WO2020085135A1

WO2020085135A1 - Information processing device, information processing method, and program

Info

Publication number: WO2020085135A1
Application number: PCT/JP2019/040391
Authority: WO
Inventors: 諒渡辺; 遼高橋
Original assignee: ソニー株式会社
Priority date: 2018-10-23
Filing date: 2019-10-15
Publication date: 2020-04-30
Also published as: JPWO2020085135A1; JP7347437B2

Abstract

An information processing device (10) comprises: an atmospheric pressure sensor (11) that measures atmospheric pressure; a detection unit (16) that detects a pressure fluctuation when an elevator is passing floors of a building, such detection being based on the atmospheric pressure inside the elevator as measured by the atmospheric sensor (11); and an estimation unit (17) that estimates the number of the floor travelled to on the elevator, such estimation being based on the pressure fluctuation detected by the detection unit (16).

Description

Information processing apparatus, information processing method, and program

The present disclosure relates to an information processing device, an information processing method, and a program.

Some elevator devices have an operating device on the car of the elevator device that moves the car up and down by manual operation. Patent Document 1 discloses an elevator apparatus having an operating device that calculates an altitude from the measured atmospheric pressure and determines a floor number (number) from the altitude by referring to a table stored in advance.

JP, 2015-168502, A

In the above-mentioned conventional technology, if the database regarding the height of the floor of the building is not prepared in advance, the number of floors cannot be determined based on the atmospheric pressure. Further, there is a demand for a moving body that autonomously moves on the floor of a building by boarding an elevator apparatus to have a function of determining the number of floors on the basis of atmospheric pressure.

Therefore, the present disclosure provides an information processing device, an information processing method, and a program that can estimate the number of floors of a building that has moved by an elevator.

In order to solve the above problems, an information processing device according to an aspect of the present disclosure is an atmospheric pressure sensor that measures atmospheric pressure, and based on the atmospheric pressure inside the elevator measured by the atmospheric pressure sensor, A detection unit that detects a pressure fluctuation when the elevator straddles the floor of the building, and an estimation unit that estimates the floor number of the floor moved by the elevator based on the pressure fluctuation detected by the detection unit. .

Further, the information processing method according to an aspect of the present disclosure is that the computer detects the pressure fluctuation when the elevator straddles the floor of the building, based on the atmospheric pressure inside the elevator measured by the atmospheric pressure sensor, The number of floors of the floor moved by the elevator is estimated based on the detected pressure fluctuation.

Further, one embodiment of the program according to the present disclosure, a computer, based on the atmospheric pressure inside the elevator measured by the atmospheric pressure sensor, a detection unit that detects the pressure fluctuation when the elevator straddles the floor of the building, The estimation unit estimates the number of floors of the floor moved by the elevator based on the pressure fluctuation detected by the detection unit.

It is a figure which shows an example of the mobile body provided with the information processing apparatus which concerns on 1st Embodiment. It is a figure which shows an example of the atmospheric pressure measured when the information processing apparatus which concerns on 1st Embodiment descend | falls with an elevator. It is a figure for demonstrating the hypothesis of the principle of the pressure fluctuation when an elevator straddles the floor of a building. It is a figure which shows the structural example of the information processing apparatus which concerns on 1st Embodiment. It is a figure which shows the structural example of the atmospheric pressure sensor which concerns on 1st Embodiment. It is a figure for demonstrating an example of the conversion part which concerns on 1st Embodiment. 6 is a flowchart showing an example of a processing procedure executed by the information processing apparatus according to the first embodiment. It is a figure which shows the speed change from the movement start of an elevator to a stop. 9 is a flowchart showing an example of a processing procedure executed by the information processing apparatus according to the second embodiment. It is a hardware block diagram which shows an example of the computer which implement | achieves the function of an information processing apparatus.

Hereinafter, an embodiment of the present disclosure will be described in detail with reference to the drawings. In addition, in each of the following embodiments, the same reference numerals are given to the same portions, and duplicate description will be omitted.

(First embodiment)
[Outline of Information Processing Apparatus According to First Embodiment]
FIG. 1 is a diagram illustrating an example of a moving body including the information processing device according to the first embodiment. The mobile body 1 shown in FIG. 1 includes, for example, an autonomous mobile robot. In the example illustrated in FIG. 1, the mobile unit 1 moves on a plurality of floors (floors) 510 of a building 500 by an elevator 600 and delivers parcels to a delivery destination on the floor 510. The moving body 1 has, for example, a storage unit for storing luggage. The building 500 includes, for example, types of apartments, offices, restaurants, inns, factories, warehouses, and the like. In the present embodiment, the building 500 is, for example, a multi-storey building, and each floor 510 is provided with an apartment house. In other words, the building 500 has a plurality of rooms and the like on each floor. Note that the number of floors of the building 500 is not particularly limited.

In the building 500, each of a plurality of floors 510 has a floor space. The floor space has an atmospheric pressure corresponding to the height of the floor 510. In the building 500, floors 520 partition between adjacent floors 510 in the vertical direction. The floor 520 is a denser part than the floor space.

The elevator 600 includes, for example, a rope type elevator. The elevator 600 uses, for example, the driving force of a hoist installed directly above the hoistway 610 or in the hoistway 610 to raise and lower the balance weight of the car 620 connected by a rope along the guide rail. The moving body 1 gets into the car 620 of the elevator 600 and moves on the floor 510 of the building 500.

For example, the mobile body 1 can estimate the number of floors of the floor 510 of the building 500 by detecting the floor display in the car 620 of the elevator 600 with a camera or the like. However, when the moving body 1 is on board a plurality of people and the car 620 of the elevator 600, there is a possibility that the floor display inside the car 620 cannot be detected depending on the people on board and the luggage. Therefore, in the present disclosure, the moving body 1 uses only the sensor mounted on the moving body 1 without using image information captured by the camera of the building 500, floor information indicating the floor 510 of the building 500, and the like. It is assumed that the floor number of the floor 510 of the building 500 to which the mobile body 1 has moved is estimated.

The mobile unit 1 includes an information processing device 10. The information processing device 10 is, for example, a dedicated or general-purpose computer. The information processing device 10 includes an atmospheric pressure sensor 11. The atmospheric pressure sensor 11 measures the atmospheric pressure around the information processing device 10 (moving body 1). The information processing device 10 measures the atmospheric pressure inside the car 620 by the atmospheric pressure sensor 11 when the moving body 1 is being moved up and down by the car 620 of the elevator 600. The information processing device 10 stores the measured atmospheric pressure in time series.

FIG. 2 is a diagram showing an example of atmospheric pressure measured when the information processing apparatus 10 according to the first embodiment descends in the elevator 600. A graph G shown in FIG. 2 shows a relationship between atmospheric pressure, time, and the number of floors 510 of the building 500 when the moving body 1 descends from the third floor of the building 500 to the first floor by the elevator 600. In FIG. 2, the vertical axis represents atmospheric pressure [Pa], and the horizontal axis represents time [s], the number of floors 510 of the building 500, and the floor portion 520. The floor 510 on the horizontal axis indicates the number of floors, and does not indicate the space of the floor 510 or the magnitude of atmospheric pressure.

The section T1 shown in FIG. 2 is a section in which the car 620 of the elevator 600 starts moving downward in the vertical direction and accelerates. In the section T1, the information processing device 10 starts descending from the third floor of the building 500 toward the first floor 510. In this case, the atmospheric pressure measured by the atmospheric pressure sensor 11 of the information processing device 10 in the car 620 increases in value according to the height of the information processing device 10 (the car 620).

The section T2 shown in FIG. 2 is a section in which the car 620 of the elevator 600 that moves downward in the vertical direction moves at a constant speed. In the section T2, the information processing device 10 passes through the floor portion 520 between the third floor and the second floor of the building 500 and then passes through the floor portion 520 between the second floor and the first floor. In this case, the atmospheric pressure measured by the atmospheric pressure sensor 11 of the information processing device 10 increases in value according to the height of the information processing device 10, but the pressure fluctuations occur each time the floor portion 520 of the building 500 is passed. Has occurred.

The section T3 shown in FIG. 2 is a section in which the car 620 of the elevator 600 decelerates as it approaches the first floor 510 of the building 500. In the section T3, the information processing device 10 has arrived at the first floor of the building 500. In this case, the atmospheric pressure measured by the atmospheric pressure sensor 11 of the information processing device 10 becomes constant at a value according to the height of the first floor 510 when the car 620 stops on the first floor 510 of the building 500. .

In the example illustrated in FIG. 2, while the car 620 of the elevator 600 moves from the third floor of the building 500 to the floor 510 of the first floor, the information processing device 10 has two pressure fluctuations in the atmospheric pressure measured inside the car 620. You can detect what is happening. For example, in the graph G of FIG. 2 that rises with the passage of time, pressure fluctuations occur in two portions P that deviate from the continuous value. Therefore, the information processing apparatus 10 temporarily detects a portion where the atmospheric pressure value deviates as a pressure fluctuation while the detected atmospheric pressure is rising. For example, when the measured fluctuation of the atmospheric pressure is similar to the fluctuation when the floor 520 of the building 500 is passed, the information processing apparatus 10 detects the fluctuation as a pressure fluctuation. Note that the example shown in FIG. 2 shows the measurement results when the car 620 of the elevator 600 moves vertically downward, but the same applies when the car 620 of the elevator 600 moves vertically upward. Fluctuation occurs.

FIG. 3 is a diagram for explaining a hypothesis of the principle of pressure fluctuation when the elevator 600 straddles the floor 510 of the building 500. In the states ST1 and ST2 shown in FIG. 3, the floor space of the first floor 510 has a volume V ₁ , and the floor space of the second floor 510 has a volume V ₂ . In the elevator 600, the inside of the car 620 has a volume V _e . The state ST1 is car 620 of the elevator 600 has stopped on the first floor of the floor 510, the interior of the car 620 is in the pressure _{P e.} In the state ST2, the car 620 of the elevator 600 passes through the floor portion 520 between the first floor and the second floor, and the inside of the car 620 has a pressure P _e ′.

Using the ideal gas equation of state (PV = nRT), the principle of pressure fluctuation when straddling the floor 510 will be examined below. In the state ST1 and the state ST2, nRT of the state equation is set to be the same. In addition, n is the number of moles of gas, R is a gas constant, and T is an absolute temperature. When the state ST1 is the left side and the state ST2 is the right side, the following equation (1) can be established.
P _e (V ₁ + V _e ) = P _e ′ (V ₁ + V ₂ + V _e ) ... (1)

In the state ST1, since the floor portion 520 exists between the floors 510 of the first floor and the second floor, the left side of the equation (1) has the volume V ₁ of the floor space of the first floor and the volume V ₁ of the car 620. It is assumed to be the sum of _e . In the state ST2, since the car 620 straddles the floors 510 of the first floor and the second floor, the right side of the equation (1) has the volume V ₁ of the floor space of the first floor and the floor space of the second floor. It is assumed to be the sum of the volume V ₂ of V and the volume V _e of the car 620. Since the volume (V ₁ + V _e ) is smaller than the volume (V ₁ + V ₂ + V _e ) ((V ₁ + V _e ) <(V ₁ + V ₂ + V _e )), the pressure P _e is the pressure P _e ′. (P _e > P _e ′). Therefore, it is considered that the cage 620 of the elevator 600 temporarily lowers the internal pressure of the cage 620 in a state where the cage 620 of the elevator 600 passes through the floor portion 520 of the building 500, that is, in a transient state across the floor 510. Therefore, the information processing device 10 of the present disclosure estimates the number of floors of the floor 510 of the building 500 by detecting the pressure fluctuation in which the pressure inside the car 620 of the elevator 600 temporarily drops (changes).

In the example shown in FIG. 2, since the information processing device 10 passes through the floor portion 520 of the building 500 twice, the pressure fluctuation can be detected twice. Therefore, the information processing device 10 estimates that the floor 510 has been moved by two floors. For example, when moving vertically from the third floor of the building 500, the information processing apparatus 10 estimates that the information processing apparatus 10 has moved to the first floor 510 of the building 500.

As described above, the information processing apparatus 10 according to the first embodiment detects the pressure fluctuation when the car 620 of the elevator 600 straddles the floor 510 of the building 500, and moves by the elevator 600 based on the pressure fluctuation. Estimate the number of floors 510. Thereby, the information processing apparatus 10 can estimate the number of floors of the floor 510 of the building 500 moved by the elevator 600, only by using the atmospheric pressure sensor 11. Further, since the information processing device 10 does not need to acquire information about the building 500, the present disclosure can be realized without adding a new electronic device configuration or the like to the building 500 side or improving the equipment. You can

For example, there is a case where the moving body 1 rides on a car 620 of the elevator 600 with a person heading to a different floor 510. In this case, since the information processing device 10 estimates the number of floors of the floor 510 at which the car 620 has stopped based on the pressure fluctuation, it is possible to determine whether the floor 510 at which the car 620 has stopped is the destination. it can. As a result, the information processing device 10 can move to the destination floor 510 by the elevator 600 without acquiring information about the number of floors 510 from the outside.

[Configuration Example of Information Processing Device 10 according to First Embodiment]
FIG. 4 is a diagram illustrating a configuration example of the information processing device 10 according to the first embodiment. FIG. 5 is a diagram showing a configuration example of the atmospheric pressure sensor 11 according to the first embodiment. FIG. 6 is a diagram for explaining an example of the conversion unit 15 according to the first embodiment.

As shown in FIG. 4, the mobile unit 1 includes an information processing device 10 and a drive unit 100. The drive unit 100 drives each drivable portion of the moving body 1. The drive unit 100 drives a moving mechanism that moves the moving body 1. The moving mechanism includes, for example, a mechanism for driving wheels, legs, and the like. The drive unit 100 moves the moving body 1 by being driven by the control of the information processing device 10. The information processing device 10 is, for example, a dedicated or general-purpose computer. The information processing device 10 includes an atmospheric pressure sensor 11, an acceleration sensor 12, a gyro sensor 13, a storage unit 14, a conversion unit 15, a detection unit 16, an estimation unit 17, and an execution unit 18. In the present embodiment, each processing unit of the detection unit 16, the estimation unit 17, and the execution unit 18 is a program stored in the information processing device 10 by, for example, a CPU (Central Processing Unit) or an MCU (Micro Control Unit). Is implemented by using RAM (Random Access Memory) as a work area. Further, each processing unit may be realized by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array).

The atmospheric pressure sensor 11 measures the atmospheric pressure around the information processing device 10. The atmospheric pressure sensor 11 includes, for example, an atmospheric pressure sensor. As shown in FIG. 5, the atmospheric pressure sensor 11 measures the strain generated in the diaphragm 11a by the pressure of the atmospheric pressure with a pressure sensitive element, and converts the measurement result into an electric signal and outputs it. The diaphragm 11a is provided on one surface of the substrate 11b, and the inside thereof is vacuum-sealed. The atmospheric pressure sensor 11 measures the atmospheric pressure from the strain when the atmospheric pressure is applied to the diaphragm 11a. The atmospheric pressure sensor 11 is electrically connected to the conversion unit 15 and outputs the detection result to the conversion unit 15.

Returning to FIG. 4, the acceleration sensor 12 detects the acceleration acting on the information processing device 10. For example, the acceleration sensor 12 detects accelerations in the X-axis direction, the Y-axis direction, and the Z-axis direction. The acceleration sensor 12 is electrically connected to the detection unit 16 and outputs the detection result to the detection unit 16. The detection result of the acceleration sensor 12 is used to detect a trigger such as the start of movement of the car 620 of the elevator 600.

The gyro sensor 13 detects the angle and angular velocity of the information processing device 10. The gyro sensor 13 is electrically connected to the detection unit 16 and outputs the detection result to the detection unit 16. Then, the detection unit 16 uses the detection results of the acceleration sensor 12 and the gyro sensor 13 to detect a change in the posture of the information processing device 10.

The storage unit 14 stores various data. For example, the storage unit 14 can store data indicating the detection result of the atmospheric pressure sensor 11. The storage unit 14 is electrically connected to the detection unit 16, the estimation unit 17, and the execution unit 18. The storage unit 14 stores, for example, the calibration data 141, the map data 142, and the like. The calibration data 141 includes, for example, data indicating the measurement result of the atmospheric pressure sensor 11 obtained by actually moving the car 620 of the elevator 600 of the building 500 and measuring the car 620. The calibration data 141 is, for example, data indicating the measurement result of the atmospheric pressure corresponding to the building 500 by actually reciprocating in the elevator 600. The calibration data 141 includes, for example, data actually measured by itself, data measured by another information processing device, and the like. The calibration data 141 may be, for example, data in which the relationship between the measurement result and the number of floors 510 is associated. The map data 142 includes map information indicating, for example, a floor map for each floor 510 of the building 500.

The storage unit 14 is, for example, a RAM, a semiconductor memory device such as a flash memory, a hard disk, an optical disk, or the like. The storage unit 14 may be provided outside the moving body 1. Specifically, the storage unit 14 may be provided in a cloud server connected to the information processing device 10 via a network.

The conversion unit 15 decomposes the signal output by the atmospheric pressure sensor 11 into components in a plurality of frequency bands using a well-known wavelet transform. In the present embodiment, as shown in FIG. 6, the conversion unit 15 decomposes the signal SG output by the atmospheric pressure sensor 11 into a signal SG1, a signal SG2, and a signal SG3 by wavelet conversion. In FIG. 6, the vertical axis represents gain [dB] and the horizontal axis represents time [seconds]. The signal SG1 is a signal indicating a component of the first frequency band of 0 to 1 F [Hz]. Note that F is an arbitrary frequency. The signal SG2 is a signal indicating a component of the second frequency band of 1F to 2F [Hz]. The signal SG3 is a signal indicating a component in the third frequency band of 2F to 3F [Hz]. The conversion unit 15 is electrically connected to the detection unit 16 and outputs the converted signal or the like to the detection unit 16. The conversion unit 15 may output the signal output by the atmospheric pressure sensor 11 to the detection unit 16 together with the converted signal.

The detection unit 16 detects the pressure fluctuation when the elevator 600 crosses the floor 510 of the building 500, based on the atmospheric pressure inside the car 620 of the elevator 600 measured by the atmospheric pressure sensor 11. The detection unit 16 detects a pressure fluctuation when the elevator 600 crosses the floor 510 of the building 500, based on the detection result of the atmospheric pressure and the calibration data 141 stored in the storage unit 14.

For example, the detection unit 16 compares the detection result of atmospheric pressure with the calibration data 141, and detects a portion where the atmospheric pressure temporarily changes as a pressure fluctuation in both. Then, the detection unit 16 has a function of detecting the speed of the elevator 600 based on the detection result of the acceleration sensor 12 and specifying the frequency band in which the pressure fluctuation occurs from the speed. For example, when it is specified that the pressure fluctuation occurs in the signal SG3 of 2F to 3F [Hz] from the speed of the elevator 600, the detection unit 16 detects the pressure fluctuation based on the signal SG3. Then, the detection unit 16 is electrically connected to the estimation unit 17, and outputs the detection result to the estimation unit 17.

The detection unit 16 has a function of detecting the start of vertical movement of the car 620 of the elevator 600 based on the detection result of the acceleration sensor 12. For example, when the acceleration sensor 12 detects a predetermined upward acceleration in the vertical direction, the detection unit 16 outputs information indicating that the rising start of the car 620 has been detected to the estimation unit 17. The predetermined acceleration includes, for example, acceleration at the time of starting the movement of the car 620 of the elevator 600. For example, when the acceleration sensor 12 detects a predetermined downward acceleration in the vertical direction, the detection unit 16 outputs information indicating that the descent start of the car 620 has been detected to the estimation unit 17.

The detection unit 16 has a function of detecting a vertical movement stop of the car 620 of the elevator 600 based on the detection result of the acceleration sensor 12. When detecting the deceleration at the time of stop in the vertical direction based on the detection result of the acceleration sensor 12, for example, the detection unit 16 outputs information indicating that the car 620 has stopped to the estimation unit 17.

Returning to FIG. 4, the estimation unit 17 estimates the number of floors of the floor 510 of the building 500 moved by the elevator 600, based on the pressure fluctuation inside the car 620 of the elevator 600 detected by the detection unit 16. The estimation unit 17 estimates the number of floors of the destination floor 510 by counting the number of times of pressure fluctuations in which the pressure inside the car 620 of the elevator 600 temporarily changes. The estimation unit 17 is electrically connected to the execution unit 18, and outputs the estimation result to the execution unit 18. Note that the estimation unit 17 outputs information indicating that the car 620 of the elevator 600 has passed the floor 520 of the building 500 to the execution unit 18 and the like, for example, when the pressure fluctuation is detected by the detection unit 16. Good.

For example, the pressure fluctuation detected by the detection unit 16 by the information processing apparatus 10 may differ depending on the structure of the floor 510 or the elevator 600 having a lot of disturbance. Therefore, the estimation unit 17 compares the pressure fluctuation detected by the detection unit 16 with the pressure fluctuation indicated by the calibration data 141, and if the comparison result satisfies the determination condition, the pressure when the pressure fluctuation crosses the floor 510. It may be determined that there is fluctuation. In other words, the estimation unit 17 can eliminate the influence of noise or the like by using the calibration data 141.

The execution unit 18 executes the process used for the map information of the floor number of the floor 510 of the building 500 estimated by the estimation unit 17. The process includes, for example, a process of calculating the route of the mobile unit 1 using the map information, a process of moving the mobile unit 1 to the destination of the mobile unit 1 using the map information, a process of switching the map information used by the mobile unit 1, and the like. . The execution unit 18 executes processing by executing the program. The execution unit 18 is electrically connected to the drive unit 100 of the moving body 1. The execution unit 18 controls the drive unit 100 by executing the control program.

For example, the execution unit 18 drives the moving mechanism such as the wheels of the moving body 1 so as to move the elevator 600 to the destination on the floor 510. As a result, the moving body 1 moves toward the target value on the floor 510 by driving the moving mechanism.

The example of the functional configuration of the information processing device 10 according to the present embodiment has been described above. The above-described configuration described with reference to FIG. 4 is merely an example, and the functional configuration of the information processing device 10 according to the present embodiment is not limited to this example. The functional configuration of the information processing apparatus 10 according to the present embodiment can be flexibly modified according to specifications and operation.

In the above first embodiment, the case where the information processing device 10 has the conversion unit 15 and the detection unit 16 as separate bodies has been described, but the present invention is not limited to this. For example, the information processing device 10 may incorporate the conversion unit 15 into the detection unit 16 as a function of the detection unit 16. Further, although the information processing apparatus 10 performs the wavelet conversion on the detection result of the atmospheric pressure sensor 11 by the conversion unit 15, the present invention is not limited to this. For example, the information processing apparatus 10 may have a configuration in which the detection unit 16 detects the pressure fluctuation based on the detection result of the atmospheric pressure sensor 11 without using the conversion unit 15.

[Processing Procedure of Information Processing Device 10 According to First Embodiment]
Next, an example of the processing procedure of the information processing apparatus 10 according to the first embodiment will be described. FIG. 7 is a flowchart showing an example of a processing procedure executed by the information processing apparatus 10 according to the first embodiment. The processing procedure illustrated in FIG. 7 is realized by the information processing device 10 executing a program. The processing procedure shown in FIG. 7 is repeatedly executed by the information processing device 10.

As shown in FIG. 7, the information processing device 10 measures acceleration by the acceleration sensor 12 (step S101). Then, the information processing device 10 determines whether or not the car 620 of the elevator 600 starts moving based on the measurement result of the acceleration (step S102). For example, the information processing device 10 detects an upward or downward acceleration in the vertical direction and determines that the car 620 has started moving when the acceleration satisfies the movement start condition. When the information processing device 10 determines that the car 620 of the elevator 600 has not started moving (No in step S102), the information processing device 10 ends the processing procedure illustrated in FIG. 7. If the information processing device 10 determines that the car 620 of the elevator 600 has started moving (Yes in step S102), the process proceeds to step S103.

The information processing device 10 acquires the atmospheric pressure measurement result and the calibration data 141 (step S103). For example, the information processing device 10 acquires the time-series measurement results measured by the atmospheric pressure sensor 11 and acquires the calibration data 141 corresponding to the building 500. Then, the information processing device 10 detects a pressure fluctuation when the elevator 600 crosses the floor 510 (step S104). For example, the information processing device 10 compares the atmospheric pressure during the measured period with the atmospheric pressure indicated by the calibration data 141, and detects a portion that temporarily changes based on the comparison result as a pressure fluctuation. Then, the information processing device 10 stores the detection result in the storage unit 14. The series of processes from step S103 to step S104 corresponds to the processing procedure of the detection unit 16.

When the processing of step S104 ends, the information processing apparatus 10 determines whether or not pressure fluctuation has been detected (step S105). For example, the information processing device 10 determines that the pressure fluctuation is detected when the pressure fluctuation is detected by the detection unit 16. When the information processing apparatus 10 determines that the pressure fluctuation is not detected (No in step S105), the elevator 600 has not passed the floor portion 520 of the building 500, and thus the process proceeds to step S107 described below. When the information processing apparatus 10 determines that the pressure fluctuation is detected (Yes in step S105), the elevator 600 has passed through the floor portion 520 of the building 500, and thus the process proceeds to step S106.

The information processing device 10 counts the number of times the pressure fluctuation is detected (step S106). For example, the information processing device 10 uses a counter to count the number of pressure fluctuations that have occurred inside the car 620 of the moving elevator 600. Then, the information processing device 10 measures the acceleration by the acceleration sensor 12 (step S107). When the processing of step S107 ends, the information processing apparatus 10 advances the processing to step S108.

The information processing apparatus 10 determines whether or not the car 620 of the elevator 600 has stopped based on the acceleration measurement result (step S108). For example, the information processing device 10 detects the speed in the vertical direction upward or downward based on the acceleration, and determines that the car 620 has stopped when the speed satisfies the stop condition. When the information processing device 10 determines that the car 620 of the elevator 600 is not stopped (No in step S108), the process returns to step S103 already described. If the information processing device 10 determines that the car 620 of the elevator 600 has stopped (Yes in step S108), the process proceeds to step S109.

The information processing device 10 estimates the number of floors of the floor 510 moved by the elevator 600 based on the number of times pressure fluctuations are detected (step S109). For example, the information processing device 10 estimates the number of floors of the destination floor 510 based on a counter indicating the number of times pressure fluctuations have been detected. For example, when the car 620 of the elevator 600 moves vertically downward from the third floor of the building 500, if the counter indicates 2, the information processing apparatus 10 estimates that the floor number of the destination floor 510 is the first floor. To do. The information processing device 10 stores the information indicating the number of floors of the floor 510 at the start of movement in the storage unit 14 in association with the position information of the moving body 1. For example, when the car 620 of the elevator 600 moves vertically upward from the third floor of the building 500, if the counter indicates 2, the information processing apparatus 10 estimates that the floor 510 of the movement destination is the fifth floor. To do. When the information processing device 10 stores the estimation result of estimating the number of floors 510 in the storage unit 14, the process proceeds to step S110.

The information processing device 10 executes a process using the map information of the estimated floor number of the floor 510 (step S110). For example, the information processing device 10 extracts the map information of the number of floors 510 from the map data 142 and executes the process of controlling the movement of the mobile body 1 using the map information. As a result, the moving body 1 moves on the floor 510 moved by the elevator 600. When the process of step S110 ends, the information processing device 10 ends the processing procedure illustrated in FIG. 7.

In the processing procedure shown in FIG. 7, the series of processing from step S105 to step S109 corresponds to the processing procedure of the estimation unit 17. The process of step S110 corresponds to the process of the execution unit 18.

As described above, the information processing apparatus 10 according to the first embodiment detects the pressure fluctuation when the car 620 of the elevator 600 crosses the floor 510 of the building 500, and based on the pressure fluctuation and the calibration data 141. The floor number of the floor 510 moved by the elevator 600 is estimated. Thereby, the information processing apparatus 10 can estimate the number of floors of the floor 510 of the building 500 moved by the elevator 600, based on the pressure fluctuation according to the building 500. As a result, the information processing device 10 can improve the estimation accuracy of the number of floors 510 estimated based on the pressure fluctuation.

Further, the information processing device 10 detects the start of movement of the elevator 600 in the vertical direction, and starts estimating the number of floors of the floor 510 in response to the start of movement. Accordingly, the information processing device 10 can detect the pressure fluctuation that occurs when the elevator 600 actually moves in the vertical direction. As a result, the information processing apparatus 10 can improve the pressure fluctuation detection accuracy.

Further, the information processing device 10 ends the detection of the pressure fluctuation when the movement by the elevator 600 is stopped. As a result, the information processing device 10 does not detect the pressure fluctuation when the movement in the vertical direction by the elevator 600 is completed. As a result, the information processing apparatus 10 can estimate the number of floors of the floor 510 at an appropriate timing when the movement by the elevator 600 is stopped, and thus the estimation accuracy can be further improved.

Further, the information processing device 10 performs a process using the map information of the estimated number of floors of the floor 510. As a result, the information processing device 10 can realize processing across the floor 510 of the building 500. As a result, the information processing device 10 can support, control, etc. the mounted mobile body 1 based on the estimated map information of the floor 510.

The above-described first embodiment is an example, and various modifications and applications are possible.

(Second embodiment)
[Outline of Information Processing Device According to Second Embodiment]
Next, a second embodiment will be described. The information processing device 10 according to the second embodiment is, like the first embodiment, an atmospheric pressure sensor 11, an acceleration sensor 12, a gyro sensor 13, a storage unit 14, a conversion unit 15, and a detection unit. 16, an estimation unit 17, and an execution unit 18. The description of the same configuration as the information processing device 10 according to the first embodiment will be omitted.

FIG. 8 is a diagram showing a speed change from the start of movement of the elevator 600 to the stop thereof. As shown in FIG. 8, when the car 620 starts moving, the elevator 600 transits to the steady section through the acceleration section in which the speed of the car 620 is accelerated. The steady section is a section in which the speed of the car 620 is steady. Then, when the car 620 approaches the target floor 510, the elevator 600 makes a transition to a deceleration section in which the speed of the car 620 is decelerated. Then, the atmospheric pressure sensor 11 may have different frequency bands in which pressure fluctuations occur, depending on the speed of the car 620 of the elevator 600. The information processing apparatus 10 according to the second embodiment describes a case where the frequency band referred to by the detection result of the atmospheric pressure sensor 11 is changed according to the speed of the car 620 of the elevator 600.

As shown in FIG. 6, the conversion unit 15 converts the signal SG output from the atmospheric pressure sensor 11 into a first frequency band of 0 to 1F [Hz] and a second frequency band of 1F to 2F [Hz]. It is assumed that the component is decomposed into a component with a third frequency band of 2F to 3F [Hz]. Then, the information processing apparatus 10 analyzes which frequency band of the first frequency band, the second frequency band, and the third frequency band the waveform generated by straddling the floor 510 is output.

For example, when the speed of the car 620 passes through the floor portion 520 in the acceleration section, a pressure fluctuation waveform appears as a component of the pressure fluctuation in the second frequency band. In this case, when the speed of the car 620 is in the acceleration section, the information processing device 10 detects the pressure fluctuation based on the component of the second frequency band. For example, when the speed of the car 620 passes through the floor portion 520 in the steady section, a pressure fluctuation waveform appears in the component of the pressure fluctuation in the third frequency band. In this case, when the speed of the car 620 is in the acceleration section, the information processing device 10 detects the pressure fluctuation based on the component of the second frequency band.

The detection unit 16 identifies the speed of the car 620 of the elevator 600 based on the detection result of the acceleration sensor 12, estimates the frequency band of the atmospheric pressure in which the pressure fluctuation occurs based on the speed, and determines the atmospheric pressure of the frequency band. The pressure fluctuation is detected based on. The detection unit 16 can suppress the influence of disturbance by detecting the pressure fluctuation based on the frequency band corresponding to the speed of the car 620.

[Processing Procedure of Information Processing Device 10 According to Second Embodiment]
Next, an example of a processing procedure of the information processing device 10 according to the second embodiment will be described. FIG. 9 is a flowchart showing an example of a processing procedure executed by the information processing apparatus 10 according to the second embodiment. The processing procedure illustrated in FIG. 9 is realized by the information processing device 10 executing a program. The processing procedure shown in FIG. 9 is repeatedly executed by the information processing device 10.

In the example shown in FIG. 9, steps S101 to S102 and steps S104 to S110 are the same as steps S101 to S102 and steps S104 to S110 shown in FIG. 7 already described, and therefore only different parts will be described. The description of the same parts will be omitted.

As illustrated in FIG. 9, when the information processing device 10 determines that the car 620 of the elevator 600 has started moving (Yes in step S102), the process proceeds to step S121. The information processing device 10 identifies the speed of the car 620 of the elevator 600 based on the measured acceleration (step S121). Then, the information processing device 10 acquires the measurement result of the atmospheric pressure and the calibration data 141 according to the specified speed (step S122). For example, the information processing device 10 acquires the measurement result of the atmospheric pressure in the frequency band corresponding to the speed, and acquires the calibration data 141 corresponding to the building 500. Then, the information processing device 10 detects a pressure fluctuation when the elevator 600 crosses the floor 510 (step S104). For example, the information processing device 10 compares the atmospheric pressure in the frequency band corresponding to the speed in the measured period with the atmospheric pressure indicated by the calibration data 141, and changes the pressure temporarily in the portion that temporarily changes based on the comparison result. To detect as. Then, the information processing device 10 stores the detection result in the storage unit 14. The processing of steps S122 and S104 corresponds to the processing procedure of the detection unit 16. Then, the information processing device 10 executes the series of processes from step S105 to step S110 already described.

As described above, the information processing apparatus 10 according to the second embodiment detects the pressure fluctuation based on the result of the wavelet transform of the atmospheric pressure measured by the atmospheric pressure sensor 11. Accordingly, the information processing device 10 can detect the pressure fluctuation based on the measurement result of the frequency band in which the pressure fluctuation easily appears. Further, the information processing device 10 can detect the pressure fluctuation without using the measurement result of the frequency band including the influence of the disturbance. As a result, the information processing apparatus 10 can eliminate the influence of the disturbance included in the measured atmospheric pressure, and thus can further improve the estimation accuracy of the floor number of the floor 510 estimated based on the pressure fluctuation.

Further, the information processing apparatus 10 according to the second embodiment detects the pressure fluctuation based on the measurement result of the atmospheric pressure in the frequency band corresponding to the speed of the car 620 of the elevator 600 and the calibration data 141. Accordingly, the information processing device 10 can detect the pressure fluctuation based on the measurement result of the frequency band suitable for the speed of the car 620 among the measurement results converted into the plurality of frequency bands by the wavelet transform. As a result, the information processing apparatus 10 can improve the detection accuracy of the pressure change when straddling the floor 510 even if the moving state of the car 620 changes.

[Hardware configuration]
The information processing apparatus 10 according to the first and second embodiments described above is realized by, for example, a computer 1000 having a configuration shown in FIG. Hereinafter, the information processing apparatus 10 according to the embodiment will be described as an example. FIG. 10 is a hardware configuration diagram illustrating an example of a computer 1000 that realizes the functions of the information processing device 10. The computer 1000 has a CPU 1100, a RAM 1200, a ROM (Read Only Memory) 1300, a HDD (Hard Disk Drive) 1400, a communication interface 1500, and an input / output interface 1600. The respective units of the computer 1000 are connected by a bus 1050.

The CPU 1100 operates based on a program stored in the ROM 1300 or the HDD 1400, and controls each part. For example, the CPU 1100 expands a program stored in the ROM 1300 or the HDD 1400 into the RAM 1200 and executes processing corresponding to various programs.

The ROM 1300 stores a boot program such as a BIOS (Basic Input Output System) that is executed by the CPU 1100 when the computer 1000 starts up, a program that depends on the hardware of the computer 1000, and the like.

The HDD 1400 is a computer-readable recording medium that non-temporarily records a program executed by the CPU 1100, data used by the program, and the like. Specifically, the HDD 1400 is a recording medium that records an information processing program according to the present disclosure, which is an example of the program data 1450.

The communication interface 1500 is an interface for connecting the computer 1000 to an external network 1550 (for example, the Internet). For example, the CPU 1100 receives data from another device or transmits the data generated by the CPU 1100 to another device via the communication interface 1500.

The input / output interface 1600 is an interface for connecting the input / output device 1650 and the computer 1000. For example, the CPU 1100 receives data from an input device such as a keyboard or a mouse via the input / output interface 1600. The CPU 1100 also transmits data to an output device such as a display, a speaker, a printer, etc. via the input / output interface 1600. Also, the input / output interface 1600 may function as a media interface for reading a program or the like recorded in a predetermined recording medium (medium). The medium is, for example, an optical recording medium such as a DVD (Digital Versatile Disc), a magneto-optical recording medium such as an MO (Magneto-Optical disc), a tape medium, a magnetic recording medium, or a semiconductor memory.

For example, when the computer 1000 functions as the information processing apparatus 10 according to the embodiment, the CPU 1100 of the computer 1000 executes the program loaded on the RAM 1200 to cause the detection unit 16, the estimation unit 17, the execution unit 18, and the like. Realize the function. Further, the HDD 1400 stores the information processing program according to the present disclosure and the data in the storage unit 120. The CPU 1100 reads the program data 1450 from the HDD 1400 and executes the program data. However, as another example, these programs may be acquired from another device via the external network 1550.

In the first and second embodiments described above, the case where the information processing apparatus 10 uses the calibration data 141 has been described, but the present invention is not limited to this. For example, the information processing device 10 may be configured to detect the pressure fluctuation when straddling the floor 510 based only on the measurement result of the atmospheric pressure sensor 11.

In the first and second embodiments described above, the information processing device 10 has been described as a case where the measurement result of the atmospheric pressure sensor 11 is wavelet-transformed by the conversion unit 15, but the present invention is not limited to this. For example, the information processing device 10 may be configured to electrically connect the detection unit 16 and the atmospheric pressure sensor 11 without using the conversion unit 15.

The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, but the technical scope of the present disclosure is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field of the present disclosure can conceive various changes or modifications within the scope of the technical idea described in the claims. It is understood that the above also naturally belongs to the technical scope of the present disclosure.

Also, the effects described in the present specification are merely explanatory or exemplifying ones, and are not limiting. That is, the technique according to the present disclosure may have other effects that are apparent to those skilled in the art from the description of the present specification, in addition to or instead of the above effects.

Further, it is possible to create a program for causing hardware such as a CPU, a ROM, and a RAM built in the computer to exhibit the same function as the configuration of the information processing apparatus 10. Possible recording media may also be provided.

Also, each step related to the processing of the information processing apparatus 10 in this specification does not necessarily need to be processed in time series in the order described in the flowchart. For example, the steps related to the processing of the information processing device 10 may be processed in an order different from the order described in the flowchart, or may be processed in parallel.

Note that the following configurations also belong to the technical scope of the present disclosure.
(1)
An atmospheric pressure sensor that measures atmospheric pressure,
Based on the atmospheric pressure inside the elevator measured by the atmospheric pressure sensor, a detection unit for detecting the pressure fluctuation when the elevator straddles the floor of the building,
Based on the pressure fluctuations detected by the detection unit, an estimation unit for estimating the floor number of the floor moved by the elevator,
An information processing apparatus including.
(2)
Further comprising a storage unit for storing calibration data measured in the elevator of the building in the past,
The information processing apparatus according to (1), wherein the detection unit detects the pressure fluctuation based on a detection result of the atmospheric pressure sensor and the calibration data stored in the storage unit.
(3)
The information processing apparatus according to (1) or (2), wherein the detection unit detects the pressure fluctuation based on a result of wavelet transforming the atmospheric pressure detected by the atmospheric pressure sensor.
(4)
Further equipped with an acceleration sensor,
The detection unit identifies the speed of the elevator based on the detection result of the acceleration sensor, estimates the frequency band in which the pressure fluctuation occurs based on the speed, and based on the atmospheric pressure of the frequency band The information processing apparatus according to any one of (1) to (3), which detects pressure fluctuations.
(5)
The information processing apparatus according to any one of (1) to (4), wherein the detection unit starts detection of the pressure fluctuation when detecting the start of vertical movement of the elevator.
(6)
The information processing device according to (5), wherein the detection unit ends the detection of the pressure fluctuation when detecting the movement stop of the elevator in the vertical direction.
(7)
The information processing apparatus according to any one of (1) to (6), further including an execution unit that executes a process using the map information of the floor number of the floor estimated by the estimation unit.
(8)
Computer
Based on the atmospheric pressure inside the elevator measured by the atmospheric pressure sensor, detects the pressure fluctuation when the elevator crosses the floor of the building,
An information processing method for estimating the number of floors of the floor moved by the elevator based on the detected pressure fluctuation.
(9)
Computer,
Based on the atmospheric pressure inside the elevator measured by the atmospheric pressure sensor, a detection unit for detecting the pressure fluctuation when the elevator straddles the floor of the building,
Based on the pressure fluctuations detected by the detection unit, an estimation unit that estimates the number of floors of the floor moved by the elevator,
Program to function as.
(10)
An information processing device,
A drive unit driven by the information processing device,
The information processing device,
An atmospheric pressure sensor that measures atmospheric pressure,
Based on the atmospheric pressure inside the elevator measured by the atmospheric pressure sensor, a detection unit for detecting the pressure fluctuation when the elevator straddles the floor of the building,
Based on the pressure fluctuations detected by the detection unit, an estimation unit for estimating the floor number of the floor moved by the elevator,
A mobile body equipped with.

1 Mobile Object 10 Information Processing Device 11 Atmospheric Pressure Sensor 12 Acceleration Sensor 13 Gyro Sensor 14 Storage Section 15 Conversion Section 16 Detection Section 17 Estimating Section 18 Execution Section 100 Drive Section 500 Building 510 Floor 520 Floor Section 600 Elevator 620 Car

Claims

An atmospheric pressure sensor that measures atmospheric pressure,
Based on the atmospheric pressure inside the elevator measured by the atmospheric pressure sensor, a detection unit for detecting the pressure fluctuation when the elevator straddles the floor of the building,
Based on the pressure fluctuations detected by the detection unit, an estimation unit for estimating the floor number of the floor moved by the elevator,
An information processing apparatus including.
Further comprising a storage unit for storing calibration data measured in the elevator of the building in the past,
The information processing apparatus according to claim 1, wherein the detection unit detects the pressure fluctuation based on a detection result of the atmospheric pressure sensor and the calibration data stored in the storage unit.
The information processing apparatus according to claim 1, wherein the detection unit detects the pressure fluctuation based on a result of wavelet transforming the atmospheric pressure detected by the atmospheric pressure sensor.
Further equipped with an acceleration sensor,
The detection unit identifies the speed of the elevator based on the detection result of the acceleration sensor, estimates the frequency band in which the pressure fluctuation occurs based on the speed, and based on the atmospheric pressure of the frequency band The information processing apparatus according to claim 1, wherein pressure fluctuations are detected.
The information processing apparatus according to claim 1, wherein the detection unit starts detecting the pressure fluctuation when detecting the start of movement of the elevator in the vertical direction.
The information processing apparatus according to claim 5, wherein the detection unit ends detection of the pressure fluctuation when detecting a movement stop of the elevator in a vertical direction.
The information processing apparatus according to claim 1, further comprising an execution unit that executes a process using the map information of the floor number of the floor estimated by the estimation unit.
Computer
Based on the atmospheric pressure inside the elevator measured by the atmospheric pressure sensor, detects the pressure fluctuation when the elevator crosses the floor of the building,
An information processing method for estimating the number of floors of the floor moved by the elevator based on the detected pressure fluctuation.
Computer,
Based on the atmospheric pressure inside the elevator measured by the atmospheric pressure sensor, the detection unit that detects the pressure fluctuation when the elevator straddles the floor of the building,
Based on the pressure fluctuations detected by the detection unit, an estimation unit that estimates the number of floors of the floor moved by the elevator,
Program to function as.