Information processing system, information processing method, and program

Abstract

To provide an information processing system capable of more accurately arranging a predetermined space.SOLUTION: The information processing system 10 includes an object information acquisition unit 331, a difference information acquisition unit 332, and a notification unit 333. The object information acquisition unit 331 acquires the current position of each movable object relative to the background object. The difference information acquisition unit 332 calculates a first difference value that is a difference between the current position and the initial position of the movable object. When the first difference value satisfies the predetermined condition, the notification unit 333 executes a process of transmitting a notification to prompt the user to return the movable object to the initial position.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an information processing system, an information processing method, and a program. [Background technology]

[0002] A conventional robot is disclosed in Patent Document 1. This robot automatically cleans a room, for example. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-38894 Summary of the Invention [Problem to be solved by the invention]

[0004] Although the robot described in Patent Document 1 is capable of removing trash from a room, it is unable to organize the clutter in the room, and there is room for improvement in this regard.

[0005] The present invention has been made in view of the above circumstances, and its purpose is to provide an information processing system, an information processing method, and a program that are capable of more accurately tidying up a specified space. [Means for solving the problem]

[0006] An information processing system that solves the above problem includes a storage unit, an object information acquisition unit, a difference information acquisition unit, and a return processing unit. The storage unit stores information on the initial position of a movable object relative to a background object in a predetermined space. The object information acquisition unit acquires information on the current position of the movable object relative to the background object. The difference information acquisition unit calculates a first difference value that is the difference between the current position of the movable object and the initial position of the movable object. The return processing unit executes return processing to return the movable object to its initial position when the first difference value satisfies a predetermined condition.

[0007] In an information processing method that solves the above problem, a computer acquires information on the initial position of a movable object relative to a background object in a specified space from a memory unit, acquires information on the current position of the movable object relative to the background object from a sensor, calculates a first difference value that is the difference between the current position of the movable object and the initial position of the movable object, and if the first difference value satisfies a specified condition, executes a return process to return the movable object to its initial position.

[0008] A program for solving the above problem causes a computer to acquire information on the initial position of a movable object relative to a background object in a specified space from a memory unit, acquire information on the current position of the movable object relative to the background object from a sensor, calculate a first difference value which is the difference between the current position of the movable object and the initial position of the movable object, and, if the first difference value satisfies a specified condition, execute a return process to return the movable object to its initial position.

[0009] According to these, the movable object can be returned to its initial position, so that a predetermined space can be more accurately tidied up. [Effects of the Invention]

[0010] According to the information processing system, information processing method, and program of the present invention, it is possible to organize a given space more accurately. [Brief explanation of the drawings]

[0011] [Figure 1]FIG. 1 is a block diagram showing a schematic configuration of an information processing system according to a first embodiment. [Figure 2] FIG. 2 is a diagram schematically illustrating an example of a space according to the first embodiment. [Figure 3] FIG. 2 is a diagram schematically illustrating an example of a space according to the first embodiment. [Figure 4] FIG. 2 is a diagram schematically illustrating an example of a space template according to the first embodiment. [Figure 5] FIG. 2 is a diagram showing an example of the operation of the information processing system according to the first embodiment. [Figure 6] 5 is a flowchart showing the procedure of processing executed by an object information acquisition unit, a difference information acquisition unit, and a notification unit according to the first embodiment. [Figure 7] FIG. 1 is a block diagram showing the hardware configuration of a computer according to a first embodiment. [Figure 8] FIG. 10 is a diagram schematically illustrating an example of a space according to a second embodiment. [Figure 9] FIG. 10 is a block diagram showing a schematic configuration of an information processing system according to a second embodiment. [Figure 10] 10 is a flowchart showing the procedure of processing executed by an object information acquisition unit, a difference information acquisition unit, and a return control unit of the second embodiment. [Figure 11] FIG. 10 is a block diagram showing a schematic configuration of an information processing system according to a third embodiment. [Figure 12] FIG. 10 is a diagram showing an example of the operation of the information processing system according to the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, an embodiment of an information processing system, an information processing method, and a program will be described with reference to the drawings. To facilitate understanding of the description, the same components in each drawing are denoted by the same reference numerals as much as possible, and duplicate descriptions will be omitted.

[0013] First Embodiment First, an overview of the information processing system of this embodiment will be described.

[0014] (Outline of information processing system) 1, an information processing system 10 of this embodiment includes an object detection sensor 20, an information processing device 30, and a terminal device 40. The object detection sensor 20, the information processing device 30, and the terminal device 40 are communicably connected to each other via a communication network N10. The communication network N10 includes a mobile phone network, a wireless local area network (LAN), a long term evolution (LTE), a wired LAN, Wi-Fi, Bluetooth (registered trademark), Bluetooth Low Energy (BLE) (registered trademark), UWB (Ultra-Wide Band) communication, and a connection via the cloud by displaying and reading a QR code (registered trademark).

[0015] The object detection sensor 20 is a sensor capable of detecting the positions and shapes of background objects and movable objects within a predetermined space Sa shown in FIG. 2, for example. The object detection sensor 20 may be an infrared camera, an infrared sensor, an acoustic sensor, a visible light camera, or the like. The predetermined space Sa may be, for example, a room in a user's house. The space Sa is partitioned by side walls E11 to E14, a bottom wall E15, and a top wall E16. In FIG. 2, the side walls E11 to E14, the bottom wall E15, and the top wall E16 are indicated by two-dot chain lines. The object detection sensor 20 is fixed to the top wall E16, for example. In this case, the object detection sensor 20 detects, for example, the side walls E11 to E14 and the bottom wall E15 as background objects. Note that background objects are not limited to fixed objects such as the side walls E11 to E14 and the bottom wall E15, but may also include objects that are movable but not usually moved, such as a chest of drawers in the space Sa. Hereinafter, the side walls E11 to E14 and the bottom wall E15 will also be referred to as "background objects E11 to E15." The object detection sensor 20 detects, as movable objects, for example, objects E21 to E23 that are displaceable relative to the background objects E11 to E15. The objects E21 to E23 are objects that exist in the room R10 and that can be carried by the user, such as a chair or a toy box that exists in the room R10. Hereinafter, the objects E21 to E23 will also be referred to as "movable objects E21 to E23." The object detection sensor 20 detects the positions of the background objects E11 to E15 and the movable object E21, and transmits information on the detected positions to the information processing device 30.

[0016] In this embodiment, a sensor coordinate system and a background coordinate system are used as coordinate systems that represent the position of an object. The position information of the sensor coordinate system is position information of a three-dimensional coordinate system based on the object detection sensor 20, and is expressed, for example, by position information on the Xs-axis, Ys-axis, and Zs-axis shown in FIG. 1. The origin of the sensor coordinate system is set, for example, at a predetermined location on the object detection sensor 20. The position information of the background coordinate system is position information of a three-dimensional coordinate system based on the background objects E11 to E15, and is expressed, for example, by position information on the Xb-axis, Yb-axis, and Zb-axis shown in the figure. The origin of the background coordinate system is set, for example, at the bottom of any corner C of the background objects E11 to E15.

[0017] The information processing device 30 monitors the positions of the background objects E11 to E15 and the movable objects E21 to E23 present in the predetermined space Sa, based on the information on the positions of the background objects E11 to E15 and the movable objects E21 to E23 transmitted from the object detection sensor 20. For example, when the movable object E21 is displaced from the position indicated by the dashed line in Fig. 3 to the position indicated by the solid line by being carried by the user, the information processing device 30 detects such displacement of the movable object E21. After the movable object E21 has displaced from the position indicated by the solid line to the position indicated by the two-dot chain line, for example, if this state continues for a predetermined time, the information processing device 30 transmits to the terminal device 40 an order instruction notice urging the user to return the movable object E21 to the position indicated by the solid line.

[0018] The terminal device 40 is a device used by a user. The terminal device 40 is a wearable device such as a smartwatch, a smartphone, a tablet terminal, or the like that can communicate with the information processing device 30. The user can view various information transmitted from the information processing device 30 by operating the terminal device 40. For example, when a tidying instruction notification is transmitted from the information processing device 30 to the terminal device 40, the content of the notification is displayed on the terminal device 40. By viewing the content of the notification displayed on the terminal device 40, the user returns the movable object E21 from the position indicated by the two-dot chain line to the position indicated by the solid line in FIG. 3. As a result, the room R10 can be tidy.

[0019] (Configuration of information processing device) Next, a specific description will be given of the configuration of the information processing device 30. As shown in FIG.

[0020] The communication unit 31 transmits and receives various information to and from the terminal device 40 via the communication network N10.

[0021] The storage unit 32 stores various types of information held by the information processing device 30. For example, the storage unit 32 stores various programs for operating the information processing device 30. The storage unit 32 also stores a space template 320.

[0022] The space template 320 is a template of various pieces of information about the background objects E11 to E15 and the movable objects E21 to E23 in the space Sa. For example, as shown in Fig. 4, the space template 320 stores, for each of the background objects E11 to E15 and the movable objects E21 to E23, identification information IDa11 to IDa15, IDb21 to IDb23, information about object type flags Fa11 to Fa15, Fb21 to Fb23, and information about initial positions Pa11 to Pa15, Pb21 to Pb23, all of which are associated with one another.

[0023] The identification information IDa11 to IDa15 and IDb21 to IDb23 are identifiers individually assigned to the respective objects.

[0024] The object type flags Fa11 to Fa15 and Fb21 to Fb23 indicate whether the target object is a background object or a movable object. In this embodiment, the object type flag Fa is used as a flag attached to a background object, and the object type flag Fb is used as a flag attached to a movable object. Therefore, when the object type flags Fa11 to Fa15 are associated with the objects E11 to E15, respectively, as shown in FIG. 4, it indicates that the objects E11 to E15 are "background objects." Furthermore, when the object type flags Fb21 to Fb23 are associated with the objects E21 to E23, respectively, as shown in FIG. 4, it indicates that the objects E21 to E23 are "movable objects." Hereinafter, the object type flags Fa, Fa11 to Fa15 will also be referred to as "background object flags Fa, Fa11 to Fa15", and the object type flags Fb, Fb21 to Fb23 will also be referred to as "movable object flags Fb, Fb21 to Fb23".

[0025] The information on the initial position Pa11 of the background object E11 includes, for example, position information in a sensor coordinate system that can identify the outline of the background object E11. The same applies to the initial positions Pa12 to Pa15 of the other background objects E12 to E15, respectively.

[0026] The information on the initial position Pb21 of the movable object E21 includes, for example, position information in a background coordinate system that can identify the outer shape of the movable object E21, and position information in the background coordinate system of a representative point of the movable object E21. As the representative point of the movable object E21, for example, as shown in Fig. 2, a center point P30 of the movable object E21 or a predetermined point P40 located on the outer surface of the movable object E21 is used. The same applies to the initial positions Pb22 and Pb23 of the other movable objects E22 and E23.

[0027] The spatial template 320 may include basic information about the background coordinate system. The basic information about the background coordinate system may include, for example, information about the position of the origin of the background coordinate system relative to the sensor coordinate system, and information about the directions of the Xb, Yb, and Zb axes. This information may be defined based on, for example, the initial positions Pa11 to Pa15 of the background objects E11 to E15 in the sensor coordinate system. For example, the position of the origin of the background coordinate system and the directions of the Xb, Yb, and Zb axes may be defined using the relative distances from the initial positions Pa11 to Pa15 of the background objects E11 to E15 relative to the sensor coordinate system, or the relative directions of the background objects E11 to E15 with respect to the initial positions Pa11 to Pa15.

[0028] Furthermore, the space template 320 may further include information regarding the relative distances between the background objects E11 to E15 and the movable objects E21 to E23.

[0029] 1 controls the information processing device 30. The control unit 33 has, as functions realized by executing a program stored in the storage unit 32, a template registration unit 330, an object information acquisition unit 331, a difference information acquisition unit 332, and a notification unit 333.

[0030] The template registration unit 330 creates the space template 320 and stores the created space template 320 in the storage unit 32. Figure 5 shows an example of the procedure of processing executed by the template registration unit 330.

[0031] As shown in Figure 5, in the information processing system 10 of this embodiment, after a user constructs a space Sa such as that shown in Figure 2 that the user wishes to register as a space template 320, when the user performs a registration operation on the terminal device 40, the terminal device 40 notifies the information processing device 30 that the registration operation has been performed (step S10).

[0032] When the template registration unit 330 of the information processing device 30 receives a notification that a registration operation has been performed (step S20), it executes a process of creating a space template 320. Specifically, the template registration unit 330 first acquires detection information of the space Sa using the object detection sensor 20 (step S21). The detection information includes image information, infrared image information, and sonic image information of the space Sa. Next, the template registration unit 330 detects multiple objects present in the space Sa based on the detection information of the space Sa (step S22) and acquires position information of each of the detected objects in a sensor coordinate system (step S23). For example, if the detection information of the space Sa is image information, the template registration unit 330 applies predetermined image processing to the image information to detect multiple objects present in the image and calculates position information of each of the detected objects in a sensor coordinate system. In addition, the template registration unit 330 assigns unique identification information to each of the detected objects (step S24).

[0033] Next, the template registration unit 330 transmits image information of the space Sa detected by the object detection sensor 20 to the terminal device 40 (step S25). The image information of the space Sa is, for example, three-dimensional image information that enables the respective positions of multiple detected objects to be identified. When the terminal device 40 receives the image information of the space Sa transmitted from the information processing device 30 (step S11), it displays the image information on the screen (step S12). When the user performs an operation on this screen to select a predetermined detected object as a background object, the terminal device 40 transmits to the information processing device 30 a notification that the predetermined detected object has been selected as the background object (step S13). As a result, when the template registration unit 330 of the information processing device 30 receives the notification that the predetermined detected object has been selected as the background object (step S26), it associates a background object flag Fa with the identification information of the predetermined detected object selected as the background object (step S27).

[0034] On the other hand, when the user performs an operation to select a predetermined detected object as a movable object on the screen displaying image information of space Sa, terminal device 40 transmits to information processing device 30 a message that the predetermined detected object has been selected as a movable object (step S14). When template registration unit 330 of information processing device 30 receives the message that the predetermined detected object has been selected as a movable object (step S28), it associates a movable object flag Fb with the identification information of the predetermined object selected as the movable object (step S29).

[0035] Once the above flagging operation has been performed on all detected objects, the template registration unit 330 executes a templating process to generate a spatial template 320 (step S30). For example, the template registration unit 330 sets a background coordinate system based on the position information of each of one or more detected objects that have been assigned a background object flag Fa. The template registration unit 330 also converts the position information in the sensor coordinate system of one or more detected objects that have been assigned a movable object flag Fb into position information in the background coordinate system. The template registration unit 330 then creates a spatial template 320 as shown in FIG. 4, in which the identification information, object type flag, and position information of each of the multiple detected objects are associated with each other. The template registration unit 330 then stores the generated spatial template 320 in the storage unit 32 (step S31). This completes the registration of the spatial template 320.

[0036] When any of the movable objects E21 to E23 has moved from its initial position Pb21 to Pb23, the object information acquisition unit 331, the difference information acquisition unit 332, and the notification unit 333 of the control unit 33 shown in Fig. 1 execute a process for prompting the user to return the moving movable object to its initial position. Fig. 6 shows an example of the procedure of the process executed by the object information acquisition unit 331, the difference information acquisition unit 332, and the notification unit 333. The process shown in Fig. 6 is repeatedly executed by the control unit 33 at a predetermined cycle.

[0037] 6, the object information acquisition unit 331 first acquires detection information of the space Sa using the object detection sensor 20 (step S40), and then detects a plurality of objects present in the space Sa based on the acquired detection information of the space Sa (step S41). The control unit 33 also acquires information on the current position of each of the detected objects in the sensor coordinate system (step S42). Note that the processes of steps S40 to S42 are the same as or similar to the processes of steps S21 to S23 shown in FIG. 5, and therefore detailed descriptions of these processes will be omitted.

[0038] Next, the object information acquisition unit 331 determines whether the multiple detected objects are background objects or movable objects (step S43). For example, the object information acquisition unit 331 determines which of the multiple detected objects are background objects E11 to E15 by comparing the current positions of the sensor coordinate system of each of the multiple detected objects with the initial positions Pb21 to Pb23 of the sensor coordinate system of each of the background objects E11 to E15 included in the space template 320 stored in the storage unit 32. As an example, the object information acquisition unit 331 determines that a specific detected object is background object E11 when the current position of the sensor coordinate system of the specific detected object matches or is similar to the initial position Pb21 of the sensor coordinate system of background object E11. After determining the background objects E11 to E15 in this way, the object information acquisition unit 331 further determines that the detected objects other than the objects determined to be background objects E11 to E15 are movable objects E21 to E23.

[0039] Next, the object information acquisition unit 331 calculates information on the current position of each of the single or multiple movable objects in the background coordinate system (step S44). For example, the object information acquisition unit 331 sets a background coordinate system based on the current positions of the sensor coordinate systems of the background objects E11 to E15, and then converts the position information of each of the sensor coordinate systems of the multiple detected objects determined to be movable objects E21 to E23 into position information of the background coordinate system.

[0040] Next, the difference information acquisition unit 332 calculates a first difference value ΔD11 between the initial positions Pb21 to Pb23 and the current positions Pc21 to Pc23 of the movable objects E21 to E23 in the background coordinate system (step S45). For example, if the initial position Pb21 of the representative point of the movable object E21 is "P30" shown in Fig. 1 and the current position Pc21 of the representative point of the movable object E21 is "P31" shown in Fig. 2, the difference information acquisition unit 332 calculates the distance between the initial position Pb30 and the current position P31 as the first difference value ΔD11.

[0041] 6, the notification unit 333 determines whether the first difference value ΔD11 satisfies a predetermined condition (step S46). As the predetermined condition, for example, any one of the following conditions (a1) to (a3) ​​can be used.

[0042] (a1) The state in which the first difference value ΔD11 is equal to or greater than the threshold value Dth continues for a predetermined time or longer.

[0043] (a2) The first difference value ΔD11 is equal to or greater than the threshold value Dth, and the user is out of the house.

[0044] (a3) The first difference value ΔD11 is equal to or greater than the threshold value Dth, and the current time period is a predetermined time period.

[0045] The predetermined time may be set to a different value for each of the movable objects E21 to E23. The predetermined time period is set by the user, for example, to a time period on a holiday or the like.

[0046] If the first difference value ΔD11 satisfies the predetermined condition (step S46: YES), the notification unit 333 transmits an order instruction notification to the terminal device 40 to prompt the user to return the movable object E21 to the initial position P20 (step S47). The order instruction notification may be message information including only a request instructing the user to return the movable object E21 to the initial position P20, or may be guidance information including a screen or the like that navigates the user's actions to return the movable object E21 to the initial position P20. In this embodiment, the notification process to the user is an example of a return process for returning the movable object E21 to the initial position P20. The notification unit 333 is an example of a return processing unit that executes the return process.

[0047] If the first difference value ΔD11 does not satisfy the predetermined condition (step S46: NO), the notification unit 333 temporarily ends the process shown in FIG. 6 without sending an order instruction notification to the user.

[0048] (Hardware configuration of information processing device) Next, a description will be given of an example of a hardware configuration when a computer is used to realize the information processing device 30. Note that the functions of the information processing device 30 can also be realized by dividing them into multiple devices.

[0049] As shown in FIG. 7, a computer 70 includes a processor 700 , a storage device 702 , an input I / F 704 , a data I / F 706 , a communication I / F 708 , and a display device 710 .

[0050] The processor 700 controls various processes in the computer 70 by executing programs stored in the storage device 702. For example, each functional unit of the control unit 33 of the information processing device 30 can be realized by the processor 700 executing the programs stored in the storage device 702.

[0051] The storage device 702 is a storage medium such as a RAM (Random Access Memory), etc. The RAM temporarily stores the program code of the program executed by the processor 700 and data required when the program is executed.

[0052] The storage device 702 may be a non-volatile storage medium such as a hard disk drive (HDD) or flash memory. The storage device 702 stores an operating system and various programs for implementing the above-mentioned configurations. The storage medium storing the various programs may be a non-transitory computer-readable medium that can be read by the computer 70. In addition, the storage device 702 may store a table that registers various information and a DB that manages the table. Such programs and data are loaded into the storage device 702 as needed and referenced by the processor 700.

[0053] The input I / F 704 is a device for receiving input from a user. Specific examples of the input I / F 704 include a camera, a button, a microphone, a keyboard, a mouse, a touch panel, various sensors, and a wearable device. The input I / F 704 may be connected to the computer 70 via an interface such as a USB (Universal Serial Bus).

[0054] The data I / F 706 is a device for inputting data from outside the computer 70. A specific example of the data I / F 706 is a drive device for reading data stored in various storage media. The data I / F 706 may be provided outside the computer 70. In this case, the data I / F 706 is connected to the computer 70 via an interface such as a USB.

[0055] The communication I / F 708 is a device for performing data communication via a communication network N10, either wired or wirelessly, with devices external to the computer 70. The communication I / F 708 may be provided external to the computer 70. In this case, the communication I / F 708 is connected to the computer 70 via an interface such as a USB.

[0056] The display device 710 is a device for displaying various types of information. Specific examples of the display device 710 include a liquid crystal display, an organic EL (Electro-Luminescence) display, and a display of a wearable device. The display device 710 may be provided outside the computer 70. In this case, the display device 710 is connected to the computer 70 via, for example, a display cable. Furthermore, when a touch panel is adopted as the input I / F 704, the display device 710 can be configured as an integrated part of the input I / F 704.

[0057] Furthermore, the components of the devices included in the information processing system 10 of the above embodiment may be configured such that a program stored in the storage device 702 is executed by the processor 700, thereby realizing a predetermined process in cooperation with other hardware. In other words, these components may be considered as software or firmware, and also as corresponding hardware. Furthermore, these components may be described as "functions," "means," "parts," "processing circuits," "units," or "modules," etc., in both of these concepts, and may be interpreted as such.

[0058] (Actions and Effects of the Information Processing System of the Present Embodiment) As described above, the information processing system 10 of this embodiment includes a storage unit 32, an object information acquisition unit 331, a difference information acquisition unit 332, and a notification unit 333. The storage unit 32 stores the initial positions of the movable objects E21 to E23 in the background coordinate system, in other words, the initial positions of the movable objects E21 to E23 relative to the background objects E11 to E15. The object information acquisition unit 331 acquires the current positions of the movable objects E21 to E23 in the background coordinate system, in other words, the current positions of the movable objects E21 to E23 relative to the background objects E11 to E15. The difference information acquisition unit 332 calculates a first difference value ΔD11, which is the difference between the current positions and the initial positions of the movable objects E21 to E23. If the first difference value ΔD11 satisfies a predetermined condition, the notification unit 333 (return processing unit) executes a process (return process) of transmitting a notification urging the user to return the movable objects E21 to E23 to the initial positions Pb21 to Pb23.

[0059] According to this configuration, the movable objects E21 to E23 can be returned to the initial positions Pb21 to Pb23, so that the predetermined space Sa can be more accurately tidied up.

[0060] The storage unit 32 stores coordinate information for the initial positions Pb21 to Pb23 of each of the movable objects E21 to E23 in the background coordinate system. The object information acquisition unit 331 acquires coordinate information for the current positions Pc21 to Pc23 of each of the movable objects E21 to E23 in the background coordinate system as information for the current positions Pc21 to Pc23 of each of the movable objects E21 to E23. The difference information acquisition unit 332 calculates, as a first difference value ΔD11, the distance between the coordinate information for the initial positions Pb21 to Pb23 of each of the movable objects E21 to E23 in the background coordinate system and the coordinate information for the current positions Pc21 to Pc23 of each of the movable objects E21 to E23 in the background coordinate system.

[0061] According to this configuration, the first difference value ΔD11 can be easily calculated.

[0062] (Variation) Next, a modification of the information processing system 10 of the first embodiment will be described.

[0063] The object detection sensor 20 may further detect the materials, colors, etc. of the background objects E11 to E15 and the movable objects E21 to E23 in the predetermined space Sa. With this configuration, for example, when image information of the space Sa is displayed on the terminal device 40, a screen that reflects the materials, colors, etc. of the background objects E11 to E15 and the movable objects E21 to E23 can be displayed. This allows the user to more appropriately grasp the state of the space Sa when viewing the screen displayed on the terminal device 40, thereby improving user convenience.

[0064] Second Embodiment Next, a second embodiment of the information processing system 10 will be described. The following description will focus on the differences from the information processing system 10 of the first embodiment.

[0065] (Configuration of information processing system) In the information processing system 10 of this embodiment, as shown in Fig. 8, the movable object E21 is capable of autonomous travel. More specifically, the movable object E21 has a plurality of wheels 210. Also, as shown in Fig. 9, the movable object E21 includes a power unit 211 powered by, for example, power supplied from a battery, and a control unit 212 that controls the power unit 211. The control unit 212 drives the power unit 211 to transmit power to the wheels 210, thereby causing the movable object E21 to autonomously travel. The control unit 212 is capable of communicating with the information processing device 30 via the communication network N10.

[0066] 8, the information processing system 10 of this embodiment further includes a robot device 50. The robot device 50 is a device capable of autonomously moving while holding any object such as movable objects E22, E23, etc. The robot device 50 is capable of transmitting information to and from the information processing device 30 via a communication network N10.

[0067] 9, the control unit 33 of the information processing device 30 further includes a return processing unit 334. The return processing unit 334 transmits control signals to the movable object E21 and the robot device 50, thereby executing a return process for returning the movable objects E21 to E23 to their initial positions Pb21 to Pb23.

[0068] Next, an example of the procedure of processing executed by the object information acquisition unit 331, the difference information acquisition unit 332, and the restoration processing unit 334 of the information processing system 10 of this embodiment will be described with reference to Fig. 10. Note that in the processing shown in Fig. 10, the same processes as those shown in Fig. 6 are denoted by the same reference numerals, and redundant explanations will be omitted.

[0069] 10, in the information processing system 10 of this embodiment, if the first difference value ΔD11 satisfies a predetermined condition (step S46: YES), the restoration processing unit 334 executes restoration processing (step S50). The restoration processing is executed, for example, as follows.

[0070] For example, when a first difference value ΔD11, which is a difference between the initial position Pb21 and the current position Pc21 of the movable object E21, satisfies a predetermined condition, the return processing unit 334 calculates a movement route of the movable object E21 in the space Sa that allows the movable object E21 to return from the current position Pc21 to the initial position Pb21, based on the initial position Pb21 in the background coordinate system of the movable object E21 and the first difference value ΔD11, and generates a control signal based on the calculated movement route. Then, the return processing unit 334 transmits the generated control signal to the movable object E21 via the communication network N10. The control unit 212 of the movable object E21 drives the power unit 211 based on this control signal, so that the movable object E21 automatically travels from the current position Pc21 to the initial position Pb21.

[0071] On the other hand, when the first difference value ΔD11, which is the difference between the initial position Pb22 and the current position Pc22 of the movable object E22, satisfies a predetermined condition, the return processing unit 334 calculates a movement route of the movable object E22 in the space Sa that can return the movable object E22 from the current position Pc22 to the initial position Pb22, based on the initial position Pb22 in the background coordinate system of the movable object E22 and the first difference value ΔD11, and generates a control signal based on the calculated movement route in the space Sa. Then, the return processing unit 334 transmits the generated control signal to the robot device 50 via the communication network N10. The robot device 50 is driven based on this control signal. Specifically, the robot device 50 moves to the current position Pc22 of the movable object E22, grasps the movable object E22, and then transports the movable object E22 to the initial position Pb22. In this embodiment, the robot device 50 is an example of a transport device.

[0072] (Actions and Effects of the Information Processing System of the Present Embodiment) As described above, the movable object E21 is an object that can move autonomously. As a return process, the return processing unit 334 instructs the movable object E21 to move to the initial position Pb21. The information processing system 10 further includes a robot device 50 (transport device) that can transport the movable objects E22 and E23. As a return process, the return processing unit 334 instructs the robot device 50 to transport the movable objects E22 and E23 to the initial positions Pb22 and Pb23.

[0073] According to this configuration, the user can return the movable objects E21 to E23 to the initial positions Pb21 to Pb23 without having to move the movable objects E21 to E23 himself, and therefore it is possible to more accurately organize the space Sa.

[0074] Third Embodiment Next, a third embodiment of the information processing system 10 will be described. The following description will focus on differences from the information processing system 10 of the first embodiment.

[0075] (Configuration of information processing system) In the information processing system 10 of this embodiment, as shown in FIG. 11, information processing devices 30a and 30b, terminal devices 40a and 40b, and a server device 60 are connected to each other so as to be able to communicate with each other via a communication network N10.

[0076] The information processing devices 30a and 30b have the same or similar configuration as the information processing device 30 of the first embodiment. The terminal devices 40a and 40b have the same or similar configuration as the terminal device 40 of the first embodiment. The information processing device 30a and the terminal device 40a are used by a first user. The information processing device 30b and the terminal device 40b are used by a second user.

[0077] The server device 60 provides a marketplace on the Internet where space templates can be bought and sold between multiple users for a fee or free of charge. The marketplace provided by the server device 60 can be accessed using at least one of a website, an API (Application Programming Interface), an SDK (Software Development Kit), and an application, for example. In this embodiment, the server device 60 is an example of an external device.

[0078] As shown in FIG. 11, the control unit 33 of the information processing device 30 a further includes a template output unit 335 and a template acquisition unit 336 .

[0079] Based on an instruction from the first user, the template output unit 335 uploads the space template 320a stored in the storage unit 32 to the server device 60, in other words, puts it up for sale on the marketplace. The space template 320a was created by the first user. Hereinafter, the space template 320a will also be referred to as the "first space template 320a."

[0080] The template acquisition unit 336 acquires the space template of another user from the server device 60 when the first user purchases the space template of another user that is put up for sale on the marketplace.

[0081] The control unit 33 of the information processing device 30b also includes a template output unit 335 and a template acquisition unit 336. Hereinafter, the spatial template 320b stored in the storage unit 32 of the information processing device 30b, in other words, the spatial template 320b created by the second user, will also be referred to as the "second spatial template 320b."

[0082] Next, an example of the operation of the information processing system 10 of this embodiment will be described with reference to FIG.

[0083] In the information processing system 10 of this embodiment, when a first user performs an operation on the terminal device 40a to list their own first spatial template 320a on the marketplace, the template output unit 335 of the information processing device 30a transmits the first spatial template 320a stored in the storage unit 32 to the server device 60 (step S60). Upon receiving the first spatial template 320a transmitted from the terminal device 40a (step S70), the server device 60 sells the first spatial template 320a on the marketplace at a predetermined price (step S71). This allows a second user to purchase the first user's first spatial template 320a on the marketplace.

[0084] Subsequently, when the second user performs an operation on the terminal device 40b to purchase the first spatial template 320a being sold on the marketplace, the server device 60 transmits the first spatial template 320a to the information processing device 30b (step S72). As a result, the template acquisition unit 336 of the information processing device 30b acquires the first spatial template 320a transmitted from the server device 60 (step S80), and stores the acquired first spatial template 320a in the storage unit 32 (step S81). This allows the second user to use the first spatial template 320a created by the first user.

[0085] (Actions and Effects of the Information Processing System of the Present Embodiment) As described above, the information processing system 10 of this embodiment further includes the template output unit 335 and the template acquisition unit 336. The template output unit 335 outputs the space template 320 stored in the storage unit 32 to the server device 60 (external device). The template acquisition unit 336 acquires the space template 320 from the server device 60.

[0086] According to this configuration, it becomes possible to exchange the space template 320 between a plurality of users, which can further improve convenience for users.

[0087] (First Modification) Next, a first modified example of the information processing system 10 of the third embodiment will be described.

[0088] In the information processing system 10 of this modified example, instead of exchanging space templates between multiple users via a marketplace, multiple users exchange space templates using P2P (Peer to Peer). This configuration eliminates the need for a marketplace, in other words, the need for a server device 60, making it possible to simplify the configuration of the information processing system 10.

[0089] (Second Modification) Next, a second modification of the information processing system 10 of the third embodiment will be described.

[0090] When the first space Saa used by the first user and the second space Sab used by the second user have the same structure, the second user can use the first space template 320a of the first user as is. However, since the spaces Saa and S11b used by the first and second users, respectively, are usually different from each other, the second user may not be able to use the first space template 320a of the first space Saa as is. In such a case, when the second user uses the first space template 320a, the first space template 320a may be corrected to match the structure of the second space Sab.

[0091] For example, when the information processing device 30b acquires the first spatial template 320a from the server device 60, the object information acquisition unit 331 and the difference information acquisition unit 332 of the control unit 33 of the information processing device 30b execute the following process. First, the object information acquisition unit 331 of the control unit 33 acquires, using the object detection sensor 20, coordinate information of the current position in the sensor coordinate system of a background object present in the second space Sab currently used by the second user. Next, the difference information acquisition unit 332 calculates a second difference value ΔD12, which is the difference between the coordinate information of the initial position of the background object included in the first spatial template 320a and the coordinate information of the current position of the background object in the second space Sab detected by the object information acquisition unit 331. For example, when the first space Saa and the second space Sab have similar shapes, the difference information acquisition unit 332 calculates, as the second difference value ΔD12, the similarity ratio between the coordinate information of the initial position of the background object included in the first spatial template 320a and the coordinate information of the current position of the background object in the second space Sab.

[0092] 11, the control unit 33 of the information processing device 30b further includes a correction unit 337. The correction unit 337 corrects information included in the first spatial template 320a acquired from the server device 60, based on the second difference value ΔD12. For example, the correction unit 337 increases or decreases the coordinate information of the initial positions Pb21 to Pb23 of the movable objects E21 to E23, respectively, based on the similarity ratio, which is the second difference value ΔD12. This makes it possible to convert the first spatial template 320a created by the first user into a spatial template corresponding to the space Sab of the second user.

[0093] <Other embodiments> The present disclosure is not limited to the above specific examples.

[0094] For example, when the movable objects E21 to E23 are equipped with an infrared camera, an infrared sensor, a sonic wave sensor, a visible light camera, or the like, they may be used instead of the object detection sensor 20.

[0095] The configuration of the information processing system 10 of the third embodiment can be used to automatically display products in a store. For example, a space template can be created by using store shelves as background objects and products displayed on the shelves as movable objects, with the position information of the shelves and the products converted into templates. The server device 60 sells this space template on a marketplace as a space template that can increase sales. Such space templates can be used, for example, to increase sales by encouraging customer movement or to improve customer turnover. With this configuration, for example, when the number of products displayed on a specific shelf decreases, a notification can be sent to the user's terminal device 40 prompting the user to display new products on that shelf, thereby more accurately maintaining an appropriate product display state. In this case, for example, if the information processing device 30 further manages product inventory, it can notify the user of the timing of restocking.

[0096] Furthermore, the act of a user displaying products based on a notification to the terminal device 40 can be used, for example, for training on product display in a retail store. By using the configuration of the information processing system 10 of the third embodiment, a space template that enables such training can be sold on a marketplace, making it possible to conduct training at any store, thereby resulting in expected benefits such as reduced training costs. Furthermore, since creating a space template leads to store design, it is possible to realize efficient and optimized store design. Note that the system for automatically displaying products in a store is not limited to the information processing system 10 of the third embodiment, and the information processing systems 10 of the first and second embodiments can also be used.

[0097] The information processing system 10 of each embodiment can be applied to any system, for example, an automatic valet parking system.

[0098] Design modifications made by a person skilled in the art to the above specific examples as appropriate are also included within the scope of the present disclosure as long as they comprise the features of the present disclosure. The elements of each of the above specific examples, as well as their arrangement, conditions, shape, etc., are not limited to those exemplified and can be modified as appropriate. The elements of each of the above specific examples can be combined as appropriate as long as no technical contradictions arise. [Explanation of symbols]

[0099] E11 to E15: background objects, E21 to E23: movable objects, 10: information processing system, 32: memory unit, 40, 40a, 40b: terminal devices, 50: robot device (transport device), 70: computer, 320, 320a, 320b: spatial templates, 331: object information acquisition unit, 332: difference information acquisition unit, 333: notification unit (return processing unit), 334: return processing unit, 335: template output unit, 336: template acquisition unit, 337: correction unit.

Claims

1. a storage unit that stores information on the initial position of a movable object relative to a background object in a predetermined space; an object information acquisition unit that acquires information about a current position of the movable object relative to the background object; a difference information acquisition unit that calculates a first difference value that is a difference between a current position of the movable object and an initial position of the movable object; a return processing unit that executes a return process for returning the movable object to the initial position when the first difference value satisfies a predetermined condition. Information processing system.

2. The return processing unit transmits, as the return processing, a notification to the user's terminal device prompting the user to return the movable object to the initial position. The information processing system according to claim 1 .

3. the movable object is an object that can move autonomously, The return processing unit instructs the movable object to move to the initial position as the return processing. The information processing system according to claim 1 .

4. Further comprising a transport device capable of transporting the movable object; The return processing unit instructs the transport device to transport the movable object to the initial position as the return processing. The information processing system according to claim 1 .

5. the storage unit stores, as information on the initial position of the movable object, coordinate information of the initial position of the movable object relative to the background object; the object information acquisition unit acquires, as information about the current position of the movable object, coordinate information of the current position of the movable object relative to the background object; The difference information acquisition unit calculates, as the first difference value, a distance between coordinate information of an initial position of the movable object and coordinate information of a current position of the movable object. The information processing system according to claim 1 .

6. the storage unit stores a space template in which coordinate information of an initial position of the movable object relative to the background object is converted into a template; The apparatus further includes a template output unit that outputs the spatial template to an external device. The information processing system according to claim 5 .

7. The apparatus further includes a template acquisition unit that acquires, from an external device, a spatial template in which coordinate information of an initial position of the movable object relative to the background object is made into a template. The information processing system according to claim 5 .

8. the spatial template further includes coordinate information of an initial position of the background object; the difference information acquisition unit calculates a second difference value which is a difference between coordinate information of an initial position of the background object included in the spatial template and coordinate information of a current position of the background object detected by the object information acquisition unit; a correction unit that corrects coordinate information of an initial position of the movable object included in the spatial template based on the second difference value; The information processing system according to claim 7 .

9. The storage unit further stores at least one piece of information regarding the shape, material, and color of each of the background object and the movable object. The information processing system according to claim 1 .

10. The computer Acquire information on the initial position of the movable object relative to a background object in a predetermined space from a storage unit; acquiring from a sensor information on the current position of the movable object relative to the background object; calculating a first difference value that is a difference between a current position of the movable object and an initial position of the movable object; If the first difference value satisfies a predetermined condition, a return process is executed to return the movable object to the initial position. Information processing methods.

11. On the computer, acquires information on the initial position of the movable object relative to a background object in a predetermined space from a storage unit; acquiring, from a sensor, information on the current position of the movable object relative to the background object; calculating a first difference value which is a difference between a current position of the movable object and an initial position of the movable object; When the first difference value satisfies a predetermined condition, a return process is executed to return the movable object to the initial position. program.

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