WO2020071001A1 - Information presentation device, information presentation method, and program - Google Patents

Abstract

An information presentation device (10) comprises: an acquisition unit (110) that acquires information pertaining to a prescribed region; a presenting unit (140) that presents information pertaining to an abnormality in the prescribed region, the abnormality detected on the basis of the information pertaining to the prescribed region; and a control unit (120) that causes the presenting unit (140) to present the information pertaining to the abnormality to the position where the abnormality was detected.

Description

Information presentation device, information presentation method, and program

(4) The present disclosure relates to an information presentation device, an information presentation method, and a program.

Conventionally, for example, various devices have been developed that detect surrounding abnormalities and present information on the detected abnormalities.

For example, Patent Literature 1 below includes a sensor device for detecting an abnormality of an inspection target such as a pipe, converts data detected by the sensor device into image data, and causes the display device to display the image data. A mobile robot is described.

JP-A-6-198586

However, according to the technology described in Patent Literature 1, the data related to the abnormality detected by the sensor device is only displayed on the display device, and is not directly displayed on the source of the abnormality. Therefore, when the user performs a process for the abnormality at the site where the abnormality has occurred, the user may not be able to intuitively understand the position of the abnormality source, the situation around the abnormality source, and the like.

Therefore, the present disclosure proposes a new and improved information presenting device, information presenting method, and program capable of presenting information about an abnormality so that a user can easily and intuitively understand the information.

According to the present disclosure, an acquisition unit that acquires information about a predetermined area, a presentation unit that is detected based on the information about the predetermined area, and presents information about an abnormality in the predetermined area, A control unit for presenting information on the abnormality to a position where the abnormality is detected.

According to the present disclosure, acquiring information on a predetermined area, presenting information on an abnormality in the predetermined area, which is detected based on the information on the predetermined area, and detecting the abnormality And presenting the information on the abnormality to a position where the information is abnormal, provided by the processor.

Also, according to the present disclosure, a computer, an acquisition unit that acquires information about a predetermined area, and a presentation unit that is detected based on the information about the predetermined area, and presents information about an abnormality in the predetermined area, A program for causing the presentation unit to function as a control unit that presents information about the abnormality to a position where the abnormality is detected is provided.

According to the present disclosure, as described above, it is possible to present information about an abnormality so that a user can easily understand it intuitively. Note that the above effects are not necessarily limited, and any of the effects shown in the present specification or other effects that can be grasped from the present specification are used together with or in place of the above effects. May be played.

1 is a diagram illustrating an example of a physical configuration of an information presentation device according to each embodiment of the present disclosure. FIG. 4 is a diagram illustrating a specific example of a predetermined area according to each embodiment. It is a block diagram showing an example of functional composition of an information presentation device concerning each embodiment. 5 is a flowchart illustrating a flow of a main process according to the first embodiment. 4 is a flowchart illustrating a flow of a normal scan process according to the embodiment. FIG. 6 is a diagram showing a first example according to the same embodiment. FIG. 7 is a diagram showing a second example according to the same embodiment. It is a figure showing the 3rd example concerning the embodiment. 9 is a flowchart illustrating a flow of a main process according to the second embodiment. It is a flow chart which shows the flow of the detailed scan processing concerning the embodiment. It is a figure showing an example concerning the same embodiment. It is a figure showing the 1st modification concerning each embodiment. It is a figure showing the 2nd modification concerning each embodiment. It is a figure showing the 3rd modification concerning each embodiment. FIG. 3 is a block diagram illustrating a hardware configuration example of an information presentation device according to each embodiment.

Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In the specification and the drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant description is omitted.

In addition, in the present specification and the drawings, a plurality of components having substantially the same function and configuration may be distinguished by adding different alphabets to the same reference numeral. For example, a plurality of components having substantially the same functional configuration are distinguished as necessary, such as the joint 102a and the joint 102b. However, when it is not necessary to particularly distinguish each of a plurality of components having substantially the same functional configuration, only the same reference numeral is assigned. For example, when it is not necessary to particularly distinguish the joint 102a and the joint 102b, they are simply referred to as the joint 102.

The description will be made in the following order.
1. Overview 2. First embodiment3. Second embodiment4. Modification 5. Hardware configuration example 6. Conclusion

<< 1. Overview >>
The present disclosure may be implemented in various forms as described in detail in “2. First Embodiment” and “3. Second Embodiment” as an example.

Conventionally, for example, various devices have been developed that detect surrounding abnormalities and present information on the detected abnormalities. For example, a device has been developed that includes a sensor device for detecting an abnormality of an inspection target such as a pipe, converts data detected by the sensor device into image data, and displays the image data on a display device. However, the device only causes the display device to display data relating to the abnormality detected by the sensor device, and does not directly display the data to the abnormality source. Therefore, when the user performs a process for the abnormality at the site where the abnormality has occurred, the user may not be able to intuitively understand the position of the abnormality source, the situation around the abnormality source, and the like.

Therefore, the information presentation apparatus 10 according to each embodiment has been created with the above-mentioned information as a single point of view. The information presentation device 10 according to each embodiment acquires information about a predetermined area, and presents information about an abnormality in the predetermined area, which is detected based on the information about the predetermined area. Further, the information presenting device 10 causes information relating to the abnormality to be presented at the position where the abnormality is detected. For this reason, the information presenting apparatus 10 can present information relating to the abnormality so that the user can intuitively understand the information. Hereinafter, each embodiment will be sequentially described in detail.

<< 2. First Embodiment >>
<2-1. Physical configuration of information presentation device>
First, a first embodiment according to the present disclosure will be described. First, the physical configuration of the information presentation device 10-1 according to the first embodiment will be described with reference to FIG. FIG. 1 is a diagram illustrating an example of a physical configuration of the information presentation device 10-1 according to the first embodiment. As shown in FIG. 1, the information presenting device 10-1 according to the present embodiment includes a robot arm 12 and a movable cart 14.

In the present embodiment, the information presentation device 10-1 may be a device (machine) that can move autonomously by using the electric and / or magnetic action by including the movable cart 14. The information presentation device 10-1 may be, for example, a robot that can autonomously move on the ground or in the air. However, the present embodiment is not limited to such an example, and the information presenting apparatus 10-1 may be a machine (apparatus) that can operate autonomously using an electric and / or magnetic action or another general mobile object. Any device may be used. For example, the information presentation device 10-1 is another type of robot (for example, a humanoid robot or a drone), a vehicle (for example, a vehicle, a ship, a flying body, etc.), various industrial machines, or a toy. Is also good.

The information presentation device 10-1 may be a device (machine) that can simultaneously perform a rotational motion and a translational motion (hereinafter, may be referred to as a rotational translational motion) at the same time. For example, the information presentation device 10-1 may be an omnidirectional mobile. As a specific example of the rotational translation, for example, the information presentation device 10-1 moves while staring at a certain point, the information presentation device 10-1 continuously rotates, and senses the surrounding environment. Moving while moving, or tracking another moving body (for example, a person or a car) moving in an arbitrary direction in real time.

(1) Robot arm 12
The robot arm 12 includes, for example, a robot arm tip 100, a plurality of joints 102, and a plurality of links 104. As shown in FIG. 1, the robot arm 12 has, for example, one robot arm tip 100, four joints 102a to 102d, and three links 104a to 104c. The four joints 102a to 102d connect the robot arm distal end 100, the three links 104a to 104c, and the movable carriage 14. Specifically, as shown in FIG. 1, the joint 102a connects the robot arm tip 100 and the link 104a. The joint 102b connects the link 104a and the link 104b. The joint 102c connects the link 104b and the link 104c. In addition, the joint 102d connects the link 104c and the movable carriage 14. The shapes of the robot arm 12, the robot arm tip portion 100, the joint portion 102, and the link 104 are not limited to the shapes shown in FIG. 1, but may be any shapes.

The robot arm 12 may include, for example, a motion sensor for measuring the motion of the joint 102 at a position corresponding to each of the joints 102. An example of the motion sensor is an encoder. The encoder can acquire each position of the joint 102 as three-dimensional coordinates. Then, the information presentation device 10-1 can calculate the position of the robot arm tip 100 as three-dimensional coordinates based on the three-dimensional coordinates of the joint 102. In addition, the robot arm 12 may include, for example, a driving mechanism for driving the joint unit 102 at a position corresponding to each of the joint units 102. The driving mechanism includes, for example, a motor and a driver. Such a driving mechanism can be controlled by a control unit 120-1 described below.

The joint 102 may have a function of rotatably connecting the robot arm tip 100 and the plurality of links 104 to each other. For example, the joints 102a to 102d rotatably connect the robot arm tip 100 and the links 104a to 104c to each other. The operation of the robot arm 12 is controlled by rotating and operating the joints 102a to 102d. Here, in the following description, the position of each component of the robot arm 12 means a position (coordinate) in a space defined for the operation control, and the posture of each component is the operation control. Means the direction (angle) with respect to an arbitrary axis in the space defined for. In the following description, the operation (or operation control) of the robot arm 12 refers to the operation (or operation control) of the joints 102a to 102d in which the position and orientation of each component of the robot arm 12 are changed. (Change is controlled).

先端 Further, each of the robot arm tip portion 100, the joint portion 102, and the link 104 may have a movable portion that rotates about a predetermined rotation axis. For example, each of the robot arm tip portion 100, the joint portion 102, and the link 104 has an actuator (for example, a motor), and rotates around a predetermined rotation axis by driving the actuator. The rotation of each of the robot arm tip 100, the joint 102, and the link 104 is controlled, so that the operation of the robot arm 12, for example, extending, contracting (folding), or twisting the robot arm 12. Is controlled. Note that the robot arm 12 according to the present embodiment has movable portions at each of the one robot arm tip portion 100, the four joint portions 102a to 102d, and the three links 104a to 104c, and thus has eight degrees of freedom (DoF). : Degrees @ of @ Freedom). Therefore, since the robot arm 12 generally has six or more degrees of freedom (3 degrees of freedom of position + 3 degrees of freedom of attitude) required to control the position and attitude of the robot arm, A robot arm with redundant degrees of freedom.

In the above example, the robot arm 12 has four joints 102, four links 104, and eight movable parts, but the number of the joints 102, the links 104, and the movable parts is not particularly limited. Not done. For example, the number of movable parts of the robot arm 12 may be six or less. Also, for example, the numbers of the joints 102, the links 104, and the movable parts included in the robot arm 12 may be set such that a desired degree of freedom is realized in consideration of the degree of freedom of the position and orientation of the robot arm tip 100. It may be set appropriately. Further, the shapes of the joint 102 and the link 104, the direction of the rotation axis of the joint 102, and the like are not limited to the example illustrated in FIG. 1, and the degree of freedom of the position and posture of the robot arm tip 100 is taken into consideration. May be appropriately set so as to realize a desired degree of freedom. Note that the robot arm 12 may be moved in the same direction as the moving direction of the movable cart 14 by the operation of the movable cart 14. For example, when the mobile trolley 14 moves, the robot arm 12 may be moved in the same direction as the mobile trolley 14 in accordance with the movement of the mobile trolley 14. Further, for example, when the movable cart 14 rotates, the robot arm 12 may be rotated in the same direction as the rotating direction of the movable cart 14 in accordance with the rotation of the movable cart 14.

Various devices may be provided at the robot arm tip portion 100 of the robot arm 12. In the present embodiment, for example, a sensor device is provided at the distal end portion 100 of the robot arm. The sensor device may include various sensors. For example, the sensor device may include a camera, a thermo camera, a distance measurement sensor, a depth sensor, a microphone (hereinafter, also referred to as a microphone), a chemical sensor, an odor sensor, a metal sensor, a temperature sensor, and a sensor capable of capturing a fluoroscopic image. The number of sensor devices provided at the robot arm tip 100 is not particularly limited. For example, the sensor device provided on the robot arm tip portion 100 may include one or more of the above-described sensor devices in combination, or may include a plurality of devices of the same type.

A camera is an imaging device that has a lens system, a drive system, and an imaging element, such as an RGB camera, and captures an image (still image or moving image). A thermo camera is an imaging device that captures a captured image including information indicating the temperature of an imaging target using infrared light or the like. The depth sensor is a device that acquires depth information such as a ToF (Time of Flight) sensor, an infrared distance measuring device, an ultrasonic distance measuring device, a LiDAR (Laser Imaging, Detection and Ranging), or a stereo camera. The microphone is a device that collects surrounding sounds and outputs audio data converted into digital signals via an amplifier and an ADC (Analog Digital Converter). A chemical sensor is a sensor that detects a chemical substance. The odor sensor is a sensor that detects odor and converts it into a numerical value. The metal sensor is a sensor that detects a metal. The temperature sensor is a sensor that measures a temperature. The sensor capable of capturing a fluoroscopic image is, for example, a sensor that captures an image that visualizes the inside of a target by infrared rays, X-rays, or the like. When a sensor capable of capturing a fluoroscopic image is used, there may be a case where a structure capable of positioning an imaging target between a transmitter for infrared rays or X-rays and a receiver may be required. Therefore, the robot arm tip portion 100 may include a transmitter and a receiver for infrared rays or X-rays or the like, and may have a structure capable of positioning an imaging target between the transmitter and the receiver.

Also, in the present embodiment, a presentation device may be provided at the robot arm tip portion 100 in addition to the sensor device. The presentation device can include various presentation devices. For example, the presentation device may include a projector and a laser device. Note that the number of presentation devices provided on the robot arm tip portion 100 is not particularly limited. For example, the presentation device provided on the robot arm tip portion 100 may include one or more of the above-described presentation devices in combination, or may include a plurality of devices of the same type.

A projector is a projection device that projects an image at an arbitrary place in space. The projector may be, for example, a fixed-type wide-angle projector, or a so-called moving projector having a movable unit capable of changing the projection direction, such as a Pan / Tilt drive type.

The sensor device and the presentation device described above can be provided in various ways. For example, the sensor device and the presentation device are provided at the robot arm tip 100 of the robot arm 12 as described above. In addition, the sensor device and the presentation device may be provided in a main body 106 of the mobile trolley 14 described later.

(2) Mobile trolley 14
The movable trolley 14 includes, for example, a main body 106 and a plurality of wheels 108. At least one processing circuit such as a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit) may be arranged in the main body 106. Further, at least one memory such as a ROM (Read Only Memory) and a RAM (Random Access Memory) can be arranged in the main body 106. In addition, a power supply device that supplies power for driving each component of the information presentation device 10-1 may be arranged in the main body 106.

移動 Further, as shown in FIG. 1, the mobile trolley 14 has, for example, four wheels 108a to 108d. Any type of wheel may be used as the wheel 108. For example, the wheels 108 may be omni wheels, mecanum wheels, or the like. Note that the types of the plurality of wheels 108 included in the mobile trolley 14 may be basically the same. However, the present disclosure is not limited to such an example, and a plurality of types of wheels may be mixed in the plurality of wheels 108.

複数 Also, the plurality of wheels 108 may have a movable part. For example, each of the plurality of wheels 108 has an actuator (for example, a motor or the like) and rotates by driving the actuator. By controlling the drive of the actuator of each of the plurality of wheels 108, at least one wheel 108 can rotate. Thereby, the mobile trolley 14 can perform a rotation motion and a translation motion. For example, when a mecanum wheel is used for each of the plurality of wheels 108, the movable carriage 14 outputs a speed in an arbitrary direction by changing the rotation speed of each of the plurality of wheels 108 by controlling the driving of the actuator. It is possible. Thereby, the mobile trolley 14 may be movable in all directions.

<2-2. About predetermined area>
The physical configuration of the information presentation device 10-1 according to the first embodiment has been described above. Next, the predetermined area will be described with reference to FIG. FIG. 2 is a diagram illustrating a specific example of the predetermined area according to the first embodiment. The information presentation device 10-1 according to the present embodiment senses (hereinafter, also referred to as "scanning") a predetermined area using a sensor device provided at the robot arm tip portion 100 described above.

所 定 The predetermined area according to the present embodiment is an area in which the information presentation device 10-1 checks for an abnormality. For example, the predetermined area may include a surface of the object specified by the user. Specifically, when the target specified by the user is the object 20 as in the specific example a illustrated in FIG. 2, the predetermined region may be the region 30 that is the surface of the object 20 specified by the user. Good. The object 20 specified by the user is, for example, an unknown object that has a risk of explosion or the like. The target specified by the user is not limited to the unknown object described above, and may be an arbitrary object. For example, the target specified by the user may be a known object.

Also, for example, the predetermined area may include an area specified by the user. Specifically, as in a specific example b shown in FIG. 2, the regions specified by the user are partial regions 32a and 32b of a wall of a predetermined space (for example, a room) and a partial region 32c of a floor. The predetermined area may be the area 32 including the area 32a, the area 32b, and the area 32c.

For example, the predetermined area may be a part of the surface of the target specified by the user. Specifically, when the target specified by the user is the tank 22a as in the specific example c illustrated in FIG. 2, the predetermined area may be an area 34a that is a part of the surface of the tank 22a. The tank 22 shown in the specific example c of FIG. 2 is, for example, a tank in which a gas, a chemical, or the like is put.

For example, the predetermined area may be a combination of the surface of the target specified by the user and the area specified by the user. Specifically, as shown in a specific example c of FIG. 2, the user designates the areas 34a to 34c which are a part of the surface of each of the three tanks 22a to 22c and the area 34d which is a part of the floor. And In this case, the predetermined area may be an area including the areas 34a to 34d.

The predetermined area is not limited to the area specified by the user. For example, the predetermined area may be an area determined based on information scanned by the sensor device. Further, for example, the predetermined area may be an area determined based on information obtained from an external device. Further, for example, the predetermined area may be a predetermined area.

情報 The information presentation device 10-1 according to the present embodiment obtains information on a predetermined area by scanning the above-described predetermined area. The information on the predetermined area is, for example, spatial information on the predetermined area. The space information is, for example, sensing data such as the distance between the information presentation device 10-1 and an object forming the space, which is acquired by a camera or a depth sensor.

The space information is, for example, sensing data such as the distance between the information presenting apparatus 10-1 and a predetermined area acquired by a camera or a depth sensor. The acquired distance between the information presenting apparatus 10-1 and the predetermined area can be used for detecting the positional relationship between the information presenting apparatus 10-1 and the predetermined area. The detected positional relationship between the information presenting apparatus 10-1 and the predetermined area can be used when the information presenting apparatus 10-1 moves to the vicinity of the predetermined area.

The space information may be, for example, sensing data such as the distance between the robot arm tip 100 and a predetermined area, which is acquired by a camera or a depth sensor. The acquired distance between the robot arm tip 100 and the predetermined area can be used for detecting the positional relationship between the robot arm tip 100 and the predetermined area. The detected positional relationship between the robot arm tip 100 and the predetermined area can be used for controlling the distance between the robot arm tip 100 and the predetermined area.

情報 In addition, the information on the predetermined area is, for example, state information of the predetermined area. The state information is, for example, sensing data such as the temperature of a predetermined area acquired by a thermo camera, a temperature sensor, or the like. The state information includes, for example, the loudness of a sound output from a predetermined area obtained by a microphone, object information present in the predetermined area obtained by a chemical sensor, and a predetermined area obtained by an odor sensor. May be sensing data such as the intensity of the odor at. In addition, the state information may be sensing information such as metal information existing in a predetermined area acquired by a metal sensor and internal information of a target acquired by a sensor capable of capturing a fluoroscopic image. The state information acquired by the various sensors described above can be used for detecting an abnormality in a predetermined area.

<2-3. Example of functional configuration of information presentation device>
The predetermined area according to the first embodiment has been described above. Next, the functional configuration of the information presentation device 10-1 according to the first embodiment will be described with reference to FIG. FIG. 3 is a block diagram illustrating an example of a functional configuration of the information presentation device 10-1 according to the first embodiment. As shown in FIG. 3, the information presentation device 10-1 according to the present embodiment includes an acquisition unit 110, a control unit 120-1, a storage unit 130, a presentation unit 140, a robot arm drive unit 150, and a mobile trolley drive unit 160. Is provided.

(1) Acquisition unit 110
The acquisition unit 110 has a function of acquiring information on a predetermined area. For example, the acquisition unit 110 has at least one sensor device, and acquires information on a predetermined area by using the sensor device. Specifically, the acquiring unit 110 acquires information on a predetermined area by scanning a predetermined area with the sensor device. Then, the obtaining unit 110 outputs the obtained information on the predetermined area to the spatial processing unit 122-1 of the control unit 120-1. The above-described function can be realized by, for example, a sensor device provided at the robot arm tip portion 100.

The method by which the acquisition unit 110 acquires information on a predetermined area is not limited to a method of acquiring information using a sensor device. For example, the acquisition unit 110 may acquire information on a predetermined area from an external device. Specifically, the acquisition unit 110 may include a communication unit (not shown) capable of communicating with the external device, and may acquire information on a predetermined area acquired by the external device via communication with the external device. .

(2) Control unit 120-1
The control unit 120-1 has a function of controlling the operation of the information presentation device 10-1. In order to realize the function, the control unit 120-1 according to the present embodiment includes a spatial processing unit 122-1, a projection mapping control unit 124, and a robot control unit 126, as shown in FIG. The function of each component of the control unit 120-1 can be realized by, for example, a CPU, a ROM, and a RAM arranged in the main unit 106.

(2-1) Spatial processing unit 122-1
The spatial processing unit 122-1 has a function of performing processing based on input information. For example, the spatial processing unit 122-1 may perform a space recognition process, a process of detecting a predetermined region, a process of determining a scan trajectory, a process of generating drive information, and a process of generating abnormalities based on information about a predetermined region input from the acquisition unit 110. Is performed.

(Spatial recognition processing)
The spatial processing unit 122-1 performs a process of recognizing a space around the information presentation device 10-1 in the space recognition process. For example, the spatial processing unit 122-1 detects a space or the like around the information presenting device 10-1 by a spatial recognition process based on the spatial information input from the acquiring unit 110. Specifically, the space processing unit 122-1 is configured to determine the shape of an object such as a wall surface, a ceiling, a floor, a door, furniture, a living article, an unknown object, etc. By detecting the position and the like as three-dimensional coordinates, each space described above is recognized. Then, the spatial processing unit 122-1 outputs the space recognition information, which is information on the space recognized in the space recognition process, to the storage unit 130, and stores the space recognition information in the storage unit 130.

The position of the object forming the shape of the space detected by the space processing unit 122-1 is not limited to the three-dimensional coordinates. Further, the space recognition information stored in the storage unit 130 by the space processing unit 122-1 may include space information. Further, the spatial processing unit 122-1 may generate map information obtained by mapping information on the recognized space, output the generated map information to the storage unit 130, and store the generated map information in the storage unit 130.

Although the above-described example of the space recognition processing is an example in which the space processing unit 122-1 performs the space recognition processing indoors, the place where the space processing unit 122-1 performs the space recognition processing is not limited to indoors. It may be outdoors.

(Predetermined area detection processing)
The spatial processing unit 122-1 performs a process of detecting a predetermined region to be inspected for an abnormality by the information presentation device 10-1 in the process of detecting the predetermined region. For example, when the user specifies a predetermined area by gesture or the like, the spatial processing unit 122-1 detects the predetermined area based on the user's operation information and space information acquired by a camera or the like. You may. Further, for example, when the user specifies a predetermined area by voice such as voice, the spatial processing unit 122-1 may detect the predetermined area based on voice and space information acquired by a microphone or the like. Good. Further, for example, when the user does not specify a predetermined area, the spatial processing unit 122-1 may set the predetermined area as the predetermined area, or may detect the predetermined area based on the predetermined information. You may.

{Circle around (4)} The spatial processing unit 122-1 performs the above-described space recognition processing on the detected predetermined area to recognize the shape of the predetermined area, the shape of the object forming the predetermined area, and the like.

(Scan trajectory determination processing)
The spatial processing unit 122-1 performs a process of determining a scan trajectory that is a trajectory when the information presentation device 10-1 scans a predetermined area in the scan trajectory determination process. The spatial processing unit 122-1 determines a scan trajectory based on the shape of a predetermined area, the shape of an object forming the predetermined area, and the like. For example, the spatial processing unit 122-1 determines a scan trajectory so that the information presentation device 10-1 scans a predetermined area as a whole. Hereinafter, the fact that the information presentation device 10-1 scans a predetermined area as a whole is also referred to as a normal scan. The spatial processing unit 122-1 may determine the scan trajectory so that the information presentation device 10-1 partially scans a predetermined area. Further, the path, length, shape, and the like of the scan trajectory are not particularly limited.

(Drive information generation processing)
The spatial processing unit 122-1 performs a process of generating drive information used for controlling the drive of the information presentation device 10-1 in the drive information generation process. First, for example, the space processing unit 122-1 calculates the positions of the information presentation device 10-1 and the robot arm tip 100 based on the space recognition information, and generates drive information using the positions. Next, the space processing unit 122-1 generates drive information for driving the mobile trolley 14 based on the space recognition information and the calculated position of the information presentation device 10-1. Then, the spatial processing unit 122-1 outputs the generated drive information to the robot control unit 126. The information presentation device 10-1 can move in a space by driving the movable cart 14 based on the drive information.

{For example, the space processing unit 122-1 generates drive information for driving the robot arm 12 based on the space recognition information and the position of the robot arm tip 100. When the robot arm 12 is driven based on the drive information, the information presentation device 10-1 can scan a predetermined area.

{For example, the space processing unit 122-1 generates drive information for driving the robot arm 12 based on the scan trajectory. When the robot arm 12 is driven based on the drive information, the information presentation device 10-1 can appropriately scan a predetermined area along the scan trajectory.

The space processing unit 122-1 drives the robot arm 12 based on the space recognition information and the position of the robot arm tip 100 such that the distance between the robot arm tip 100 and a predetermined area is kept constant. Drive information may be generated. For example, the spatial processing unit 122-1 generates drive information such that the distance between the robot arm tip 100 and a predetermined area is kept constant at a distance set in advance by a user or the like. Specifically, the spatial processing unit 122-1 first calculates three-dimensional coordinates indicating the position of the robot arm tip 100 based on the information acquired by the encoder. Next, the spatial processing unit 122-1 determines the distance between the robot arm tip 100 and the predetermined area based on the three-dimensional coordinates indicating the position of the robot arm tip 100 and the three-dimensional coordinates indicating the position of the predetermined area. calculate. Then, the spatial processing unit 122-1 generates drive information for driving the robot arm 12 such that the calculated distance between the robot arm tip portion 100 and the predetermined area matches a distance set in advance by a user or the like. I do. When the robot arm 12 is driven based on the drive information, the information presentation device 10-1 can scan a predetermined area while maintaining a constant distance between the robot arm tip 100 and the predetermined area. Further, for example, the information presentation device 10-1 can more accurately maintain the distance between the robot arm tip 100 and a predetermined area constant by using the depth sensor provided on the robot arm tip 100 as an auxiliary. Is also good.

(Abnormality detection processing)
The spatial processing unit 122-1 performs a process of detecting an abnormality in a predetermined area in the abnormality detection process. For example, the spatial processing unit 122-1 detects an abnormality in a predetermined area based on the state information. Specifically, when the value indicated by the state information is equal to or greater than a predetermined threshold, the space processing unit 122-1 determines that the value of the state information is abnormal, and detects an abnormality corresponding to the state information.

When the space processing unit 122-1 detects an abnormality, the spatial processing unit 122-1 associates the position information indicating the position where the abnormality is detected with the sensing data of the sensor device, outputs the data to the storage unit 130, and causes the storage unit 130 to store the data. Further, the spatial processing unit 122-1 outputs the position information and the sensing data of the sensor device to the projection mapping control unit 124.

(2-2) Projection mapping control unit 124
The projection mapping control unit 124 has a function of performing processing related to information presentation. For example, the projection mapping control unit 124 has a function of generating projection mapping information that is information presented by the presentation unit 140. Specifically, the projection mapping control unit 124 generates information regarding an abnormality as projection mapping information based on the position information input from the spatial processing unit 122-1 and the sensing data of the sensor device.

情報 The information on the abnormality is, for example, information indicating a range in which the abnormality is detected. The information on the abnormality may be, for example, the name of the substance detected as the abnormality (for example, ammonia). Note that the information regarding the abnormality is not limited to the above example.

The projection mapping control unit 124 has a function of controlling the operation of the presentation unit 140. For example, the projection mapping control unit 124 controls a process in which the presenting unit 140 presents information about an abnormality. Specifically, the projection mapping control unit 124 causes the presentation unit 140 to present information on the abnormality on the source of the abnormality. The abnormal source is a substance detected as abnormal by the space processing unit 122-1 such as a heat source generating abnormal heat, a substance generating abnormal odor, and the like. For example, the projection mapping control unit 124 may cause the presentation unit 140 to present information indicating the range in which the abnormality is detected on the source of the abnormality. This allows the user to intuitively grasp the location where the abnormality has occurred.

(4) The projection mapping control unit 124 may cause the presentation unit 140 to further present information regarding the abnormality near the source of the abnormality. For example, the projection mapping control unit 124 may cause the presentation unit 140 to present the substance name of the substance detected as the source of the abnormality near the source of the abnormality. Thus, the user can intuitively grasp the additional information regarding the abnormality.

(4) The projection mapping control unit 124 may cause the presentation unit 140 to present a plurality of different pieces of information. For example, it is assumed that the acquisition unit 110 has a plurality of sensor devices, and information about a plurality of different abnormalities is detected based on information about a plurality of predetermined regions acquired by the plurality of sensor devices. In this case, the projection mapping control unit 124 may cause the presentation unit 140 to present each of the pieces of information relating to the detected different abnormalities. Thereby, the user can grasp the abnormality in more detail.

The projection mapping control unit 124 can cause the information relating to the abnormality to be presented in various ways by controlling the presentation unit 140. For example, the projection mapping control unit 124 causes the presenting unit 140 to present information regarding the abnormality in text. In addition, for example, the projection mapping control unit 124 may cause the presentation unit 140 to present information regarding the abnormality using an icon. In addition, for example, the projection mapping control unit 124 may cause the presentation unit 140 to present information about an abnormality whose color has been changed in accordance with the detected abnormality. In addition, for example, the projection mapping control unit 124 may cause the presentation unit 140 to change the intensity of light projected from a projector or the like in accordance with the information about the abnormality, or blink the information about the abnormality to present it. . Thereby, the user can more intuitively grasp the information regarding the abnormality.

(2-3) Robot control unit 126
The robot control unit 126 has a function of controlling the operation of the information presentation device 10-1. Specifically, the robot control unit 126 controls the operations of the robot arm 12 and the mobile trolley 14 of the information presentation device 10-1.

The robot control unit 126 can control the distance between the acquisition unit 110 and a predetermined area by operating at least one of the robot arm 12 and the movable trolley 14. For example, the robot control unit 126 controls the position of the acquisition unit 110 by operating the robot arm 12 such that the distance between the acquisition unit 110 and a predetermined area is constant. When controlling the position of the acquisition unit 110 so that the distance between the acquisition unit 110 and the predetermined area is constant, the robot control unit 126 may operate both the robot arm 12 and the mobile trolley 14. Alternatively, only the movable carriage 14 may be operated.

Keeping the distance between the acquisition unit 110 and the predetermined area constant means that the distance between the acquisition unit 110 and the target is kept constant. By keeping the distance between the acquisition unit 110 and the target constant, the information presentation device 10-1 can scan the target without contacting the target. Further, since the information presentation apparatus 10-1 does not contact the target, the target can be scanned without affecting the target. Further, since the information presentation device 10-1 does not contact the target, the robot arm 12 can be kept clean.

ロ ボ ッ ト The robot controller 126 according to the embodiment of the present disclosure includes a robot arm controller 1260 and a movable trolley controller 1262 for controlling operations of the robot arm 12 and the movable trolley 14 as shown in FIG.

(2-3-1) Robot arm controller 1260
The robot arm controller 1260 has a function of controlling the operation of the robot arm 12. For example, the robot arm controller 1260 controls the driving of the robot arm driving unit 150 that drives each component of the robot arm 12. Specifically, the robot arm controller 1260 generates a driving instruction for driving the robot arm driving unit 150 based on the driving information input from the space processing unit 122-1. Next, the robot arm controller 1260 outputs the generated driving instruction to the robot arm driving unit 150. Thereby, the robot arm controller 1260 can control the operation of the robot arm 12 while controlling the driving of the robot arm drive unit 150.

(2-3-2) Moving cart controller 1262
The mobile trolley controller 1262 has a function of controlling the operation of the mobile trolley 14. For example, the mobile trolley controller 1262 controls the driving of the mobile trolley drive unit 160 that drives each component of the mobile trolley 14. Specifically, the mobile trolley controller 1262 generates a driving instruction for driving the mobile trolley driving unit 160 based on the driving information input from the space processing unit 122-1. Next, the mobile trolley controller 1262 outputs the generated drive instruction to the mobile trolley drive unit 160. Thereby, the mobile trolley controller 1262 can control the operation of the mobile trolley 14 while controlling the driving of the mobile trolley drive unit 160.

(3) Storage unit 130
The storage unit 130 has a function of storing data obtained by the processing in the control unit 120-1. For example, the storage unit 130 stores the space recognition information obtained in the space recognition processing by the space processing unit 122-1. When map information is generated by the space recognition processing by the spatial processing unit 122-1, the storage unit 130 may also store the map information. Further, when an abnormality is detected by the spatial processing unit 122-1 in the abnormality detection processing, the storage unit 130 stores the position where the abnormality is detected and the sensing data of the sensor device in association with each other. Note that the information stored in the storage unit 130 is not limited to the above example. For example, the storage unit 130 may store programs such as various applications, data, and the like.

(4) Presentation unit 140
The presentation unit 140 has a function of presenting information. The function of the presenting unit 140 can be realized by, for example, a presenting device such as a projector or a laser device provided on the robot arm tip 100.

For example, the presentation unit 140 presents the presentation information based on the projection mapping information input from the projection mapping control unit 124. For example, the presentation unit 140 presents information about an abnormality as presentation information based on the projection mapping information. In addition, the presentation unit 140 may present, as the presentation information, information other than the information about the abnormality (hereinafter, also referred to as information about a non-abnormality) based on the projection mapping information. The information on the non-abnormality is, for example, the material of the target. Note that the information presented by the presentation unit 140 is not limited to the above example, and any information may be presented.

(5) Robot arm drive unit 150
The robot arm driving section 150 has a function of driving the robot arm 12. For example, the robot arm driving unit 150 drives the robot arm 12 by driving based on a driving instruction input from the robot arm controller 1260. The robot arm driving section 150 can be realized by, for example, an actuator included in each of the robot arm tip section 100, the joint section 102, and the link 104.

(6) Mobile trolley drive unit 160
The moving trolley driving unit 160 has a function of driving the moving trolley 14. For example, the mobile trolley drive unit 160 drives the mobile trolley 14 by driving based on a drive instruction input from the mobile trolley controller 1262. The mobile trolley driving unit 160 can be realized by, for example, an actuator included in each of the plurality of wheels 108.

<2-4. Processing Flow>
The functional configuration of the information presentation device 10-1 according to the first embodiment has been described above. Next, a flow of processing according to the first embodiment will be described with reference to FIGS. FIG. 4 is a flowchart illustrating an example of the flow of the main process according to the first embodiment. FIG. 5 is a flowchart illustrating an example of the flow of the normal scan process according to the first embodiment.

(1) Main Processing First, the main processing according to the first embodiment will be described with reference to FIG. As shown in FIG. 4, first, the information presentation device 10-1 determines a predetermined area (S1000). After the determination of the predetermined area, the information presentation device 10-1 recognizes the three-dimensional shape of the predetermined area (S1002). Next, the information presentation device 10-1 determines a scan trajectory in a predetermined area (S1004). Next, the information presentation device 10-1 performs a normal scan process in a predetermined area according to the determined scan trajectory (S1006). The detailed process of the normal scan process will be described later.

(4) After the normal scanning process, the information presentation device 10-1 checks whether or not there is a record of abnormality detection (S1008). When there is no record of the abnormality detection (S1008 / NO), the information presentation device 10-1 ends the process. When there is a record of abnormality detection (S1008 / YES), the information presentation device 10-1 generates projection mapping information (S1010). Then, the information presentation device 10-1 performs a presentation process for presenting the generated projection mapping information, and ends the process (S1012).

(2) Normal Scan Processing Next, the normal scan processing according to the first embodiment will be described with reference to FIG. As shown in FIG. 5, first, the information presentation device 10-1 starts scanning a predetermined area (S2000). The information presentation device 10-1 checks whether an abnormality has been detected while performing the scan (S2002). If no abnormality is detected (S2002 / NO), the information presenting device 10-1 continues scanning without performing any particular processing. If an abnormality is detected (S2002 / YES), the information presentation device 10-1 records the sensing data of the sensor device and the detection position of the abnormality in the storage unit 130 (S2004), and continues scanning.

Next, the information presentation device 10-1 checks whether or not the scanning of the predetermined area has been completed (S2006). When the scanning of the predetermined area is completed (S2006 / YES), the information presentation device 10-1 ends the normal scanning process. If the scanning of the predetermined area has not been completed (S2006 / NO), the information presentation device 10-1 repeats the processing of S2002 to S2006.

<2-5. Example>
The flow of the process according to the first embodiment has been described above. Next, an example according to the first embodiment will be described with reference to FIGS.

(1) First Example In a first example, an example relating to an investigation of an unknown object or the like will be described with reference to FIG. FIG. 6 is a diagram illustrating a first example according to the first embodiment. In the first embodiment, an example will be described in which the surface of the unknown object 20 is designated as a predetermined area (not shown) by the user. In the first embodiment, it is assumed that a temperature sensor is provided as a sensor device.

(6) As shown in the upper part of FIG. 6, the information presentation device 10-1 scans the unknown object 20 by scanning a predetermined area along the scan trajectory 40. It is assumed that the scan has detected an abnormality that the position 50 of the unknown object 20 is at a high temperature, as shown in the middle part of FIG. In this case, as shown in the lower part of FIG. 6, the information presenting apparatus 10-1 presents, on the unknown object 20, presentation information 60 indicating a position and a range where the temperature is high as the information regarding the abnormality. This allows the user to intuitively and easily grasp the position and range where the abnormality has occurred. Note that the example of the presentation information 60 described above is not limited to an example applied to an abnormality related to the temperature of an unknown object, and may be applied to an arbitrary abnormality.

(2) Second Example In a second example, an example of a pet (for example, a dog) bred indoors will be described with reference to FIG. FIG. 7 is a diagram illustrating a second example according to the first embodiment. In the second embodiment, an example will be described in which a user designates a part of a wall and a floor of a room as a predetermined area (not shown). In the second embodiment, it is assumed that a chemical sensor is provided as a sensor device.

と す る As shown in the upper part of FIG. 7, it is assumed that the pet 25a vomits at an arbitrary position in the room and the pet 25b excretes at an arbitrary position. The information presentation device 10-1 scans a predetermined area along the scan trajectory 44 as shown in the middle part of FIG. It is assumed that the scan has detected that the vomit of the pet 25a and the excrement of the pet 25b are abnormal. In this case, as shown in the lower part of FIG. 7, the information presentation device 10-1 presents the presentation information 62 on the vomit and the presentation information 64 on the excrement as the information on the abnormality.

The information regarding the abnormality may be information indicating a position and a range where the abnormality is detected, such as the presentation information 62a, the presentation information 64a, and the presentation information 64b. Specifically, the presentation information 62a indicates the position and range where the vomit exists, and the presentation information 64a and the presentation information 64b indicate the position and range where the excrement exists.

The information presentation device 10-1 may express that the content of the detected abnormality is different by changing the color of the presentation information. For example, the information presentation device 10-1 may express that the content of the abnormality differs depending on the color. Specifically, the information presentation device 10-1 may classify the vomit into red and the excreta into blue, and express the presentation information 62a in red and the presentation information 64a and the presentation information 64b in blue. Further, for example, the information presentation device 10-1 may express that the content of the abnormality is different depending on the difference in color density. More specifically, as shown in the lower part of FIG. 7, the information presentation device 10-1 makes the color of the presentation information 64a thinner than the color of the presentation information 64b, Is made darker than the color of the presentation information 64a. Thus, the information presentation device 10-1 may express that the excrement concentration at the position and range of the presentation information 64a is lower than the excretion concentration at the position and range of the presentation information 64b. As described above, the information presentation device 10-1 changes the color of the presentation information, so that the user can easily distinguish the difference in the content of the abnormality based on the difference in the color. Note that the information presentation device 10-1 may express the difference in color by gradation.

情報 Furthermore, the information relating to the abnormality may be information indicating the content of the abnormality indicated by the icon, for example, the presentation information 62b. Specifically, the presentation information 62b indicates that the pet has vomited. Note that the information presentation device 10-1 may change the size of the icon. For example, the information presentation device 10-1 may increase the size of the icon in a position and range where the density of the vomit is high, and may decrease the size of the icon in a place where the density of the vomit is low. As described above, the information presentation device 10-1 presents the presentation information by the icons, so that the user can intuitively and easily grasp what kind of abnormality has occurred.

情報 Furthermore, the information relating to the abnormality may be information indicating the content of the abnormality indicated by text, such as the presentation information 64c. Specifically, the presentation information 64c indicates that ammonia has been detected from the excrement. Note that the information presentation device 10-1 may change the size of the text. For example, the information presentation device 10-1 may increase the size of the text in a position and range where the concentration of ammonia is high, and may decrease the size of the text in a position where the concentration of ammonia is low. As described above, the information presenting apparatus 10-1 presents the presented information by text, so that the user can intuitively and easily grasp detailed information on the abnormality.

As described above, the information presenting apparatus 10-1 changes the display method of the presentation information according to the information regarding the abnormality, thereby providing additional information such as the range in which the abnormality is detected, the type of abnormality, and the degree of abnormality. Can be presented in various ways. In addition, since the detailed information of the information on the abnormality is variously presented by the information presentation device 10-1, the user can examine a processing method for the abnormality based on the presentation content. In addition, the example of the presentation information 62 and the presentation information 64 described above is not limited to the example applied to the abnormality related to the vomit and excrement of the pet, and may be applied to any abnormality.

(3) Third Example A third example will be described with reference to FIG. 8, with reference to FIG. 8, which relates to an investigation of leakage of potentially toxic chemicals. FIG. 8 is a diagram illustrating a third example according to the first embodiment. In the third embodiment, an example will be described in which a part of the surface and a part of the floor of the plurality of tanks 22 are designated as predetermined regions (not shown) by the user. In the third embodiment, it is assumed that a chemical sensor is provided as a sensor device. The surface of the tank 22b has a crack 24a, and the surface of the tank 22c has a crack 24b.

As shown in FIG. 8, the information presentation device 10-1 scans a predetermined area that is a part of the surface of the tanks 22a to 22c and a part of the floor by scanning along the scan trajectories 42a to 42d. . It is assumed that the information presentation device 10-1 has detected as an abnormality that the medicine leaks from the cracks 24a and 24b at the positions 52a and 52b shown in the middle part of FIG. 8 by the scan. It is also assumed that the information presenting device 10-1 has also detected, as an abnormality, the presence of a chemical leaked from the crack 52c at the position 52c. In this case, as shown in the lower part of FIG. 8, the information presentation device 10-1 presents the presentation information 66a to 66c indicating the position and range of the leakage of the medicine on the medicine as information relating to the abnormality. Thus, the information presenting device 10-1 presents the detected position and range of the abnormality, so that the user can easily and intuitively grasp the position and range where the abnormality has occurred.

Note that the information on the abnormality may be information indicating the contents of the abnormality indicated by text, such as the presentation information 67a and 67b. Specifically, the presentation information 67a indicates that the medicine leaked from the crack 24a is the medicine B. The presentation information 67b indicates that the medicine leaked from the crack 24b is the medicine C. As described above, the information presenting apparatus 10-1 presents the presented information by text, so that the user can intuitively and easily grasp detailed information on the abnormality.

The information presentation device 10-1 may express that the content of the detected abnormality is different by changing the color of the presentation information. For example, the information presentation device 10-1 may express that the content of the abnormality differs depending on the color. Specifically, the information presentation device 10-1 may classify the medicine B into red and the medicine B into blue, and express the presentation information 67a in red and the presentation information 67b in blue. As described above, the information presentation device 10-1 changes the color of the presentation information, so that the user can easily distinguish the difference in the content of the abnormality based on the difference in the color. In addition, the example of the presentation information 66 and the presentation information 67 described above is not limited to an example applied to an abnormality related to leakage of a medicine from a tank, and may be applied to an arbitrary abnormality.

<< 3. Second Embodiment >>
The first embodiment has been described above. Next, a second embodiment according to the present disclosure will be described. As will be described later, according to the second embodiment, when an abnormality is detected in a predetermined area by the normal scan, the information presentation device 10-2 according to the second embodiment is configured to detect the detected abnormality. Scan the vicinity of a position in more detail. In addition, scanning the vicinity of the position of the detected abnormality in more detail by the information presentation device 10-2 is also referred to as a detailed scan below. The information presenting apparatus 10-2 can acquire more detailed information about the abnormality by performing the detailed scan, and can present more detailed information about the abnormality. Hereinafter, the second embodiment will be described in detail, but the description of the same contents as the first embodiment will be omitted.

<3-1. Physical configuration of information presentation device>
The physical configuration of the information presentation device 10-2 according to the second embodiment is the same as that of the first embodiment <2-1. Physical Configuration of Information Presenting Apparatus>. Therefore, description of the physical configuration of the information presentation device 10-2 according to the second embodiment will be omitted.

<3-2. Example of functional configuration of information presentation device>
The information presentation device 10-2 according to the second embodiment has a function of performing a detailed scan, unlike the information presentation device 10-1 according to the first embodiment shown in FIG. Therefore, the information presentation device 10-2 includes a control unit 120-2 having a function partially different from that of the control unit 120-1 of the information presentation device 10-1. Specifically, the information presentation device 10-2 includes a spatial processing unit 122-2 having a function partially different from that of the spatial processing unit 122-1 of the control unit 120-1.

(1) Control unit 120-2
When the abnormality is detected in the predetermined area, the control unit 120-2 causes the acquisition unit 110 to acquire information about the predetermined area near the position where the abnormality is detected in more detail than before the abnormality is detected. First, when an abnormality is detected in a predetermined area by the normal scan, the control unit 120-2 determines a predetermined area for performing a detailed scan. Next, the control unit 120-2 determines a scan trajectory in a predetermined area so that the acquisition unit 110 can scan in more detail than the normal scan. Then, the control unit 120-2 causes the acquiring unit 110 to scan along the determined scan trajectory, thereby causing the acquiring unit 110 to acquire more detailed information on the predetermined area than before the detection of the abnormality.

Thereby, the information presenting apparatus 10-2 can acquire more detailed information on the predetermined area than when performing only the normal scan, and can present more detailed information on the abnormality based on the more detailed information on the predetermined area. Can be. In order to implement the detailed scan by the information presentation device 10-2, the control unit 120-2 includes a spatial processing unit 122-2 having a function partially different from that of the spatial processing unit 122-1 of the control unit 120-1. Having.

(1-1) Spatial processing unit 122-2
The spatial processing unit 122-2 is different from the spatial processing unit 122-1 in the process of detecting a predetermined area and the process of determining a scan trajectory in order to realize that the information presentation device 10-2 performs a detailed scan. Different processes are performed.

(Predetermined area detection processing)
When an abnormality is detected in a predetermined area by the normal scan, the spatial processing unit 122-2 performs a predetermined area for performing a detailed scan based on the position information stored in the storage unit 130 and indicating the position where the abnormality is detected. Is detected. Note that the spatial processing unit 122-2 may set a predetermined area where a detailed scan is performed as a position designated by the user. Further, the spatial processing unit 122-2 may additionally perform a drive information generation process described later.

The spatial processing unit 122-2 may set a predetermined area to be subjected to a normal scan as a target for a detailed scan. The acquisition unit 110 may cause the acquisition unit 110 to perform a detailed scan of not only the vicinity of the position where the abnormality is detected but also the entire predetermined region.

(Scan trajectory determination processing)
The spatial processing unit 122-2 determines a scan trajectory so that the acquisition unit 110 can scan in more detail than during a normal scan. For example, the spatial processing unit 122-2 makes the interval between the scan trajectories during the detailed scan narrower than the interval between the scan trajectories during the normal scan. Accordingly, the acquisition unit 110 can scan the predetermined area more finely, and can acquire more detailed information on the predetermined area.

(Drive information generation processing)
The spatial processing unit 122-2 may generate drive information for controlling the position of the acquisition unit 110 so that the acquisition unit 110 can perform more detailed scanning than during normal scanning. For example, the spatial processing unit 122-2 generates the driving information such that the position of the acquisition unit 110 with respect to the predetermined area during the detailed scan is closer to the position of the acquisition unit 110 with respect to the predetermined area during the normal scan. .

<3-3. Processing Flow>
The processing flow according to the second embodiment is different from the processing flow according to the first embodiment illustrated in FIG. Hereinafter, the flow of processing according to the second embodiment will be described with reference to FIGS. 9 and 10. FIG. 9 is a flowchart illustrating an example of the flow of a main process according to the second embodiment. FIG. 10 is a flowchart illustrating an example of the flow of the detailed scan process according to the second embodiment.

(1) Main Processing First, the main processing according to the second embodiment will be described with reference to FIG. As shown in FIG. 9, the main processing according to the second embodiment is such that the detailed scan processing (S1014) is performed when the abnormality detection is recorded (S1008 / YES) according to the first embodiment. Different from main processing. Processing other than the detailed scan processing is described in <2-4. Flow of processing>. Therefore, description of processes other than the detailed scan process will be omitted.

(2) Normal Scan Process The scan process according to the second embodiment is described in <2-4. Process Flow> It can be the same as the normal scan process according to the first embodiment described in <1. Therefore, description of the normal scan processing is omitted.

(3) Detailed Scan Process Next, a detailed scan process according to the second embodiment will be described with reference to FIG. As shown in FIG. 10, first, the information presentation device 10-2 determines a scan trajectory in the vicinity of the abnormality detection position (S3000). Next, the information presentation device 10-2 starts scanning near the abnormality detection position (S3002). The information presentation device 10-2 checks whether an abnormality has been detected while performing the scan (S3004). If no abnormality is detected (S3004 / NO), the information presenting device 10-2 continues scanning without performing any processing. When an abnormality is detected (S3004 / YES), the information presentation device 10-2 records the sensing data of the sensor device and the detection position of the abnormality in the storage unit 130 (S3006), and continues scanning.

Next, the information presentation device 10-2 checks whether the scan near the abnormality detection position has been completed (S3008). When the scan near the abnormality detection position is completed (S3008 / YES), the information presentation device 10-2 ends the detailed scan process. If the scan near the abnormality detection position has not been completed (S3008 / NO), the information presentation device 10-2 repeats the processing of S3004 to S3008.

<3-4. Example>
The flow of the process according to the second embodiment has been described above. Next, an example according to the second embodiment will be described. In an example according to the second embodiment, an example in which a detailed scan is performed by investigating leakage of a potentially toxic chemical or the like will be described with reference to FIG. FIG. 11 is a diagram illustrating an example according to the second embodiment. In this embodiment, the information presentation device 10-2 performs a normal scan on the tanks 22a to 22c, and as a result, an abnormality is detected at the same position as the positions 52a to 52c shown in FIG. An example in which a detailed scan is performed in the vicinity of is described. In this embodiment, it is assumed that a chemical sensor is provided as a sensor device.

First, as shown in the upper part of FIG. 11, the information presentation device 10-2 determines the predetermined area 36a and the predetermined area 36b based on the position information of the position where the abnormality is detected. Next, the information presentation device 10-2 determines the scan trajectory in the predetermined area 36a as the scan trajectory 46a and the scan trajectory in the predetermined area 36b as the scan trajectory 46b.

After the determination of the scan trajectory, the information presentation device 10-2 performs a detailed scan of the predetermined area 36a and the predetermined area 36b along the scan trajectory 46a and the scan trajectory 46b. It is assumed that the information presentation device 10-2 detects that the chemical leaked from the cracks 24a and 24b is present at the positions 54a and 54b by the scan, as shown in the middle part of FIG. In this case, as shown in the lower diagram of FIG. 11, the information presentation device 10-2 presents presentation information 68a and 68b indicating the location and range where the leaked medicine exists, as information relating to abnormality on the leaked medicine. . Thereby, the user can grasp the position and range where the abnormality has occurred in more detail than in the case where only the normal scan is performed.

<< 4. Modifications >>
The embodiments of the present disclosure have been described above. Next, a modified example of each embodiment will be described. Note that the modifications described below may be applied to each embodiment independently, or may be applied to each embodiment in combination. Further, the modified example may be applied instead of the configuration described in each embodiment, or may be additionally applied to the configuration described in each embodiment.

<4-1. First Modification>
First, a first modified example according to each embodiment will be described with reference to FIG. FIG. 12 is an explanatory diagram illustrating a first modified example according to each embodiment.

提示 Depending on the surroundings of the information presenting apparatus 10, the presentation information presented by the information presenting apparatus 10 may not be normally presented. For example, when an object is present on a straight line connecting the position of the output unit of the presentation unit 140 and the detection position of the abnormality, the presentation information output from the output unit of the presentation unit 140 is blocked by the object. Information about the abnormality is not presented at the detection position. Specifically, when the user is performing a process for an abnormality, the user moves on the straight line due to a movement accompanying work, and a moving object such as a person, an animal, and a robot other than the user is placed on the straight line. It is possible to move. If the presentation information is not normally presented while the user is performing a process for the abnormality based on the presentation information, the user may not be able to grasp the detection position of the abnormality, and the user may be harmed.

Therefore, when the presentation information is blocked by the object or when it is determined that the presentation information is blocked by the object, the information presentation device 10 may control the operation so that the presentation information is not blocked by the object. For example, the control unit 120 of the information presenting apparatus 10 causes the presenting unit 140 to present information about the abnormality so as to avoid the user. Specifically, as shown in the upper part of FIG. 12, it is assumed that the worker 28 is performing a processing operation for a position abnormality indicated by the presentation information 60 presented on the unknown object 20. The information presentation device 10 detects the movement of the worker 28 during the processing work by the worker 28, and when it is determined that the presentation information 60 is blocked by the worker 28, as illustrated in the lower diagram of FIG. By moving so as to avoid the user, the presentation information 60 is not obstructed. The information presentation device 10 keeps presenting the presentation information 60 even while moving, so that the worker 28 does not lose sight of the abnormality detection position. Thus, the information presenting apparatus 10 can reduce the possibility of harm to the user because the user does not lose sight of the detection position of the abnormality during the processing operation for the abnormality.

<4-2. Second Modification>
The first modification according to each embodiment has been described above. Next, a second modified example according to each embodiment will be described with reference to FIG. FIG. 13 is an explanatory diagram illustrating a second modified example according to each embodiment.

In each of the above-described embodiments, an example has been described in which the information presenting apparatus 10 presents only information regarding abnormalities. However, the information presenting apparatus 10 may further have a function of simultaneously presenting information regarding non-abnormalities. The function can be realized by providing the acquisition unit 110 with a plurality of sensor devices and acquiring information on a plurality of predetermined regions by the plurality of sensor devices. For example, it is assumed that the acquisition unit 110 is provided with a temperature sensor and a metal sensor. First, the information presentation device 10 scans the unknown object 20 along the scan trajectory 40 as shown in the upper part of FIG.

As a result of the scan, an abnormal heat generation is detected in a part of the object 20 based on the information on the predetermined area acquired by the temperature sensor, and a part of the unknown object 20 is made of metal based on the information on the sensing data area of the metal sensor. Suppose that something is detected. In this case, the information presentation device 10 presents the presentation information 60 indicating the position and range of heat generation on the unknown object 20 as information relating to abnormality, as shown in the lower diagram of FIG. In addition, the information presentation apparatus 10 may present "heat generation" in the vicinity of the presentation information 60 by text as in the case of the presentation information 72a.

情報 Furthermore, the information presenting apparatus 10 presents the presentation information 70 indicating the region where the material of the unknown object 20 is metal on the unknown object 20 as information relating to non-abnormality. Note that the information presentation device 10 may present “metal” by text near the presentation information 70 like the presentation information 72b. Thus, the user can comprehensively determine the state of the predetermined area based on the information regarding the abnormality and the information regarding the non-abnormality.

<4-3. Third Modification>
The second modification of each embodiment has been described above. Finally, a third modification according to each embodiment will be described with reference to FIG. FIG. 14 is an explanatory diagram illustrating a third modification example according to each embodiment. In the third modification, it is assumed that a chemical sensor is provided as a sensor device.

The information on the abnormality presented by the information presentation device 10 may be, for example, information indicating a warning to the user. For example, as shown in FIG. 14, the information presentation device 10 may present presentation information 74 that is a warning line as information indicating a warning. Specifically, first, the information presentation device 10 presents the presentation information 68a and the presentation information 68b based on the result of scanning the tanks 22a to 22c, as in the example described in the example of the second embodiment. When the detected medicine is a powerful medicine and it is dangerous that the user or the like approaches the position where the medicine is detected, the information presenting apparatus 10 displays the presentation information 74 indicating the warning line in addition to the presentation information 68a and 68b. Present.

However, with only the warning line such as the presentation information 74, the reason why the warning line is presented is not transmitted to the user, and the user or the like may enter the warning line. Therefore, the information presenting device 10 may further present the reason why the warning line is presented near the warning line by text. For example, like the presentation information 76 shown in FIG. 14, the information presentation device 10 presents “drugs: entry warning” by text. Thus, the user can understand that the warning is issued so as not to enter the warning line due to the leakage of the powerful drug from the tank 22b and the tank 22c.

The information presenting device 10 may present, by text, that the medicine leaking from the tank 22b is the medicine B and the medicine leaking from the tank 22c is the medicine C. At this time, the information presentation device 10 may express that the properties of the detected medicines are different by presenting the respective presentation information so that the sizes of the texts are different. For example, by making the text size of the presentation information 74b larger than the text size of the presentation information 74a like the presentation information 74a and the presentation information 74b, it is expressed that the medicine C is more dangerous than the medicine B. May be.

<< 5. Hardware configuration example >>
As above, the modified examples according to each embodiment of the present disclosure have been described. Finally, an example of a hardware configuration of the information presentation device 10 according to each embodiment will be described with reference to FIG. FIG. 15 is a block diagram illustrating a hardware configuration example of the information presentation device 10 according to each embodiment. Note that the information presentation device 10 illustrated in FIG. 15 can realize, for example, the information presentation device 10 illustrated in FIGS. 1 and 3. Information processing by the information presentation device according to the present embodiment is realized by cooperation between software and hardware described below.

As shown in FIG. 15, the information presentation device 10 includes a CPU (Central Processing Unit) 901, a ROM (Read Only Memory) 902, and a RAM (Random Access Memory) 903. The information presentation device 10 includes a host bus 904a, a bridge 904, an external bus 904b, an interface 905, an input device 906, an output device 907, a storage device 908, a drive 909, a connection port 911, and a communication device 913. Note that the hardware configuration shown here is an example, and some of the components may be omitted. Further, the hardware configuration may further include components other than the components shown here.

(CPU 901, ROM 902, RAM 903)
The CPU 901 functions as, for example, an arithmetic processing device or a control device, and controls the overall operation of each component or a part thereof based on various programs recorded in the ROM 902, the RAM 903, or the storage device 908. The ROM 902 is a unit that stores a program read by the CPU 901, data used for calculation, and the like. The RAM 903 temporarily or permanently stores, for example, a program read by the CPU 901 and various parameters that appropriately change when the program is executed. These are interconnected by a host bus 904a composed of a CPU bus and the like. The CPU 901, the ROM 902, and the RAM 903 can realize the function of the control unit 120 described with reference to FIG. 3 in cooperation with software, for example.

(Host bus 904a, bridge 904, external bus 904b, interface 905)
The CPU 901, the ROM 902, and the RAM 903 are mutually connected via, for example, a host bus 904a capable of high-speed data transmission. On the other hand, the host bus 904a is connected, for example, via a bridge 904 to an external bus 904b having a relatively low data transmission speed. The external bus 904b is connected to various components via an interface 905.

(Input device 906)
The input device 906 is realized by a device to which information is input by a user, such as a mouse, a keyboard, a touch panel, a button, a microphone, a switch, and a lever. The input device 906 may be, for example, a remote control device using infrared rays or other radio waves, or may be an externally connected device such as a mobile phone or a PDA that supports the operation of the information presentation device 10. . Further, the input device 906 may include, for example, an input control circuit that generates an input signal based on information input by a user using the above-described input unit and outputs the input signal to the CPU 901. By operating the input device 906, the user of the information presentation device 10 can input various data to the information presentation device 10 or instruct a processing operation.

Alternatively, the input device 906 may be formed by a device that detects information about the user. For example, the input device 906 includes an image sensor (for example, a camera), a depth sensor (for example, a stereo camera), an acceleration sensor, a gyro sensor, a terrestrial magnetism sensor, an optical sensor, a sound sensor, and a distance measurement sensor (for example, ToF (Time of Flight) ) Sensors), various sensors such as force sensors. Further, the input device 906 is used for information on the state of the information presenting device 10 itself, such as the posture and moving speed of the information presenting device 10, and information on the surrounding environment of the information presenting device 10, such as brightness and noise around the information presenting device 10. May be obtained. Further, the input device 906 receives a GNSS signal from a GNSS (Global Navigation Satellite System) satellite (for example, a GPS signal from a GPS (Global Positioning System) satellite) and receives position information including the latitude, longitude, and altitude of the device. A GNSS module for measuring may be included. As for the position information, the input device 906 may be a device that detects a position by Wi-Fi (registered trademark), transmission / reception with a mobile phone / PHS / smartphone, or the like, or short-range communication. The input device 906 can realize, for example, the function of the acquisition unit 110 described with reference to FIG.

(Output device 907)
The output device 907 is formed of a device that can visually or audibly notify the user of the acquired information. Examples of such devices include CRT display devices, liquid crystal display devices, plasma display devices, EL display devices, display devices such as laser projectors, LED projectors and lamps, audio output devices such as speakers and headphones, and printer devices. . The output device 907 outputs, for example, results obtained by various processes performed by the information presentation device 10. Specifically, the display device visually displays the results obtained by various processes performed by the information presentation device 10 in various formats such as text, images, tables, and graphs. On the other hand, the audio output device converts an audio signal composed of reproduced audio data, acoustic data, and the like into an analog signal and outputs it audibly. The output device 907 can realize, for example, the function of the presentation unit 140 described with reference to FIG.

(Storage device 908)
The storage device 908 is a data storage device formed as an example of a storage unit of the information presentation device 10. The storage device 908 is realized by, for example, a magnetic storage device such as an HDD, a semiconductor storage device, an optical storage device, or a magneto-optical storage device. The storage device 908 may include a storage medium, a recording device that records data on the storage medium, a reading device that reads data from the storage medium, a deletion device that deletes data recorded on the storage medium, and the like. The storage device 908 stores programs executed by the CPU 901 and various data, various data acquired from the outside, and the like. The storage device 908 can realize, for example, the function of the storage unit 130 described with reference to FIG.

(Drive 909)
The drive 909 is a reader / writer for a storage medium, and is built in or external to the information presentation device 10. The drive 909 reads information recorded on a removable storage medium such as a mounted magnetic disk, optical disk, magneto-optical disk, or semiconductor memory, and outputs the information to the RAM 903. The drive 909 can also write information on a removable storage medium.

(Connection port 911)
The connection port 911 is, for example, a port for connecting an external connection device such as a USB (Universal Serial Bus) port, an IEEE1394 port, a SCSI (Small Computer System Interface), an RS-232C port, or an optical audio terminal. .

(Communication device 913)
The communication device 913 is, for example, a communication interface formed by a communication device or the like for connecting to the network 920. The communication device 913 is, for example, a communication card for a wired or wireless LAN (Local Area Network), LTE (Long Term Evolution), Bluetooth (registered trademark), or WUSB (Wireless USB). The communication device 913 may be a router for optical communication, a router for ADSL (Asymmetric Digital Subscriber Line), or a modem for various kinds of communication. The communication device 913 can transmit and receive signals and the like to and from the Internet and other communication devices in accordance with a predetermined protocol such as TCP / IP.

The network 920 is a wired or wireless transmission path for information transmitted from a device connected to the network 920. For example, the network 920 may include a public line network such as the Internet, a telephone line network, a satellite communication network, various LANs including Ethernet (registered trademark) (Local Area Network), a WAN (Wide Area Network), and the like. In addition, the network 920 may include a dedicated line network such as an IP-VPN (Internet \ Protocol-Virtual \ Private \ Network).

In the above, the example of the hardware configuration of the information presentation apparatus according to the present embodiment has been described with reference to FIG. Each of the above components may be realized using a general-purpose member, or may be realized by hardware specialized for the function of each component. Therefore, it is possible to appropriately change the hardware configuration to be used according to the technical level at the time of implementing the present embodiment.

<< 6. Summary >>
As described above, the information presentation device 10 according to each embodiment of the present disclosure acquires information about a predetermined area, and replaces information about an abnormality in the predetermined area, which is detected based on the information about the predetermined area, with the abnormality. Present to the detected position. Thereby, the information presentation device 10 can present information on the abnormality on the source of the abnormality.

Therefore, it is possible to provide a new and improved information presenting device, information presenting method, and program capable of presenting information about an abnormality so that a user can easily and intuitively understand.

Although the preferred embodiments of the present disclosure have been described above in detail with reference to the accompanying drawings, the technical scope of the present disclosure is not limited to such examples. It is apparent that a person having ordinary knowledge in the technical field of the present disclosure can come up with various changes or modifications within the scope of the technical idea described in the claims. Is naturally understood to belong to the technical scope of the present disclosure.

For example, each device described in this specification may be realized as a single device, or some or all of the devices may be realized as separate devices. For example, the information presentation device 10 may be realized as a single device including the robot arm 12, the moving trolley 14, the control unit 120, and the storage unit 130 illustrated in FIG. Further, for example, the control unit 120 illustrated in FIG. 3 may be realized as a server device connected to the information presentation device 10 via a network or the like. In addition, the server device may include the storage unit 130 illustrated in FIG.

A series of processes by each device described in this specification may be realized using any of software, hardware, and a combination of software and hardware. A program constituting the software is stored in advance in a recording medium (non-transitory medium: non-transition @ media) provided inside or outside each device, for example. Each program is read into the RAM at the time of execution by a computer, for example, and executed by a processor such as a CPU.

The processes described with reference to the flowcharts in this specification do not necessarily have to be executed in the illustrated order. Some processing steps may be performed in parallel. Further, additional processing steps may be employed, and some processing steps may be omitted.

効果 In addition, the effects described in this specification are merely illustrative or exemplary and not restrictive. That is, the technology according to the present disclosure can exhibit other effects that are obvious to those skilled in the art from the description in the present specification, in addition to or instead of the above effects.

Note that the following configuration also belongs to the technical scope of the present disclosure.
(1)
An acquisition unit that acquires information about a predetermined area,
A presentation unit that is presented based on information about the predetermined area and presents information about an abnormality in the predetermined area.
A control unit that causes the presenting unit to present information on the abnormality to a position where the abnormality is detected,
An information presentation device comprising:
(2)
The information presentation device according to (1), wherein the control unit causes the presentation unit to present information on the abnormality on a source of the abnormality.
(3)
The information presentation device according to (1) or (2), wherein the control unit causes the presentation unit to further present information on the abnormality near a source of the abnormality.
(4)
The information presentation device according to any one of (1) to (3), wherein the acquisition unit includes at least one sensor device, and acquires information on the predetermined area by the sensor device.
(5)
The acquisition unit has a plurality of sensor devices, based on information about a plurality of predetermined regions acquired by the plurality of sensor devices, when information about a plurality of different abnormalities is detected,
The information presentation device according to any one of (1) to (4), wherein the control unit causes the presentation unit to present each of the information on the plurality of different abnormalities.
(6)
The information presentation device according to any one of (1) to (5), wherein the control unit controls a distance between the acquisition unit and the predetermined area.
(7)
The information presentation device according to (6), wherein the control unit controls a position of the acquisition unit such that a distance between the acquisition unit and the predetermined area is constant.
(8)
The information presentation device according to any one of (1) to (7), wherein the predetermined area includes a target surface designated by a user.
(9)
The information presentation device according to any one of (1) to (8), wherein the predetermined area includes an area specified by a user.
(10)
The control unit, when the abnormality is detected in the predetermined area, the information about the predetermined area in the vicinity of the position where the abnormality is detected, the acquisition unit in more detail than before the detection of the abnormality The information presentation device according to any one of (1) to (9), wherein the information presentation device acquires the information.
(11)
The information presentation device according to any one of (1) to (10), wherein the control unit causes the presentation unit to present information about the abnormality so as to avoid a user.
(12)
The information presentation device according to any one of (1) to (11), wherein the control unit causes the presentation unit to present information on the abnormality in text.
(13)
The information presentation device according to any one of (1) to (12), wherein the control unit causes the presentation unit to present the information on the abnormality as an icon.
(14)
The information presentation device according to any one of (1) to (13), wherein the control unit causes the presentation unit to present information on the abnormality whose color has been changed according to the detected abnormality. .
(15)
The information presentation device according to any one of (1) to (14), wherein the acquisition unit acquires information on the predetermined area from an external device.
(16)
The information presentation device according to any one of (1) to (15), wherein the information regarding the abnormality is information indicating a range in which the abnormality is detected.
(17)
The information presentation device according to any one of (1) to (16), wherein the information on the abnormality is a name of a substance detected as the abnormality.
(18)
The information presentation device according to any one of (1) to (17), wherein the information regarding the abnormality is information indicating a warning to a user.
(19)
Obtaining information about a predetermined area;
Presenting information on an abnormality in the predetermined area, which is detected based on the information on the predetermined area,
Causing the information on the abnormality to be presented at the position where the abnormality is detected;
An information presentation method executed by a processor, including:
(20)
Computer
An acquisition unit that acquires information about a predetermined area,
A presentation unit that is presented based on information about the predetermined area and presents information about an abnormality in the predetermined area.
A control unit that causes the presenting unit to present information on the abnormality to a position where the abnormality is detected,
Program to function as

DESCRIPTION OF SYMBOLS 10 Information presentation apparatus 12 Robot arm 14 Moving trolley 100 Robot arm tip part 110 Acquisition part 120 Control part 122 Spatial processing part 124 Projection mapping control part 126 Robot control part 130 Storage part 140 Presentation part 150 Robot arm driving part 160 Moving trolley driving part 1260 Robot arm controller 1262 Moving cart controller

Claims (20)

1. An acquisition unit that acquires information about a predetermined area,
   A presentation unit that is presented based on information about the predetermined area and presents information about an abnormality in the predetermined area.
   A control unit that causes the presenting unit to present information on the abnormality to a position where the abnormality is detected,
   An information presentation device comprising:
2. The information presentation device according to claim 1, wherein the control unit causes the presentation unit to present information on the abnormality on a source of the abnormality.
3. 2. The information presentation device according to claim 1, wherein the control unit causes the presentation unit to further present information on the abnormality near a source of the abnormality.
4. The information presentation device according to claim 1, wherein the acquisition unit has at least one sensor device, and acquires information on the predetermined area by the sensor device.
5. The acquisition unit has a plurality of sensor devices, based on information about a plurality of predetermined regions acquired by the plurality of sensor devices, when information about a plurality of different abnormalities is detected,
   The information presentation device according to claim 1, wherein the control unit causes the presentation unit to present information on each of the plurality of different abnormalities.
6. The information presentation device according to claim 1, wherein the control unit controls a distance between the acquisition unit and the predetermined area.
7. The information presentation device according to claim 6, wherein the control unit controls a position of the acquisition unit such that a distance between the acquisition unit and the predetermined area is constant.
8. The information presentation device according to claim 1, wherein the predetermined area includes a surface of a target designated by a user.
9. The information presentation device according to claim 1, wherein the predetermined area includes an area specified by a user.
10. The control unit, when the abnormality is detected in the predetermined area, the information about the predetermined area in the vicinity of the position where the abnormality is detected, the acquisition unit in more detail than before the detection of the abnormality The information presentation device according to claim 1, wherein the information presentation device acquires the information.
11. The information presenting device according to claim 1, wherein the control unit causes the presenting unit to present information on the abnormality so as to avoid a user.
12. 2. The information presentation device according to claim 1, wherein the control unit causes the presentation unit to present information on the abnormality in text.
13. 2. The information presentation device according to claim 1, wherein the control unit causes the presentation unit to present information on the abnormality with an icon.
14. The information presentation device according to claim 1, wherein the control unit causes the presentation unit to present information on the abnormality whose color has been changed according to the detected abnormality.
15. The information presentation device according to claim 1, wherein the acquisition unit acquires information on the predetermined area from an external device.
16. The information presentation device according to claim 1, wherein the information on the abnormality is information indicating a range in which the abnormality is detected.
17. The information presentation device according to claim 1, wherein the information on the abnormality is a name of a substance detected as the abnormality.
18. The information presentation device according to claim 1, wherein the information on the abnormality is information indicating a warning to a user.
19. Obtaining information about a predetermined area;
    Presenting information on an abnormality in the predetermined area, which is detected based on the information on the predetermined area,
    Causing the information on the abnormality to be presented at the position where the abnormality is detected;
    An information presentation method executed by a processor, including:
20. Computer
    An acquisition unit that acquires information about a predetermined area,
    A presentation unit that is presented based on information about the predetermined area and presents information about an abnormality in the predetermined area.
    A control unit that causes the presenting unit to present information on the abnormality to a position where the abnormality is detected,
    Program to function as

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