WO2022176424A1 - 作業種類識別装置、制御方法、及び非一時的なコンピュータ可読媒体 - Google Patents
作業種類識別装置、制御方法、及び非一時的なコンピュータ可読媒体 Download PDFInfo
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- WO2022176424A1 WO2022176424A1 PCT/JP2022/000264 JP2022000264W WO2022176424A1 WO 2022176424 A1 WO2022176424 A1 WO 2022176424A1 JP 2022000264 W JP2022000264 W JP 2022000264W WO 2022176424 A1 WO2022176424 A1 WO 2022176424A1
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- 238000000034 method Methods 0.000 title claims description 46
- 230000008859 change Effects 0.000 claims abstract description 28
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 claims description 50
- 239000000463 material Substances 0.000 claims description 24
- 230000002123 temporal effect Effects 0.000 claims description 20
- 230000004044 response Effects 0.000 claims description 7
- 239000000284 extract Substances 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 9
- 239000004744 fabric Substances 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 2
- 239000000645 desinfectant Substances 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000001954 sterilising effect Effects 0.000 description 2
- 238000004659 sterilization and disinfection Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000001476 alcoholic effect Effects 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000009529 body temperature measurement Methods 0.000 description 1
- 230000035622 drinking Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000009408 flooring Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000000306 recurrent effect Effects 0.000 description 1
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Images
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/24—Apparatus using programmed or automatic operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
- A61L2/16—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor using chemical substances
- A61L2/18—Liquid substances or solutions comprising solids or dissolved gases
-
- B08B1/143—
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/04—Cleaning involving contact with liquid
- B08B3/08—Cleaning involving contact with liquid the liquid having chemical or dissolving effect
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/14—Digital output to display device ; Cooperation and interconnection of the display device with other functional units
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/14—Means for controlling sterilisation processes, data processing, presentation and storage means, e.g. sensors, controllers, programs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/10—Apparatus features
- A61L2202/17—Combination with washing or cleaning means
Definitions
- This disclosure relates to techniques for analyzing work.
- Patent Literature 1 discloses a technique for detecting the existence of a place to be cleaned by detecting that a plate or cup is left on a table or that a chair is not in use.
- Wiping is one of the sterilization and cleaning tasks.
- Patent Literature 1 does not mention the wiping work.
- the present invention has been made in view of this problem, and one of its purposes is to provide a new technique for analyzing wiping work.
- the work type identification device of the present disclosure includes acquisition means for acquiring a temperature data string representing temporal changes in temperature of a target region of a target object on which wiping work is performed; identification means for identifying the type of wiping work performed on the target area based on the change in temperature of the target area over time.
- the control method of the present disclosure is executed by a computer.
- the control method includes an acquisition step of acquiring a temperature data string representing temporal changes in temperature of a target region of a target object on which wiping work is performed; and identifying the type of wiping operation performed on the target area based on the change in temperature over time.
- the computer-readable medium of the present disclosure stores a program that causes a computer to execute the control method of the present disclosure.
- FIG. 4 is a diagram illustrating an overview of the operation of the work type identification device of Embodiment 1;
- FIG. 2 is a block diagram illustrating the functional configuration of the work type identification device of Embodiment 1;
- FIG. It is a block diagram which illustrates the hardware constitutions of the computer which implement
- 4 is a flowchart illustrating the flow of processing executed by the work type identification device of Embodiment 1;
- FIG. 4 is a diagram illustrating the relationship between temperature data strings and partial data strings; It is a figure which illustrates the screen output by a work type identification device.
- predetermined information such as predetermined values and threshold values is stored in advance in a storage device or the like that can be accessed from a device that uses the information.
- FIG. 1 is a diagram illustrating an overview of the operation of the work type identification device 2000 of the first embodiment.
- FIG. 1 is a diagram for facilitating understanding of the outline of the work type identification device 2000, and the operation of the work type identification device 2000 is not limited to that shown in FIG.
- the work type identification device 2000 determines the type of wiping work performed on the target area 12 of the target object 10 .
- the target object 10 is any object to be wiped, such as a wall, table, or floor.
- a region of interest 12 is a region on the surface of the target object 10 .
- the target region 12 may be the entire surface region of the target object 10 or a partial region of the surface of the target object 10 . In the latter case, for example, the surface of the target object 10 is divided into a plurality of regions according to a predetermined criterion, and each of the plurality of regions is treated as the target region 12 .
- the table is the target object 10 and the top of the table is divided into 12 target areas 12 .
- a plurality of types of wiping operations can be performed on the target area 12 .
- Types of wiping operations include alcohol wiping, wet wiping, and dry wiping.
- Alcohol wiping is wiping work performed using alcohol.
- alcohol wiping is a task of spraying a disinfectant containing alcohol onto the target area 12 and wiping the target area 12 with a cloth or the like.
- Wet wiping is wiping work performed using water.
- the wet wiping is a work of spraying water on the target region 12 and wiping the target region 12 with a cloth or the like, or a work of wiping the target region 12 with a cloth wetted with water.
- a wiping operation using a disinfectant with a lower alcohol content than the standard may be classified as wet wiping instead of alcohol wiping.
- Dry wiping is the act of wiping the target area 12 with a dry cloth.
- the work type identification device 2000 identifies which type of wiping work has been performed on the target area 12 among the three types of wiping work described above. In addition, for example, any two of these three types of wiping operations may be treated as wiping operations that may be performed on the target region 12 . In this case, for example, the work type identification device 2000 identifies whether the wiping work performed on the target region 12 is alcohol wiping or wet wiping, or identifies whether the wiping work performed on the target region 12 is alcohol wiping or water wiping. Identify whether it is wet wiping or dry wiping.
- the work type identification device 2000 identifies the type of wiping work performed on the target area 12 based on the change in the temperature of the target area 12 over time. For example, it is considered that there is a difference in temperature change over time between the target region 12 sprayed with alcohol and the target region 12 sprayed with water. Therefore, the type of wiping work is identified based on such a difference in temperature change over time of the target area 12 .
- the work type identification device 2000 acquires the temperature data string 40 representing the temperature change over time of the target area 12 .
- the temperature data string 40 is time-series data indicating temperature data 42 indicating the temperature of the target region 12 at specific points in time for each of a plurality of points in time.
- Temperature data 42 is obtained by measuring the temperature of target area 12 with temperature sensor 30 .
- the temperature sensor 30 is a thermal camera that can obtain the temperature distribution of an object within the angle of view.
- a thermal camera is implemented by, for example, an infrared camera.
- the temperature sensor 30 periodically repeats measurement of the temperature of the target area 12 .
- temperature data 42 that can specify the temperature of the target region 12 is obtained for each of a plurality of points in time.
- the temperature data 42 may indicate an absolute temperature at a specific point in time, or may indicate a difference from the previously measured temperature.
- a temperature data column 40 indicates a plurality of temperature data 42 thus obtained in chronological order.
- the work type identification device 2000 identifies the type of wiping work performed on the target area 12 based on the temperature change over time of the target area 12 represented by the temperature data string 40 . A specific method for specifying it will be described later.
- the temperature data string 40 representing the temporal change in the temperature of the target area 12 of the target object 10 to be wiped is acquired. Then, using the temperature data string 40, the type of wiping work performed on the target area 12 is identified. By doing so, the type of wiping work performed on the target area 12 can be easily grasped.
- the work type identification device 2000 of this embodiment will be described in more detail below.
- FIG. 2 is a block diagram illustrating the functional configuration of the work type identification device 2000 of the first embodiment.
- the work type identification device 2000 has an acquisition unit 2020 and an identification unit 2040 .
- the acquisition unit 2020 acquires the temperature data string 40 representing the temperature change over time in the target region 12 of the target object 10 .
- the identification unit 2040 identifies the type of wiping work performed on the target area 12 based on the temporal change in the temperature of the target area 12 represented by the temperature data string 40 .
- Each functional configuration unit of the work type identification device 2000 may be realized by hardware (eg, hardwired electronic circuit, etc.) that implements each functional configuration unit, or may be realized by a combination of hardware and software (eg, : a combination of an electronic circuit and a program that controls it, etc.).
- hardware e.g, hardwired electronic circuit, etc.
- software e.g, : a combination of an electronic circuit and a program that controls it, etc.
- FIG. 3 is a block diagram illustrating the hardware configuration of the computer 500 that implements the work type identification device 2000.
- Computer 500 is any computer.
- the computer 500 is a stationary computer such as a PC (Personal Computer) or a server machine.
- the computer 500 is a portable computer such as a smart phone or a tablet terminal.
- the computer 500 may be a dedicated computer designed to implement the work type identification device 2000, or may be a general-purpose computer.
- the computer 500 realizes each function of the work type identification device 2000.
- the application is composed of a program for realizing each functional component of the work type identification device 2000 .
- the acquisition method of the above program is arbitrary.
- the program can be acquired from a storage medium (DVD disc, USB memory, etc.) in which the program is stored.
- the program can be obtained by downloading the program from a server device that manages the storage device in which the program is stored.
- Computer 500 has bus 502 , processor 504 , memory 506 , storage device 508 , input/output interface 510 and network interface 512 .
- the bus 502 is a data transmission path through which the processor 504, memory 506, storage device 508, input/output interface 510, and network interface 512 exchange data with each other.
- the method of connecting the processors 504 and the like to each other is not limited to bus connection.
- the processor 504 is various processors such as a CPU (Central Processing Unit), GPU (Graphics Processing Unit), or FPGA (Field-Programmable Gate Array).
- the memory 506 is a main memory implemented using a RAM (Random Access Memory) or the like.
- the storage device 508 is an auxiliary storage device implemented using a hard disk, SSD (Solid State Drive), memory card, ROM (Read Only Memory), or the like.
- the input/output interface 510 is an interface for connecting the computer 500 and input/output devices.
- the input/output interface 510 is connected to an input device such as a keyboard and an output device such as a display device.
- a network interface 512 is an interface for connecting the computer 500 to a network.
- This network may be a LAN (Local Area Network) or a WAN (Wide Area Network).
- the computer 500 is communicably connected to the temperature sensor 30 via a network.
- the computer 500 only needs to be able to acquire the temperature data string 40 generated by the temperature sensor 30 in some way, and does not have to be communicatively connected to the temperature sensor 30 .
- the storage device 508 stores a program that implements each functional component of the work type identification device 2000 (a program that implements the application described above).
- the processor 504 reads this program into the memory 506 and executes it, thereby realizing each functional component of the work type identification device 2000 .
- the work type identification device 2000 may be realized by one computer 500 or may be realized by a plurality of computers 500. In the latter case, the configuration of each computer 500 need not be the same, and can be different.
- FIG. 4 is a flowchart illustrating the flow of processing executed by the work type identification device 2000 of the first embodiment.
- the acquisition unit 2020 acquires the temperature data string 40 (S102).
- the identification unit 2040 identifies the type of wiping work performed on the target area 12 using the temperature data string 40 (S104).
- the temperature data string 40 is time series data of the temperature data 42 .
- Temperature data 42 indicates the temperature of target area 12 at a particular point in time. Temperature data 42 is generated by temperature sensor 30 .
- the temperature sensor 30 may measure the temperature of each of the multiple areas.
- a thermal camera produces a thermal image that represents the temperature distribution of objects within its angle of view.
- Each pixel in the thermal image represents the temperature of the area on the object that corresponds to that pixel.
- one target area 12 may span multiple pixels of the thermal image.
- the temperature of the target area 12 is identified using the temperature represented by any one or more of the pixels corresponding to the target area 12 .
- the temperature of the region of interest 12 is specified as a statistic (such as mean, median, mode, minimum, or maximum) of the temperatures represented by the pixels corresponding to that region of interest 12 .
- one pixel hereinafter referred to as representative pixel
- the temperature represented by the representative pixel corresponding to the target area 12 is treated as the temperature of that target area 12 .
- the correspondence between the pixels on the thermal image and the target area 12 is determined in advance.
- the acquisition unit 2020 acquires the temperature data string 40 (S102). There are various methods for the acquisition unit 2020 to acquire the temperature data string 40 . For example, assume that the temperature sensor 30 performs temperature measurement to generate temperature data 42 and stores the temperature data 42 in the storage unit. In this case, the acquisition unit 2020 acquires the temperature data 42 newly stored in the storage unit by repeatedly accessing the storage unit. By acquiring a plurality of temperature data 42 generated by the temperature sensor 30 in this manner, the temperature data string 40 can be acquired. However, the acquisition unit 2020 may acquire the temperature data string 40 in one access by collectively acquiring a plurality of temperature data 42 stored in the storage unit.
- the temperature sensor 30 may be configured to transmit the temperature data 42 to the work type identification device 2000.
- the acquiring unit 2020 can acquire the temperature data string 40 composed of the plurality of acquired temperature data 42 .
- the temperature sensor 30 may transmit the temperature data string 40 to the work type identification device 2000 at once by collectively transmitting a plurality of temperature data 42 to the work type identification device 2000 .
- the temperature sensor 30 is the above-described thermal camera or the like, the temperature can be measured for each of a plurality of areas.
- the acquisition unit 2020 extracts data representing the temperature of the target region 12 from data generated by the temperature sensor 30 .
- the acquisition unit 2020 acquires the temperature data 42 using pixels corresponding to the target region 12 in the image shown in the thermal image.
- the acquisition unit 2020 acquires the temperature value represented by the image as the temperature data 42 .
- the acquisition unit 2020 obtains the statistical values of the temperature represented by the plurality of pixels and the temperature represented by the representative pixels, as described above. values are obtained as temperature data 42 .
- the acquisition unit 2020 selects the corresponding target region 12 for each target region 12.
- Temperature data 42 for each target region 12 is obtained by extracting the pixels of the thermal image. However, it is not necessary to measure the temperature of all areas to be treated as the target area 12 with one temperature sensor 30, and a plurality of temperature sensors 30 may be used.
- the identifying unit 2040 uses the temperature data string 40 to identify the type of wiping work performed on the target area 12 (S104). For example, the identification unit 2040 extracts a plurality of partial data strings each having a predetermined length from the temperature data string 40, and for each partial data string, performs the processing on the target region 12 at the time corresponding to the partial data string. Identify the type of mopping work. Adjacent partial data strings may partially overlap each other.
- FIG. 5 is a diagram illustrating the relationship between the temperature data string 40 and the partial data string 50.
- a partial data string 50 represents temperature changes for w seconds.
- the extraction start position of the partial data string 50 is slid by a width of s seconds. That is, the i-th partial data string 50 is composed of the temperature data 42 from time s*(i-1) to time s*(i-1)+w among the temperature data 42 included in the temperature data string 40. It is time-series data that is The point in time here is a relative point in time, with the point of time of measurement of the first temperature data 42 included in the temperature data string 40 being zero.
- the identification unit 2040 may identify the type of wiping work performed during the period represented by the entire temperature data string 40 without extracting the partial data string 50 from the temperature data string 40 . For example, it is detected that a wiping operation has been performed on the target area 12, and the temperature data string 40 for a period of a predetermined length (for example, w in FIG. 5) from the start of the wiping operation or a time close thereto Acquired by the acquisition unit 2020 . In this case, the entire temperature data string 40 becomes time-series data having the same length as the partial data string 50 in FIG.
- the fact that the target area 12 has been wiped can be detected using, for example, video data obtained from a video camera that captures the target area 12 .
- Temperature data string 40 is used instead of partial data string 50 in the case of identifying the type of wiping operation performed during the period represented by temperature data string 40 as a whole.
- a feature amount is determined in advance for each type of wiping work with respect to the time-series temperature data of the area where the wiping work of that type has been performed. That is, a correspondence of "type of wiping work, feature amount of time-series data of temperature of wiped area" is created in advance. For example, with alcohol wiping and water wiping, it is thought that the temperature drops at the beginning of wiping and then rises. On the other hand, dry wiping does not seem to change the temperature much. Also, since alcohol evaporates faster than water, the temperature change in the case of alcohol wiping is thought to be faster than the temperature change in the case of wet wiping.
- the identification unit 2040 extracts the feature amount from the partial data string 50 and calculates the degree of similarity between the extracted feature amount and the feature amount predetermined for each type of wiping work. Then, the identification unit 2040 identifies the type of wiping work corresponding to the feature amount having the highest degree of similarity with the feature amount extracted from the partial data string 50 as the type of wiping work performed on the target area 12. do.
- the temperature data column 40 also includes temperature data for a period in which no wiping operation is performed.
- the identifying unit 2040 identifies the type of wiping work for a plurality of partial data strings 50 obtained from the temperature data string 40, so that each partial data string 50 corresponds to: 1) the period in which the wiping work was performed; 2) If the partial data string 50 corresponds to the period during which the wiping work was performed, what kind of wiping work is the type of the wiping work? .
- the feature value of the temperature time-series data in the wiped area may be determined for each type of target object 10 .
- the feature amount is determined for each type of target object 10, such as a table, chair, flooring, and wall.
- the feature amount may be determined for each material of the target object 10, such as wood or concrete.
- the identifying unit 2040 identifies the type and material (hereinafter referred to as type) of the target object 10, and uses feature amounts associated with the identified type and material.
- the type of the target object 10 may be specified by the user of the work type identification device 2000, or may be automatically identified by the work type identification device 2000. In the latter case, for example, the work type identification device 2000 identifies the type of the target object 10 by analyzing an image obtained by imaging the target object 10 using a video camera (still camera or video camera). do. By using an image, an existing technique can be used as a technique for identifying the type of an object included in the image. Further, the process of specifying the type of the target object 10 may be performed by a computer other than the work type identification device 2000. FIG. In this case, the work type identification device 2000 acquires information indicating the type of the target object 10 and the like from this computer.
- each target region 12 when a plurality of target regions 12 are set for one object, the type and material of each target region 12 may differ.
- the types of the target region 12 include a tabletop and a support. Therefore, the type and the like may be determined for each target region 12 instead of for each target object 10 .
- ⁇ Method 2 Use of discriminative model>>
- a learned discrimination model hereinafter referred to as work type discrimination model
- the work type identification model is learned in advance so as to output a label indicating the type of wiping work in response to input of temperature time series data.
- Any type of model that can handle time-series data such as RNN (Recurrent Neural Network), can be used as the work type identification model.
- the learning of the work type identification model is performed using multiple training data that have time-series data of the temperature of the area as input data and labels that represent the types of wiping work as correct labels.
- training data such as "input data: time-series data of temperature in areas where wiping work is not performed, correct label: no wiping work"
- the work type identification model is able to identify the areas where wiping work is not performed. You may be able to identify that.
- the identification unit 2040 acquires a label representing the type of wiping work from the work type identification model by inputting the temperature data string 40 into the work type identification model. The identification unit 2040 then identifies the type of wiping work indicated by the acquired label as the type of wiping work performed on the target region 12 . Note that when a label indicating that no wiping work has been performed is output, the identification unit 2040 identifies that the target area 12 has not been wiped.
- the type of the target object 10 and the target area 12 may be taken into consideration, as in the case of using the feature amount.
- a work type identification model is prepared for each type of target object 10 and target area 12 .
- training data is prepared for each type of target object 10 and target region 12, and each work type identification model is learned.
- the identification unit 2040 identifies a work type identification model corresponding to the type of the target object 10 or the target area 12 whose temperature change is represented by the partial data string 50, and identifies the work type identification model for the partial data. Enter column 50.
- data indicating the types of the target object 10 and the target area 12 may be included in the input data of the work type identification model.
- the input data includes data indicating the types of the target object 10 and the target region 12 during learning.
- a discriminative model is trained.
- the work type identification device 2000 is used to monitor whether tables are being wiped with alcohol in stores such as restaurants and food courts where eating and drinking is performed. Therefore, each table is treated as the target object 10 . Also, the table is divided into a plurality of areas, and each area is treated as a target area 12 . Then, for each table, the type of wiping work is specified for all target areas 12 included in the table. Each table is determined to have been wiped with alcohol when the type of wipe performed is identified as alcohol wipe for all target areas 12 included in the table. In addition to the table, chairs, floors, and the like may also be treated as objects of the wiping operation.
- FIG. 6 is a diagram illustrating a screen output by the work type identification device 2000.
- the screen in FIG. 6 is called a browsing screen 100.
- FIG. In the work type identification device 2000 a functional configuration unit that outputs the browsing screen 100 and a notification to be described later is called an output unit (not shown).
- the browsing screen 100 shows a display (hereinafter referred to as a state display) indicating whether or not each table 60 should be wiped with alcohol.
- the dot-patterned state display 70 indicates a state in which alcohol wiping is not necessary (a state in which alcohol wiping has already been performed).
- the hatched state display 80 indicates a state in which alcohol wiping is required. Either one of the state display 70 and the state display 80 may not be displayed.
- the images such as the table 60 displayed on the viewing screen 100 may be images obtained by imaging the actual store, or may be images simulating the store such as a floor plan of the store. There may be. In the former case, an image obtained from a video camera capturing the store in real time may be used, or an image of the store captured by a video camera in the past may be used.
- the work type identification device 2000 sets the state of all the tables 60 to a state requiring alcohol wiping before the store opens. Therefore, status display 80 is displayed for all tables 60 .
- the work type identification device 2000 After that, while the store is open, the work type identification device 2000 repeatedly determines whether or not each table 60 has been wiped with alcohol. Specifically, when it is identified that alcohol wiping has been performed on any of the target areas 12 included in the table 60, the work type identification device 2000 determines that the table 60 has been wiped with alcohol. judge. Then, the work type identification device 2000 displays a state display 70 superimposed on the table 60 indicating that alcohol wiping is not necessary. In addition, the work type identification device 2000 records the time when alcohol wiping was performed for each table 60 .
- alcohol wiping is specified as the type of wiping work for only some, but not all, of the target regions 12 included in the table 60 .
- This is considered to be a situation in which a part of the table 60 is not wiped with alcohol.
- the clerk in charge of wiping the table 60 believes that the alcohol wiping has been correctly completed. Therefore, it is preferable that the store clerk can grasp that alcohol wiping was not properly performed.
- the work type identification device 2000 may change the status display of such a table 60 to display that an incomplete wiping work has been performed.
- the clerk can not only know whether or not each table 60 needs to be wiped with alcohol, but also can know that he or another clerk has performed an incomplete wiping operation.
- the situation in which an incomplete wiping operation is performed includes not only the situation in which alcohol wiping is performed only on a part of the target area 12 included in the table 60 as described above, but also the situation in which the entire table 60 is wiped dry. and a situation in which wet wiping was performed may be included.
- the work type identification device 2000 repeatedly determines whether or not a predetermined reset condition is satisfied for each table 60 .
- the reset condition is a condition that is satisfied when the state of the table 60 is a state requiring alcohol wiping.
- the work type identification device 2000 changes the display of the table 60 for which the reset condition is satisfied to the status display 80 .
- the reset condition is the condition that "table 60 has been used". This is because when the table 60 is used by a customer or the like, the table 60 needs to be wiped with alcohol before the next customer uses the table 60 .
- the state display 80 is superimposed on the table 60-5 because the reset condition is satisfied. Also, the label "used" is displayed to indicate that the reset condition has been applied.
- the use of the table 60 can be detected, for example, by analyzing the image captured by a video camera installed to monitor the inside of the store.
- the table 60 is used in situations such as 1) an object is placed on the table 60, 2) a person sits on a chair provided together with the table 60, or 3) the table 60 or the chair moves. situation.
- the reset condition is that "a predetermined amount of time has passed since the table 60 was wiped with alcohol last time".
- the table 60 can be periodically wiped with alcohol.
- the state display 80 is superimposed on the table 60-4 because the reset condition is satisfied.
- a label "predetermined time elapsed" indicating that the reset condition has been applied is displayed. It should be noted that the time at which alcohol wiping was performed last time is recorded by the work type identification device 2000 as described above.
- multiple reset conditions may be used.
- the status display of the table 60 may be changed, or only when all the reset conditions for the table 60 are satisfied, the The state display of the table 60 may be changed.
- the browsing screen 100 can be displayed on any display device.
- a display device on which the browsing screen 100 is displayed is provided at a position where customers and clerks can browse. By doing so, the customer can easily grasp the table that has been properly wiped with alcohol, so that the customer can use the store with peace of mind. Also, a store clerk who performs wiping work at a store can easily grasp the table to be wiped with alcohol by viewing this display device.
- the browsing screen 100 may be provided as a screen of an application or website that can be used on a mobile terminal or the like.
- the customer or store clerk can view the viewing screen 100 using their own mobile terminal or the like.
- the work type identification device 2000 provides a notification that the table 60 can be grasped on the clerk's mobile terminal, the cash register terminal, or in the backyard of the store. You can send it to a PC etc. By doing so, the store clerk can easily grasp that there is a table 60 to be wiped with alcohol and which table 60 should be wiped with alcohol.
- a display that enables the user to grasp the target area 12 determined not to have been wiped or the target area 12 determined to have been wiped with something other than alcohol may be displayed.
- the state display 80 instead of displaying the state display 80 so as to cover the entire table 60 as in the example of FIG.
- the state display 80 is displayed so as to do so.
- display using the temperature data string 40 may be performed together with the display of the state display 70 or the state display 80, or instead of the display of the state display 70 or the state display 80.
- a thermal camera is used as the temperature sensor 30
- a thermal image generated by the thermal camera is displayed on the viewing screen 100 .
- a thermal image obtained from the thermal camera is superimposed and displayed on the table 60 corresponding to the thermal camera.
- Non-transitory computer readable media include various types of tangible storage media.
- Examples of non-transitory computer-readable media include magnetic recording media (e.g., floppy disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical discs), CD-ROMs, CD-Rs, CD-Rs /W, including semiconductor memory (e.g. mask ROM, PROM (programmable ROM), EPROM (erasable PROM), flash ROM, RAM).
- the program may also be provided to the computer on various types of transitory computer readable medium. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. Transitory computer-readable media can deliver the program to the computer via wired channels, such as wires and optical fibers, or wireless channels.
- Appendix 1 Acquisition means for acquiring a temperature data string representing temporal change in temperature of a target area of a target object to be wiped; and identification means for identifying the type of wiping work performed on the target area based on the temporal change in the temperature of the target area indicated by the temperature data string.
- Appendix 2 The work type identification device according to appendix 1, wherein the types of wiping work include at least two of wiping work performed using alcohol, wet wiping, and dry wiping.
- the storage unit stores in advance a feature amount of time-series data representing temporal changes in the temperature of the area where the type of wiping work is performed,
- the identification means extracts a feature amount from the time-series data included in the obtained temperature data string, and a degree of similarity between the extracted feature amount and the feature amount stored in the storage unit for each type of wiping work. 3.
- the work type identification device according to appendix 1 or 2 wherein the type of wiping work performed on the target area is identified based on.
- Appendix 4 3.
- the identification means is a model trained to output data representing the type of wiping work performed on an area of the object in response to input of data representing a time change in temperature of the area of the object; 3.
- the work type identification device according to appendix 1 or 2 wherein the type of wiping work performed on the target area is identified by inputting time-series data included in the acquired temperature data string into the model.
- the model is provided for each type or material of the target object or the target region, or The work type identification device according to appendix 5, wherein the data input to the model includes data representing the type or material of the target object or target region.
- the acquisition means acquires the temperature data string for each of the plurality of target objects,
- the identifying means identifies, for each of the plurality of target objects, a type of wiping work performed on the target area of the target object; 7.
- a control method implemented by a computer comprising: an acquiring step of acquiring a temperature data string representing temporal changes in temperature of a target area of a target object to be wiped; and a identifying step of identifying the type of wiping operation performed on the target area based on the change in temperature of the target area over time indicated by the temperature data string.
- Appendix 9 9. The control method according to appendix 8, wherein the types of wiping operations include at least two of wiping operations performed using alcohol, wet wiping, and dry wiping.
- the storage unit stores in advance a feature amount of time-series data representing temporal changes in the temperature of the area where the type of wiping work is performed, In the identification step, a feature amount is extracted from the time-series data included in the acquired temperature data string, and a degree of similarity between the extracted feature amount and the feature amount stored in the storage unit for each type of wiping work. 10.
- the control method according to appendix 10 wherein the feature amount stored in the storage unit is determined for each type or material of the target object or target region.
- the computer has a model trained to output data representing the type of wiping operation performed on an area of the object in response to input of data representing changes in temperature of the area of the object over time. death, 10.
- the model is provided for each type or material of the target object or the target region, or 13.
- the control method according to appendix 12, wherein the data input to the model includes data representing the type or material of the target object or target region.
- Appendix 14 obtaining the temperature data string for each of the plurality of target objects in the obtaining step; In the identification step, for each of the plurality of target objects, the type of wiping work performed on the target area of the target object is specified; 14.
- Appendix 15 an acquiring step of acquiring a temperature data string representing temporal changes in temperature of a target area of a target object to be wiped; a program for causing a computer to execute an identifying step of identifying the type of wiping work performed on the target area based on the temporal change in the temperature of the target area indicated by the temperature data string; non-transitory computer-readable medium.
- Appendix 16 16. The computer-readable medium of Clause 15, wherein the types of wiping include at least two of alcoholic wiping, wet wiping, and dry wiping.
- the storage unit stores in advance a feature amount of time-series data representing temporal changes in the temperature of the area where the type of wiping work is performed, In the identification step, a feature amount is extracted from the time-series data included in the acquired temperature data string, and a degree of similarity between the extracted feature amount and the feature amount stored in the storage unit for each type of wiping work. 17.
- the computer-readable medium of Clause 15 or 16 wherein the type of wiping operation performed on the target area is determined based on.
- Appendix 18 18. The computer-readable medium according to appendix 17, wherein the feature quantity stored in the storage unit is determined for each type or material of the target object or target region.
- Appendix 19 including a model trained to output data representing the type of wiping performed on an area of the object in response to input of data representing changes in temperature over time of an area of the object; 17.
- computer readable medium (Appendix 20)
- the model is provided for each type or material of the target object or the target region, or 20.
- the computer-readable medium of Clause 19, wherein data input to the model includes data representing a type or material of the target object or target region.
- Appendix 21 obtaining the temperature data string for each of the plurality of target objects in the obtaining step; In the identification step, for each of the plurality of target objects, the type of wiping work performed on the target area of the target object is specified; 21.
Abstract
Description
本実施形態の作業種類識別装置2000によれば、拭き作業の対象である対象物体10の対象領域12について、その温度の時間変化を表す温度データ列40が取得される。そして、温度データ列40を利用して、対象領域12に対して行われた拭き作業の種類が特定される。このようにすることで、対象領域12に対して行われた拭き作業の種類を容易に把握することができる。
図2は、実施形態1の作業種類識別装置2000の機能構成を例示するブロック図である。作業種類識別装置2000は、取得部2020及び識別部2040を有する。取得部2020は、対象物体10の対象領域12における温度の時間変化を表す温度データ列40を取得する。識別部2040は、温度データ列40によって表される対象領域12の温度の時間変化に基づいて、対象領域12に対して行われた拭き作業の種類を特定する。
作業種類識別装置2000の各機能構成部は、各機能構成部を実現するハードウエア(例:ハードワイヤードされた電子回路など)で実現されてもよいし、ハードウエアとソフトウエアとの組み合わせ(例:電子回路とそれを制御するプログラムの組み合わせなど)で実現されてもよい。以下、作業種類識別装置2000の各機能構成部がハードウエアとソフトウエアとの組み合わせで実現される場合について、さらに説明する。
図4は、実施形態1の作業種類識別装置2000によって実行される処理の流れを例示するフローチャートである。取得部2020は、温度データ列40を取得する(S102)。識別部2040は、温度データ列40を用いて、対象領域12に対して行われた拭き作業の種類を特定する(S104)。
前述したように、温度データ列40は、温度データ42の時系列データである。温度データ42は、特定の時点における対象領域12の温度を示す。温度データ42は、温度センサ30によって生成される。
取得部2020は温度データ列40を取得する(S102)。取得部2020が温度データ列40を取得する方法は様々である。例えば温度センサ30が、温度の測定を行って温度データ42を生成し、その温度データ42を記憶部に格納するとする。この場合、取得部2020は、上記記憶部に対して繰り返しアクセスすることで、上記記憶部に新たに格納された温度データ42を取得する。このように温度センサ30によって生成された温度データ42を複数取得することにより、温度データ列40を取得することができる。ただし、取得部2020は、記憶部に格納された複数の温度データ42をまとめて取得することにより、一度のアクセスで温度データ列40を取得してもよい。
識別部2040は、温度データ列40を利用して、対象領域12に対して行われた拭き作業の種類を特定する(S104)。例えば識別部2040は、温度データ列40から、所定の長さごとの複数の部分データ列を抽出し、部分データ列ごとに、その部分データ列に対応する時間に対象領域12に対して行われた拭き作業の種類を特定する。なお、隣接する部分データ列はその一部が互いに重複していてもよい。
この方法では、拭き作業の種類ごとに予め、その種類の拭き作業が行われた領域の温度の時系列データについて特徴量を定めておく。すなわち、「拭き作業の種類、拭かれた領域の温度の時系列データの特徴量」という対応付けを予め作成しておく。例えば、アルコール拭きと水拭きでは、拭き始めに温度が低下し、その後に温度が上昇していくと考えられる。一方、乾拭きでは、温度があまり変化しないと考えられる。また、アルコールは水と比較して早く蒸発するため、アルコール拭きの場合の温度変化は、水拭きの場合の温度変化よりも早いと考えられる。言い換えれば、アルコール拭きされた領域の方が、水拭きされた領域よりも早く常温に戻ると考えられる。このように、拭かれた領域における温度の時間変化の特徴は、拭き作業の種類によって異なると考えられる。よって、拭き作業の種類ごとに、温度の時系列データの特徴量を定めることができる。
この方法では、学習済みの識別モデル(以下、作業種類識別モデル)が利用される。作業種類識別モデルは、温度の時系列データが入力されたことに応じ、拭き作業の種類を示すラベルを出力するように、予め学習されている。作業種類識別モデルには、RNN(Recurrent Neural Network)など、時系列データを扱うことができる任意の種類のモデルを利用することができる。
以下、作業種類識別装置2000の理解をより容易にするために、作業種類識別装置2000の利用シーンの具体例を説明する。なお、以下で説明するのはあくまで利用シーンの例であり、作業種類識別装置2000の利用シーンは以下で説明する例に限定されない。
(付記1)
拭き作業が行われる対象物体の対象領域について、その対象領域の温度の時間変化を表す温度データ列を取得する取得手段と、
前記温度データ列によって示されている前記対象領域の温度の時間変化に基づいて、前記対象領域に対して行われた拭き作業の種類を特定する識別手段と、を有する作業種類識別装置。
(付記2)
拭き作業の種類には、アルコールを利用して行われた拭き作業、水拭き、及び乾拭きのうちの少なくとも2つが含まれる、付記1に記載の作業種類識別装置。
(付記3)
各種類の拭き作業について、その種類の拭き作業が行われた領域の温度の時間変化を表す時系列データの特徴量が予め記憶部に格納されており、
前記識別手段は、前記取得した温度データ列に含まれる時系列データから特徴量を抽出し、前記抽出した特徴量と各種類の拭き作業について前記記憶部に格納されている特徴量との類似度合いに基づいて、前記対象領域に対して行われた拭き作業の種類を特定する、付記1又は2に記載の作業種類識別装置。
(付記4)
前記記憶部に格納されている特徴量は、前記対象物体又は前記対象領域の種類又は材質ごとに定められている、付記3に記載の作業種類識別装置。
(付記5)
前記識別手段は、
物体の領域の温度の時間変化を表すデータが入力されたことに応じて、その領域に対して行われた拭き作業の種類を表すデータを出力するように学習されたモデルを有し、
前記取得した温度データ列に含まれる時系列データを前記モデルに入力することで、前記対象領域に対して行われた拭き作業の種類を特定する、付記1又は2に記載の作業種類識別装置。
(付記6)
前記モデルは、前記対象物体又は前記対象領域の種類又は材質ごとに設けられているか、又は、
前記モデルに対して入力されるデータには、前記対象物体又は前記対象領域の種類又は材質を表すデータが含まれる、付記5に記載の作業種類識別装置。
(付記7)
前記取得手段は、複数の前記対象物体それぞれについて、前記温度データ列を取得し、
前記識別手段は、複数の前記対象物体それぞれについて、その対象物体の前記対象領域に対して行われた拭き作業の種類を特定し、
各前記対象物体に対して特定の種類の拭き作業が行われたか否かを把握可能な表示を、前記対象物体を表す画像と共に出力する出力手段を有する、付記1から6いずれか一項に記載の作業種類識別装置。
(付記8)
コンピュータによって実行される制御方法であって、
拭き作業が行われる対象物体の対象領域について、その対象領域の温度の時間変化を表す温度データ列を取得する取得ステップと、
前記温度データ列によって示されている前記対象領域の温度の時間変化に基づいて、前記対象領域に対して行われた拭き作業の種類を特定する識別ステップと、を有する制御方法。
(付記9)
拭き作業の種類には、アルコールを利用して行われた拭き作業、水拭き、及び乾拭きのうちの少なくとも2つが含まれる、付記8に記載の制御方法。
(付記10)
各種類の拭き作業について、その種類の拭き作業が行われた領域の温度の時間変化を表す時系列データの特徴量が予め記憶部に格納されており、
前記識別ステップにおいて、前記取得した温度データ列に含まれる時系列データから特徴量を抽出し、前記抽出した特徴量と各種類の拭き作業について前記記憶部に格納されている特徴量との類似度合いに基づいて、前記対象領域に対して行われた拭き作業の種類を特定する、付記8又は9に記載の制御方法。
(付記11)
前記記憶部に格納されている特徴量は、前記対象物体又は前記対象領域の種類又は材質ごとに定められている、付記10に記載の制御方法。
(付記12)
前記コンピュータは、物体の領域の温度の時間変化を表すデータが入力されたことに応じて、その領域に対して行われた拭き作業の種類を表すデータを出力するように学習されたモデルを有し、
前記識別ステップにおいて、前記取得した温度データ列に含まれる時系列データを前記モデルに入力することで、前記対象領域に対して行われた拭き作業の種類を特定する、付記8又は9に記載の制御方法。
(付記13)
前記モデルは、前記対象物体又は前記対象領域の種類又は材質ごとに設けられているか、又は、
前記モデルに対して入力されるデータには、前記対象物体又は前記対象領域の種類又は材質を表すデータが含まれる、付記12に記載の制御方法。
(付記14)
前記取得ステップにおいて、複数の前記対象物体それぞれについて、前記温度データ列を取得し、
前記識別ステップにおいて、複数の前記対象物体それぞれについて、その対象物体の前記対象領域に対して行われた拭き作業の種類を特定し、
各前記対象物体に対して特定の種類の拭き作業が行われたか否かを把握可能な表示を、前記対象物体を表す画像と共に出力する出力ステップを有する、付記8から13いずれか一項に記載の制御方法。
(付記15)
拭き作業が行われる対象物体の対象領域について、その対象領域の温度の時間変化を表す温度データ列を取得する取得ステップと、
前記温度データ列によって示されている前記対象領域の温度の時間変化に基づいて、前記対象領域に対して行われた拭き作業の種類を特定する識別ステップと、をコンピュータに実行させるプログラムが格納されている非一時的なコンピュータ可読媒体。
(付記16)
拭き作業の種類には、アルコールを利用して行われた拭き作業、水拭き、及び乾拭きのうちの少なくとも2つが含まれる、付記15に記載のコンピュータ可読媒体。
(付記17)
各種類の拭き作業について、その種類の拭き作業が行われた領域の温度の時間変化を表す時系列データの特徴量が予め記憶部に格納されており、
前記識別ステップにおいて、前記取得した温度データ列に含まれる時系列データから特徴量を抽出し、前記抽出した特徴量と各種類の拭き作業について前記記憶部に格納されている特徴量との類似度合いに基づいて、前記対象領域に対して行われた拭き作業の種類を特定する、付記15又は16に記載のコンピュータ可読媒体。
(付記18)
前記記憶部に格納されている特徴量は、前記対象物体又は前記対象領域の種類又は材質ごとに定められている、付記17に記載のコンピュータ可読媒体。
(付記19)
物体の領域の温度の時間変化を表すデータが入力されたことに応じて、その領域に対して行われた拭き作業の種類を表すデータを出力するように学習されたモデルが含まれており、
前記識別ステップにおいて、前記取得した温度データ列に含まれる時系列データを前記モデルに入力することで、前記対象領域に対して行われた拭き作業の種類を特定する、付記15又は16に記載のコンピュータ可読媒体。
(付記20)
前記モデルは、前記対象物体又は前記対象領域の種類又は材質ごとに設けられているか、又は、
前記モデルに対して入力されるデータには、前記対象物体又は前記対象領域の種類又は材質を表すデータが含まれる、付記19に記載のコンピュータ可読媒体。
(付記21)
前記取得ステップにおいて、複数の前記対象物体それぞれについて、前記温度データ列を取得し、
前記識別ステップにおいて、複数の前記対象物体それぞれについて、その対象物体の前記対象領域に対して行われた拭き作業の種類を特定し、
各前記対象物体に対して特定の種類の拭き作業が行われたか否かを把握可能な表示を、前記対象物体を表す画像と共に出力する出力ステップを有する、付記15から20いずれか一項に記載のコンピュータ可読媒体。
12 対象領域
30 温度センサ
40 温度データ列
42 温度データ
50 部分データ列
60 テーブル
70 状態表示
80 状態表示
100 閲覧画面
500 コンピュータ
502 バス
504 プロセッサ
506 メモリ
508 ストレージデバイス
510 入出力インタフェース
512 ネットワークインタフェース
2000 作業種類識別装置
2020 取得部
2040 識別部
Claims (21)
- 拭き作業が行われる対象物体の対象領域について、その対象領域の温度の時間変化を表す温度データ列を取得する取得手段と、
前記温度データ列によって示されている前記対象領域の温度の時間変化に基づいて、前記対象領域に対して行われた拭き作業の種類を特定する識別手段と、を有する作業種類識別装置。 - 拭き作業の種類には、アルコールを利用して行われた拭き作業、水拭き、及び乾拭きのうちの少なくとも2つが含まれる、請求項1に記載の作業種類識別装置。
- 各種類の拭き作業について、その種類の拭き作業が行われた領域の温度の時間変化を表す時系列データの特徴量が予め記憶部に格納されており、
前記識別手段は、前記取得した温度データ列に含まれる時系列データから特徴量を抽出し、前記抽出した特徴量と各種類の拭き作業について前記記憶部に格納されている特徴量との類似度合いに基づいて、前記対象領域に対して行われた拭き作業の種類を特定する、請求項1又は2に記載の作業種類識別装置。 - 前記記憶部に格納されている特徴量は、前記対象物体又は前記対象領域の種類又は材質ごとに定められている、請求項3に記載の作業種類識別装置。
- 前記識別手段は、
物体の領域の温度の時間変化を表すデータが入力されたことに応じて、その領域に対して行われた拭き作業の種類を表すデータを出力するように学習されたモデルを有し、
前記取得した温度データ列に含まれる時系列データを前記モデルに入力することで、前記対象領域に対して行われた拭き作業の種類を特定する、請求項1又は2に記載の作業種類識別装置。 - 前記モデルは、前記対象物体又は前記対象領域の種類又は材質ごとに設けられているか、又は、
前記モデルに対して入力されるデータには、前記対象物体又は前記対象領域の種類又は材質を表すデータが含まれる、請求項5に記載の作業種類識別装置。 - 前記取得手段は、複数の前記対象物体それぞれについて、前記温度データ列を取得し、
前記識別手段は、複数の前記対象物体それぞれについて、その対象物体の前記対象領域に対して行われた拭き作業の種類を特定し、
各前記対象物体に対して特定の種類の拭き作業が行われたか否かを把握可能な表示を、前記対象物体を表す画像と共に出力する出力手段を有する、請求項1から6いずれか一項に記載の作業種類識別装置。 - コンピュータによって実行される制御方法であって、
拭き作業が行われる対象物体の対象領域について、その対象領域の温度の時間変化を表す温度データ列を取得する取得ステップと、
前記温度データ列によって示されている前記対象領域の温度の時間変化に基づいて、前記対象領域に対して行われた拭き作業の種類を特定する識別ステップと、を有する制御方法。 - 拭き作業の種類には、アルコールを利用して行われた拭き作業、水拭き、及び乾拭きのうちの少なくとも2つが含まれる、請求項8に記載の制御方法。
- 各種類の拭き作業について、その種類の拭き作業が行われた領域の温度の時間変化を表す時系列データの特徴量が予め記憶部に格納されており、
前記識別ステップにおいて、前記取得した温度データ列に含まれる時系列データから特徴量を抽出し、前記抽出した特徴量と各種類の拭き作業について前記記憶部に格納されている特徴量との類似度合いに基づいて、前記対象領域に対して行われた拭き作業の種類を特定する、請求項8又は9に記載の制御方法。 - 前記記憶部に格納されている特徴量は、前記対象物体又は前記対象領域の種類又は材質ごとに定められている、請求項10に記載の制御方法。
- 前記コンピュータは、物体の領域の温度の時間変化を表すデータが入力されたことに応じて、その領域に対して行われた拭き作業の種類を表すデータを出力するように学習されたモデルを有し、
前記識別ステップにおいて、前記取得した温度データ列に含まれる時系列データを前記モデルに入力することで、前記対象領域に対して行われた拭き作業の種類を特定する、請求項8又は9に記載の制御方法。 - 前記モデルは、前記対象物体又は前記対象領域の種類又は材質ごとに設けられているか、又は、
前記モデルに対して入力されるデータには、前記対象物体又は前記対象領域の種類又は材質を表すデータが含まれる、請求項12に記載の制御方法。 - 前記取得ステップにおいて、複数の前記対象物体それぞれについて、前記温度データ列を取得し、
前記識別ステップにおいて、複数の前記対象物体それぞれについて、その対象物体の前記対象領域に対して行われた拭き作業の種類を特定し、
各前記対象物体に対して特定の種類の拭き作業が行われたか否かを把握可能な表示を、前記対象物体を表す画像と共に出力する出力ステップを有する、請求項8から13いずれか一項に記載の制御方法。 - 拭き作業が行われる対象物体の対象領域について、その対象領域の温度の時間変化を表す温度データ列を取得する取得ステップと、
前記温度データ列によって示されている前記対象領域の温度の時間変化に基づいて、前記対象領域に対して行われた拭き作業の種類を特定する識別ステップと、をコンピュータに実行させるプログラムが格納されている非一時的なコンピュータ可読媒体。 - 拭き作業の種類には、アルコールを利用して行われた拭き作業、水拭き、及び乾拭きのうちの少なくとも2つが含まれる、請求項15に記載のコンピュータ可読媒体。
- 各種類の拭き作業について、その種類の拭き作業が行われた領域の温度の時間変化を表す時系列データの特徴量が予め記憶部に格納されており、
前記識別ステップにおいて、前記取得した温度データ列に含まれる時系列データから特徴量を抽出し、前記抽出した特徴量と各種類の拭き作業について前記記憶部に格納されている特徴量との類似度合いに基づいて、前記対象領域に対して行われた拭き作業の種類を特定する、請求項15又は16に記載のコンピュータ可読媒体。 - 前記記憶部に格納されている特徴量は、前記対象物体又は前記対象領域の種類又は材質ごとに定められている、請求項17に記載のコンピュータ可読媒体。
- 物体の領域の温度の時間変化を表すデータが入力されたことに応じて、その領域に対して行われた拭き作業の種類を表すデータを出力するように学習されたモデルが含まれており、
前記識別ステップにおいて、前記取得した温度データ列に含まれる時系列データを前記モデルに入力することで、前記対象領域に対して行われた拭き作業の種類を特定する、請求項15又は16に記載のコンピュータ可読媒体。 - 前記モデルは、前記対象物体又は前記対象領域の種類又は材質ごとに設けられているか、又は、
前記モデルに対して入力されるデータには、前記対象物体又は前記対象領域の種類又は材質を表すデータが含まれる、請求項19に記載のコンピュータ可読媒体。 - 前記取得ステップにおいて、複数の前記対象物体それぞれについて、前記温度データ列を取得し、
前記識別ステップにおいて、複数の前記対象物体それぞれについて、その対象物体の前記対象領域に対して行われた拭き作業の種類を特定し、
各前記対象物体に対して特定の種類の拭き作業が行われたか否かを把握可能な表示を、前記対象物体を表す画像と共に出力する出力ステップを有する、請求項15から20いずれか一項に記載のコンピュータ可読媒体。
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