Remote control system, control device, and computer program

Abstract

To improve the convenience of a remote control system that remotely controls a controlled unit according to the action of a user.SOLUTION: A sensor 11 outputs distance information that indicates a first distance D1 to a left foot 31 of a user and a second distance D2 to a right foot 32. A control unit controls operation of a controlled unit when the distance information satisfies specified conditions. The aforesaid specified conditions comprises: that the first distance D1 and the second distance D2 indicate changes corresponding to the left foot 31 and the right foot 32 approaching the detection area A; and that, while either one of the first distance D1 or the second distance D2 is maintaining a first value, the other one of the first distance D1 or the second distance D2 monotonously decreases, and then monotonously increases.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a remote control system that remotely controls a controlled device based on a user's actions, and also to a control device included in the remote control system and a computer program executable by a processing unit installed in the control device. [Background technology]

[0002] Patent Document 1 discloses a system that controls the opening and closing of a vehicle door, which is an example of a controlled device, based on the user's actions. The vehicle door is allowed to open or close when the user performs a kicking motion by inserting their foot into the detection area of a kick sensor mounted on the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-096128 Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present invention is to improve the convenience of a remote control system that remotely controls a controlled device based on a user's actions. [Means for solving the problem]

[0005] One aspect of the present invention to achieve the above object is a remote control system, comprising: a sensor that outputs distance information indicating a first distance to a first object and a second distance to a second object located within a detection area; a control device that permits operation control of a controlled device when the distance information satisfies a predetermined condition; It is equipped with The predetermined condition is: The first distance and the second distance indicate a change corresponding to the entry of the first object and the second object into the detection area. While one of the first distance and the second distance maintains a first value, the other of the first distance and the second distance monotonically decreases and then monotonically increases. It includes.

[0006] One aspect for achieving the above object is a control device, A receiving unit that receives distance information indicating a first distance to a first object located in a detection area and a second distance to a second object from a sensor, A processing unit that permits operation control of a controlled device when the distance information satisfies a predetermined condition, It is provided with. The predetermined condition is The first distance and the second distance indicate a change corresponding to the entry of the first object and the second object into the detection area. While one of the first distance and the second distance maintains a first value, the other of the first distance and the second distance monotonically decreases and then monotonically increases. It includes.

[0007] One aspect for achieving the above object is a computer program executable by a processing unit mounted on a control device, When executed, the control device Receives distance information indicating a first distance to a first object located in a detection area and a second distance to a second object from a sensor, Permits operation control of a controlled device when the distance information satisfies a predetermined condition, The predetermined condition is The first distance and the second distance indicate a change corresponding to the entry of the first object and the second object into the detection area. While one of the first distance and the second distance maintains a first value, the other of the first distance and the second distance monotonically decreases and then monotonically increases. It includes.

[0008] The above first condition is satisfied when the user moves the first body part and the second body part into the detection area of the sensor. The above second condition is satisfied when the user keeps one of the first body part and the second body part stationary within the detection area and then performs an operation of approaching the other of the first body part and the second body part to the sensor and then returning to the original position. The control device is configured to perform operation control of the controlled device when both of the above two conditions are satisfied.

[0009] In order to avoid a situation where the operation control of the controlled device is performed without being based on a predetermined operation by the user due to the sensor erroneously detecting an object other than the user's body, the position of the detection area of the sensor for detecting the user's operation is generally restricted. For example, in the case of the configuration described in Patent Document 1, the user needs to approach the foot to the closest distance of the sensor.

[0010] On the other hand, according to the configuration according to each of the above aspects, since it is a condition for performing the operation control of the controlled device that the user keeps one of the first body part and the second body part stationary somewhere in the detection area, it is possible to avoid the occurrence of a situation where the operation control of the controlled device is unintentionally executed due to an object that accidentally passes through the detection area being detected by the sensor. Further, since it is a condition for performing the operation control of the controlled device that after one of the first body part and the second body part approaches the sensor while the other is stationary and then returns to the original position, the operation control of the controlled device is not executed only when the stationary state of the object is detected within the detection area. For example, when the user is standing and talking within the detection area, simply walking close to the sensor, or unconsciously moving a part of the body, the operation control of the controlled device is not executed.

[0011] For example, when performing a kicking motion with one leg while keeping the other leg stationary as an axis, the above two conditions are naturally satisfied, so the existence of such conditions does not impose a burden on the user. Also, even if the user starts such an operation immediately after entering the detection area, it does not affect the determination regarding the availability of remote control. Therefore, it is possible to suppress the occurrence of a situation where the operation control of the controlled device is unintentionally performed, and to relax the restrictions regarding the position of the detection area of the sensor. Thus, the convenience of a remote control system for remotely controlling a controlled device based on the user's operation can be enhanced.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Modes for Carrying Out the Invention

[0013] With reference to the accompanying drawings, examples of the embodiments will be described in detail below. In each figure, the scale is appropriately changed in order to make each exemplified element recognizable in size.

[0014] As illustrated in FIG. 1, a remote control system 10 according to an embodiment is mounted on a vehicle 20. The remote control system 10 is configured to control the opening / closing operation of a door 21 mounted on the vehicle 20 based on the operation of a user 30. The shape of the vehicle 20 is merely an example. The vehicle 20 is an example of a moving body. The door 21 is an example of an opening / closing body.

[0015] The remote control system 10 includes a sensor 11. The sensor 11 is configured to output distance information DS indicating the distances to a plurality of objects located within the detection area A. The sensor 11 can be realized by an ultrasonic transducer, an infrared distance measurement sensor, a TOF (Time of Flight) camera, or the like.

[0016] The remote control system 10 includes a control device 12. The control device 12 is configured to control the operation of the opening / closing device 22 when the distance information DS satisfies a predetermined condition. The opening / closing device 22 is a device that automatically opens and closes the door 21 of the vehicle 20. The opening / closing device 22 is an example of a controlled device.

[0017] As illustrated in FIG. 2, the control device 12 includes a reception unit 121. The reception unit 121 is configured as an interface for receiving the distance information DS from the sensor 11. The distance information DS may be in the form of analog data or digital data. When the distance information DS is in the form of analog data, the reception unit 121 includes an appropriate conversion circuit including an A / D converter.

[0018] The control device 12 includes a processing unit 122 and an output unit 123. The processing unit 122 is configured to output a control signal CT from the output unit 123 when the distance information DS received by the reception unit 121 satisfies a predetermined condition. The control signal CT is configured to cause the opening / closing device 22 to perform the opening / closing operation of the door 21.

[0019] That is, the output unit 123 is configured as an interface capable of outputting the control signal CT. The control signal CT may be an analog signal or a digital signal. When the control signal CT is an analog signal, the output unit 123 includes an appropriate conversion circuit including a D / A converter.

[0020] While referring to FIG. 3, a predetermined condition regarding the distance information DS will be described. In this example, the detection area A of the sensor 11 is set at a position where it can detect the left foot 31 and the right foot 32 of the user 30 as detection targets. The left foot 31 is an example of a first object. The right foot 32 is an example of a second object.

[0021] That is, the distance information DS includes information regarding a first distance D1 from the sensor 11 to the left foot 31 and information regarding a second distance D2 from the sensor 11 to the right foot 32. In this example, the sensor 11 is configured to acquire the distance to the closest part of the left foot 31 located within the detection area A as the first distance D1. Similarly, the sensor 11 is configured to acquire the distance to the closest part of the right foot 32 located within the detection area A as the second distance D2.

[0022] Note that the sensor 11 may be configured as a single device that acquires both information regarding the first distance D1 and information regarding the second distance D2, or may be configured to independently include a device that acquires information regarding the first distance D1 and a device that acquires information regarding the second distance D2.

[0023] Remote control of the opening / closing device 22 is performed when the user 30 performs a kicking operation of kicking out either the left foot 31 or the right foot 32 within the detection area A and then returning it to the original position. In FIG. 3, a kicking operation of kicking out the right foot 32 with the left foot 31 as the pivot foot and then returning it is illustrated.

[0024] The above condition first includes that the first distance D1 and the second distance D2 indicated by the distance information DS exhibit changes corresponding to the entry of the left foot 31 and the right foot 32 into the detection area A. In the example shown in FIG. 3, the entry of the left foot 31 and the right foot 32 into the detection area A is detected at time t1.

[0025] The above conditions secondly include that while one of the first distance D1 and the second distance D2 indicated by the distance information DS maintains a first value, the other of the first distance D1 and the second distance D2 monotonically decreases and then monotonically increases. This condition requires the user 30 to kick one of the left foot 31 and the right foot 32 towards the sensor 11 with the other as the pivot foot and then return to the original position.

[0026] In the example shown in FIG. 3, the change over time of the first distance D1 is indicated by a dashed line, and the change over time of the second distance D2 is indicated by a solid line. After time point t1, the first distance D1 from the sensor 11 to the left foot 31 indicated by the distance information DS maintains the value d1. On the other hand, between time point t2 and time point t3, the second distance D2 from the sensor 11 to the right foot 32 indicated by the distance information DS monotonically decreases from the value d1 to the value d2. Thereafter, between time point t3 and time point t4, the second distance D2 monotonically increases from the value d2 to the value d3.

[0027] The processing unit 122 of the control device 12 is configured to output a control signal CT from the output unit 123 when both of the above two conditions are satisfied. That is, when the user 30 enters the detection area A of the sensor 11 with the left foot 31 and the right foot 32, and performs a kicking operation of kicking one of the left foot 31 and the right foot 32 towards the sensor 11 with the other as the pivot foot and then returning to the original position, the opening and closing device 22 performs the opening and closing operation of the door 21.

[0028] FIG. 4 illustrates the flow of processing executed by the processing unit 122 of the control device 12 configured as described above.

[0029] The processing unit 122 determines whether there is a significant change between the first distance D1 and the second distance D2 indicated by the distance information DS received by the reception unit 121 (STEP1). "Significant change" corresponds to a change in the detection distance that may occur when both the left foot 31 and the right foot 32 of the user 30 enter somewhere within the detection area A. The process is repeated until it is determined that there is a significant change in the detection distance indicated by the distance information DS (NO in STEP1).

[0030] When it is determined that there is a significant change between the first distance D1 and the second distance D2 indicated by the distance information DS (YES in STEP1), the processing unit 122 determines whether one of the first distance D1 and the second distance D2 indicated by the distance information DS maintains its initial value (STEP2). If both the first distance D1 and the second distance D2 have changed (NO in STEP2), the process returns to STEP1.

[0031] When it is determined that one of the first distance D1 and the second distance D2 indicated by the distance information DS maintains its initial value (YES in STEP2), the processing unit 122 determines whether the other of the first distance D1 and the second distance D2 exhibits a change of decreasing monotonically after a short decrease and then increasing monotonically (STEP3). The processes of STEP2 and STEP3 are repeated until it is confirmed that the other of the first distance D1 and the second distance D2 exhibits a change of decreasing monotonically after a short decrease and then increasing monotonically (NO in STEP3).

[0032] When it is confirmed that, while one of the first distance D1 and the second distance D2 maintains its initial value, the other of the first distance D1 and the second distance D2 exhibits a change of decreasing monotonically after a short decrease and then increasing monotonically (YES in STEP2 and YES in STEP3), the processing unit 122 outputs a control signal CT for causing the opening / closing device 22 to perform the opening / closing operation of the door 21 from the output unit 123 (STEP4). When the door 21 is open at the start of the kicking operation of the user 30, a control signal CT for closing the door 21 is output to the opening / closing device 22. When the door 21 is closed at the start of the kicking operation of the user 30, a control signal CT for opening the door 21 is output to the opening / closing device 22.

[0033] In order to avoid a situation where the door is opened or closed without being based on a predetermined operation by the user due to the sensor erroneously detecting an object other than the user's body, it is common for the position of the detection area of the sensor for detecting the user's operation to be restricted. For example, in the case of the configuration described in Patent Document 1, the user needs to approach their foot to the closest distance of the sensor.

[0034]

[0033] On the other hand, according to the configuration according to the present embodiment, since it is a condition for performing the opening and closing control of the door 21 that one of the left foot 31 and the right foot 32 of the user 30 is stationary somewhere within the detection area A, it is possible to avoid the occurrence of a situation where the opening and closing control of the door 21 is unintentionally executed due to an object that has accidentally passed through the detection area A being detected by the sensor 11. Furthermore, since it is a condition for performing the opening and closing control of the door 21 that a kicking motion is performed with the other foot while one foot is stationary, the opening and closing control of the door 21 is not executed simply because the stationary state of an object is detected within the detection area A. For example, if the user 30 is just standing and talking within the detection area A, the opening and closing control of the door 21 is not executed.

[0035] When performing the kicking motion, it is normal for one of the left foot 31 and the right foot 32 to be fixed as the pivot foot, so this condition does not impose a burden on the user 30. Also, simply walking within the detection area A by the user 30 and approaching the sensor 11, or unconsciously moving a part of the body, does not affect the determination regarding the availability of remote control. Therefore, it is possible to suppress the occurrence of a situation where the opening and closing control of the door 21 is unintentionally performed, while relaxing the restrictions regarding the position of the detection area A of the sensor 11. Thus, the convenience of the remote control system 10 for remotely controlling the opening and closing device 22 of the door 21 based on the kicking motion of the user 30 can be enhanced.

[0036] For example, as shown in FIG. 1, when the door 21 is opened and closed through rotation about the rotation axis P, the detection area A can be set at a position avoiding the movement path of the door 21 when it is opened and closed, as viewed from the direction along the rotation axis P. In this case, while remote opening and closing control of the door 21 based on a kicking operation is enabled, it is possible to easily avoid interference between the opening and closing door 21 and the body or luggage of the user 30.

[0037] FIG. 5 shows an example in which the back door 23 of the vehicle 20 is opened and closed under control based on the kicking operation of the user 30. The back door 23 is also opened and closed through rotation about the rotation axis P. The back door 23 is an example of an opening and closing body.

[0038] Also in this example, the detection area A of the sensor 11 can be set at a position avoiding the movement path of the back door 23 when it is opened and closed, as viewed from the direction along the rotation axis P. Therefore, while remote opening and closing control of the back door 23 based on a kicking operation is enabled, it is possible to easily avoid interference between the opening and closing back door 23 and the body or luggage of the user 30.

[0039] The above conditions can be set to include that while one of the first distance D1 and the second distance D2 maintains a first value, the other of the first distance D1 and the second distance D2 monotonically decreases and then monotonically increases to a second value within a threshold from the first value.

[0040] In the example shown in FIG. 3, the part of the right foot 32 that is judged to be closest to the sensor 11 at each of the start and end of the kicking operation generally varies depending on the build and posture of the user 30. Also, the position of the right foot 32 before kicking and the position of the right foot 32 after retracting generally do not exactly match. Therefore, the first value and the second value related to the other of the first distance D1 and the second distance D2 do not necessarily have to match. The threshold defined for the difference between the first value and the second value can be set to such an extent that it can be judged that there is a high probability that the kicking operation has been performed through monotonic decrease and monotonic increase of the distance.

[0041] According to such a configuration, particularly since the return position of the leg that performs the kicking motion is determined based on the position of the pivot leg, the determination accuracy of whether the kicking motion has been performed by the user 30 can be improved. However, the determination of the return position may be made based on the position of the leg at the start of the kicking motion by one of the legs.

[0042] Also, since it can be determined that the kicking motion has not been performed when the monotonic increase in the distance exceeds the threshold related to the difference between the first value and the second value, for example, it is possible to suppress the occurrence of a situation where the opening and closing control of the door 21 is unintentionally performed due to the user 30 moving backward or turning around and moving backward within the detection area A.

[0043] From the viewpoint of improving the determination accuracy of whether the kicking motion has been performed, in addition to the above conditions, a change in which the other of the first distance D1 and the second distance D2 monotonically decreases and then monotonically increases may be completed within a predetermined time length. An example of the predetermined time length is 1 second. In this case, it is possible to suppress the occurrence of a situation where the opening and closing control of the door 21 is unintentionally performed due to the user 30 unconsciously moving the leg within the detection area A. In addition to or instead of this, it may be added to the above conditions that the amount of monotonic decrease of the other of the first distance D1 and the second distance D2 exceeds the threshold.

[0044] The processing unit 122 of the control device 12 having the various functions described so far can be realized by a general-purpose microprocessor that operates in cooperation with a general-purpose memory. Examples of the general-purpose microprocessor may include a CPU, an MPU, and a GPU. Examples of the general-purpose memory may include a ROM and a RAM. In this case, a computer program for executing the above-described processing may be stored in the ROM. The ROM is an example of a non-transitory computer-readable medium storing a computer program. The general-purpose microprocessor designates at least a part of the computer program stored on the ROM and expands it on the RAM, and executes the above-described processing in cooperation with the RAM. The above computer program may be pre-installed in the general-purpose memory, or may be downloaded from an external server device (not shown) via a wireless communication network (not shown) and then installed in the general-purpose memory. In this case, the external server device is an example of a non-transitory computer-readable medium storing a computer program.

[0045] The processing unit 122 may also be realized by an application-specific integrated circuit capable of executing the above computer program, such as a microcontroller, an ASIC, or an FPGA. In this case, the above computer program is pre-installed in a storage element included in the application-specific integrated circuit. The storage element is an example of a non-transitory computer-readable medium storing a computer program. Each processor may also be realized by a combination of a general-purpose microprocessor and an application-specific integrated circuit.

[0046] Each of the above embodiments is merely an exemplification for facilitating the understanding of the present invention. The configurations according to each of the above embodiments can be appropriately changed and improved without departing from the gist of the present invention.

[0047] In the above-described embodiment, a door that is opened and closed through rotation about a rotation axis is the object of remote control. However, a bonnet panel or a trunk panel that is similarly opened and closed through rotation about a rotation axis can also be the object of remote control. A slide door or a power window that is opened and closed through sliding along a vehicle body can also be the object of remote control. Each of the bonnet panel, the trunk panel, the slide door, and the power window is an example of an opening / closing body.

[0048] In the above-described embodiment, remote control is performed based on the kicking operation of the user 30. However, in view of the effect of increasing the degree of freedom in setting related to the position of the detection area A of the sensor 11, remote control may be performed based on an operation using a body part other than the foot of the user 30. However, it is necessary that the operation be performed with one of the two body parts being stationary.

[0049] Remote control is not limited to the opening / closing control of an opening / closing body mounted on the vehicle 20. Activation of an automatic parking assist function (including return from a parked state to a drivable state) may be performed based on the operation of the user 30. In this case, all in-vehicle devices capable of realizing the function are an example of a controlled device.

[0050] The remote control system 10 can also be applied to a moving body other than the vehicle 20. Examples of other moving bodies include railways, airplanes, ships, etc. The moving body may not require a driver. However, when a specific opening / closing body used for opening / closing control is shared by a plurality of users, the conditions for performing the opening / closing control need to be judged as to whether they are successful or not for each individual user.

[0051] The remote control system 10 does not necessarily have to be mounted on a moving body. Doors and windows in a house or a facility can also be an example of an opening / closing body. Also, various facilities in a house or a facility can be an example of a controlled device.

Explanation of Reference Numerals

[0052] 10: Remote control system, 11: Sensor, 12: Control device, 121: Reception unit, 122: Processing unit, 20: Vehicle, 21: Door, 22: Opening / closing device, 23: Back door, 30: User, 31: Left foot, 32: Right foot, A: Detection area, DS: Distance information, D1: First distance, D2: Second distance, P: Rotation axis

Claims

1. a sensor that outputs distance information indicating a first distance to a first object and a second distance to a second object located within a detection area; a control device that permits operation control of a controlled device when the distance information satisfies a predetermined condition, The predetermined condition is: the first distance and the second distance exhibiting a change corresponding to the entry of the first object and the second object into the detection region; one of the first distance and the second distance maintains a first value while the other of the first distance and the second distance monotonically decreases and then monotonically increases; the other of the first distance and the second distance monotonically decreases and then monotonically increases to a second value whose difference from the first value is within a threshold; Contains, Remote control system.

2. the predetermined condition includes that the other of the first distance and the second distance monotonically decreases and then monotonically increases within a predetermined time period. The remote control system of claim 1 .

3. the detection area is set at a position where the left foot and the right foot of the user can be detected as the first object and the second object, respectively; 3. The remote control system according to claim 1 or 2.

4. The controlled device is an opening / closing device of an opening / closing body. A remote control system according to any one of claims 1 to 3.

5. When the opening / closing body is opened and closed by rotating around a rotation axis, the detection area is set at a position that avoids a movement path of the opening / closing body when rotated as viewed from a direction along the rotation axis. The remote control system of claim 4.

6. The opening / closing body is mounted on a moving body.

6. The remote control system according to claim 4 or 5.

7. a receiving unit that receives, from the sensor, distance information indicating a first distance to a first object and a second distance to a second object located within the detection area; a processing unit that permits operation control of the controlled device when the distance information satisfies a predetermined condition; It is equipped with The predetermined condition is: the first distance and the second distance exhibiting a change corresponding to the entry of the first object and the second object into the detection region; one of the first distance and the second distance maintains a first value while the other of the first distance and the second distance monotonically decreases and then monotonically increases; the other of the first distance and the second distance monotonically decreases and then monotonically increases to a second value whose difference from the first value is within a threshold; Contains, Control device.

8. A computer program executable by a processing unit mounted on a control device, By being executed, the control device receiving distance information from the sensor indicating a first distance to a first object and a second distance to a second object located within the detection area; permitting operation control of the controlled device when the distance information satisfies a predetermined condition; The predetermined condition is: the first distance and the second distance exhibiting a change corresponding to the entry of the first object and the second object into the detection region; one of the first distance and the second distance maintains a first value while the other of the first distance and the second distance monotonically decreases and then monotonically increases; the other of the first distance and the second distance monotonically decreases and then monotonically increases to a second value whose difference from the first value is within a threshold; Contains, Computer program.

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