Information processing system

Abstract

The present invention provides an information processing system that makes it possible to reduce the size and cost of devices. An information processing system 100 comprises: an antenna 2 that is a magnetic field generation device for generating a magnetic field; three coils 13a, 13b, 13c that are disposed respectively on three axes which are orthogonal to each other and that detect a magnetic field; a calculation unit that calculates the magnetic field intensity on the basis of a value of a magnetic field which has been detected by each of the three coils 13a, 13b, 13c; and a generation unit that generates orientation information pertaining to a tag 1, which is a target object having the three coils 13a, 13b, 13c, on the basis of a ratio of the value of the magnetic field which has been detected by each of the three coils 13a, 13b, 13c to the magnetic field intensity which has been calculated by the calculation unit.

Description

Information Processing Systems

[0001] The present invention relates to an information processing system that generates posture information of an object.

[0002] Japanese Patent Application Laid-Open No. 2006-124493 discloses a control system for estimating the area where a worker works on a factory production line, etc. This control system includes an acceleration sensor that detects acceleration data of each body part of the worker and an angular velocity sensor that detects angular velocity data of each body part of the worker. The acceleration data and angular velocity data acquired over time are used to calculate position information and posture information for each body part of the worker.

[0003] JP 2017-144489 A

[0004] The control system of Patent Document 1 needs to be equipped with two sensors, an acceleration sensor and an angular velocity sensor, in order to calculate position information and attitude information, which increases the size and cost of the device.

[0005] In view of the above circumstances, an object of the present invention is to provide an information processing system that can reduce the size and cost of the device.

[0006] An information processing system according to one aspect of the present invention comprises a magnetic field generating device that generates a magnetic field, three coils that are arranged on three mutually perpendicular axes and that detect the magnetic field, a calculation unit that calculates the magnetic field strength based on the magnetic field value detected by each of the three coils, and a generation unit that generates posture information of an object having the three coils based on the ratio of the magnetic field value detected by each of the three coils to the magnetic field strength calculated by the calculation unit.

[0007] According to this aspect, the magnetic field generated by the magnetic field generating device is detected by three coils arranged on three mutually perpendicular axes, and the position information of the object can be obtained using the magnetic field strength calculated based on these three detection values, and the posture information of the object having the three coils can be obtained by using the ratio of the three detection values ​​to the magnetic field strength.

[0008] In the above-described aspect, the generation unit may use the ratio of the magnetic field value detected by each of the three coils to the magnetic field strength calculated by the calculation unit to calculate the tilt angle of the object, which is the angle between the axial magnetic field component of each of the three axes and the object, and generate posture information of the object.

[0009] According to this aspect, the tilt angle of the object relative to each of the three axial magnetic field components calculated using the ratio of the three detection values ​​to the magnetic field strength based on the three detection values ​​can be included in the posture information of the object having three coils.

[0010] In the above-described aspect, the generation unit may use the ratio of the magnetic field value detected by each of the three coils to the magnetic field strength calculated by the calculation unit to calculate a unit vector representing the inclination of the object with respect to each of the three axial magnetic field components, and generate posture information of the object.

[0011] According to this aspect, it is possible to include in the posture information of an object having three coils a unit vector representing the inclination of the object relative to each of the three axial magnetic field components calculated using the ratio of the three detection values ​​to the magnetic field strength based on the three detection values.

[0012] In the above-described embodiment, at least three magnetic field generating devices may be provided.

[0013] According to this aspect, it is possible to calculate the position and orientation of the object using three or more positions corresponding to at least three magnetic field generating devices.

[0014] In the above-described aspect, each of the magnetic field generating devices may generate a magnetic field in sequence and continuously based on a periodic pattern for generating a magnetic field.

[0015] According to this aspect, it is possible to calculate the position and orientation of the object based on the magnetic fields generated successively in order from at least three magnetic field generating devices.

[0016] In the above-described aspect, the magnetic field generating device may be an antenna having a coil that generates a low frequency (LF) electromagnetic wave.

[0017] According to this aspect, it is possible to improve the accuracy of distance measurement and the accuracy of measured coordinates compared to, for example, UWB (Ultra Wide Band) and the like.

[0018] In the above-described embodiment, the object may be a tag having three coils.

[0019] According to this aspect, it is possible to obtain position information and attitude information of a tag having three coils.

[0020] In the above-described embodiment, the tag may be attached to an object that performs a work operation.

[0021] According to this aspect, it becomes possible to estimate, diagnose, predict, etc. the behavior of the object to which the tag is attached based on the position information and posture information of the tag.

[0022] According to the present invention, it is possible to provide an information processing system that can reduce the size and cost of the device.

[0023] Fig. 2 is a schematic diagram illustrating the configuration of an information processing system according to an embodiment. Fig. 3 is a block diagram illustrating the functional configuration of the tag shown in Fig. 1. Fig. 4 is a schematic diagram for explaining the tilt angle of the tag in the X-axis and Y-axis directions. Fig. 5 is a schematic diagram for explaining the tilt angle of the tag in the X-axis and Y-axis directions. Fig. 6 is a schematic diagram for explaining the tilt angle of the tag in the X-axis and Y-axis directions. Fig. 7 is a schematic diagram for explaining the tilt angle of the tag in the X-axis and Y-axis directions.

[0024] A preferred embodiment of the present invention will be described with reference to the accompanying drawings. In each drawing, the same reference numerals denote the same or similar configurations. However, the drawings are schematic, and specific dimensions and the like should be determined in light of the following description. Furthermore, the drawings may include portions with different dimensional relationships and ratios.

[0025] The configuration of an information processing system according to an embodiment will be described with reference to Fig. 1. The information processing system 100 shown in Fig. 1 includes, for example, a tag 1, an antenna 2, and a terminal device 3.

[0026] Before describing each component of the information processing system 100, an example of a situation in which the present invention is applied will be described. In the information processing system 100 according to the embodiment, for example, a tag 1 is attached to the hand, arm, or hat of a worker performing a predetermined process, and the magnetic field generated from the coil 23 of the antenna 2 is detected by the three coils 13 a, 13 b, and 13 c of the tag 1, and the position and posture of the tag 1 are calculated based on the detected values.

[0027] This makes it possible to collect data on the position and posture of the tag 1 in time series in accordance with the movement of the tag 1. Then, by analyzing the data on the position and posture of the tag 1 with the terminal device 3, it becomes possible to estimate, diagnose, and predict the work motions and the stability of the work.

[0028] Here, the tag 1 is not limited to being attached to a worker. For example, the tag 1 may be attached to a part, tool, or the like that is used by the worker when performing the work. In other words, it is preferable to attach the tag 1 to the object on which the work operation is performed.

[0029] The components of the information processing system 100 that realizes such a scenario will be described below.

[0030] The antenna 2 is a magnetic field generating device and includes a processor 21 such as an MPU (Micro Processing Unit) or a CPU (Central Processing Unit), a communication unit 22 that enables wireless communication and wired communication, and a coil 23 that generates a magnetic field. The coil 23 preferably generates, for example, low frequency (LF) electromagnetic waves, and the antenna 2 preferably performs magnetic field communication in the LF band using the coil 23.

[0031] It is preferable to provide at least three antennas 2. The position and orientation of the tag 1 can be calculated by utilizing magnetic field communication between the tag 1 and at least three antennas 2. In this case, three coils 23 may be connected to one processor 21.

[0032] The processor 21 controls the coils 23 so that current flows continuously in order based on the periodic pattern for generating the magnetic field, thereby enabling the coils 23 to generate magnetic fields repeatedly in a sequential manner. The periodic pattern and current values ​​are preferably received from the terminal device 3 or the like via the communication unit 22 and stored in memory.

[0033] The terminal device 3 is, for example, a personal computer, and includes a processor 31 such as a CPU or MPU, a communication unit 32 that enables wireless communication and wired communication, a memory unit 33, an input unit 34, and a display unit 35.

[0034] The processor 31 executes programs stored in the storage unit 33 to realize various functions of the terminal device 3. The storage unit 33 is a computer-readable recording medium such as a disk drive or semiconductor memory. The storage unit 33 stores programs for realizing various functions of the terminal device 3, various data used by the programs, and the like.

[0035] The input unit 34 is, for example, a keyboard, a touch panel, a mouse, a microphone, a camera, etc. The display unit 35 is, for example, an organic EL display or a liquid crystal display.

[0036] The tag 1 is an electronic tag and includes a processor 11 such as an MPU or CPU, a communication unit 12 that enables wireless communication, and three coils 13a, 13b, and 13c. The three coils 13a, 13b, and 13c are arranged on three axes that are orthogonal to each other. In this embodiment, the longitudinal direction of the coil 13a is defined as the X-axis direction, the longitudinal direction of the coil 13b is defined as the Y-axis direction, and the longitudinal direction of the coil 13c is defined as the Z-axis direction.

[0037] 2 , the processor 11 of the tag 1 functions as, for example, a calculation unit 111 and a generation unit 112. Some or all of the functions of the calculation unit 111 and the generation unit 112 may be realized by the processor 31 of the terminal device 3.

[0038] The calculation unit 111 calculates a received signal strength indicator (RSSI), which is the magnetic field strength, based on the values ​​of the magnetic fields detected by each of the three coils 13a, 13b, and 13c.

[0039] Here, the value of the magnetic field detected by the coil 13a indicating the X-axis direction is represented as the X-axis component of the magnetic field strength RSSI as RSSI_x, the value of the magnetic field detected by the coil 13b indicating the Y-axis direction is represented as the Y-axis component of the magnetic field strength RSSI as RSSI_y, and the value of the magnetic field detected by the coil 13c indicating the Z-axis direction is represented as the Z-axis component of the magnetic field strength RSSI as RSSI_z. In this case, the magnetic field strength RSSI can be calculated by combining the three components, for example, as shown in the following equation (1).

[0040]

[0041] Based on the magnetic field strength RSSI calculated by equation (1), the distance between the antenna 2 and the tag 1 can be calculated. Specifically, the distance between the antenna 2 and the tag 1 is calculated using the characteristic that the magnetic field strength RSSI attenuates as the cube of the distance.

[0042] By providing three antennas 2 whose installation coordinates are known and calculating the distance between each antenna 2 and the tag 1, the coordinates of the tag 1 can be calculated. Specifically, the installation coordinates of each antenna 2 are set as the center of each circle, and the intersection of three circles whose radii are the distances between each antenna 2 and the tag 1 is calculated as the coordinates of the tag 1. This makes it possible to obtain the location information of the tag 1.

[0043] The generation unit 112 generates posture information of the tag 1 having three coils 13a, 13b, and 13c based on the ratio of the magnetic field values ​​RSSI_x, RSSI_y, and RSSI_z detected by each of the three coils 13a, 13b, and 13c to the magnetic field strength RSSI calculated by the calculation unit 111.

[0044] ​Specifically, the generation unit 112 uses the magnetic field strength RSSI calculated by the calculation unit 111 and the magnetic field values ​​RSSI_x, RSSI_y, and RSSI_z detected by each of the three coils 13a, 13b, and 13c to calculate the tilt angle of tag 1, which is the angle between each of the three axial magnetic field components and tag 1, and generates posture information of tag 1.

[0045] Here, the tilt angle of the tag 1 relative to the X-axis direction is represented as angle_x, the tilt angle of the tag 1 relative to the Y-axis direction is represented as angle_y, and the tilt angle of the tag 1 relative to the Z-axis direction is represented as angle_z. In this case, the tilt angles angle_x, angle_y, and angle_z can be calculated using the following equations (2), (3), and (4), respectively.

[0046] angle_x=cos －１ (RSSI_x / RSSI) … (2) angle_y=cos －１ (RSSI_y / RSSI) … (3) angle_z=cos －１ (RSSI_z / RSSI) … (4)

[0047] (RSSI_x / RSSI) in equation (2), (RSSI_y / RSSI) in equation (3), and (RSSI_z / RSSI) in equation (4) are the axis elements of a unit vector that represents the inclination of the tag 1 with respect to the X-axis, Y-axis, and Z-axis directions, respectively. These unit vectors (RSSI_x / RSSI, RSSI_y / RSSI, RSSI_z / RSSI) may be used as the attitude information of the tag 1.

[0048] The tilt angles angle_x, angle_y, and angle_z of the tag 1 calculated using equations (2), (3), and (4) are calculated for each antenna 2, and these calculated tilt angles are used as the attitude information of the tag 1. The tilt angles angle_x, angle_y, and angle_z of the tag 1 are angles that indicate the degree of tilt from the reference angle (0 degrees) when the tag 1 is facing the antenna 2.

[0049] The tilt angles angle_x, angle_y, and angle_z of the tag 1 are angles in a coordinate system (hereinafter also referred to as the "world coordinate system") based on the state in which the tag 1 is facing the antenna 2.

[0050] In contrast, the tilt of the tag 1 can also be expressed by the angle of a coordinate system (hereinafter also referred to as the "global coordinate system") that represents the installation coordinates of the antenna. The angle of the global coordinate system can be calculated by performing an affine transformation on the angle of the world coordinate system. In other words, the angle of the global coordinate system can be calculated by transforming the angle of the world coordinate system using a matrix for affine transformation. This angle of the global coordinate system may also be used as attitude information of the tag 1.

[0051] The tilt angle of the tag 1 will be specifically described with reference to Figures 3 to 6. For ease of explanation, the tilt angles in the X-axis and Y-axis directions will be described in Figures 3 to 6. The other directions, the Y-axis and Z-axis, and the Z-axis and X-axis, can be explained in the same way as the X-axis and Y-axis, so their explanation will be omitted.

[0052] 3 to 6, it is assumed that three antennas 2a, 2b, and 2c are installed side by side on the X axis, and the installation coordinates of each antenna are known. For example, the three antennas 2a, 2b, and 2c can be placed on a workbench on which a worker works, and the tag 1 can be attached to the worker's hand.

[0053] 3 is a schematic diagram assuming that the orientation (posture) D of the tag 1 is perpendicular to the X axis and parallel to the Y axis. In this case, the orientation D of the tag 1 is set to a 0 degree orientation in the global coordinate system.

[0054] Here, since the orientation of the coils 13 a, 13 b, and 13 c cannot be determined, it is not possible to determine whether the angle calculated based on the magnetic field detected by the coils is positive or negative. Therefore, the angle in the world coordinate system calculated based on the magnetic field detected by the coils is calculated as an absolute value.

[0055] 3, the tilt angle of tag 1 relative to antenna 2a is calculated to be 30 degrees, the tilt angle of tag 1 relative to antenna 2b is calculated to be 30 degrees, and the tilt angle of tag 1 relative to antenna 2c is calculated to be 60 degrees. In other words, the tilt angle of tag 1 relative to antenna 2a and the tilt angle of tag 1 relative to antenna 2b are both calculated to be 30 degrees.

[0056] Here, the installation coordinates of antennas 2a, 2b, and 2c are known, and their arrangement in the X-axis direction is also known, so the tilt angle of tag 1 relative to antenna 2a should be smaller than the tilt angle of tag 1 relative to antenna 2b. Therefore, it can be determined that the tilt angle of tag 1 relative to antenna 2a is -30 degrees, not 30 degrees.

[0057] In this case, the information that the tilt angle of tag 1 relative to antenna 2a in the X-axis and Y-axis directions is -30 degrees, the tilt angle of tag 1 relative to antenna 2b is 30 degrees, and the tilt angle of tag 1 relative to antenna 2c is 60 degrees will be included in the attitude information of tag 1. The tilt angles relative to each of antennas 2a, 2b, and 2c can also be calculated for the other Y-axis and Z-axis directions and the Z-axis and X-axis directions in the same way as for the X-axis and Y-axis directions.

[0058] Fig. 4 is a schematic diagram assuming that the orientation D of the tag 1 is rotated 30 degrees clockwise from the orientation in Fig. 3. In this case, the orientation D of the tag 1 is set to a 30-degree orientation in the global coordinate system.

[0059] 4, the tilt angle of tag 1 relative to antenna 2a is calculated to be 60 degrees, the tilt angle of tag 1 relative to antenna 2b is calculated to be 0 degrees, and the tilt angle of tag 1 relative to antenna 2c is calculated to be 30 degrees. In other words, the tilt angle of tag 1 relative to antenna 2a is calculated to be a larger value than the tilt angle of tag 1 relative to antenna 2b.

[0060] Here, the installation coordinates of antennas 2a, 2b, and 2c are known, and their arrangement in the X-axis direction is also known, so the tilt angle of tag 1 relative to antenna 2a should be smaller than the tilt angle of tag 1 relative to antenna 2b. Therefore, it can be determined that the tilt angle of tag 1 relative to antenna 2a is -60 degrees, not 60 degrees.

[0061] In this case, the information that the tilt angle of tag 1 relative to antenna 2a in the X-axis and Y-axis directions is -60 degrees, the tilt angle of tag 1 relative to antenna 2b is 0 degrees, and the tilt angle of tag 1 relative to antenna 2c is 30 degrees will be included in the attitude information of tag 1. The tilt angles relative to each of antennas 2a, 2b, and 2c can also be calculated for the other Y-axis and Z-axis directions and the Z-axis and X-axis directions in the same way as for the X-axis and Y-axis directions.

[0062] Fig. 5 is a schematic diagram assuming that the orientation D of the tag 1 is rotated 60 degrees clockwise from the orientation in Fig. 3. In this case, the orientation D of the tag 1 is set to a 60-degree orientation in the global coordinate system.

[0063] 5, the tilt angle of tag 1 with respect to antenna 2a is calculated to be 90 degrees, the tilt angle of tag 1 with respect to antenna 2b is calculated to be 30 degrees, and the tilt angle of tag 1 with respect to antenna 2c is calculated to be 0 degrees. In other words, the tilt angle of tag 1 with respect to antenna 2a is calculated to be a value greater than the tilt angle of tag 1 with respect to antenna 2b, and the tilt angle of tag 1 with respect to antenna 2b is calculated to be a value greater than the tilt angle of tag 1 with respect to antenna 2c.

[0064] Here, the installation coordinates of antennas 2a, 2b, and 2c are known, and the arrangement in the X-axis direction is also known, so the tilt angle of tag 1 relative to antenna 2a will be smaller than the tilt angle of tag 1 relative to antenna 2b, which will be smaller than the tilt angle of tag 1 relative to antenna 2c. Therefore, it can be determined that the tilt angle of tag 1 relative to antenna 2a is -90 degrees, not 90 degrees, and that the tilt angle of tag 1 relative to antenna 2b is -30 degrees, not 30 degrees.

[0065] In this case, the information that the tilt angle of tag 1 relative to antenna 2a in the X-axis and Y-axis directions is -90 degrees, the tilt angle of tag 1 relative to antenna 2b is -30 degrees, and the tilt angle of tag 1 relative to antenna 2c is 0 degrees in the X-axis and Y-axis directions is included in the attitude information of tag 1. The tilt angles relative to each of antennas 2a, 2b, and 2c can also be calculated for the other Y-axis and Z-axis directions and the Z-axis and X-axis directions in the same way as for the X-axis and Y-axis directions.

[0066] Fig. 6 is a schematic diagram assuming that the orientation D of the tag 1 is rotated 210 degrees clockwise from the orientation in Fig. 3. In this case, the orientation D of the tag 1 is set to a 210-degree orientation in the global coordinate system.

[0067] In Figure 6, the tilt angle of tag 1 relative to antenna 2a is calculated to be 60 degrees, the tilt angle of tag 1 relative to antenna 2b is calculated to be 0 degrees, and the tilt angle of tag 1 relative to antenna 2c is calculated to be 30 degrees. In other words, the calculated tilt angles are the same as those in the state shown in Figure 4 above. This is because the orientations of coils 13a, 13b, and 13c cannot be identified, and it is therefore impossible to determine whether the angles calculated based on the magnetic fields detected by the coils are positive or negative.

[0068] In this way, when the orientation D of the tag 1 may be reversed from the orientation directly facing each of the antennas 2a, 2b, and 2c, it is preferable to add another antenna 2d, for example, at a coordinate position in the positive Y direction that is greater than the Y coordinate of the tag 1. By adding the antenna 2d in this way, it becomes possible to determine the orientation of the tag 1 in the Y axis direction.

[0069] This makes it possible to determine, for example, whether a worker wearing tag 1 is working facing the work bench on which antennas 2a, 2b, and 2c are placed, or working with his back to the work bench.

[0070] In Figure 6, by adding antenna 2d, it can be determined that the tilt angle of tag 1 relative to antenna 2a is 120 degrees, the tilt angle of tag 1 relative to antenna 2b is 180 degrees, and the tilt angle of tag 1 relative to antenna 2c is 210 degrees.

[0071] In this case, the information that the tilt angle of tag 1 relative to antenna 2a in the X-axis and Y-axis directions is 120 degrees, the tilt angle of tag 1 relative to antenna 2b is 180 degrees, and the tilt angle of tag 1 relative to antenna 2c is 210 degrees will be included in the attitude information of tag 1. The tilt angles relative to each of antennas 2a, 2b, and 2c can also be calculated for the other Y-axis and Z-axis directions and the Z-axis and X-axis directions in the same way as for the X-axis and Y-axis directions.

[0072] Here, for example, when analyzing a movement using AI, it is sufficient to grasp the progression of the movement, so whether the angle calculated based on the magnetic field detected by the coil is positive or negative is not essential information. In other words, information on whether the angle is positive or negative can be omitted. Therefore, in such a case, it is sufficient to place three antennas 2a, 2b, and 2c, and there is no need to add another antenna 2d.

[0073] As described above, according to the information processing system 100 including the embodiment, the magnetic fields generated from the three antennas 2a, 2b, and 2c are detected by three coils 13a, 13b, and 13c arranged on three mutually perpendicular axes, and the position information of the tag 1 can be obtained using the magnetic field strength RSSI calculated based on the three detection values ​​RSSI_x, RSSI_y, and RSSI_z.In addition, by using the ratio of the three detection values ​​RSSI_x, RSSI_y, and RSSI_z to the magnetic field strength RSSI, the posture information of the tag 1 having the three coils 13a, 13b, and 13c can be obtained.

[0074] Therefore, for example, when tag 1 is attached to a worker's hand, the hand's movement and hand orientation (posture) can be acquired simultaneously. This makes it possible to acquire information such as whether the hand moved unsteadily or whether the arm was extended with the wrist held vertical or horizontal. Based on this information, it is also possible to present the differences between the movements of experienced workers and those of novice workers.

[0075] As a result, according to the information processing system 100 according to the embodiment, it is possible to omit the acceleration sensor and angular velocity sensor for calculating the position information and the attitude information, thereby reducing the size and cost of the device.

[0076] The above-described embodiments are merely examples of the present invention in all respects. Needless to say, various improvements and modifications can be made without departing from the scope of the present invention. In other words, specific configurations according to the embodiments may be appropriately adopted when implementing the present invention. Furthermore, the above-described embodiments are intended to facilitate understanding of the present invention and should not be construed as limiting the present invention.

[0077] [Additional Note] Aspects of the present embodiment include the following disclosure.

[0078] (Supplementary Note 1) An information processing system (100) comprising: a magnetic field generating device (2) that generates a magnetic field; three coils (13a, 13b, 13c) that are respectively arranged on three axes that are orthogonal to each other and that detect the magnetic field; a calculation unit (111) that calculates a magnetic field strength based on the value of the magnetic field detected by each of the three coils (13a, 13b, 13c); and a generation unit (112) that generates posture information of an object (1) having the three coils (13a, 13b, 13c) based on the ratio of the value of the magnetic field detected by each of the three coils (13a, 13b, 13c) to the magnetic field strength calculated by the calculation unit (111).

[0079] (Supplementary Note 2) The information processing system (100) according to Supplementary Note 1, wherein the generation unit (112) calculates the tilt angle of the object (1), which is the angle between the axial magnetic field component of each of the three axes and the object, using the ratio of the value of the magnetic field detected by each of the three coils (13a, 13b, 13c) to the magnetic field strength calculated by the calculation unit (111), and generates posture information of the object (1).

[0080] (Supplementary Note 3) The information processing system (100) according to Supplementary Note 1 or 2, wherein the generation unit (112) calculates a unit vector representing the inclination of the object (1) with respect to each axial magnetic field component of the three axes using a ratio of the value of the magnetic field detected by each of the three coils (13a, 13b, 13c) to the magnetic field strength calculated by the calculation unit (111), and generates posture information of the object (1).

[0081] (Supplementary Note 4) The information processing system (100) according to any one of Supplementary Notes 1 to 3, comprising at least three of the magnetic field generating devices (2).

[0082] (Supplementary Note 5) The information processing system (100) according to Supplementary Note 4, wherein each of the magnetic field generating devices (2) generates a magnetic field in sequence and continuously based on a periodic pattern for generating a magnetic field.

[0083] (Supplementary Note 6) The information processing system (100) according to any one of Supplementary Notes 1 to 5, wherein the magnetic field generating device (2) is an antenna (2) having a coil that generates low frequency (LF) electromagnetic waves.

[0084] (Supplementary Note 7) The information processing system (100) according to any one of Supplementary Notes 1 to 6, wherein the target object (1) is a tag (1) having the three coils (13a, 13b, 13c).

[0085] (Supplementary Note 8) The information processing system (100) according to Supplementary Note 7, wherein the tag (1) is attached to an object on which a work operation is to be performed.

[0086] 1... tag (object), 2a, 2b, 2c, 2d... antenna (magnetic field generating device), 3... terminal device, 11... processor, 12... communication unit, 13a, 13b, 13c... coil, 21... processor, 22... communication unit, 23... coil, 31... processor, 32... communication unit, 33... storage unit, 34... input unit, 35... display unit, 100... information processing system, 111... calculation unit, 112... generation unit

Claims

1. An information processing system comprising: a magnetic field generating device that generates a magnetic field; three coils respectively arranged on three mutually orthogonal axes for detecting the magnetic field; a calculation unit that calculates a magnetic field strength based on values of the magnetic field detected by each of the three coils; and a generation unit that generates attitude information of an object having the three coils based on a ratio of the values of the magnetic field detected by each of the three coils with respect to the magnetic field strength calculated by the calculation unit.

2. The information processing system according to claim 1, wherein the generation unit calculates an inclination angle of the object, which is an angle formed by each axis magnetic field component of the three axes and the object, using a ratio of the values of the magnetic field detected by each of the three coils with respect to the magnetic field strength calculated by the calculation unit, and generates the attitude information of the object.

3. The information processing system according to claim 1, wherein the generation unit calculates a unit vector representing the inclination of the object with respect to each axis magnetic field component of the three axes, using a ratio of the values of the magnetic field detected by each of the three coils with respect to the magnetic field strength calculated by the calculation unit, and generates the attitude information of the object.

4. The information processing system according to claim 1, comprising at least three of the magnetic field generating devices.

5. The information processing system according to claim 4, wherein each of the magnetic field generating devices sequentially and continuously generates a magnetic field based on a periodic pattern for generating the magnetic field.

6. The information processing system according to claim 1, wherein the magnetic field generating device is an antenna having a coil that generates low-frequency (LF) electromagnetic waves.

7. The information processing system according to claim 1, wherein the object is a tag having the three coils.

8. The information processing system according to claim 7, wherein the tag is attached to an object that performs a work operation.

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