sensors are disclosed in, for example, Patent Documents 1 and 2.
- the configurations disclosed in these documents are control methods that allow ambiguity of sensor information and ambiguity of contribution of sensor information to control for a final control target.
- the conventional technique has not established a general-purpose means for performing control on an object whose existence is uncertain as simply as an object whose existence is certain.
- the logic describing the sensor information obtained from the sensor and the operation for the sensor information is essentially very simple. However, for actual objects, whether or not such an operation is permitted depends on the individual object. For example, the criteria for determining whether it is appropriate to display specific information differs depending on where the display device is installed. Also, whether or not an operation that physically exerts some influence on the real world depends on the range and effect of the operation target.
- an operation control device for controlling operation of an operation device with respect to an operation target.
- the operation control device includes an operation logic unit in which operation logic corresponding to sensor information obtained from a sensor is stored in advance, an operation target estimated based on the sensor information output from the sensor, an attribute relating to the existence probability,
- a virtual target setting unit configured to set as a virtual operation target having an attribute related to an operation;
- a virtual target operation determination unit that determines whether or not an operation can be performed on the virtual operation target based on the attribute related to the existence probability and the attribute related to the operation;
- the operation logic stored in the operation logic unit is used to control the operation of the operation device with respect to the operation target.
- an operation control method for controlling operation of an operation device with respect to an operation target.
- the operation control method includes an operation logic preparation step for storing operation logic corresponding to sensor information obtained from a sensor in advance in an operation logic unit, an operation target estimated based on the sensor information, an attribute relating to existence probability, A virtual target setting step for setting as a virtual operation target having an attribute related to an operation; a virtual target operation determination step for determining whether or not an operation can be performed on the virtual operation target based on the attribute related to the existence probability and the attribute related to the operation; An operation control step for controlling the operation of the operation device with respect to the operation target using the operation logic stored in the operation logic unit based on the sensor information and the determination result in the virtual target operation determination step. Prepare.
- a program includes an operation logic preparation step in which operation logic corresponding to sensor information obtained from a sensor is stored in a computer in advance in an operation logic unit; A virtual object setting step for setting the operation object estimated based on the virtual operation object having an attribute relating to the existence probability and an attribute relating to the operation; whether to perform an operation on the virtual operation object; Using the operation logic stored in the operation logic unit based on the virtual object operation determination step determined based on the operation-related attribute, the sensor information and the determination result in the virtual object operation determination step, the operation An operation control step for controlling the operation of the operating device with respect to the object. Make.
- the operation control device of one aspect of the present invention even if the operation target is uncertain, it is possible to simply determine whether or not the operation target can be operated. Can be realized.
- FIG. 1 It is a figure which shows schematic structure of an operation control apparatus. It is a block diagram which shows the detailed structure of an operation control apparatus. It is a figure which shows an example of the attribute regarding the operation set in the virtual object production
- FIG. 1 is a diagram showing a schematic configuration of an operation control apparatus 1 according to an embodiment of the present invention.
- the operation control device 1 is a system that can control an operation on the operation target M by determining whether or not the operation target M can be operated according to the attribute of the operation target M even when the operation target M is uncertain. is there.
- the operation control device 1 receives the sensor information output from the sensor 2 and estimates the operation target M based on the sensor information. In addition, since the operation control device 1 also targets the operation target M that is uncertain whether or not it exists, the operation target M with such an uncertain existence includes the attribute relating to the existence probability and the attribute relating to the operation. Set as a virtual operation target P. The operation control device 1 controls an operation on the operation target M based on the sensor information and the set attribute of the virtual operation target P.
- the attribute of the virtual operation target P includes an attribute related to the existence probability and an attribute related to the operation of the operation target.
- the attribute relating to the existence probability includes information on the accuracy of whether or not the virtual operation target P exists.
- the attribute relating to the operation includes information regarding the operation content expected as the operation on the virtual operation target P, the existence probability of the virtual operation target P when the operation content is permitted, the permission permission for the operation, and the like.
- the operation control apparatus 1 determines whether or not an operation can be performed on the virtual operation target P based on the attribute related to the existence probability and the attribute related to the operation, and controls the operation on the operation target M based on the result and sensor information. I do. In addition, the operation control device 1 executes an operation on the operation target M using an operation logic corresponding to the sensor information.
- the operation control device 1 includes an operation logic unit 11, a virtual target setting unit 12, a virtual target operation determination unit 13, and an operation control unit 14.
- the operation logic unit 11 stores operation logic corresponding to sensor information obtained from the sensor 2.
- the operation logic is logic for causing the operation device 3 to perform an operation on the operation target M.
- the virtual target setting unit 12 estimates the operation target M based on the sensor information obtained from the sensor 2, and sets the estimated operation target M as a virtual operation target P having an attribute related to existence probability and an attribute related to operation. To do. That is, the virtual target setting unit 12 assumes that the operation target M whose existence is uncertain is the virtual operation target P having a predetermined attribute. As a result, it is possible to perform an operation on the operation target M whose existence is uncertain by the same control as the operation target that actually exists.
- the virtual target operation determination unit 13 determines whether or not an operation can be performed on the virtual operation target based on the attribute regarding the existence probability of the operation target M set by the virtual target setting unit 12 and the attribute regarding the operation on the operation target M. Specifically, the virtual target operation determination unit 13 extracts the operation content permitted to be operated on the virtual operation target P by comparing the attribute related to the operation with the attribute related to the existence probability.
- the operation control unit 14 uses the operation logic stored in the operation logic unit 11 based on the sensor information output from the sensor 2 and the determination result by the virtual target operation determination unit 13 to operate the operation device 3 for the operation target M. Control the operation.
- the operation target M is determined according to the attribute of the operation target M in the same manner as the operation target with a certain presence.
- the operation for can be controlled.
- FIG. 2 is a block diagram showing a detailed configuration of the operation control apparatus 1 according to the embodiment of the present invention.
- the operation control device 1 is a computer device that can input sensor information output from the plurality of sensors 2 and can control a plurality of operation devices 3 (operation device group) that operate the operation target M. Composed.
- the operation control device 1 includes an operation logic unit 11, a virtual target setting unit 12, a virtual target operation determination unit 13, an operation control unit 14, a sensor information collection unit 15, and an operation logic activation unit 16.
- the sensor information collection unit 15 collects sensor information output from a plurality of sensors 2 (sensor group). That is, the sensor information output from each sensor 2 is input to the sensor information collecting unit 15 in a state of being associated with each sensor 2. The sensor information collection unit 15 outputs the collected sensor information to the virtual target setting unit 12.
- a plurality of operation logic units 11 are provided in the operation control device 1.
- Each operation logic unit 11 stores operation logic corresponding to sensor information output from each of the plurality of sensors 2 in advance. That is, in each operation logic unit 11, operation logic for controlling the operation device 3 that performs an operation on the operation target M is stored in advance corresponding to the sensor information output from each sensor 2.
- operation logic unit 11 is activated by an operation logic activation unit 16 described later, the operation logic corresponding to the sensor information is output to the operation control unit 14 described later among the stored operation logics.
- the operation logic unit 11 may have the authority to operate the operation device 2 in accordance with the content of the operation, the authority of the person incorporating the operation logic, and the like.
- the virtual target setting unit 12 estimates the operation target M from the sensor information output from the sensor information collection unit 15, and sets a virtual operation target P having a predetermined attribute according to the estimated operation target M.
- the virtual target setting unit 12 includes an operation target estimation unit 21 and a virtual target generation unit 22.
- the operation target estimation unit 21 estimates the operation target M based on the sensor information output from the sensor information collection unit 15. For example, the operation target estimation unit 21 estimates a person or the like as the operation target M from image information, action history, position information, or the like as sensor information.
- the virtual target generation unit 22 sets a virtual operation target P having an attribute related to existence probability and an attribute related to operation according to the operation target M estimated by the operation target estimation unit 21. Further, the virtual target generation unit 22 associates the virtual operation target P with the sensor information that is the basis for the existence probability.
- the virtual object generation unit 22 sets the existence probability according to the accuracy of the existence of the operation object M from the accuracy, certainty, the number of information, and the like of the sensor information obtained from each sensor 2.
- the existence probability of the virtual operation target P is set to 90%, while the person is estimated based on past position information or the like
- the existence probability of the virtual operation target P is set to 30%.
- the calculation of the existence probability value is a method of using the maximum value of the accuracy obtained from the sensor information of each sensor 2 as the value of the existence probability, or a method of adding the contribution degree of each sensor 2 to the accuracy by fuzzy calculation or the like. and so on.
- the virtual target generation unit 22 sets an operation attribute for the virtual operation target P.
- the attribute of this operation is set by estimating an operation device that performs an operation on the virtual operation target P. For example, an image display device that exists near the position where the operation target M is estimated, an alarm device using light or sound, a device that physically affects the operation target, or a device that is assumed to be possessed by the operation target M Is an operation device that is estimated to perform an operation on the virtual operation target P.
- the operation attributes for the virtual operation target P include the operation content estimated as the operation for the virtual operation target P, the existence probability of the virtual operation target P when the operation is permitted, and the authority to permit the operation content. .
- the operation content to be estimated when the operation device is estimated as described above, the operation content estimated to be performed by the operation device is set.
- FIG. 3 shows an example of the estimated operation content.
- the existence probability of the virtual operation target P when the operation is permitted (hereinafter referred to as the allowable existence probability) is the case where the operation is wrong or the operation target M actually exists, such as a simple display or a promotion image. If there is no effect even if it does not, it is set low. On the other hand, an operation having a large influence on the operation target M and the surroundings, such as a physical shield against the operation target M and a publicly recognized alarm, has a high allowable existence probability.
- FIG. 3 shows an example of an allowable existence probability for an example of the estimated operation content.
- the authority to permit the operation content is an authority necessary when the operation logic unit 11 executes the operation logic and causes the operation device 3 to execute the operation.
- the authority to permit the operation content is set for each operation content of the operation device estimated as described above.
- FIG. 3 shows an example of the authority range for an example of the estimated operation content.
- the virtual target operation determination unit 13 determines whether or not an operation can be performed on the virtual operation target P based on the attribute related to the existence probability set by the virtual target generation unit 22 and the attribute related to the operation. Specifically, the virtual object operation determination unit 13 compares the existence probability of the virtual operation object P obtained from the attribute related to the existence probability with the allowable existence probability included in the attribute related to the operation, and thus the existence probability of the virtual operation object P Is greater than or equal to the allowable existence probability.
- the virtual target operation determination unit 13 When the existence probability of the virtual operation target P is equal to or higher than the allowable existence probability, the virtual target operation determination unit 13 outputs a permission signal permitting the operation to the operation control unit 14. On the other hand, when the existence probability of the virtual operation target P is lower than the allowable existence probability, the virtual target operation determination unit 13 does not permit the operation and therefore does not output a permission signal. Note that the virtual target operation determination unit 13 may output a non-permission signal to the operation control unit 14 when no operation is permitted without outputting any signal when the operation is permitted. The virtual target operation determination unit 13 may output a permission signal when the operation is permitted, and may output a non-permission signal when the operation is not permitted.
- the allowable existence probability is set high for an operation that has a large influence on the operation target M and the surroundings. Therefore, even when the existence probability of the operation target M is relatively high, if the existence probability of the operation target M is lower than the allowable existence probability according to the determination by the virtual target operation determination unit 13, an operation having a large influence on the operation target M and the surroundings. Is not done. On the other hand, since the allowable existence probability is set low for the operation target M and an operation having a small influence on the surroundings, even if the existence probability of the operation target M is relatively low, the existence probability is determined by the determination of the virtual target operation determination unit 13. Is equal to or greater than the allowable existence probability, the operation on the operation target M is performed.
- the operation logic activation unit 16 selects and activates the operation logic unit 11 having the activation condition corresponding to the sensor information among the plurality of operation logic units 11. To do.
- the operation logic unit 11 is activated, the operation logic stored in the operation logic unit 11 can be executed.
- the operation logic activation unit 16 may be configured to activate the operation logic unit 11 after determining whether or not the operation logic is included in the operation logic stored in the operation logic unit 11. .
- the operation control unit 14 controls the operation of the operation device 3 using the operation logic stored in the operation logic unit 11 activated by the operation logic activation unit 16. Further, the operation control unit 14 controls the operation of the controller device 3 based on the determination result of the virtual target operation determination unit 13. Specifically, when the permission signal is output from the virtual target operation determination unit 13, the operation control unit 14 uses the operation logic stored in the operation logic unit 11 selected by the operation logic activation unit 16. The operation of the controller device 3 is controlled.
- the operation control unit 14 executes the operation logic output from the operation logic unit 11 according to the authority to permit the operation content among the attributes related to the operation of the virtual operation target P. Thereby, the operation of the controller device 3 can be controlled according to the authority of the operation content set for the virtual operation target P.
- FIG. 4 is a flowchart showing the operation of the operation control apparatus 1.
- FIGS. 1 to 3 are referred to as appropriate.
- the operation control method is implemented by operating the operation control device 1. Therefore, the description of the operation control method in the present embodiment is replaced with the following description of the operation of the operation control device 1.
- the operation control device 1 stores operation logic corresponding to the sensor information output from the sensor 2 in the operation logic unit 11 (step S1). As shown in FIG. 2, when there are a plurality of sensors 2, the operation control apparatus 1 has a plurality of operation logic units 11, and each operation logic unit 11 corresponds to a plurality of sensor information. Stores operation logic.
- the operation logic unit 11 may store operation logic in advance.
- the operation control device 1 estimates the operation target M based on the sensor information output from the sensor 2 (step S2).
- the operation target M is estimated by the operation target estimation unit 21 of the operation control device 1.
- the virtual object generation unit 22 sets the estimated operation object M as a virtual operation object P having an attribute related to the existence probability and an attribute related to the operation (step S3). In other words, the virtual object generation unit 22 generates a virtual operation object P in which an attribute related to the operation object existence probability and an attribute related to the operation on the operation object are associated with each other.
- the attribute relating to the existence probability set by the virtual object generation unit 22 includes the accuracy of the existence of the operation object M.
- the accuracy of the presence of the operation target M is obtained based on sensor information output from the sensor 2 or the like.
- the attribute relating to the operation is determined by the virtual object generation unit 22 after estimating an operation device that may operate on the virtual operation object P.
- the attributes related to the operation set by the virtual object generation unit 22 include the operation content permitted by the operation device, the existence probability when the operation is permitted, and the authority to permit the operation content.
- the operation logic activation unit 16 activates the operation logic unit 11 having an activation condition corresponding to the sensor information output from the sensor 2 among the plurality of operation logic units 11 (step S4).
- the activated operation logic unit 11 outputs the stored operation logic to the operation control unit 14.
- the virtual object operation determination unit 13 determines whether or not to perform an operation on the virtual operation object P (step S5). That is, the virtual target operation determination unit 13 determines whether or not the existence probability of the virtual operation target P among the attributes related to the existence probability of the virtual operation target P is equal to or greater than the allowable existence probability of the attribute related to the operation.
- step S5 determines that the virtual operation target P is operable in step S5 (YES)
- the process proceeds to step S6, and the operation control unit 14 controls the operation device. 3 operation is controlled. Control of the operating device 3 by the operation control unit 14 is performed based on the operation logic stored in the operation logic unit 11 activated in step S4. At this time, the operation control unit 14 executes the operation logic output from the operation logic unit 11 according to the authority to permit the operation content among the attributes related to the operation of the virtual operation target P. Thereby, operation with respect to the operation target M can be performed by the operating device 3. Thereafter, this flow is ended (End).
- step S5 if it is determined by the virtual target operation determination unit 13 that the virtual operation target P is not operable in step S5 (NO), the flow ends (End).
- step S1 corresponds to the operation logic preparation step
- step S3 corresponds to the operation target setting step
- step S4 corresponds to the operation logic start step
- step S5 corresponds to the virtual target operation determination step
- step S6 corresponds to the operation control step. is doing.
- the operation target M whose existence is uncertain is set as the virtual operation target P having the attribute relating to the existence probability and the attribute relating to the operation. Whether or not the operation target P can be operated can be determined. Thereby, it is possible to easily control the operation on the operation target M whose existence is uncertain. That is, by setting the virtual operation target P instead of the operation target M, the existence is uncertain due to a simple configuration in which the virtual target setting unit 12 and the virtual target operation determination unit 13 are added to the same device configuration as the conventional one. Control of operations on the operation target M can be realized.
- the operation logic unit 11 and the operation logic activation unit 16 do not need to consider the uncertainty of the operation target, it is not necessary to change these configurations from the conventional configuration. Therefore, it is not necessary to change the logic part, so that the system design can be easily performed.
- the program in the embodiment of the present invention may be a program that causes a computer to execute steps S1 to S6 shown in FIG.
- the operation control device 1 and the operation control method in the present embodiment can be realized.
- the CPU Central Processing Unit
- the CPU functions as the operation logic unit 11, the virtual target setting unit 12, the virtual target operation determination unit 13, the operation control unit 14, the sensor information collection unit 15, and the operation logic activation unit 16. , Process.
- the operation logic unit 11, the virtual target setting unit 12, the virtual target operation determination unit 13, the operation control unit 14, the sensor information collection unit 15, and the operation logic activation unit 16 are a hard disk provided in a computer, etc. This is realized by storing data files constituting these in the storage device. Alternatively, it is realized by mounting a recording medium storing this data file on a reading device connected to a computer.
- FIG. 5 is a block diagram illustrating an example of a computer that implements the operation control apparatus 1 according to the embodiment of the present invention.
- the computer 110 includes a CPU 111, a main memory 112, a storage device 113, an input interface 114, a display controller 115, a data reader / writer 116, and a communication interface 117. These units are connected to each other via a bus 121 so that data communication is possible.
- the CPU 111 performs various operations by developing the program (code) in the present embodiment stored in the storage device 113 in the main memory 112 and executing them in a predetermined order.
- the main memory 112 is typically a volatile storage device such as a DRAM (Dynamic Random Access Memory).
- the program in the present embodiment is provided in a state of being stored in a computer-readable recording medium 120. Note that the program in the present embodiment may be distributed on the Internet connected via the communication interface 117.
- the storage device 113 includes a hard disk drive and a semiconductor storage device such as a flash memory.
- the input interface 114 mediates data transmission between the CPU 111 and an input device 118 such as a keyboard and a mouse.
- the display controller 115 is connected to the display device 119 and controls display on the display device 119.
- the data reader / writer 116 mediates data transmission between the CPU 111 and the recording medium 120, and reads a program from the recording medium 120 and writes a processing result in the computer 110 to the recording medium 120.
- the communication interface 117 mediates data transmission between the CPU 111 and another computer.
- the recording medium 120 there is a general-purpose semiconductor storage device such as CF (Compact Flash (registered trademark)) and SD (Secure Digital). Further, it may be a magnetic storage medium such as a flexible disk, or an optical storage medium such as a CD-ROM (Compact Disk Only Memory).
- CF Compact Flash
- SD Secure Digital
- it may be a magnetic storage medium such as a flexible disk, or an optical storage medium such as a CD-ROM (Compact Disk Only Memory).
- the attribute relating to the operation set by the virtual object generation unit 22 includes the authority to permit the operation content.
- an authority may not be included in the operation-related attributes, and the operation control device 1 may be configured not to consider the authority.
- the virtual target setting unit 12 sets the virtual operation target P based on the sensor information output from the plurality of sensors 2.
- the existence probability of the operation target M is high due to some sensor information (for example, information from a portable terminal) and the existence of the operation target M is sufficiently certain, other sensor information is uncertain. May set a plurality of virtual operation targets P having a low existence probability corresponding to the sensor information.
- the operation control apparatus 1 may be configured to permit the operation of the operation apparatus 3 with respect to the operation object M.
- An operation logic unit in which operation logic corresponding to sensor information obtained from the sensor is stored in advance;
- a virtual target setting unit that sets an operation target estimated based on sensor information output from the sensor as a virtual operation target having an attribute related to existence probability and an attribute related to operation;
- a virtual target operation determination unit for determining based on the attribute related to the existence probability and the attribute related to the operation;
- An operation control device comprising a control unit.
- the operation control unit outputs from at least one of the plurality of sensors among the plurality of operation logic units when the virtual target operation determination unit determines that an operation on the virtual operation target is possible.
- An operation control device that performs an operation on the operation target by the operation device using an operation logic stored in an operation logic unit corresponding to the sensor information.
- the operation logic unit corresponding to the sensor information is selected from the plurality of operation logic units, and further includes an operation logic activation unit that activates the operation logic unit,
- the operation control unit uses the operation logic stored in the operation logic unit activated by the operation logic activation unit when the virtual object operation determination unit determines that the operation on the virtual operation target is possible.
- An operation control device that performs an operation on the operation target by the operation device.
- the virtual target setting unit is an operation control device that sets the existence probability based on accuracy of sensor information output from the sensor.
- a sensor information collecting unit for collecting sensor information output from the sensor is an operation control device that outputs collected sensor information to the virtual target setting unit.
- An operation logic preparation step for storing operation logic corresponding to sensor information obtained from the sensor in the operation logic unit in advance,
- a virtual object setting step for setting an operation object estimated based on the sensor information as a virtual operation object having an attribute related to existence probability and an attribute related to operation;
- a virtual target operation determination step for determining whether or not an operation can be performed on the virtual control target based on an attribute related to the existence probability and an attribute related to the operation;
- a program for executing an operation control method for controlling operation of an operation device with respect to an operation target On the computer, An operation logic preparation step for storing operation logic corresponding to sensor information obtained from the sensor in the operation logic unit in advance, A virtual object setting step for setting an operation object estimated based on the sensor information as a virtual operation object having an attribute related to existence probability and an attribute related to operation; A virtual target operation determination step for determining whether or not an operation can be performed on the virtual control target based on an attribute related to the existence probability and an attribute related to the operation; Based on the sensor information output from the sensor and the determination result in the virtual target operation determination step, an operation for controlling the operation of the operation device with respect to the operation target using the operation logic stored in the operation logic unit. A program for executing a control step.
- Appendix 11 In the program described in Appendix 10, In the operation logic preparation step, operation logic corresponding to sensor information obtained from a plurality of sensors is stored in advance in a plurality of operation logic units, In the operation control step, an output from at least one of the plurality of sensors among the plurality of operation logic units when it is determined in the virtual object operation determination step that an operation on the virtual operation target is possible.
- the present invention can be used for an operation control device that controls an operation on an operation object whose existence is uncertain.
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Abstract
Description
例えば、操作対象Mを推定した位置の近くに存在する画像表示装置や、光、音による警報装置、物理的に操作対象に影響を及ぼす装置、操作対象Mが所持していると推定されるデバイスなどが、仮想操作対象Pに対して操作を行うと推定される操作装置である。
具体的には、仮想対象操作判定部13は、存在確率に関する属性から得られる仮想操作対象Pの存在確率を、操作に関する属性に含まれる許容存在確率と比較して、仮想操作対象Pの存在確率が、許容存在確率以上かどうかを判定する。
具体的には、操作制御部14は、仮想対象操作判定部13から許可信号が出力された場合に、操作ロジック起動部16によって選択された操作ロジック部11に格納された操作ロジックを用いて、操作装置3の操作を制御する。
図4は、操作制御装置1の動作を示すフロー図である。以下の説明において、図1から図3を適宜、参酌する。また、本実施形態では、操作制御装置1を動作させることによって、操作制御方法が実施される。よって、本実施形態における操作制御方法の説明は、以下の操作制御装置1の動作説明に代える。
以上、本発明の実施の形態を説明したが、上述した実施の形態は本発明を実施するための例示に過ぎない。よって、上述した実施の形態に限定されることなく、その趣旨を逸脱しない範囲内で上述した実施の形態を適宜変形して実施することが可能である。
操作対象に対する操作装置の操作を制御するための操作制御装置において、
センサから得られるセンサ情報に対応する操作ロジックが予め格納された操作ロジック部と、
前記センサから出力されたセンサ情報に基づいて推定される操作対象を、存在確率に関する属性と操作に関する属性とを有する仮想操作対象として設定する仮想対象設定部と、 前記仮想操作対象に対する操作の可否を、前記存在確率に関する属性と前記操作に関する属性とに基づいて判定する仮想対象操作判定部と、
前記センサから出力されたセンサ情報と前記仮想対象操作判定部による判定結果とに基づいて、前記操作ロジック部に格納された操作ロジックを用いて、前記操作対象に対する前記操作装置の操作を制御する操作制御部とを備える、操作制御装置。
付記1に記載の操作制御装置において、
前記操作ロジック部を複数有し、
前記複数の操作ロジック部には、それぞれ、複数のセンサから得られるセンサ情報に対応する操作ロジックが予め格納されていて、
前記操作制御部は、前記仮想対象操作判定部によって前記仮想操作対象に対する操作が可であると判定された場合に、前記複数の操作ロジック部のうち、前記複数のセンサの少なくとも一つのセンサから出力されたセンサ情報に対応する操作ロジック部に格納された操作ロジックを用いて、前記操作装置により前記操作対象に対して操作を行う、操作制御装置。
付記1または2に記載の操作制御装置において、
前記センサから出力されたセンサ情報に基づいて、前記複数の操作ロジック部から前記センサ情報に対応する操作ロジック部を選定するとともに、該操作ロジック部を起動させる操作ロジック起動部をさらに備え、
前記操作制御部は、前記仮想対象操作判定部によって前記仮想操作対象に対する操作が可であると判定された場合に、前記操作ロジック起動部によって起動された操作ロジック部に格納された操作ロジックを用いて、前記操作装置により前記操作対象に対して操作を行う、操作制御装置。
付記1から3のいずれか一つに記載の操作制御装置において、
前記仮想対象設定部は、前記センサから出力されたセンサ情報の確度に基づいて、前記存在確率を設定する、操作制御装置。
付記1から4のいずれか一つに記載の操作制御装置において、
前記センサから出力されたセンサ情報を収集するセンサ情報収集部をさらに備え、
前記センサ情報収集部は、前記仮想対象設定部に対し、収集したセンサ情報を出力する、操作制御装置。
操作対象に対する操作装置の操作を制御する操作制御方法において、
センサから得られるセンサ情報に対応する操作ロジックを、操作ロジック部に予め格納する操作ロジック準備ステップと、
前記センサ情報に基づいて推定される操作対象を、存在確率に関する属性と操作に関する属性とを有する仮想操作対象として設定する仮想対象設定ステップと、
前記仮想操作対象に対する操作の可否を、前記存在確率に関する属性と前記操作に関する属性とに基づいて判定する仮想対象操作判定ステップと、
前記センサ情報と前記仮想対象操作判定ステップにおける判定結果とに基づいて、前記操作ロジック部に格納された操作ロジックを用いて、前記操作対象に対する前記操作装置の操作を制御する操作制御ステップとを備える、操作制御方法。
付記6に記載の操作制御方法において、
前記操作ロジック準備ステップでは、複数の操作ロジック部に、それぞれ、複数のセンサから得られるセンサ情報に対応する操作ロジックを予め格納し、
前記操作制御ステップでは、前記仮想対象操作判定ステップによって前記仮想操作対象に対する操作が可であると判定された場合に、前記複数の操作ロジック部のうち、前記複数のセンサの少なくとも一つのセンサから出力されたセンサ情報に対応する操作ロジック部に格納された操作ロジックを用いて、前記操作装置により前記操作対象に対して操作を行う、操作制御方法。
付記6または7に記載の操作制御方法において、
前記センサから出力されたセンサ情報に基づいて、前記複数の操作ロジック部から前記センサ情報に対応する操作ロジック部を選定するとともに、該操作ロジック部を起動させる操作ロジック起動ステップをさらに備え、
前記操作制御ステップは、前記仮想対象操作判定ステップにおいて前記仮想操作対象に対する操作が可であると判定された場合に、前記操作ロジック起動ステップで起動された操作ロジック部に格納された操作ロジックを用いて、前記操作装置により前記操作対象に対して操作を行う、操作制御方法。
付記6から8のいずれか一つに記載の操作制御方法において、
前記仮想対象設定ステップでは、前記センサから出力されたセンサ情報の確度に基づいて、前記存在確率を設定する、操作制御方法。
操作対象に対する操作装置の操作を制御する操作制御方法を実行するためのプログラムであって、
コンピュータに、
センサから得られるセンサ情報に対応する操作ロジックを、操作ロジック部に予め格納する操作ロジック準備ステップと、
前記センサ情報に基づいて推定される操作対象を、存在確率に関する属性と操作に関する属性とを有する仮想操作対象として設定する仮想対象設定ステップと、
前記仮想操作対象に対する操作の可否を、前記存在確率に関する属性と前記操作に関する属性とに基づいて判定する仮想対象操作判定ステップと、
前記センサから出力されたセンサ情報と前記仮想対象操作判定ステップにおける判定結果とに基づいて、前記操作ロジック部に格納された操作ロジックを用いて、前記操作対象に対する前記操作装置の操作を制御する操作制御ステップとを実行させる、プログラム。
付記10に記載のプログラムにおいて、
前記操作ロジック準備ステップでは、複数の操作ロジック部に、それぞれ、複数のセンサから得られるセンサ情報に対応する操作ロジックを予め格納し、
前記操作制御ステップでは、前記仮想対象操作判定ステップにおいて前記仮想操作対象に対する操作が可であると判定された場合に、前記複数の操作ロジック部のうち、前記複数のセンサの少なくとも一つのセンサから出力されたセンサ情報に対応する操作ロジック部に格納された操作ロジックを用いて、前記操作装置により前記操作対象に対して操作を行う、プログラム。
付記10または11に記載のプログラムにおいて、
前記センサから出力されたセンサ情報に基づいて、前記複数の操作ロジック部から前記センサ情報に対応する操作ロジック部を選定するとともに、該操作ロジック部を起動させる操作ロジック起動ステップをさらに備え、
前記操作制御ステップは、前記仮想対象操作判定ステップにおいて前記仮想操作対象に対する操作が可であると判定された場合に、前記操作ロジック起動ステップで起動された操作ロジック部に格納された操作ロジックを用いて、前記操作装置により前記操作対象に対して操作を行う、プログラム。
付記10から12のいずれか一つに記載のプログラムにおいて、
前記仮想対象設定ステップでは、前記センサから出力されたセンサ情報の確度に基づいて、前記存在確率を設定する、プログラム。
2 センサ
3 操作装置
11 操作ロジック部
12 仮想対象設定部
13 仮想対象操作判定部
14 操作制御部
15 センサ情報収集部
16 操作ロジック起動部
21 操作対象推定部
22 仮想対象生成部
M 操作対象
P 仮想操作対象
Claims (10)
- 操作対象に対する操作装置の操作を制御するための操作制御装置において、
センサから得られるセンサ情報に対応する操作ロジックが予め格納された操作ロジック手段と、
前記センサから出力されたセンサ情報に基づいて推定される操作対象を、存在確率に関する属性と操作に関する属性とを有する仮想操作対象として設定する仮想対象設定手段と、 前記仮想操作対象に対する操作の可否を、前記存在確率に関する属性と前記操作に関する属性とに基づいて判定する仮想対象操作判定手段と、
前記センサから出力されたセンサ情報と前記仮想対象操作判定手段による判定結果とに基づいて、前記操作ロジック手段に格納された操作ロジックを用いて、前記操作対象に対する前記操作装置の操作を制御する操作制御手段とを備える、操作制御装置。 - 請求項1に記載の操作制御装置において、
前記操作ロジック手段を複数有し、
前記複数の操作ロジック手段には、それぞれ、複数のセンサから得られるセンサ情報に対応する操作ロジックが予め格納されていて、
前記操作制御手段は、前記仮想対象操作判定手段によって前記仮想操作対象に対する操作が可であると判定された場合に、前記複数の操作ロジック手段のうち、前記複数のセンサの少なくとも一つのセンサから出力されたセンサ情報に対応する操作ロジック手段に格納された操作ロジックを用いて、前記操作装置により前記操作対象に対して操作を行う、操作制御装置。 - 請求項1または2に記載の操作制御装置において、
前記センサから出力されたセンサ情報に基づいて、前記複数の操作ロジック手段から前記センサ情報に対応する操作ロジック手段を選定するとともに、該操作ロジック手段を起動させる操作ロジック起動手段をさらに備え、
前記操作制御手段は、前記仮想対象操作判定手段によって前記仮想操作対象に対する操作が可であると判定された場合に、前記操作ロジック起動手段によって起動された操作ロジック手段に格納された操作ロジックを用いて、前記操作装置により前記操作対象に対して操作を行う、操作制御装置。 - 請求項1から3のいずれか一つに記載の操作制御装置において、
前記仮想対象設定手段は、前記センサから出力されたセンサ情報の確度に基づいて、前記存在確率を設定する、操作制御装置。 - 操作対象に対する操作装置の操作を制御する操作制御方法において、
センサから得られるセンサ情報に対応する操作ロジックを、操作ロジック手段に予め格納し、
前記センサ情報に基づいて推定される操作対象を、存在確率に関する属性と操作に関する属性とを有する仮想操作対象として設定し、
前記仮想操作対象に対する操作の可否を、前記存在確率に関する属性と前記操作に関する属性とに基づいて判定し、
前記センサ情報と前記仮想対象操作判定ステップにおける判定結果とに基づいて、前記操作ロジック手段に格納された操作ロジックを用いて、前記操作対象に対する前記操作装置の操作を制御する
ことを備える、操作制御方法。 - 請求項5に記載の操作制御方法において、
前記操作ロジック準備ステップでは、複数の操作ロジック手段に、それぞれ、複数のセンサから得られるセンサ情報に対応する操作ロジックを予め格納し、
前記操作制御ステップでは、前記仮想対象操作判定ステップによって前記仮想操作対象に対する操作が可であると判定された場合に、前記複数の操作ロジック手段のうち、前記複数のセンサの少なくとも一つのセンサから出力されたセンサ情報に対応する操作ロジック手段に格納された操作ロジックを用いて、前記操作装置により前記操作対象に対して操作を行う、操作制御方法。 - 請求項5または6に記載の操作制御方法において、
前記センサから出力されたセンサ情報に基づいて、前記複数の操作ロジック手段から前記センサ情報に対応する操作ロジック手段を選定するとともに、該操作ロジック手段を起動させることをさらに備え、
前記制御する際、前記判定することにおいて前記仮想操作対象に対する操作が可であると判定された場合に、前記操作ロジック起動ステップで起動された操作ロジック手段に格納された操作ロジックを用いて、前記操作装置により前記操作対象に対して操作を行う、操作制御方法。 - 操作対象に対する操作装置の操作を制御する操作制御方法を実行するためのプログラムであって、
コンピュータに、
センサから得られるセンサ情報に対応する操作ロジックを、操作ロジック手段に予め格納する操作ロジック準備ステップと、
前記センサ情報に基づいて推定される操作対象を、存在確率に関する属性と操作に関する属性とを有する仮想操作対象として設定する仮想対象設定ステップと、
前記仮想操作対象に対する操作の可否を、前記存在確率に関する属性と前記操作に関する属性とに基づいて判定する仮想対象操作判定ステップと、
前記センサから出力されたセンサ情報と前記仮想対象操作判定ステップにおける判定結果とに基づいて、前記操作ロジック手段に格納された操作ロジックを用いて、前記操作対象に対する前記操作装置の操作を制御する操作制御ステップとを実行させる、プログラムを格納する記憶媒体。 - 請求項8に記載のプログラムにおいて、
前記操作ロジック準備ステップでは、複数の操作ロジック手段に、それぞれ、複数のセンサから得られるセンサ情報に対応する操作ロジックを予め格納し、
前記操作制御ステップでは、前記仮想対象操作判定ステップにおいて前記仮想操作対象に対する操作が可であると判定された場合に、前記複数の操作ロジック手段のうち、前記複数のセンサの少なくとも一つのセンサから出力されたセンサ情報に対応する操作ロジック手段に格納された操作ロジックを用いて、前記操作装置により前記操作対象に対して操作を行う、プログラムを格納する記憶媒体。 - 請求項8または9に記載のプログラムにおいて、
前記センサから出力されたセンサ情報に基づいて、前記複数の操作ロジック手段から前記センサ情報に対応する操作ロジック手段を選定するとともに、該操作ロジック手段を起動させる操作ロジック起動ステップをさらに備え、
前記操作制御ステップは、前記仮想対象操作判定ステップにおいて前記仮想操作対象に対する操作が可であると判定された場合に、前記操作ロジック起動ステップで起動された操作ロジック手段に格納された操作ロジックを用いて、前記操作装置により前記操作対象に対して操作を行う、プログラムを格納する記憶媒体。
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