Operation system, operation method and system kitchen

Abstract

To realize a technology that enables operation of an operation target without touching it with a hand.SOLUTION: An operation system (1) includes a force plate (11), sensors (13a, 13b), and a controller (12). The controller (12) executes a first identification process for identifying an operation target on the basis of the motion of a user (U) detected using the sensor (13b), a second identification process for identifying an operation content for the operation target on the basis of the force and moment detected by the force plate (11), and an execution process for causing the operation target to execute the identified operation content.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an operating system, an operating method, and a system kitchen. [Background technology]

[0002] Patent Document 1 describes a technique for remotely controlling appliances such as range hoods, lighting, and foot heaters. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2002-272542 A Summary of the Invention [Problem to be solved by the invention]

[0004] The technology described in Patent Document 1 involves incorporating a remote control transmitter that can remotely control appliances such as range hoods, lighting, and foot heaters into the handles of wall cabinets or floor cabinets. If the remote control transmitter becomes dirty due to dirt from hands or water droplets while cooking, cleaning is required, which is a burden for users. On the other hand, in order to prevent dirt from getting on hands, dirt and water droplets must be wiped off before using home appliances and kitchen equipment, which hinders smooth cooking operations.

[0005] Furthermore, if the worker is working at a location far from the remote control transmitter, he or she will have to go back and forth between the remote control transmitter and the location where the worker is working every time he or she operates the device, which hinders smooth operation.

[0006] Furthermore, the technology of Patent Document 1 only controls the ON / OFF operation of devices, and is not suitable for operating devices such as stoves and faucets, whose strength needs to be controlled.

[0007] One aspect of the present invention has been made in consideration of the above problems, and its purpose is to realize a technology that makes it possible to operate an object to be operated without touching it with the hand. [Means for solving the problem]

[0008] An operation system according to one embodiment of the present invention includes a force plate that detects a force in a first axial direction that intersects with a floor surface, a moment about a second axis along the floor surface, and a moment about a third axis along the floor surface that intersects with the second axis, a sensor, and a controller, and the controller executes a first identification process that identifies an object to be operated based on a user's movement detected using the sensor, a second identification process that identifies an operation content for the object to be operated based on the force and the moment detected by the force plate, and an execution process that causes the object to perform the identified operation content. Effect of the Invention

[0009] According to one aspect of the present invention, it is possible to realize a technology that enables an object to be operated without touching it with a hand. [Brief description of the drawings]

[0010] [Figure 1] 1 is a schematic diagram showing a configuration of an operation system according to an embodiment of the present invention; [Diagram 2] 2 is a block diagram showing a configuration of a controller included in the operation system shown in FIG. 1. [Diagram 3] 3 is a flowchart showing the flow of an operating method implemented by the controller shown in FIG. 2. [Figure 4] 4 is a flowchart showing the flow of a user position identification process included in the operation method shown in FIG. [Diagram 5] 4 is a schematic diagram illustrating the flow of a first identification process in the operation method shown in FIG. 3. [Figure 6]4A is a flow diagram showing a specific example of the flow of a first identification process in the operating method shown in FIG. 3, and FIG. 4B is a flow diagram showing a specific example of the flow of a second identification process in the operating method shown in FIG. [Figure 7] 13 is a diagram showing an example of "user action / operation content correspondence information" for a stove. FIG. [Figure 8] FIG. 11 shows an example of “user action / operation content correspondence information” for an object to be operated other than a stove, where (A) shows “user action / operation content correspondence information” for a faucet, (B) shows “user action / operation content correspondence information” for a refrigerator, and (C) shows “user action / operation content correspondence information” for a microwave oven. [Figure 9] FIG. 4 is a schematic diagram for explaining the flow of user position identification processing after process M118 in the case where there are multiple user candidates on the force plate in the operation method shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] (Operation system configuration) An operation system 1 according to an embodiment of the present invention will be described with reference to Fig. 1. Fig. 1 is a schematic diagram showing the configuration of the operation system 1.

[0012] The operation system 1 is a system for allowing a user U to operate any operation object at any location without touching the operation object with his / her hands. FIG. 1 shows an example in which a system kitchen K is equipped with the operation system 1. The system kitchen K is equipped with a work table 2 integrated with a faucet 3a and a stove 3b, and the operation system 1. In this embodiment, the operation system 1 operates the faucet 3a, the stove 3b, the microwave oven 3c, and the refrigerator 3d as operation objects. Note that the microwave oven 3c and the refrigerator 3d are operation objects operated by the operation system 1, but are not included in the configuration of the system kitchen K.

[0013] 1, the operation system 1 includes a force plate 11, a controller 12, cameras (sensors) 13a and 13b, and a speaker 14. The controller 12 performs wireless communication between the force plate 11, the cameras 13a and 13b, and the speaker 14 without using a network.

[0014] The force plate 11 is placed on a floor surface F at a desired location. In the example shown in FIG. 1, the force plate 11 is placed on the floor surface F of a kitchen. The force plate 11 is an operating means for a user U to operate an object to be operated, and the user U can stand at a desired position on the force plate 11, and by applying force to the force plate 11 to the left, right, front, or rear from the position where the user U is standing as a reference position, the user U can perform an operation on the object to be operated according to the direction and magnitude of the applied force.

[0015] As shown in FIG. 1, the force plate 11 applies a force F in the direction of the Z axis (first axis) intersecting with the floor surface F. Z , moment M about the X-axis (second axis) along the floor surface F X , and the moment M about the Y-axis (third axis) that intersects with the X-axis along the floor surface F Y The Z axis is perpendicular to the floor surface F. The Y axis is perpendicular to the X axis. The X axis and the Y axis may be on the floor surface F. The force plate 11 detects the force F. Z , and moment M X and M. Y The controller 12 transmits a signal including:

[0016] The force plate 11 is the above-mentioned force F Z , moment M X , and moment M Y A known force plate capable of detecting at least the force can be used, and a sensor built into the force plate 11 can be a six-axis force sensor.

[0017] The size of the force plate 11 is not particularly limited, but from the viewpoint of convenience of operation, it is preferable that the force plate 11 has a width at least equal to or greater than the width of the kitchen work table 2 (the longitudinal length of the top plate of the work table 2) so that the user U can operate the operation system 1 no matter where he / she is standing in front of the kitchen work table 2. For example, a force plate 11 having a width of 0.5 to 1.5 m × a vertical width (depth) of 0.5 to 1.5 m can be suitably used.

[0018] The camera 13a is disposed, for example, on the ceiling where the force plate 11 is disposed. The camera 13a generates image data including the user U as a subject, and identifies the position of the user U on the force plate 11 based on the image data. The camera 13a then transmits a signal (position information signal) including information indicating the position of the user U on the force plate 11 to the controller 12. The camera 13a is, for example, a vision sensor. It is preferable that the angle of view of the camera 13a is fixed in order to identify the position of the user U on the force plate 11.

[0019] The cameras 13b are arranged, for example, on the left and right walls of the location where the force plate 11 is arranged. The camera 13b generates image data including at least the face of the user U as a subject, and detects the line of sight of the user U based on the image data. The camera 13b then transmits a signal including information indicating the line of sight of the user U (line of sight information signal) to the controller 12. The camera 13b is, for example, a line of sight measurement camera.

[0020] The controller 12 is placed at an arbitrary position where the force plate 11 is placed. The controller 12 performs a user position identification process for receiving a position information signal from the camera 13a and identifying the standing position of the user U on the force plate 11, a first identification process for receiving a line-of-sight information signal from the camera 13b and identifying an operation target based on the line of sight (user's motion) of the user U detected using the camera 13b, and a second identification process for receiving a signal from the force plate 11 and identifying the force F detected by the force plate 11. Z , and moment M X and M. Y Based on the above, a second identification process is performed to identify the operation content for the operation object, and an execution process is performed to have the operation object execute the identified operation content.

[0021] In the second identification process, the controller 12 detects a moment M X or M Y When detected, the operation content for the operation object is identified based on the axis, sign, and magnitude of the moment.

[0022] In detail, the controller 12 controls the force F Z The weight of the user U is measured based on the magnitude of the negative value of . In the following, the terms "front, back, left, right" and "right" refer to the directions when the user U is standing on the upper surface 111 of the force plate 11 and looking directly ahead at the workbench 2. The controller 12 calculates the moment M X When the value of the moment M is positive, it is assumed that the user U applies a force to the rear side of the force plate 11. X When the value of the moment M is negative, it is assumed that the user U applies a force to the front side of the force plate 11. Y If is a positive value, it is assumed that the user U applies force to the right side of the force plate 11. The controller 12 calculates the moment M Y When is a negative value, it is assumed that the user U applies force to the left side of the force plate 11. The controller 12 specifies the operation content for the operation object according to the direction in which the user U applies the force.

[0023] Specifically, in the second identification process, the controller 12 determines the moment M X or M Y When detected, the movement of the user U is estimated based on the axis, sign, and magnitude of the moment, as well as the position of the user U on the force plate 11, and the operation content for the object to be operated is identified based on the estimated movement.

[0024] The speaker 14 is disposed at an arbitrary position where the force plate 11 is disposed. The speaker 14 outputs sound under the control of the controller 12.

[0025] Conventionally, when using the faucet 3a, stove 3b, microwave oven 3c, and refrigerator 3d during cooking, it was necessary to wipe off dirt and water droplets from hands before using the devices in order to prevent the dirt and water droplets from contaminating the devices, which hindered smooth cooking operations.

[0026] In contrast, by using the operation system 1 according to this embodiment, the user U can operate the operation object without touching it with his / her hands. Therefore, there is no need to wipe off dirt or water droplets from his / her hands every time he / she operates the object, and since dirt around the kitchen is reduced, the frequency of cleaning can be reduced. As a result, the burden on the user U in relation to cooking work can be reduced.

[0027] (Controller configuration) The configuration of the controller 12 included in the operation system 1 will be described with reference to Fig. 2. Fig. 2 is a block diagram showing the configuration of the controller 12.

[0028] 2, the controller 12 includes a processor 121, a memory 122, a communication interface 123, and a bus 124. The processor 121, the memory 122, and the communication interface 123 are connected to each other via the bus 124. Examples of devices that can be used as the controller 12 include a personal computer and an embedded system. The term "embedded system" refers to a computer system that is embedded in various industrial / household devices and is specialized for a specific purpose. In this embodiment, the embedded system is embedded in a kitchen workbench 2 for use.

[0029] An operation program is stored in the memory 122. The processor 121 executes each process included in an operation method M1 described below according to instructions included in the operation program stored in the memory 122. An example of a device that can be used as the processor 121 is a CPU (Central Processing Unit). Also, an example of a device that can be used as the memory 122 is a flash memory.

[0030] The communication interface 123 is an interface for performing wired or wireless communication with other devices included in the operation system 1. The communication interface 123 may include an interface for performing wireless communication with other devices included in the operation system 1 via a LAN (Local Area Network), for example, a Wi-Fi (registered trademark) interface. In this embodiment, a Bluetooth (registered trademark) interface is used for communication with other devices included in the operation system 1.

[0031] (Operation flow) The flow of the operating method M1 performed by the controller 12 will be described with reference to FIGS.

[0032] Fig. 3 is a flow diagram showing the flow of operation method M1. First, the overall flow of operation method M1 will be described with reference to Fig. 3. As shown in Fig. 3, operation method M1 includes processes M11 to M16.

[0033] When the processor 121 detects, based on the output signal of the force plate 11, that the force plate 11 has detected a force Fz that continues for a predetermined period of time or longer (e.g., 5 seconds or longer), it presumes that the user U is present on the force plate 11 and initiates the user position identification process M11.

[0034] In the user position identification process M11, the processor 121 performs a process of identifying the standing position (reference position) of the user U on the force plate 11 (user position identification step). When the standing position of the user U is identified, the processor 121 ends the user position identification process M11 and waits until it receives an output signal from the camera 13b. A specific example of the user position identification process M11 will be described later with reference to a different drawing.

[0035] Next, in process M12, when the processor 121 detects that the camera 13b has detected the line of sight (user's motion) of the user U based on the output signal of the camera 13b, the processor 121 starts a first identification process M13. In the first identification process M13, the processor 121 performs a process of identifying an operation target based on the line of sight (user's motion) of the user U detected using the camera 13b (first detection step). When the operation target is identified, the processor 121 ends the first identification process M13 and waits until it receives an output signal from the force plate 11. A specific example of the first identification process M13 will be described later with reference to a different drawing.

[0036] Next, in step M14, when the processor 121 detects that the force plate 11 has detected a force or moment based on the output signal of the force plate 11, the processor 121 starts a second identification step M15. In the second identification step M15, the processor 121 determines the force F detected by the force plate 11. Z And moment M Xand M. Y Based on the above, a process for identifying the operation content for the operation object identified by the first identification process M13 is performed (second detection step). When the operation content for the operation object is identified, the processor 121 ends the second identification process M15 and starts the execution process M16. A specific example of the second identification process M15 will be described later with reference to a different drawing.

[0037] In the execution process M16, the processor 121 causes the operation object to execute the operation content identified by the second identification process M15 (execution step). Specifically, the processor 121 transmits a command corresponding to the identified operation content to the operation object. After causing the operation object to execute the identified operation content, the processor 121 ends the operation method M1.

[0038] In the operation system 1, the operation object may be a stove, a faucet, or a kitchen home appliance. Examples of kitchen home appliances include a refrigerator and a microwave oven, as shown in FIG. 1. The type of the operation object is not limited to these appliances, and can be set appropriately depending on the purpose of using the operation system 1. For example, if the operation object is an air conditioner, a user U in the kitchen can remotely control the air conditioner and a television set installed in the living room.

[0039] As described above, in the operation system 1, the controller 12 specifies the standing position (reference position) of the user U on the force plate 11. When a force plate 11 with a long width as shown in FIG. 1 is used as the force plate 11, even if the user U performs the same movement, the moment detected by the force plate 11 changes depending on the standing position of the user U on the force plate 11. Therefore, the controller 12 corrects the moment detected by the force plate 11 according to the standing position of the user U so as to offset this change. This provides the effect that the user U can input the intended operation to the controller 12 via the force plate 11 regardless of where the user U is standing on the force plate 11.

[0040] As described above, it is preferable that the force plate 11 has a width equal to or greater than the width of the kitchen workbench 2, but if the width of the force plate 11 is made too large, it may become difficult to handle the force plate 11. In such a case, it is preferable to use multiple small force plates in series instead of the force plate 11.

[0041] For example, the control of the force plate 11 in a configuration in which three force plates (hereinafter referred to as force plates A, B, and C) are arranged in series will be described. When the controller 12 receives a signal only from the force plate B located in the center among the three force plates, the controller 12 executes processing using the received signal.

[0042] When signals are received from two force plates A and B, the force F contained in both signals varies depending on the user U’s position. Z Therefore, first, the controller 12 calculates the force F detected by the force plates A and B. Z Then, the controller 12 calculates the moment M detected by the force plates A and B from the determined center of gravity position. X , and M Y Then, the controller 12 multiplies the moments detected by the force plates A and B by the determined correction coefficient, and uses the sum (or subtraction if the signs of the two moments are different) as the moment of one force plate 11 to execute processing.

[0043] Furthermore, the force plate 11 may include a plurality of force plates arranged in series not only in the lateral direction but also in the depth direction.

[0044] In addition, the controller 12 may identify the standing position (reference position) of the user U on the force plate 11, and when it detects that the user U has been standing at the reference position for a predetermined period of time or more (e.g., 5 seconds or more), it may perform control to reset the moment of the force plate 11 to zero at the reference position.

[0045] In addition, in the operation system 1, it is preferable that the controller 12 executes a user position identification process M11 for identifying the standing position of the user U on the force plate 11 before executing the first identification process M13. This provides an effect that when there are multiple user candidates on the force plate 11, the user (operator) can be identified.

[0046] Furthermore, in the operation system 1, the controller 12 identifies an operation target object based on the line of sight of the user U detected by using the camera 13b. Therefore, the operation system 1 has an effect that the user U can specify an operation target object by simply directing his / her line of sight to the object he / she wants to operate.

[0047] In addition, in the operation system 1, the controller 12 detects the force F detected by the force plate 11. Z And moment M X and M. Y Based on this, the operation content for the operation object identified by the first identification process M13 is identified. Therefore, according to the operation system 1, the user U can apply force to the force plate in a left, right, forward, or backward direction, thereby inputting an operation according to the direction and magnitude of the force to the controller 12 via the force plate 11. As a result, according to the operation system 1, the user U can operate the operation object without touching the operation object with his / her hand.

[0048] (User position identification process M11) A user position identification process M11 (hereinafter, referred to as "process M11") for identifying the position of a user U will be described with reference to Fig. 1 and Fig. 4. Fig. 4 is a flow diagram showing the flow of process M11 included in the operation method M1. As shown in Fig. 4, process M11 includes processes M111 to M1112.

[0049] In process M111, the processor 121 receives a signal from the force plate 11, and the signal causes the force plate 11 to apply a force F. Z When it is detected that the user U has been detected, the processor 121 measures the weight of the user U. Then, the processor 121 stores the measured weight in the memory 122.

[0050] Next, in process M112, the processor 121 activates the camera (sensor) 13a.

[0051] Next, in process M113, the processor 121 receives an image including the user U as a subject from the camera 13a and determines whether or not there is one user candidate in the image. If there is one user candidate in the image from the camera 13a, the processor 121 executes process M114. If the image from the camera 13a includes multiple user candidates (for example, a combination of an adult and a child, only adults, only children, etc.), the processor 121 executes process M118.

[0052] Next, in process M114, the processor 121 outputs a voice from the speaker 14 inquiring to one user candidate whether he / she is a user (i.e., an operator). The processor 121 outputs a voice from the speaker 14 inquiring to one user candidate, for example, "Are you going to operate it?"

[0053] Next, in process M115, when the processor 121 receives a signal from the force plate 11, in process M116, the processor 121 identifies the direction in which the user candidate applied force to the force plate 11 based on the signal. If the direction is forward and the user candidate applied force twice in succession, the processor 121 executes M117 since the user candidate has indicated a YES intention to the inquiry in process M114. In M117, the processor 121 identifies the user position, ends process M11, and executes process M12 of FIG. 3. If the user candidate applied force to the force plate 11 in the backward direction and the user candidate applied force twice in succession, the processor 121 determines that the user (i.e., the operator) is not on the force plate 11 and ends the operation method M1.

[0054] The process M118 will be described with reference to Fig. 9. Fig. 9 is a schematic diagram for explaining the flow of the user position identification process after the process M118 when there are multiple user candidates on the force plate 11. In the process M118, the processor 121 selects one of the multiple user candidates (user candidates Ua and Ub in Fig. 9) included in the image from the camera 13a.

[0055] Next, in process M119, the processor 121 outputs a voice from the speaker 14 inquiring to the selected user candidate Ua whether he / she is a user (i.e., an operator). For example, as shown in Fig. 9, the processor 121 outputs a voice from the speaker 14 inquiring to the user candidate Ua, "Will user a perform the operation?" The user Ua inputs his / her intention in response to the inquiry from the operation system 1 to the controller 12 via the force plate 11.

[0056] Next, in process M1110, when the processor 121 receives a signal from the force plate 11, in process M1111, the processor 121 identifies the direction in which the user candidate Ua applied force to the force plate 11 based on the signal. If the direction is forward and the user candidate Ua applied force twice in succession, the processor 121 executes M117 since the user candidate Ua has indicated a YES intention to the inquiry in process M119. In M117, the processor 121 identifies the user position, ends process M11, and executes process M12 in FIG. 3. If the user candidate applied force to the force plate 11 in the backward direction and the user candidate Ua applied force twice in succession, the processor 121 executes process M1112 since the user candidate Ua has indicated a NO intention to the inquiry in process M114.

[0057] In process M1112, the processor 121 selects a user candidate Ub different from the user candidate Ua from among the user candidates. After that, the processor 121 repeatedly executes processes M119 to M1111 until a user is specified.

[0058] In addition, if the processor 121 determines that the user candidate Ub is a child based on the weight and the image from the camera 13a, in order to prevent erroneous operation by a child, the processor 121 may determine that the user candidate is not on the force plate 11 without executing process M1112, and may terminate operation method M1.

[0059] As described above, in the operation system 1, the controller 12 controls the force F Z When the detection result is detected, the camera 13a and the camera 13b (sensors) are activated. Therefore, according to the operation system 1, the sensors can be activated only when necessary, which has the effect of reducing power consumption.

[0060] (Modification of user position identification process M11) The operation system 1 stores weight information as user information in the memory 122. In step M113, when there is one user candidate in the image from the camera 13a, the processor 121 may perform a weight determination process to determine whether or not the weight of the user U measured in step M111 (measured weight) is the same as the registered weight (registered weight) instead of executing step M114.

[0061] In the weight determination process, it is determined whether the measured weight is the same as the registered weight, and if so, process M117 is executed. If the measured weight is not the same as the registered weight, process M114 is executed. If the error between the measured weight and the registered weight is within a predetermined range (e.g., ±500 g), processor 121 determines that the measured weight is the same as the registered weight. If there is a plurality of registered weight information, processor 121 may determine in the weight determination process whether there is any registered weight that is the same as the measured weight.

[0062] (First specific process M13) The first specific process M13 (hereinafter referred to as "process M13") will be described with reference to Fig. 5 and Fig. 6(A). Fig. 5 is a schematic diagram illustrating the flow of process M13. Fig. 6(A) is a flow diagram showing a specific example of the flow of process M13 in the operating method M1.

[0063] Process M13 includes processes M131 and M132 as shown in (A) of Fig. 6. In this specific example, the flow of process M13 when the user U directs his / her gaze toward the stove 3b as shown in Fig. 5 will be described. Note that the dashed line in Fig. 5 represents the gaze of the user U.

[0064] When processor 121 detects, based on the output signal from camera 13b, that camera 13b has detected the line of sight of user U, in process M131, it identifies stove 3b as the operation target object based on the line of sight of user U detected by camera 13b. If the distance between user U and the target object (stove 3b in this case) is large, or if there is another target object between user U and the target object, it is preferable to identify the operation target object taking into consideration the attention level. Since the attention level correlates with the time the line of sight stays on the target object, if the time the line of sight stays on the target object is equal to or longer than a predetermined time (for example, 5 seconds or longer), the target object may be identified as the operation target object.

[0065] Next, in process M132, the processor 121 outputs a voice from the speaker 14 inquiring whether the user U is sure that he or she is operating the stove. For example, as shown in Fig. 5, the processor 121 outputs a voice inquiring "Do you want to light the fire?" from the speaker 14. When the voice inquiry is output from the speaker 14, the processor 121 ends process M13 and executes process 14 in Fig. 3.

[0066] The content of the sound output from the speaker 14 is not limited to this, and the content of the sound can be changed depending on the operation object. For example, if the processor 121 identifies the faucet 3a as the operation object in process M131, the processor 121 outputs, for example, a sound inquiring, "Shall I open the faucet?" from the speaker 14 in process M132. Also, for example, if the processor 121 identifies the refrigerator 3d as the operation object in process M131, the processor 121 outputs, for example, a sound inquiring, "Which door do you want to open?" from the speaker 14 in process M132. Also, for example, if the processor 121 identifies the microwave oven 3c as the operation object in process M131, the processor 121 outputs, for example, a sound inquiring, "Shall I open the microwave oven?" from the speaker 14 in process M132.

[0067] As described above, in the operation system 1, the controller 12 outputs a sound for confirming whether the operation object identified in the process M13 is correct from the speaker 14. Therefore, the operation system 1 has an effect of preventing an object unintended by the user U from being identified as the operation object.

[0068] (Second specific process M15) The second specific process M15 (hereinafter referred to as "process M15") will be described with reference to Figure 5, Figure 6(B) and Figure 7. Figure 6(B) is a flow diagram showing a specific example of the flow of process M15 in the operating method M1.

[0069] Process M15 includes processes M151 to M157 as shown in (B) of Fig. 6. In this specific example, as shown in Fig. 5, a flow of process M15 after the processor 121 specifies the burner 3b as the operation target object in process M13 will be described.

[0070] In response to a query from the operation system 1 of "Light a fire?", the user U specifies the operation content by applying force to the force plate 11. When the processor 121 detects that the force plate 11 has detected a moment based on the output signal of the force plate 11, in process 151, it estimates the movement of the user U corresponding to the moment detected by the force plate 11. Specifically, the processor 121 detects the moment M X If the moment M detected by the force plate 11 is a positive value, the processor 121 determines that the user U has applied force to the rear side of the force plate 11. X If the moment M detected by the force plate 11 is negative, the processor 121 determines that the user U applies force to the front side of the force plate 11. Y If the value of the moment M detected by the force plate 11 is positive, the processor 121 determines that the user U applies force to the right side of the force plate 11. YIf the value is negative, it is assumed that the user U applies force to the left side of the force plate 11.

[0071] Next, in process M152, if the processor 121 determines that the motion of the user U estimated in process M151 was a motion of applying a force once forward, backward, rightward, or leftward, or if the motion was a motion of applying a force twice consecutively backward, it executes process M153. On the other hand, if the processor 121 determines that the motion of the user U estimated in process M151 was a motion of applying a force twice consecutively forward, it executes process M154.

[0072] In process M153, the processor 121 identifies the operation content corresponding to the action of the user U estimated in process M151. Fig. 7 is a diagram showing an example of the "user action-operation content correspondence information" when the operation target object is the stove 3b. As shown in Fig. 7, the operation content of the stove 3b is linked to the action of the user U. The "user action-operation content correspondence information" is stored in the memory 122 of the controller 12. In process M153, the processor 121 refers to the "user action / operation content correspondence information" shown in Fig. 7, and for example, if the action of the user U estimated in process M151 is the action of "applying force forward", the processor 121 identifies the corresponding operation content "turning on the stove". Alternatively, if the action of the user U estimated in process M151 is the action of "applying force backward", the processor 121 identifies the corresponding operation content "turning off the stove". When the operation content for the operation target object is identified, the processor 121 ends process M15 and executes process M16 of Fig. 3.

[0073] When the user U applies force to the right side of the force plate 11, the processor 121 identifies the corresponding operation content as "increase the heat". On the other hand, when the user U applies force to the left side of the force plate 11, the processor 121 identifies the corresponding operation content as "decrease the heat". When the user U applies force to the right side of the force plate 11, applying a stronger force (i.e., increasing the magnitude of the moment) can increase the speed at which the heat is increased, and applying a weaker force (i.e., decreasing the magnitude of the moment) can decrease the speed at which the heat is increased. Similarly, when the user U applies force to the left side of the force plate 11, the speed at which the heat is adjusted can be changed by changing the strength of the force applied to the force plate 11.

[0074] In process M154, the processor 121 outputs a voice inquiring whether to light another burner from the speaker 14. For example, the processor 121 outputs a voice inquiring, "Would you like to light another burner?" from the speaker 14. The user U inputs the operation content in response to the inquiry from the operation system 1 to the controller 12 via the force plate 11.

[0075] Next, in process M155, when the processor 121 detects that the force plate 11 has detected a force or moment based on the output signal of the force plate 11, the processor 121 executes process M156 and process M157. Process M156 and process M157 are the same as process M151 and process M153, respectively, and therefore will not be described.

[0076] When identifying the operation content for an operation object other than the stove 3b, the processor 121 can identify the operation content corresponding to the user's action by referring to the "user action / operation content correspondence information" corresponding to the operation object in process M153 or process M157. Fig. 8 shows an example of the "user action / operation content correspondence information" for an operation object other than the stove 3b, where (A) shows the "user action / operation content correspondence information" for the faucet 3a, (B) shows the "user action / operation content correspondence information" for the refrigerator 3d, and (C) shows the "user action / operation content correspondence information" for the microwave oven 3c. These "user action / operation content correspondence information" are also stored in the memory 122 of the controller 12.

[0077] For example, when the operation target object is a faucet 3a, according to the operation system 1, as shown in FIG. 8A, the user U applies force to the right or left side of the force plate 11, so that the operation content for adjusting the water volume can be input to the controller 12 via the force plate 11. Also, the user U changes the strength of the force applied to the force plate 11, so that the operation content for changing the speed of the water volume adjustment can be input to the controller 12 via the force plate 11. Also, the user U applies force to the front of the force plate 11 twice in succession, so that the operation content for changing the operation mode to the water temperature adjustment mode can be input to the controller 12 via the force plate 11. In the water temperature adjustment mode, the user U applies force to the right or left side of the force plate 11, so that the operation content for adjusting the water temperature can be input to the controller 12 via the force plate 11. Also, the user U changes the strength of the force applied to the force plate 11, so that the operation content for changing the speed of the water temperature adjustment can be input to the controller 12 via the force plate 11.

[0078] Also, for example, when the object to be operated is a refrigerator 3d, according to the operation system 1, as shown in (B) of FIG. 8, the user U can apply force to the right or left side of the force plate 11, thereby inputting the operation content to open a specific door of the refrigerator 3d into the controller 12 via the force plate 11.

[0079] Also, for example, when the operation target object is a microwave oven 3c, according to the operation system 1, as shown in FIG. 8C, the user U applies force to the right or left side of the force plate 11, thereby inputting the operation content for changing the set value of wattage or time to the controller 12 via the force plate 11. Also, the user U changes the strength of the force applied to the force plate 111, thereby inputting the operation content for changing the speed at which the set value of wattage or time is changed to the controller 12 via the force plate 11. Also, the user U applies force twice consecutively to the front of the force plate 11, thereby inputting the operation content for changing the microwave setting to the controller 12 via the force plate 11. In the microwave setting change mode, the user U applies force to the front or rear of the force plate 11, thereby inputting the operation content for changing the microwave, oven, or grill mode to the controller 12 via the force plate 11.

[0080] As described above, in the operation system 1, the controller 12 controls the force plate 11 to generate the moment M X or M YWhen the moment is detected, the processor 121 estimates the user U's motion based on the axis, sign, and magnitude of the moment and the user U's standing position on the force plate 11, and identifies the operation content for the operation object based on the estimated motion. Therefore, the operation system 1 has the effect that the user U can operate the operation object without using his / her hands by applying force to the force plate 11 in any direction. In addition, the processor 121 estimates the user U's motion based on the axis, sign, and magnitude of the moment detected by the force plate 11 and the user U's standing position on the force plate 11, so the operation system 1 has the effect that the user U can easily make fine adjustments such as water temperature adjustment and water volume adjustment by intuitive operation by changing the strength of the force applied to the force plate 11. Furthermore, the processor 121 takes the user U's standing position into consideration when estimating the user U's motion, so the operation system 1 has the effect that the user U can input the intended operation to the controller 12 via the force plate 11 no matter where the user U is standing on the force plate 11.

[0081] In this embodiment, an example has been described in which the controller 12 estimates the motion of the user U based on the axis, sign, and magnitude of the moment detected by the force plate 11 and the standing position of the user U on the force plate 11 in process M15, and specifies the operation content for the operation target object based on the estimated motion, but it is also possible to specify the operation content for the operation target object based on the axis, sign, and magnitude of the moment detected by the force plate 11 without going through the step of estimating the motion of the user U. In this case, the number of processes of the processor 121 can be reduced, which has the effect of improving the processing speed.

[0082] (Modifications of the operation system) In the operation system 1, an example has been shown in which the gaze measurement camera 13b is provided as a sensor for detecting the movement of the user U. However, the sensor is not limited to the gaze measurement camera. For example, the voice of the user may be detected as the movement of the user U, and in this case, a known voice recognition device may be adopted as the sensor.

[0083] (System kitchen) A system kitchen K equipped with an operation system 1 as shown in Fig. 1 is also included in the scope of the present invention. In the system kitchen K, there are no particular limitations on the configuration other than the operation system 1. As with a general system kitchen, it is sufficient that the kitchen is equipped with at least a washing facility (sink), a heating device (cooker), storage facilities, and a workbench. The effects of the system kitchen K have been described for the operation system 1, so they will not be repeated here.

[0084] (Example of software implementation) The functions of the controller 12 can be realized by a program for causing a computer to function as the controller 12, and a program for causing a computer to function as each control block of the controller 12 (particularly each unit included in the processor 121).

[0085] In this case, the controller 12 includes a computer having at least one processor and at least one memory as hardware for executing the above programs. The above programs are executed by the processor and the memory to realize the functions described in the above embodiments.

[0086] The above program may be recorded non-transitoryly in one or more computer-readable recording media (e.g., memory). The recording media may or may not be included in the controller 12. In the latter case, the above program may be supplied to the controller 12 via any wired or wireless transmission medium.

[0087] In addition, some or all of the functions of each of the control blocks can be realized by a logic circuit. For example, an integrated circuit in which a logic circuit that functions as each of the control blocks is formed is also included in the scope of the present invention. In addition, the functions of each of the control blocks can be realized by, for example, a quantum computer.

[0088] Furthermore, each process described in each of the above embodiments may be executed by AI (Artificial Intelligence). In this case, the AI ​​may be operated by the controller 12 or may be operated by another device (for example, an edge computer or a cloud server).

[0089] [Additional Notes] The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included in the technical scope of the present invention. [Explanation of symbols]

[0090] 1. Operating system 3a Faucet (object to be operated) 3b Stove (operable object) 3c Microwave oven (operable object) 3D refrigerator (object to be operated) 11 Force Plate 12 Controller 13a, 13b Camera (sensor) K System Kitchen U User F Floor

Claims

1. a force plate for detecting a force in a first axis direction intersecting with a floor surface, a moment about a second axis along the floor surface, and a moment about a third axis along the floor surface intersecting with the second axis; A sensor; A controller, The controller: a first identification process for identifying an operation target object based on a user's motion detected by the sensor; a second identification process for identifying an operation content for the operation target object based on the force and the moment detected by the force plate; and executing an execution process for causing the operation target to execute the specified operation content. An operating system characterized by:

2. the controller activates the sensor when the force is detected by the force plate.

2. The operating system according to claim 1 .

3. When the moment is detected by the force plate in the second identification process, the controller identifies the operation content for the operation object based on an axis, a sign, and a magnitude of the moment.

3. The operating system according to claim 2.

4. When the moment is detected by the force plate in the second identification process, the controller estimates a motion of the user based on an axis, a sign, and a magnitude of the moment and a standing position of the user on the force plate, and identifies an operation content for the operation target object based on the estimated motion.

4. The operating system according to claim 3.

5. The controller executes a user position identification process to identify a standing position of the user on the force plate before executing the first identification process.

5. The operating system according to claim 4.

6. Further comprising a speaker; The controller outputs, from the speaker, a sound confirming the operation target identified in the first identification process.

6. The operating system according to claim 1, wherein the first and second inputs are connected to the first and second inputs.

7. The operation object is a stove, a faucet, or a kitchen appliance.

7. The operating system according to claim 1, wherein the first and second inputs are connected to the first and second inputs.

8. A first detection step of detecting a user's motion using a sensor; a second detection step of detecting a force in a first axial direction intersecting with a floor surface, a moment about a second axis along the floor surface, and a moment about a third axis along the floor surface intersecting with the second axis using a force plate; a first identification step of identifying an operation target object based on the user's motion detected in the first detection step; a second identification step of identifying an operation content for the operation object based on the force and the moment detected in the second detection step; and an execution step of causing the operation target to execute the specified operation content. A method of operation comprising:

9. A system kitchen comprising the operation system according to any one of claims 1 to 7.

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