Display control device, display system and display control method

Abstract

Display control device (100, 100a), comprising: a first mobile object information acquisition unit (110) to acquire first mobile object information specifying a position, speed of movement and direction of movement of a first mobile object (1) moving within a facility; a second mobile object information acquisition unit (120) to acquire second mobile object information specifying a position, speed of movement and direction of movement of a second mobile object (2) moving within the facility; an image acquisition unit (170, 170a) for acquiring image information based on the first mobile object information acquired by the first mobile object information acquisition unit and the second mobile object information acquired by the second mobile object information acquisition unit, which displays a display image to be shown in a room in the facility by a display output device (11, 11-1, 11-2, 11-3, 11-4) installed in the facility, wherein the room is visible to the first mobile object or the second mobile object; and an image output unit (180, 180a) to output the image information captured by the image acquisition unit, characterized by the fact that The image acquisition unit captures the image information based on a pre-defined motion rule, in addition to the first mobile object information captured by the first mobile object information acquisition unit and the second mobile object information captured by the second mobile object information acquisition unit. or The display control device (100, 100a) further comprises a motion command unit (150) to output motion command information, if the first mobile object or the second mobile object is an autonomous mobile device that moves in the facility on the basis of a pre-defined motion plan, specifying a motion command for the first mobile object or the second mobile object that is the autonomous mobile device, wherein the motion command unit outputs the motion command information corresponding to the display image shown by the image information acquired by the image acquisition unit.

Description

TECHNICAL AREA

[0001] The present invention relates to a display control device and a display control method. STATE OF THE ART

[0002] Autonomous mobile devices, such as self-driving robots, are becoming increasingly common in facilities like office buildings, factories or warehouses, and public facilities like train stations. Within a facility, contact can occur between a person moving within the facility and a mobile object moving within the facility, such as an autonomous mobile device, or another person moving within the facility.

[0003] Conventionally, there is a technique to avoid contact between a vehicle traveling on a road and a person walking on the road (see e.g. patent literature 1).Patent literature 2 describes a display control system comprising: a plurality of display units, an imaging unit configured to detect a subject, a predictor configured to predict an action of the subject according to a detected image captured by the imaging unit, a guide image generator configured to produce a guide image that guides the subject according to a prediction result from the predictor, and a display controller configured to select, based on the prediction result from the predictor, a display unit from the plurality of display units capable of displaying an image at a position corresponding to the subject, and to control the selected display unit to display the guide image at the position corresponding to the subject. LIST OF CAPLETS PATENT LITERATURE Patent literature 1: JP 2015 - 201 113 A Patent literature 2: US 2014 / 0 176 599 A1 Patent literature 3: WO 2019 / 155623 A1 Patent literature 4: US 2004 / 0 051 644 A1 Patent literature 5: WO 2018 / 066054 A1 SUMMARY OF THE INVENTIONAL ENGINEERING TASK

[0004] The conventional technique described in patent literature 1 is a technique for avoiding contact between a vehicle traveling on the road and a person walking on the road and therefore does not take into account contact between a person moving in a facility and a mobile object moving in the facility.

[0005] One objective of the present invention is to provide a display control device by means of which information to avoid contact between a person moving in a facility and a mobile object moving in the facility can be provided to the person moving in the facility. TECHNICAL SOLUTION

[0006] A display control device according to the present invention comprises: a first mobile object information acquisition unit for acquiring first mobile object information indicating the position, speed, and direction of movement of a first mobile object moving within a facility; a second mobile object information acquisition unit for acquiring second mobile object information indicating the position, speed, and direction of movement of a second mobile object moving within the facility; and an image acquisition unit for acquiring image information, based on the first mobile object information acquired by the first mobile object information acquisition unit and the second mobile object information acquired by the second mobile object information acquisition unit, which displays a display image.that is to be displayed in a room within the facility by a display output device installed in the facility, the room being visible to the first mobile object; and an image output unit to output the image information captured by the image acquisition unit. The image acquisition unit captures the image information based on a pre-specified motion rule, in addition to the first mobile object information captured by the first mobile object information acquisition unit and the second mobile object information captured by the second mobile object information acquisition unit. Or, the display control device further comprises a motion command unit to output motion command information if the first mobile object or the second mobile object is an autonomous mobile device moving within the facility based on a pre-specified motion plan.which specify a movement command for the first mobile object or the second mobile object, which is the autonomous mobile device, wherein the movement command unit outputs the movement command information corresponding to the display image shown by the image information captured by the image acquisition unit. ADVANTAGEOUS EFFECTS OF THE INVENTION

[0007] According to the present invention, information to avoid contact between a person moving in a facility and a mobile object moving in the facility can be provided to the person moving in the facility. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a block diagram showing an example of a configuration of a main part of a display system according to a first embodiment, to which a display control device according to the first embodiment is applied. Fig. Figure 2 is an arrangement drawing showing an example of an arrangement of a display output device included in the display system according to the first embodiment in a device. Fig. Figure 3 is a block diagram showing an example of a configuration of a main part of the display control device according to the first embodiment. Fig. Figure 4A is a graphic representation illustrating an example of image information captured by an image output unit included in the display control device according to the first embodiment. Fig. Figure 4B is a graphic representation illustrating another example of image information captured by the image output unit contained in the display control device according to the first embodiment. Fig. Figure 5 is a graphic representation illustrating another example of image information captured by the image output unit, which is included in the display control device according to the first embodiment. Fig. 6A and Fig. Figure 6B are graphical representations, each showing an example of a hardware configuration of the display control device according to the first embodiment. Fig. Figure 7 is a flowchart showing an example of processing performed by the display control device according to the first embodiment. Fig. Figure 8 is a block diagram showing an example of a configuration of a main part of a display system according to a second embodiment, to which a display control device according to the second embodiment is applied. Fig. Figure 9 is a block diagram showing an example of a configuration of a main part of the display control device according to the second embodiment. Fig. 10A, Fig. 10B, Fig. 10C and Fig. Figure 10D are graphic representations illustrating examples of image information captured by an image output unit included in the display control device according to the second embodiment, in a case where the facility's own installation is an elevator. Fig. Figure 11 is a graphic representation illustrating an example of image information captured by the image output unit contained in the display control device according to the second embodiment, in a case where the facility's own system is an automatic door. Fig. Figure 12 is a flowchart showing an example of processing performed by the display control device according to the second embodiment. DESCRIPTION OF EXAMPLES OF EXECUTION

[0008] Exemplary embodiments of the present invention are described below with reference to the drawings. First embodiment

[0009] A display control device 100 according to a first embodiment is described with reference to Fig. 1 to 7 described.

[0010] The configuration of a main part of a display system 10 according to the first embodiment, to which the display control device 100 according to the first embodiment is applied, is described with reference to Fig. 1 and Fig. 2 described.

[0011] Fig. Figure 1 is a block diagram showing an example of the configuration of the main part of the display system 10 according to the first embodiment, to which the display control device 100 according to the first embodiment is applied.

[0012] The display system 10 includes a display output device 11, a sensor 12, a mobile object detection device 13, a storage device 14 and the display control device 100.

[0013] The display output device 11, the sensor 12, the mobile object detection device 13, the storage device 14 and the display control device 100, which are contained in the display system 10, are interconnected via a network 19 which can send and receive information.

[0014] The display output device 11 is a display device installed in a facility and displays an image in a space within the facility. The space within the facility here includes an area on a structure that constitutes the facility, a space formed by a structure that constitutes the facility, and the like.

[0015] The display output device 11 is a projection-type display device, such as a front projector. The display output device 11 is installed in the facility, projects a display image onto a predetermined area on the structure that forms the facility, and thereby displays the display image on the structure.

[0016] The image displayed by the display output device 11 is not limited to a still image, but can also be a moving image.

[0017] The structure that forms the installation and on which the display output device 11 displays the display image is a floor in the installation, a wall in the installation, a door in the installation, a hoistway door or a floor control panel of an elevator installed in the installation or the like.

[0018] The display output device 11 is not limited to a projection-type display device, as long as it is a display device installed in the facility and displays an image in a space within the facility. For example, the display output device 11 may be a display such as a light-emitting diode (LED) display or an organic electroluminescent (EL) display attached to the structure that forms the facility, or it may be an air display. An air display is a device that projects an image in the air.

[0019] The first embodiment describes an example in which the display output device 11, installed on the ceiling or wall of the facility, projects a display image onto a floor in the facility in order to display the display image on the floor.

[0020] Fig. Figure 2 is an arrangement drawing showing an example of the arrangement of the display output device 11, which is included in the display system 10 according to the first embodiment, in the device. More precisely, it is Fig. 2 A graphic representation of part of a floor in the facility, seen from above.

[0021] Fig. Figure 2 shows the four display output devices 11-1, 11-2, 11-3 and 11-4 as the display output device 11. It should be noted that the display output device 11 is not limited to the four display output devices 11-1, 11-2, 11-3 and 11-4 and the number of display output devices 11 can be three or fewer or five or more, as long as it is one or more.

[0022] The rectangles marked by a dashed line in Fig. 2 are display areas in which the display images corresponding to the respective four display output devices 11-1, 11-2, 11-3 and 11-4 are displayed.

[0023] Furthermore, in Fig. Figure 2 shows a first mobile object 1 and a second mobile object 2, which are mobile objects that move within the facility.

[0024] Even though the number of mobile objects located in the Fig. 2. If the facility shown is two, the number of mobile objects moving within the facility can be three or more, as long as there are two or more.

[0025] Furthermore, a large number of mobile objects moving within the facility can be considered as a single mobile object moving within the facility.

[0026] The first mobile object 1 and the second mobile object 2 are each a mobile object such as a person moving around the facility, or an autonomous mobile device such as a self-driving robot moving around the facility.

[0027] Fig. Figure 2 illustrates an example of a state in which the first mobile object 1, which moves in a first pass, and the second mobile object 2, which moves in a second pass orthogonal to the first pass, move to an intersection point of the first pass and the second pass.

[0028] The movement of a person moving around the facility includes movement by walking, movement by running, movement with a wheelchair, and the like.

[0029] The movement of an autonomous mobile device moving within the facility includes, for example, driving motion by rotating the wheels, walking motion by moving the legs, and similar actions.

[0030] It should be noted that a person moving within the facility may include an autonomous mobile device that identifies the display content of the image shown by the display output device 11 using known image recognition technology or the like, and can move in response to the identified display content. If a person moving within the facility is the autonomous mobile device described above, the movement of the person moving within the facility who is the autonomous mobile device includes, for example, a driving movement by turning the wheels, a walking movement by moving the legs, and the like.

[0031] Sensor 12 is an imaging device, e.g., a digital still camera, a digital video camera, or a surveillance camera. Sensor 12 is installed, for example, at a position where the first mobile object 1 and the second mobile object 2 are located. Fig. 2 can be depicted. Specifically, sensor 12 is, for example, located on the ceiling at the intersection of the first and second passageways, as shown in Fig. Figure 2 shows the sensor 12 transmitting sensor information, which displays the captured image, via the network 19 to the mobile object detection device 13.

[0032] It should be noted that although the number of sensors 12 in the first embodiment is one, the number of sensors 12 can also be two or more.

[0033] The mobile object detection device 13 determines the position of the first mobile object 1 moving in the first pass using a known image analysis technique based on sensor information transmitted by the sensor 12. Furthermore, the mobile object detection device 13 determines the speed and direction of movement of the first mobile object 1 using a known image analysis technique based on a multitude of positions of the first mobile object 1, which were determined by the mobile object detection device 13 at different times. Finally, the mobile object detection device 13 generates initial mobile object information, specifying the position, speed, and direction of movement of the first mobile object 1 that was determined, and outputs this initial mobile object information to the display control device 100.

[0034] Accordingly, the mobile object detection device 13 determines the position of the second mobile object 2, which moves during the second pass, using a known image analysis technique based on sensor information transmitted by the sensor 12. Furthermore, the mobile object detection device 13 determines the speed and direction of movement of the second mobile object 2 using a known image analysis technique based on a multitude of positions of the second mobile object 2, which were determined by the mobile object detection device 13 at different times. Finally, the mobile object detection device 13 generates second mobile object information, which specifies the position, speed, and direction of movement of the determined second mobile object 2, and outputs this generated second mobile object information to the display control device 100.

[0035] In addition to determining the position, speed of movement and direction of movement of the first mobile object 1 and the second mobile object 2, the mobile object detection device 13 can also determine the type of the first mobile object 1 and the second mobile object 2.

[0036] The first mobile object 1 and the second mobile object 2 are, for example, each a person, an autonomous mobile device such as a self-driving robot or similar.

[0037] It should be noted that the person belonging to the types of first mobile object 1 and second mobile object 2 can include not only a so-called human being, but also, for example, a self-driving robot or the like, which can identify the display content of the display image shown by the display output device 11 by means of a known image recognition technology or the like and can move in response to the identified display content.

[0038] The mobile object detection device 13 can only determine one type, which is either a person or an autonomous mobile device from the types of the first mobile object 1 and the second mobile object 2, and if it is not possible to determine the type, the mobile object detection device 13 can determine that the type is the other type from the person and the autonomous mobile device.

[0039] More precisely, the mobile object detection device 13 determines the types of the first mobile object 1 and the second mobile object 2 using a known image analysis technique, for example, based on the sensor information transmitted by the sensor 12. For instance, the mobile object detection device 13 adds information about the determined type of the first mobile object 1 to the information about the first mobile object and outputs the resulting information about the first mobile object to the display control device 100. Furthermore, the mobile object detection device 13 adds information about the determined type of the second mobile object 2 to the information about the second mobile object and outputs the resulting information about the second mobile object to the display control device 100.

[0040] It should be noted that a method for determining the positions, speeds of movement and directions of movement of the first mobile object 1 and the second mobile object 2 is known based on sensor information using image analysis technology, so its description is omitted.

[0041] Furthermore, a method for determining the types of the first mobile object 1 and the second mobile object 2 based on sensor information using image analysis technology is known, so its description is omitted.

[0042] The mobile object detection device 13 is, for example, located at a predetermined location, such as a server room within the facility. The location of the mobile object detection device 13 is not limited to the interior of the facility, and the mobile object detection device 13 can also be located outside the facility, as long as information can be transmitted to and received from the sensor 12 and the display control device 100 via the network 19.

[0043] The sensor 12 is not limited to the imaging device, as long as the mobile object detection device 13 can detect the positions of the first mobile object 1 and the second mobile object 2 based on the sensor information transmitted by the sensor 12. The sensor 12 can be an infrared sensor, an ultrasonic sensor, a radar sensor, a laser distance sensor, or the like.

[0044] It should be noted that a method for determining the types of the first mobile object 1 and the second mobile object 2 is known on the basis of the sensor information output by an infrared sensor, an ultrasonic sensor, a radar sensor, a laser distance sensor or the like, so that its description is omitted.

[0045] Furthermore, in a case where the first mobile object 1 and the second mobile object 2 each carry a device or similar, such as an RFID tag (Radio Frequency Identifier) ​​or a Bluetooth Low Energy (BLE (registered trademark) beacon) that generates a radio wave or similar which enables the identification of a position, the sensor 12 can receive a radio wave emitted by the RFID tag or the BLE beacon or the like and output information indicating the received radio wave as sensor information.

[0046] It should be noted that a method for determining the positions of the first mobile object 1 and the second mobile object 2 is known based on, for example, information indicating a radio wave emitted by the RFID tag, or information indicating a radio wave emitted by the beacon according to BLE or similar, and therefore its description is omitted.

[0047] The display control device 100 acquires the first mobile object information and the second mobile object information output by the mobile object detection device 13 and outputs image information that displays a display image corresponding to the first mobile object information and the second mobile object information.

[0048] The display control device 100 is, for example, located at a predetermined location, such as a server room within the facility. The location of the display control device 100 is not limited to the interior of the facility, and the display control device 100 can also be located outside the facility, as long as information can be acquired via the network 19 by the mobile object detection device 13 and the storage device 14.

[0049] Details of the display control device 100 will be described later.

[0050] The storage device 14 includes, for example, a storage medium such as a solid-state drive (SSD) or a hard disk drive (HDD). In response to a request from the display control device 100, the storage device 14 reads information from the storage medium that corresponds to the request and outputs the read information to the display control device 100.

[0051] The storage device 14 is, for example, located at a predetermined location, such as a server room within the facility. The location of the storage device 14 is not limited to the interior of the facility, and the storage device 14 can also be located outside the facility, as long as the display control device 100 can acquire information from the storage device 14 via the network 19.

[0052] The configuration of the main part of the display control device 100 according to the first embodiment is described with reference to Fig. 3 described.

[0053] Fig. Figure 3 is a block diagram showing an example of the configuration of the main part of the display control device 100 according to the first embodiment.

[0054] The display control device 100 includes a first mobile object information acquisition unit 110, a second mobile object information acquisition unit 120, a contact prediction unit 130, a motion plan acquisition unit 140, a motion command unit 150, a setup acquisition unit 160, an image acquisition unit 170 and an image output unit 180.

[0055] The first mobile object information acquisition unit 110 acquires the first mobile object information, which specifies the position, speed of movement, and direction of movement of the first mobile object 1 moving within the facility. Specifically, the first mobile object information acquisition unit 110 acquires the first mobile object information that is generated, for example, by the mobile object detection device 13 and output via the network 19.

[0056] The second mobile object information acquisition unit 120 acquires the second mobile object information, which specifies the position, speed of movement, and direction of movement of the second mobile object 2 moving within the facility. Specifically, the second mobile object information acquisition unit 120 acquires the second mobile object information, which is generated, for example, by the mobile object detection device 13 and output via the network 19.

[0057] In the first embodiment, the mobile object detection device 13 operates as a separate device from the display control device 100, but this is not intended to be a limitation. For example, the display control device 100 can contain the mobile object detection device 13, and the display control device 100 can acquire the first mobile object information and the second mobile object information output by the mobile object detection device 13 contained within the display control device 100.

[0058] Furthermore, in a case where the first mobile object 1 is an autonomous mobile device, such as a self-driving robot, the first mobile object information acquisition unit 110 can acquire first mobile object information from the first mobile object 1 without using the mobile object detection device 13. This information will specify the position, speed of movement, and direction of movement of the first mobile object 1, which is the autonomous mobile device. This information may be output, for example, by a navigation system (not shown) contained in the first mobile object 1.

[0059] Similarly, in a case where the second mobile object 2 is an autonomous mobile device, such as a self-driving robot, the second mobile object information acquisition unit 120 can acquire second mobile object information from the second mobile object 2 without using the mobile object detection device 13. This information may include the position, speed of movement, and direction of movement of the second mobile object 2, which is the autonomous mobile device, and may be output, for example, by a navigation system contained in the second mobile object 2.

[0060] For example, the first mobile object 1, which is the autonomous mobile device, contains a wireless communication unit (not shown), and the first mobile object 1, which is the autonomous mobile device, outputs the first mobile object information via the wireless communication unit. The first mobile object information output by the first mobile object 1 is captured by the first mobile object information capture unit 110 via network 19 and a wireless access point (not shown) connected to network 19.

[0061] Similarly, the second mobile object 2, which is the autonomous mobile device, contains a wireless communication unit, and the second mobile object 2, which is the autonomous mobile device, outputs the second mobile object information via the wireless communication unit.

[0062] The second mobile object information issued by the second mobile object 2 is acquired by the second mobile object information acquisition unit 120 via the network 19 and a wireless access point connected to the network 19.

[0063] Furthermore, in a case where the first mobile object 1 is an autonomous mobile device and the first mobile object 1, which is the autonomous mobile device, moves by acquiring control information output by a motion control device (not shown) which controls the movement of the autonomous mobile device via the network 19, the first mobile object information acquisition unit 110 can acquire first mobile object information indicating the position, speed of movement and direction of movement of the first mobile object 1, for example from the motion control device, without using the mobile object detection device 13.

[0064] Accordingly, in a case where the second mobile object 2 is an autonomous mobile device and the second mobile object 2, which is the autonomous mobile device, moves by acquiring control information output by the motion control device which controls the movement of the autonomous mobile device via the network 19, the second mobile object information acquisition unit 120 can acquire second mobile object information indicating the position, speed of movement and direction of movement of the second mobile object 2, for example from the motion control device, without using the mobile object detection device 13.

[0065] It should be noted that in a case where the first mobile object information acquisition unit 110 acquires the first mobile object information without using the mobile object detection device 13, as described above, the first mobile object 1 or the motion control device can add information to the first mobile object information indicating that the type of the first mobile object 1 is an autonomous mobile device, such as a self-driving robot, and can output the resulting first mobile object information.

[0066] Similarly, in a case where the second mobile object information acquisition unit 120 acquires the second mobile object information without the mobile object detection device 13, as described above, the second mobile object 2 or the motion control device can add information to the second mobile object information indicating that the type of the second mobile object 2 is an autonomous mobile device, such as a self-driving robot, and output the resulting second mobile object information.

[0067] The image acquisition unit 170 acquires, based on the first mobile object information acquired by the first mobile object information acquisition unit 110 and the second mobile object information acquired by the second mobile object information acquisition unit 120, image information that specifies a display image to be shown in a room in the facility by the display output device 11 installed in the facility.

[0068] The image acquisition unit 170 acquires the image information, for example by reading the image information from the storage device 14.

[0069] For example, in a case where, according to the first mobile object information and the second mobile object information, the type of the first mobile object 1 or the second mobile object 2 is a person, the image capture unit 170 captures at least image information specifying a display image to be shown in a space visible to the first mobile object 1 or the second mobile object 2, whose type is a person.

[0070] With this configuration, the display control device 100 can provide information to the first mobile object 1 or the second mobile object 2, which is a person moving in the facility, to avoid contact between the first mobile object 1 moving in the facility and the second mobile object 2 moving in the facility.

[0071] It should be noted that the display image, which is generated by the information captured by the image acquisition unit 170, is not limited to a still image, but can also be a moving image. Furthermore, the number of image information pieces captured by the image acquisition unit 170 is not limited to one. In a case where, for example, the display output device 11 includes a plurality of display output devices 11-1, 11-2, 11-3, and 11-4, as in Fig. As shown in Figure 2, the image acquisition unit can capture 170 image information corresponding to the respective multitude of display output devices 11-1, 11-2, 11-3 and 11-4, based on the first mobile object information and the second mobile object information.

[0072] Details of the image acquisition unit 170 will be described later.

[0073] The image output unit 180 outputs the image information captured by the image acquisition unit 170.

[0074] Specifically, the image output unit 180 outputs the image information captured by the image acquisition unit 170, for example, to the display output device 11 installed in the facility.

[0075] More precisely, the image output unit 180 outputs the image information captured by the image acquisition unit 170, for example as an image signal, in order to cause the display output device 11 to output the image information as a display image.

[0076] The display output device 11 receives the image information output by the image output unit 180 and displays the display image specified by the image information in a room of the facility.

[0077] The facility layout acquisition unit 160 acquires facility layout information that specifies the location of a structure that constitutes the facility, such as a passageway, a wall, or an installation within the facility. For example, the facility layout acquisition unit 160 acquires the facility layout information by reading it from the storage device 14 via the network 19. The facility layout acquisition unit 160 then outputs the acquired facility layout information to the image acquisition unit 170.

[0078] It should be noted that the setup assembly detection unit 160 is not an essential component of the display control device 100.

[0079] In a case where the display control device 100 contains the setup setup acquisition unit 160, the image acquisition unit 170 can acquire image information based on the setup setup information acquired by the setup setup acquisition unit 160, in addition to the first mobile object information acquired by the first mobile object information acquisition unit 110 and the second mobile object information acquired by the second mobile object information acquisition unit 120.

[0080] In a case where the first mobile object 1 or the second mobile object 2 is an autonomous mobile device moving within the facility, the motion plan acquisition unit 140 acquires motion plan information that displays a motion plan of the first mobile object 1 or the second mobile object 2, which is an autonomous mobile device. The motion plan acquisition unit 140 acquires the motion plan information, for example, by reading it from the storage device 14 via network 19. The motion plan acquisition unit 140 can acquire motion plan information from an autonomous mobile device or the motion control device mentioned above via network 19. The motion plan acquisition unit 140 outputs the acquired motion plan information to the image acquisition unit 170.

[0081] The first mobile object 1 or the second mobile object 2, which is an autonomous mobile device, moves within the facility based on a predetermined movement plan, which is indicated by the movement plan information.

[0082] It should be noted that the motion plan recording unit 140 is not an essential component of the display control device 100.

[0083] In a case where the display control device 100 contains the motion plan acquisition unit 140, the image acquisition unit 170 can acquire image information based on the motion plan information acquired by the motion plan acquisition unit 140, in addition to the first mobile object information acquired by the first mobile object information acquisition unit 110 and the second mobile object information acquired by the second mobile object information acquisition unit 120.The motion plan information captured by the motion plan capture unit 140 is not limited to information indicating a motion plan of the first mobile object 1 or the second mobile object 2, which is an autonomous mobile device, and may include information indicating a motion prediction result captured by predicting a direction of movement or the like of the first mobile object 1 or the second mobile object 2.

[0084] The contact prediction unit 130, based on the first mobile object information acquired by the first mobile object information acquisition unit 110 and the second mobile object information acquired by the second mobile object information acquisition unit 120, predicts whether or not contact is possible between the first mobile object 1 and the second mobile object 2. The contact prediction unit 130 then outputs a prediction result, obtained by predicting whether or not contact between the first mobile object 1 and the second mobile object 2 is possible, to the image acquisition unit 170.

[0085] It should be noted that the contact prediction unit 130 is not an essential component of the display control device 100.

[0086] In a case where the display control device 100 contains the contact prediction unit 130, the image acquisition unit 170 can acquire image information based on the prediction result predicted by the contact prediction unit 130, in addition to the first mobile object information acquired by the first mobile object information acquisition unit 110 and the second mobile object information acquired by the second mobile object information acquisition unit 120.

[0087] Furthermore, in a case where the display control device 100 contains the setup setup acquisition unit 160, the contact prediction unit 130 can predict, based on the setup setup information acquired by the setup setup acquisition unit 160, in addition to the first mobile object information acquired by the first mobile object information acquisition unit 110 and the second mobile object information acquired by the second mobile object information acquisition unit 120, whether contact between the first mobile object 1 and the second mobile object 2 is possible or not.

[0088] Furthermore, in a case where the first mobile object 1 or the second mobile object 2 is an autonomous mobile device moving within the facility, and the display control device 100 contains the motion plan acquisition unit 140, the contact prediction unit 130 can predict, based on the motion plan information acquired by the motion plan acquisition unit 140 in addition to the first mobile object information acquired by the first mobile object information acquisition unit 110 and the second mobile object information acquired by the second mobile object information acquisition unit 120, whether or not contact between the first mobile object 1 and the second mobile object 2 is possible.

[0089] In a case where the first mobile object 1 or the second mobile object 2 is an autonomous mobile device moving within the facility, the motion command unit 150 outputs motion command information specifying a motion command such as a temporary stop or resumption of movement to the first mobile object 1 or the second mobile object 2, which is an autonomous mobile device.

[0090] In particular, the motion command unit 150 outputs motion command information that corresponds to the display image shown by the image information captured by the image acquisition unit 170.

[0091] For example, the motion command unit 150 outputs the motion command information to the autonomous mobile device or the motion control device mentioned above via the network 19.

[0092] It should be noted that the motion command unit 150 is not an essential component of the display control device 100.

[0093] The image information acquired by the image acquisition unit 170 according to the first embodiment, based on the first mobile object information and the second mobile object information, is described with reference to Fig. 4A, Fig. 4B and Fig. 5 described.

[0094] In the following example, the first mobile object 1 is a person moving around the facility, and the second mobile object 2 is an autonomous mobile device such as a self-driving robot moving around the facility, or a person moving around the facility.

[0095] Fig. 4A and Fig. 4B are graphic representations, each of which represents an example of the image information that is captured by the image acquisition unit 170 according to the first embodiment based on the first mobile object information and the second mobile object information.

[0096] More precisely, they are Fig. 4A and Fig. 4B each graphic representation of a part of a floor in the facility seen from above and show a state in which the display image, which is displayed by the image information captured by the image acquisition unit 170, is displayed by the display output device 11.

[0097] Fig. 4A and Fig. Figure 4B shows the first pass and the second pass orthogonal to the first pass, as shown in the Fig. 2 shown in the arrangement drawing. Furthermore, show Fig. 4A and Fig. 4B four display output devices 11-1, 11-2, 11-3 and 11-4 as the display output device 11. In addition, show Fig. 4A and Fig. 4B the first mobile object 1 that moves in the first pass, and the second mobile object 2 that moves in the second pass.

[0098] The first mobile object 1, which is in Fig. 4A and Fig. As shown in 4B, in the first pass it moves in the direction of an arrow X, which points in Fig. 4A and Fig. 4B is shown.

[0099] The second mobile object 2, which is in Fig. 4A and Fig. As shown in 4B, in the second pass it moves in the direction of an arrow Y, which is in Fig. 4A and Fig. 4B is shown.

[0100] For example, based on the first mobile object information and the second mobile object information, the image acquisition unit 170 determines whether the first mobile object 1 or the second mobile object 2 enters the intersection of the first and second passages first, and acquires image information that displays a message that prompts the mobile object entering the intersection first to move and prompts the mobile object entering the intersection later to stop.

[0101] For example, based on the first mobile object information and the second mobile object information, the image acquisition unit 170 captures image information that displays a display image which prompts the mobile object that later enters the intersection to move, after the mobile object entering the intersection has first passed through the intersection.

[0102] Fig. Figure 4A illustrates a condition in which, in a case where the first mobile object 1, which is a person moving in the facility, is the first to enter the intersection, the image acquisition unit 170 captures image information, which, for example, displays a display image that prompts the first mobile object 1, which is a person moving in the facility, to move, and suggests to the first mobile object 1, which is a person moving in the facility, that the second mobile object 2 will stop.

[0103] Fig. Figure 4A further illustrates a condition in which, in a case where the first mobile object 1, which is a person moving within the facility, is the first to enter the intersection, the image acquisition unit 170 acquires image information, which, for example, displays a display image that suggests to the second mobile object 2, which is a person moving within the facility, that the first mobile object 1, which is a person moving within the facility, is about to move, and prompts the second mobile object 2, which is a person moving within the facility, to stop.

[0104] With this configuration, the display control device 100 can provide the first mobile object 1, which is a person moving in the facility, with information to avoid contact between the first mobile object 1, which is a person moving in the facility, and the second mobile object 2, which is moving in the facility.

[0105] Furthermore, in a case where the second mobile object 2 is a person moving within the facility, the display control device 100 can provide information to the first mobile object 1 and the second mobile object 2, each of which is a person moving within the facility, to prevent contact between the first mobile object 1, which is a person moving within the facility, and the second mobile object 2, which is a person moving within the facility.

[0106] Furthermore, the image acquisition unit 170 can determine the image information to be acquired based on a passage priority rule, which is a movement rule provided in advance in addition to the first mobile object information and the second mobile object information. The passage priority rule specifies priorities, for example, between the movement of a mobile object moving through the first passage and the movement of a mobile object moving through the second passage. The image acquisition unit 170 can have the information specifying the passage priority rule in advance, or it can obtain the information from the storage device 14 via the network 19.

[0107] Specifically, the image acquisition unit 170 captures, for example, image information displaying a display image that instructs the mobile object moving in the higher-priority pass to move out of the way of the first mobile object 1 moving in the first pass and the second mobile object 2 moving in the second pass, and instructs the mobile object moving in another lower-priority pass to stop, based on the first mobile object information, the second mobile object information, and the pre-specified pass priority rule. For example, in a case where the mobile object moving in the first pass moves ahead of the mobile object moving in the second pass, the image acquisition unit 170 captures image information displaying the image in the first pass. Fig. Display the image shown in 4A.

[0108] The image acquisition unit 170 captures image information, for example, a display image that prompts the mobile object moving in the lower priority passage to move after the mobile object moving in the higher priority passage has passed the intersection of the first and second passages, based on the first mobile object information, the second mobile object information, and the pre-supplied passage priority rule.

[0109] With this configuration, the display control device 100 can provide the first mobile object 1, which is a person moving in the facility, with information to avoid contact between the first mobile object 1, which is a person moving in the facility, and the second mobile object 2, which is moving in the facility.

[0110] Furthermore, in a case where the second mobile object 2 is a person moving within the facility, the display control device 100 can provide information to the first mobile object 1 and the second mobile object 2, each of which is a person moving within the facility, to prevent contact between the first mobile object 1, which is a person moving within the facility, and the second mobile object 2, which is a person moving within the facility.

[0111] Furthermore, in a case where the second mobile object 2 is an autonomous mobile device moving within the facility, the image acquisition unit 170 can determine the image information to be acquired based on a mobile object priority rule. This movement rule is provided in advance in addition to the information for the first and second mobile objects. The mobile object priority rule establishes priorities, for example, between the movement of a person moving within the facility and the movement of an autonomous mobile device moving within the facility. The image acquisition unit 170 can have the information specifying the mobile object priority rule in advance, or it can obtain the information from the storage device 14 via the network 19.

[0112] In particular, the image acquisition unit 170 captures image information, such as a display image, that instructs a higher-priority mobile object to move, and a lower-priority mobile object to stop, based on the first mobile object information, the second mobile object information, and the pre-provided mobile object priority rule. In a case where the person moving within the facility moves ahead of the autonomous mobile device moving within the facility, the image acquisition unit 170 captures image information, such as the display image from Fig. Display 4A.

[0113] The image acquisition unit 170 captures image information, for example, displaying a message that prompts the lower-priority mobile object to move after the higher-priority mobile object has passed the intersection of the first and second passages, based on the first mobile object information, the second mobile object information, and the pre-provided mobile object priority rule.

[0114] With this configuration, the display control device 100 can provide the first mobile object 1, which is a person moving in the facility, with information to avoid contact between the first mobile object 1, which is a person moving in the facility, and the second mobile object 2, which is moving in the facility, in a situation where a person is moving in the facility and an autonomous mobile device is moving in the facility.

[0115] The image acquisition unit 170 determines the image information to be acquired, for example, based on the first mobile object information and the second mobile object information. Specifically, the image acquisition unit 170 calculates, for example, a first distance, which is the distance from the position of the intersection between the first and second passages to the position of the first mobile object 1, as specified by the first mobile object information, and a second distance, which is the distance from the position of the intersection to the position of the second mobile object 2, as specified by the second mobile object information, and determines the image information to be acquired based on the first and second distances.More precisely, the image acquisition unit 170 calculates the first distance and the second distance based, for example, on the first mobile object information, the second mobile object information, and the setup information captured by the setup setup acquisition unit 160. For instance, the image acquisition unit 170 captures image information indicating that images with different colors, sizes, shapes, animation modes are displayed in a moving image, or similar, when the first or second distance is longer than a predefined distance, and when it is shorter than the predefined distance.

[0116] Furthermore, the image acquisition unit 170 can determine the image information to be captured, for example, based on the movement speed of the first mobile object 1, specified by the first mobile object information, or the movement speed of the second mobile object 2, specified by the second mobile object information. More precisely, the image acquisition unit 170 captures, for example, image information that displays images with different colors, sizes, shapes, animation modes in a moving image, or similar, between a case in which the movement speed of the first mobile object 1 or the movement speed of the second mobile object 2 is lower than a specified movement speed and a case in which it is higher than the specified movement speed.

[0117] Furthermore, in a case where the second mobile object 2 is an autonomous mobile device moving within the facility, the image acquisition unit 170 can acquire the image information based on motion plan information that specifies a motion plan of the movement of the autonomous mobile device, which is acquired by the motion plan acquisition unit 140, in addition to the first mobile object information and the second mobile object information.

[0118] Fig. Figure 4B is a graphical representation of a case in which the second mobile object 2, which is the autonomous mobile device moving in the second pass, turns right at the intersection between the first pass and the second pass in the direction of the first mobile object 1, in accordance with the motion plan specified by the motion plan information, and continues moving in the first pass after turning right.In this case, the image acquisition unit captures 170 image pieces of information, which, for example, display an image that prompts the first mobile object 1, which is a person moving within the facility, to move to an area that the second mobile object 2 does not enter on the first pass, taking into account the size, rotation radius, turning radius difference, or the like of the second mobile object 2, which is the autonomous mobile device, as in . Fig. 4B is shown.

[0119] For example, the image acquisition unit captures 170 image pieces of information that display a display image which prompts the first mobile object 1, which is a person moving within the facility, to move after the second mobile object 2, which is the autonomous mobile device, has passed the intersection between the first passage and the second passage, based on the information from the first mobile object and the information from the second mobile object.

[0120] With this configuration, the display control device 100 can provide the first mobile object 1, which is a person moving in the facility, with information to avoid contact between the first mobile object 1, which is a person moving in the facility, and the second mobile object 2, which is moving in the facility, in a situation where a person is moving in the facility and an autonomous mobile device is moving in the facility.

[0121] The image acquisition unit 170 can acquire image information that specifies a display image to be shown in a room in the facility by the display output device 11 installed in the facility, based on a prediction result predicted by the contact prediction unit 130, indicating whether or not there is a possibility of contact between the first mobile object 1 and the second mobile object 2, in addition to the first mobile object information and the second mobile object information.

[0122] For example, if the prediction result from the contact prediction unit 130 indicates that there is a possibility of contact between the first mobile object 1 and the second mobile object 2, the image acquisition unit 170, based on the information from the first mobile object and the information from the second mobile object, captures image information that specifies a display image to be shown in a room in the facility as information to avoid contact between the first mobile object 1, which is a person moving in the facility, and the second mobile object 2, which is also moving in the facility.If the prediction result generated by the contact prediction unit 130 indicates that there is no possibility of contact between the first mobile object 1 and the second mobile object 2, the image acquisition unit 170 does not need to acquire image information to display a warning image in a room within the facility, as this information is intended to prevent contact between the first mobile object 1 and the second mobile object 2. In this case, the image acquisition unit 170 can acquire predefined image information to alert the first mobile object 1, the person moving within the facility, to the presence of the approaching second mobile object 2.

[0123] With this configuration, in a case where contact between the first mobile object 1 and the second mobile object 2 is predicted, the display control device 100 can provide the first mobile object 1, which is a person moving within the facility, with information to prevent contact between the first mobile object 1, which is a person moving within the facility, and the second mobile object 2, which is also moving within the facility. Furthermore, in a case where contact between the first mobile object 1 and the second mobile object 2 is predicted to be impossible, the display control device 100 can refrain from acquiring and outputting image information that displays a screen or similar message instructing the first mobile object 1 or the second mobile object 2 to stop.

[0124] Furthermore, in a case where the second mobile object 2 is an autonomous mobile device moving within the facility, and the image acquisition unit 170 acquires image information which displays a display image suggesting to the first mobile object 1, which is a person moving within the facility, that the second mobile object 2 will stop, the image acquisition unit 170 can cause the motion command unit 150 to output motion command information to instruct the autonomous mobile device, which is the second mobile object 2, to temporarily stop.In addition, the image acquisition unit 170 can cause the motion command unit 150 to output motion command information to instruct the autonomous mobile device to move again after the first mobile object 1, which is a person moving in the facility, has passed the intersection between the first passage and the second passage.

[0125] Fig. Figure 5 is a graphic representation that provides another example of the image information acquired by the image acquisition unit 170 according to the first embodiment based on the first mobile object information and the second mobile object information.

[0126] More precisely, it is Fig. 5 a graphic representation of a part of a floor in the device seen from above and shows a state in which, in the above-mentioned mode, the display image specified by the image information captured by the image acquisition unit 170 is displayed by the display output device 11.

[0127] Fig. 5 shows a first pass. Fig. Figure 5 shows the first mobile object 1 and the second mobile object 2, which move in the first pass.

[0128] The first mobile object 1 in Fig. 5 moves in the first pass in the direction of an arrow X, which points in Fig. 5 is shown.

[0129] Furthermore, the second mobile object 2 moves in Fig. 5 in the first pass in the direction of an arrow Y, which points in Fig. 5 is shown.

[0130] The image acquisition unit 170 can capture image information based on a traffic rule, which is a movement rule provided in advance in addition to the first and second mobile object information. The traffic rule, for example, gives priority to left-hand traffic, right-hand traffic, or similar rules based on a general rule or established practice when a mobile object is moving in a passageway. The image acquisition unit 170 can have the information specifying the traffic rule in advance, or it can obtain the information from the storage device 14 via the network 19.

[0131] Specifically, the image capture unit 170, for example, captures image information that displays a message which prompts the first mobile object 1 and the second mobile object 2 to move either to the left or to the right, based on the first mobile object information, the second mobile object information and the predefined traffic rule. Fig. Figure 5 is a graphical representation of a case in which a display image is shown that prompts the first mobile object 1 and the second mobile object 2 to move and stay to the left.

[0132] With this configuration, the display control device 100 can provide the first mobile object 1, which is a person moving in the facility, with information to avoid contact between the first mobile object 1, which is a person moving in the facility, and the second mobile object 2, which is moving in the facility.

[0133] Furthermore, in a case where the second mobile object 2 is a person moving within the facility, the display control device 100 can provide information to the first mobile object 1 and the second mobile object 2, each of which is a person moving within the facility, to prevent contact between the first mobile object 1, which is a person moving within the facility, and the second mobile object 2, which is a person moving within the facility.

[0134] Furthermore, the display control device 100 can cause the display output device 11 to display a display image and can transmit control information to cause the second mobile object 2, which is an autonomous mobile device, to perform a movement corresponding to the display image.

[0135] A hardware configuration of a main part of the display control device 100 according to the first embodiment is now described with reference to Fig. 6A and Fig. 6B described.

[0136] Fig. 6A and Fig. Figure 6B are graphical representations, each showing an example of a hardware configuration of the display control device 100 according to the first embodiment.

[0137] As in Fig. As shown in Figure 6A, the display control device 100 is implemented by a computer, and the computer includes a processor 601 and a memory 602. The memory 602 stores a program to cause the computer to function as the first mobile object information acquisition unit 110, the second mobile object information acquisition unit 120, the contact prediction unit 130, the motion plan acquisition unit 140, the motion command unit 150, the setup acquisition unit 160, the image acquisition unit 170, and the image output unit 180.The processor 601 reads and executes the program stored in the memory 602, thereby implementing the functions of the first mobile object information acquisition unit 110, the second mobile object information acquisition unit 120, the contact prediction unit 130, the movement plan acquisition unit 140, the movement command unit 150, the setup acquisition unit 160, the image acquisition unit 170 and the image output unit 180.

[0138] In addition, as in Fig. Figure 6B shows that the display control device 100 includes a processing circuit 603. In this case, the functions of the first mobile object information acquisition unit 110, the second mobile object information acquisition unit 120, the contact prediction unit 130, the motion plan acquisition unit 140, the motion command unit 150, the setup acquisition unit 160, the image acquisition unit 170, and the image output unit 180 can be implemented by the processing circuit 603.

[0139] Furthermore, the display control device 100 can include the processor 601, the memory 602, and the processing circuit 603 (this configuration is not shown). In this case, some of the functions of the first mobile object information acquisition unit 110, the second mobile object information acquisition unit 120, the contact prediction unit 130, the motion plan acquisition unit 140, the motion command unit 150, the setup acquisition unit 160, the image acquisition unit 170, and the image output unit 180 can be implemented by the processor 601 and the memory 602, and the remaining functions can be implemented by the processing unit 603.

[0140] The 601 processor uses, for example, a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor, a microcontroller, or a digital signal processor (DSP).

[0141] The 602 memory uses, for example, semiconductor memory or a magnetic disk. More precisely, the 602 memory uses, for example, random access memory (RAM), read-only memory (ROM), flash memory, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), an SSD, or a hard disk drive.

[0142] For example, the 603 processing circuit uses an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field-programmable gate array (FPGA), a system-on-chip (SoC), or a system with large-scale integration (LSI).

[0143] The operation of the display control device 100 according to the first embodiment is described with reference to Fig. 7 described. Fig. Figure 7 is a flowchart showing an example of processing performed by the display control device 100 according to the first embodiment. For example, the display control device 100 repeatedly performs the processing of the flowchart.

[0144] First, in step ST701, the facility setup data capture unit captures 160 pieces of facility setup information.

[0145] Next, in step ST702, the first mobile object information capture unit 110 captures initial mobile object information.

[0146] Then, in step ST703, the second mobile object information acquisition unit 120 captures second mobile object information.

[0147] Subsequently, if the second mobile object 2 is an autonomous mobile device moving within the facility, the motion plan capture unit 140 in step ST704 captures motion plan information that displays a motion plan of the autonomous mobile device's movement.

[0148] Next, in step ST705, the contact prediction unit 130 predicts whether or not there is a possibility of contact between the first mobile object 1 and the second mobile object 2, and outputs a prediction result.

[0149] Then, in step ST706, the image acquisition unit 170 captures image information.

[0150] In the next step, ST707, the image output unit 180 outputs the image information.

[0151] Subsequently, if the second mobile object 2 is an autonomous mobile device moving within the facility, the motion command unit 150 in step ST708 outputs motion command information specifying a motion command for the autonomous mobile device.

[0152] After step ST708, the display control device 100 completes the processing of the flowchart. Once the flowchart processing is complete, the display control device 100 returns to step ST702 and repeats the flowchart processing.

[0153] It should be noted that in a case where the display control device 100 does not contain the setup assembly capture unit 160, the process of step ST701 is omitted.

[0154] If the display control device 100 does not contain a motion plan capture unit 140, step ST704 is also omitted.

[0155] Furthermore, if the display control device 100 does not contain a contact prediction unit 130, the process from step ST705 is omitted.

[0156] Furthermore, in a case where the display control device 100 does not contain the motion command unit 150, the process from step ST708 is omitted.

[0157] Furthermore, the order of the processes from step ST701 to step ST703 is freely selectable.

[0158] As described above, a display control device 100 according to the first embodiment includes: the first mobile object information acquisition unit 110, which acquires the first mobile object information, which specifies the position, speed of movement and direction of movement of the first mobile object 1 moving in a facility; the second mobile object information acquisition unit 120, which acquires the second mobile object information, which specifies the position, speed of movement and direction of movement of the second mobile object 2 moving in the facility;the image acquisition unit 170, which, based on the first mobile object information acquired by the first mobile object information acquisition unit 110 and the second mobile object information acquired by the second mobile object information acquisition unit 120, acquires image information that displays a display image to be shown in a room in the facility by a display output device 11 installed in the facility; and the image output unit 180, which outputs the image information acquired by the image acquisition unit 170.

[0159] With this configuration, the display control device 100 can provide the first mobile object 1, which is a person moving in the facility, with information to avoid contact between the first mobile object 1, which is a person moving in the facility, and the second mobile object 2, which is moving in the facility.

[0160] Furthermore, in a passageway or similar area within the facility where both a person and an autonomous mobile device are moving, there are many areas that become blind spots due to a structure such as a wall forming part of the facility, compared to a road where a vehicle is traveling. With this configuration, the display control device 100 can provide the first mobile object 1, which is a person moving within the facility, with information to prevent contact between the first mobile object 1, which is a person moving within the facility, and the second mobile object 2, which is moving within the blind spot for the first mobile object 1.

[0161] Furthermore, while the conventional technique described in patent literature 1 requires a pedestrian to carry a mobile device, the display control device 100 with the configuration described above eliminates the need for the first mobile object 1, which is a person moving within the facility, to carry the mobile device. The display control device 100 can provide information to the first mobile object 1 to prevent contact between the first mobile object 1 and the second mobile object 2, even if the first mobile object 1 is not carrying the mobile device.

[0162] Furthermore, the conventional technique disclosed in patent literature 1 requires the pedestrian to move his line of sight from the direction of his movement to the mobile device in order to see the hazard information displayed on the mobile device, whereas the display control device 100 configured as described above displays the information for avoiding contact between the first mobile object 1 and the second mobile object 2 in an area visible to the first mobile object 1 in the device and can thus shorten the time required by the person who is the first mobile object 1 to take appropriate action after confirming the information.

[0163] Furthermore, in the display control device 100 according to the first embodiment with the configuration described above, the image acquisition unit 170 acquires, if according to the first mobile object information and the second mobile object information the type of the first mobile object 1 or the second mobile object 2 is a person, the image information that specifies the display image to be shown in a room visible to the first mobile object 1 or the second mobile object 2, whose type is a person.

[0164] With this configuration, the display control device can provide 100 people moving within the facility with information to avoid contact between the person moving within the facility and the mobile object moving within the facility.

[0165] Furthermore, according to the first embodiment, the display control device 100 includes, in addition to the configuration described above, the setup configuration acquisition unit 160 to acquire the setup configuration information, which specifies the position of a structure that constitutes the setup. The image acquisition unit 170 acquires the image information based on the setup configuration information acquired by the setup configuration acquisition unit 160, in addition to the first mobile object information acquired by the first mobile object information acquisition unit 110 and the second mobile object information acquired by the second mobile object information acquisition unit 120.

[0166] With this configuration, the display control device 100 can provide the first mobile object 1, which is a person moving in the facility, with information to avoid contact between the first mobile object 1, which is a person moving in the facility, and the second mobile object 2, which is moving in the facility, depending on the structure that forms the facility.

[0167] Furthermore, according to the first embodiment, the display control device 100 includes, in addition to the configuration described above, the motion plan acquisition unit 140 to acquire motion plan information when the first mobile object 1 or the second mobile object 2 is an autonomous mobile device moving within the facility based on a predefined motion plan. This motion plan information specifies the motion plan of the first mobile object 1 or the second mobile object 2, which is the autonomous mobile device. The image acquisition unit 170 acquires the image information based on the motion plan information acquired by the motion plan acquisition unit 140, in addition to the first mobile object information acquired by the first mobile object information acquisition unit 110 and the second mobile object information acquired by the second mobile object information acquisition unit 120.

[0168] With this configuration, the display control device can provide 100 pieces of information to avoid contact between the person moving in the facility and the autonomous mobile device moving in the facility, depending on the movement plan of the autonomous mobile device moving in the facility.

[0169] The display control device 100 according to the first embodiment includes, in addition to the configuration described above, the contact prediction unit 130 to predict contact between the first mobile object 1 and the second mobile object 2 based on the first mobile object information acquired by the first mobile object information acquisition unit 110 and the second mobile object information acquired by the second mobile object information acquisition unit 120. The image acquisition unit 170 acquires the image information based on a prediction result generated by the contact prediction unit 130, in addition to the first mobile object information acquired by the first mobile object information acquisition unit 110 and the second mobile object information acquired by the second mobile object information acquisition unit 120.

[0170] With this configuration, the display control device 100 can provide information to the person moving in the facility to avoid contact in a case where there is a possibility of contact between a person moving in the facility and an autonomous mobile device moving in the facility.

[0171] Furthermore, in the display control device 100 according to the first embodiment with the configuration described above, the image acquisition unit 170 acquires the image information on the basis of a previously provided motion rule in addition to the first mobile object information acquired by the first mobile object information acquisition unit 110 and the second mobile object information acquired by the second mobile object information acquisition unit 120.

[0172] With this configuration, the display control device 100 can provide information to a person moving within the facility to avoid contact between the person moving within the facility and a mobile object moving within the facility, taking into account the previously provided movement rule. Second embodiment

[0173] A display control device 100a according to a second embodiment is described with reference to Fig. 8 to 12 described.

[0174] A configuration of a main part of a display system 10a according to the second embodiment, to which the display control device 100a according to the second embodiment is applied, is described with reference to Fig. 8 described.

[0175] Fig. Figure 8 is a block diagram showing an example of the configuration of the main part of the display system 10a according to the second embodiment, to which the display control device 100a according to the second embodiment is applied.

[0176] The display system 10a is obtained by adding a facility-specific system 15 to the display system 10 according to the first embodiment, and by changing the display control device 100 in the display system 10 according to the first embodiment to the display control device 100a.

[0177] That is, the display system 10a includes the display output device 11, the sensor 12, the mobile object detection device 13, the storage device 14, the facility's own system 15 and the display control device 100a.

[0178] The display output device 11, the sensor 12, the mobile object detection device 13, the storage device 14, the facility's own system 15 and the display control device 100a, which are contained in the display system 10a, are interconnected via a network 19 which can send and receive information.

[0179] In Fig. 8 are the same blocks with the same reference symbols as in Fig. 1 and their description is therefore omitted.

[0180] The facility's own equipment 15 includes equipment installed in the facility, such as an elevator, an automatic door, a security gate or a platform screen door belonging to a railway station facility, and equipment through which a person moving in the facility or an autonomous mobile device, such as a self-driving robot moving in the facility, enters or exits or passes through it.

[0181] Sensor 12 is integrated into the facility's own system 15. Sensor 12 outputs sensor information to the facility's own system 15. The facility's own system 15 receives the sensor information output by sensor 12 and outputs the sensor information to the mobile object detection device 13.

[0182] The facility's own system 15 outputs system status information, indicating the operating status of the system installed in the facility, to the display control device 100a. For example, if the facility's own system 15 is an elevator, the system status information includes information about the position of a car in the shaft, information about the operating status of a floor control panel, information about the operating status of a car control panel, or similar information. Furthermore, the system status information includes, for example, information indicating the open / closed status of a door or gate if the facility's own system 15 is an automatic door, a security gate, or a platform screen door.

[0183] The display control device 100 acquires the first mobile object information and the second mobile object information output by the mobile object detection device 13, and the facility status information output by the facility's own system 15, and outputs image information to the facility's own system 15, displaying a display image corresponding to the first mobile object information and the second mobile object information.

[0184] The facility's own system 15 captures the image information output by the display control device 100a and outputs the captured image information to the display output device 11.

[0185] More precisely, the facility's own system 15 outputs the image information captured by the display control device 100a, for example as an image signal, in order to cause the display output device 11 to output the image information as a display image.

[0186] The configuration of the main part of the display control device 100a according to the second embodiment is described with reference to Fig. 9 described.

[0187] Fig. Figure 9 is a block diagram showing an example of the configuration of the main part of the display control device 100a according to the second embodiment.

[0188] The display control device 100a is obtained by adding a plant status detection unit 190 to the display control device 100 according to the first embodiment and by changing the image detection unit 170 and the image output unit 180 in the display control device 100 according to the first embodiment to an image detection unit 170a and an image output unit 180a.

[0189] That is, the display control device 100a includes the first mobile object information acquisition unit 110, the second mobile object information acquisition unit 120, the contact prediction unit 130, the motion plan acquisition unit 140, the motion command unit 150, the setup acquisition unit 160, the plant status acquisition unit 190, the image acquisition unit 170a and the image output unit 180a.

[0190] In Fig. 9 are the same blocks with the same reference symbols as in Fig. 3 and their description is therefore omitted.

[0191] The plant condition monitoring unit 190 records plant condition information output by the facility's own plant 15.

[0192] The image acquisition unit 170a captures the image information based on the plant condition information captured by the plant condition acquisition unit 190, in addition to the first mobile object information captured by the first mobile object information acquisition unit 110 and the second mobile object information captured by the second mobile object information acquisition unit 120.

[0193] Similar to the image information acquired by the image acquisition unit 170 according to the first embodiment, the image information acquired by the image acquisition unit 170a is image information that specifies a display image to be shown in a room in the facility by the display output device 11 installed in the facility.

[0194] The image output unit 180a outputs the image information captured by the image acquisition unit 170a. More precisely, the image output unit 180a outputs the image information to the institution's own system 15.

[0195] It should be noted that the display control device 100a can generate control information to cause a mobile object, which is an autonomous mobile device, to perform a movement in accordance with the display image shown by the image information output by the image output unit 180a, and can transmit the control information to the mobile object.

[0196] It should be noted that the functions of the first mobile object information acquisition unit 110, the second mobile object information acquisition unit 120, the contact prediction unit 130, the motion plan acquisition unit 140, the motion command unit 150, the setup acquisition unit 160, the plant status acquisition unit 190, the image acquisition unit 170a and the image output unit 180a, which are included in the display control device 100a according to the second embodiment, can be implemented by the processor 601 and the memory 602 or by the processing circuit 603 in the hardware configuration shown by way of example in Fig. 6A and Fig. 6B are shown in the first embodiment.

[0197] The image information acquired by the image acquisition unit 170a according to the second embodiment, based on the first mobile object information, the second mobile object information and the plant status information, is processed with reference to Fig. 10 and Fig. 11 described.

[0198] Fig. 10A, Fig. 10B, Fig. 10C and Fig. Figure 10D are graphical representations of examples of image information acquired by the image acquisition unit 170a according to the second embodiment based on the first mobile object information, the second mobile object information and the plant status information in a case where the facility's own plant 15 is an elevator.

[0199] More precisely, they are Fig. 10A, Fig. 10B, Fig. 10C and Fig. 10D graphic representations, when an elevator shaft door is seen from a particular floor in the facility, and illustrate a state in which a display image, shown by the image information captured by the image acquisition unit 170a, is displayed by the display output device 11 in a case in which the facility's own system 15 is an elevator.

[0200] Fig. 10A, Fig. 10B, Fig. 10C and Fig. Figure 10D illustrates states in which the display images specified by the image information captured by the image acquisition unit 170a are displayed chronologically by the display output device 11 in the sequence of Fig. 10A, Fig. 10B, Fig. 10C and Fig. 10D will be displayed.

[0201] Fig. Figure 10A illustrates a situation in which two mobile objects moving within the facility are waiting for an elevator car to arrive at a specific floor. It also shows Fig. 10A describes a state in which a mobile object (not shown) moving within the facility is located in the elevator car. In the description of Fig. 10A Two mobile objects waiting on the floor for the arrival of the cabin are considered as one mobile object and are referred to as first mobile object 1, and one or more mobile objects that are inside the cabin are referred to as second mobile object 2 (not shown).

[0202] In the following description, at least one of two mobile objects is the first mobile object 1, e.g., a person moving around the facility.

[0203] The facility's own system 15, which is an elevator, outputs information to the display control device 100a indicating the operating status of a floor control panel on the floor, the operating status of a cabin control panel in the cabin, the fact that the cabin is moving to the floor, and similar system status information. For example, in Fig. 10A the information that displays the operating status of the floor control panel on the floor, information that indicates the operating status for stopping the cabin on the floor, and the information that displays the operating status of the cabin control panel in the cabin, display information that indicates the operating status for stopping the cabin on the floor.

[0204] The sensor 12 installed in the cabin (not shown) outputs sensor information to the mobile object detection device 13. The mobile object detection device 13 acquires the sensor information output by sensor 12, thereby generating second mobile object information, which displays the position and the like of the second mobile object 2, and outputs the generated second mobile object information to the display control device 100a.

[0205] The sensor 12 (not shown), installed on the floor, outputs sensor information to the mobile object detection device 13. The mobile object detection device 13 acquires the sensor information output by sensor 12, thereby generating initial mobile object information, which displays the position and other characteristics of the first mobile object 1, and outputs the generated initial mobile object information to the display control device 100a.

[0206] The image acquisition unit 170a captures image information, for example, a display image suggesting to the first mobile object 1 that the second mobile object 2 can exit the cabin and prompting the first mobile object 1 to stop, based on the first mobile object information captured by the first mobile object information acquisition unit 110, the second mobile object information captured by the second mobile object information acquisition unit 120, and the plant condition information captured by the plant condition acquisition unit 190.

[0207] Fig. Figure 10A illustrates a state in which the display output device 11 (not shown) installed on the floor side of the elevator displays the display image specified by the image information.

[0208] With this configuration, the display control device 100a can provide information to a person moving within the facility to help avoid contact between the person moving within the facility and a mobile object moving within the facility.

[0209] Fig. Figure 10B shows a state in which the cabin arrives on the floor and the shaft door is in the state from Fig. 10A is opened. In the description of Fig. In accordance with 10B, two mobile objects waiting on the floor for the arrival of the cabin are considered as one mobile object and are referred to as first mobile object 1, and one or more mobile objects that are inside the cabin are referred to as second mobile object 2.

[0210] The facility's own system 15, which is an elevator, outputs information to the display control device 100a indicating that the cabin stops on the floor and the shaft door on the floor is opened, etc., as system status information.

[0211] The sensor 12 installed in the cabin (not shown) outputs sensor information to the mobile object detection device 13. The mobile object detection device 13 acquires the sensor information output by sensor 12, thereby generating second mobile object information, which displays the position and the like of the second mobile object 2, and outputs the generated second mobile object information to the display control device 100a.

[0212] The sensor 12 (not shown), installed on the floor, outputs sensor information to the mobile object detection device 13. The mobile object detection device 13 acquires the sensor information output by sensor 12, thereby generating initial mobile object information, which displays the position and other characteristics of the first mobile object 1, and outputs the generated initial mobile object information to the display control device 100a.

[0213] The image acquisition unit 170a captures image information, for example, a display image that requests the second mobile object 2 to exit the cabin and requests the first mobile object 1 to stop, based on the first mobile object information captured by the first mobile object information acquisition unit 110, the second mobile object information captured by the second mobile object information acquisition unit 120, and the plant condition information captured by the plant condition acquisition unit 190.

[0214] Fig. Figure 10B illustrates a state in which the display output device 11 (not shown) installed on the floor side of the elevator displays the display image specified by the image information.

[0215] With this configuration, the display control device 100a can provide information to a person moving within the facility to help avoid contact between the person moving within the facility and a mobile object moving within the facility.

[0216] Fig. 10C illustrates a state after the state from Fig. 10B, where one or more mobile objects have exited the elevator car and two mobile objects moving within the facility have not yet entered the car. In the description of Fig. 10C, one of the two mobile objects moving within the facility and about to enter the cabin is designated as first mobile object 1 and the other as second mobile object 2.

[0217] In the following example, the first mobile object 1 is a person moving around the facility, and the second mobile object 2 is an autonomous mobile device such as a self-driving robot moving around the facility, or a person moving around the facility.

[0218] The facility's own system 15, which is an elevator, outputs information to the display control device 100a indicating that the cabin stops on the floor and the shaft door on the floor is opened, etc., as system status information.

[0219] The sensor 12 (not shown), installed on the floor, outputs sensor information to the mobile object detection device 13. The mobile object detection device 13 acquires the sensor information output by the sensor 12, thereby generating first mobile object information, which displays the position and similar information of the first mobile object 1, and second mobile object information, which displays the position and similar information of the second mobile object 2, and outputs the generated first and second mobile object information to the display control device 100a.

[0220] The image acquisition unit 170a captures image information, for example, a display image that requests the second mobile object 2 to enter the cabin and requests the first mobile object 1 to stop, based on the first mobile object information captured by the first mobile object information acquisition unit 110, the second mobile object information captured by the second mobile object information acquisition unit 120, and the plant condition information captured by the plant condition acquisition unit 190.

[0221] Fig. Figure 10C illustrates a condition in which the display output device 11 (not shown) installed on the floor side of the elevator displays the display image specified by the image information.

[0222] With this configuration, the display control device 100a can provide information to a person moving within the facility to help avoid contact between the person moving within the facility and a mobile object moving within the facility.

[0223] Fig. 10D illustrates a state after the state from Fig. 10C, in which the second mobile object 2 has entered the cabin and the first mobile object 1 has not yet entered the cabin.

[0224] The facility's own system 15, which is an elevator, outputs information to the display control device 100a indicating that the cabin stops on the floor and the shaft door on the floor is opened, etc., as system status information.

[0225] The sensor 12 installed in the cabin (not shown) outputs sensor information to the mobile object detection device 13. The mobile object detection device 13 acquires the sensor information output by the sensor 12, thereby generating initial mobile object information, which displays the position and the like of the first mobile object 1, and outputs the generated initial mobile object information to the display control device 100a.

[0226] The sensor 12 (not shown), installed on the floor, outputs sensor information to the mobile object detection device 13. The mobile object detection device 13 receives the sensor information output by sensor 12, thereby generating second mobile object information, which displays the position and other characteristics of the second mobile object 2, and outputs the generated second mobile object information to the display control device 100a.

[0227] The image acquisition unit 170a captures image information, for example, a display image that requests the first mobile object 1 to enter the cabin, based on the first mobile object information captured by the first mobile object information acquisition unit 110, the second mobile object information captured by the second mobile object information acquisition unit 120, and the plant condition information captured by the plant condition acquisition unit 190. Fig. Figure 10D illustrates a state in which the display output device 11 (not shown) installed on the floor side of the elevator displays the display image specified by the image information.

[0228] With this configuration, the display control device 100a can provide information to a person moving within the facility to help avoid contact between the person moving within the facility and a mobile object moving within the facility.

[0229] Fig. Figure 11 is a graphical representation of an example of image information acquired by the image acquisition unit 170a according to the second embodiment based on the first mobile object information, the second mobile object information and the system status information in a case where the facility's own system 15 is an automatic door.

[0230] More precisely, it is Fig. 11 a graphic representation of the situation when the floor area of ​​a particular floor in the facility is viewed from the ceiling, and illustrates a condition in which a display image, shown by the image information captured by the image acquisition unit 170a, is displayed by the display output device 11 in a case in which the facility's own system 15 is an automatic door.

[0231] Fig. Figure 11 illustrates a state in which the first mobile object 1, which moves within the facility and is about to pass through the automatic door in the direction of arrow X, is Fig. To pass 11, the automatic door has not yet been passed. Furthermore, it shows Fig. 11 a state in which the second mobile object 2, which is moving in the facility and is about to open the automatic door in the direction of arrow Y in Fig. To pass 11, the automatic door has not yet been passed.

[0232] In the following example, the first mobile object 1 is a person moving around the facility, and the second mobile object 2 is an autonomous mobile device such as a self-driving robot moving around the facility, or a person moving around the facility.

[0233] The facility's own system 15, which is an automatic door, outputs information indicating an open / closed state of the automatic door and similar information to the display control device 100a as system status information.

[0234] The sensor 12 (not shown), which is installed in the automatic door or in a structure of the installation such as a wall or ceiling near the automatic door, outputs sensor information to the mobile object detection device 13. The mobile object detection device 13 acquires the sensor information output by the sensor 12, thereby generating first mobile object information, which shows the position and such of the first mobile object 1, and second mobile object information, which shows the position and such of the second mobile object 2, and outputs the generated first and second mobile object information to the display control device 100a.

[0235] The image acquisition unit 170a captures image information, for example, a display image that requests the first mobile object 1 to stop and suggests to the first mobile object 1 that the second mobile object 2 will move, based on the first mobile object information captured by the first mobile object information acquisition unit 110, the second mobile object information captured by the second mobile object information acquisition unit 120, and the plant condition information captured by the plant condition acquisition unit 190.The image information captured by the image acquisition unit 170a can display a display image or similar that prompts the first mobile object 1 to stop and prompts the second mobile object 2 to move, or it can display a display image or similar that suggests to the second mobile object 2 that the first mobile object 1 will stop and prompts the second mobile object 2 to move.

[0236] Fig. Figure 11 illustrates a state in which the display output device 11, installed on the wall near the automatic door, displays a display image that prompts the first mobile object 1, which is a person moving in the facility, to stop and suggests to the first mobile object 1 that the second mobile object 2, which is an autonomous mobile device moving in the facility, will move.

[0237] With this configuration, the display control device 100a can provide information to a person moving within the facility to help avoid contact between the person moving within the facility and a mobile object moving within the facility.

[0238] Although the image information captured by the image acquisition unit 170a was referenced to Fig. 11 is described using an example where the facility's own system 15 is an automatic door, but the components can also be configured similarly if the facility's own system 15 is a security gate, a platform screen door belonging to a railway station, or something similar.

[0239] It should be noted that the image acquisition unit 170a can acquire image information based on the prediction result predicted by the contact prediction unit 130, the movement plan information acquired by the movement plan acquisition unit 140, the facility setup information acquired by the facility setup acquisition unit 160, or a pre-provided movement rule, in addition to the first mobile object information acquired by the first mobile object information acquisition unit 110, the second mobile object information acquired by the second mobile object information acquisition unit 120, and the facility status information acquired by the facility status acquisition unit 190.

[0240] A mode in which the image acquisition unit 170a acquires image information based on a prediction result predicted by the contact prediction unit 130, on motion plan information acquired by the motion plan acquisition unit 140, on setup information acquired by the setup setup acquisition unit 160, or on a pre-provided motion rule, was described in the first embodiment, and therefore its description is omitted.

[0241] The operation of the display control device 100a according to the second embodiment is described with reference to Fig. 12 described.

[0242] Fig.Figure 12 is a flowchart showing an example of processing performed by the display control device 100a according to the second embodiment. The display control device 100a, for example, repeatedly performs the processing of the flowchart.

[0243] First, in step ST1201, the facility setup data capture unit captures 160 pieces of facility setup information.

[0244] Next, in step ST1202, the first mobile object information capture unit 110 captures initial mobile object information.

[0245] Then, in step ST1203, the second mobile object information acquisition unit 120 captures second mobile object information.

[0246] Subsequently, in step ST1204, the plant condition monitoring unit 190 records plant condition information.

[0247] Subsequently, if the second mobile object 2 is an autonomous mobile device moving within the facility, the motion plan capture unit 140 in step ST1205 captures motion plan information that displays a motion plan of the autonomous mobile device's movement.

[0248] Next, in step ST1206, the contact prediction unit 130 predicts whether or not there is a possibility of contact between the first mobile object 1 and the second mobile object 2, and outputs the prediction result.

[0249] Then, in step ST1207, the image acquisition unit 170a captures image information.

[0250] In the next step, ST1208, the image output unit 180a outputs the image information.

[0251] Subsequently, if the second mobile object 2 is an autonomous mobile device moving within the facility, the motion command unit 150 in step ST1209 outputs motion command information specifying a motion command for the autonomous mobile device.

[0252] After step ST1209, the display control device 100a completes the processing of the flowchart. Once the flowchart processing is complete, the display control device 100a returns to step ST1202 and repeats the flowchart processing.

[0253] It should be noted that in a case where the display control device 100a does not contain the setup assembly capture unit 160, the process of step ST1201 is omitted.

[0254] If the display control device 100a does not contain a motion plan recording unit 140, step ST1205 is also omitted.

[0255] Furthermore, if the display control device 100a does not contain a contact prediction unit 130, the process from step ST1206 is omitted.

[0256] Furthermore, in a case where the display control device 100a does not contain the motion command unit 150, the process from step ST1209 is omitted.

[0257] Furthermore, the sequence of processes from step ST1201 to step ST1204 is freely selectable.

[0258] As described above, a display control device 100a according to the second embodiment includes: the first mobile object information acquisition unit 110, which acquires the first mobile object information indicating the position, speed of movement, and direction of movement of the first mobile object 1 moving within a facility; the second mobile object information acquisition unit 120, which acquires the second mobile object information indicating the position, speed of movement, and direction of movement of the second mobile object 2 moving within the facility; the plant status acquisition unit 190, which acquires plant status information indicating the operating status of the plant installed in the facility;the image acquisition unit 170a, which, based on the plant condition information acquired by the plant condition acquisition unit 190, the first mobile object information acquired by the first mobile object information acquisition unit 110, and the second mobile object information acquired by the second mobile object information acquisition unit 120, acquires image information that displays a display image to be shown in a room in the facility by a display output device 11 installed in the facility; and the image output unit 180a, which outputs the image information acquired by the image acquisition unit 170a.

[0259] With this configuration, the display control device 100a can provide information to a person moving within the facility to prevent contact between the person moving within the facility and a mobile object moving within the facility, in response to the operating status of the facility.

[0260] It should be noted that the display control devices 100 and 100a and the display systems 10 and 10a are also suitable for a facility in which a vehicle, e.g., a car, operates, such as a parking lot. If the facility is a facility such as a parking lot, the autonomous mobile device can be a vehicle. If the facility is a facility such as a parking lot, the equipment installed in the facility is a gate provided at an entrance to a parking lot or similar, a vehicle locking device such as a barrier plate that restricts the movement of a parked vehicle, or similar.

[0261] It should be noted that the above embodiments can be freely combined, or each component in the embodiments can be modified or omitted within the scope of the present invention. COMMERCIAL APPLICABILITY

[0262] The display control device of the present invention can be used for a display system that displays a display image in a device. REFERENCE MARK LIST

[0263] 1: First mobile object, 2: Second mobile object, 10, 10a: Display system, 11, 11-1, 11-2, 11-3, 11-4: Display output device, 12: Sensor, 13: Mobile object detection device, 14: Storage device, 15: Facility-specific system, 19: Network, 100, 100a: Display control device, 110: First mobile object information acquisition unit, 120: Second mobile object information acquisition unit, 130: Contact prediction unit, 140: Movement plan acquisition unit, 150: Movement command unit, 160: Facility setup acquisition unit, 170, 170a: Image acquisition unit, 180, 180a: Image output unit, 190: Facility status acquisition unit 601: Processor, 602: Memory, 603: Processing circuitry

Claims

[1] Display control device (100, 100a) comprising: a first mobile object information acquisition unit (110) for acquiring first mobile object information indicating a position, a moving speed, and a moving direction of a first mobile object (1) moving in a facility; a second mobile object information acquisition unit (120) for acquiring second mobile object information indicating a position, a moving speed, and a moving direction of a second mobile object (2) moving in the facility; an image acquisition unit (170, 170a) for acquiring, based on the first mobile object information acquired by the first mobile object information acquisition unit and the second mobile object information acquired by the second mobile object information acquisition unit, image information indicating a display image to be displayed in a space in the facility by a display output device (11, 11-1, 11-2, 11-3, 11-4) installed in the facility, the space being visible to the first mobile object or the second mobile object; and an image output unit (180, 180a) for outputting the image information acquired by the image acquisition unit, characterized by , that the image acquisition unit acquires the image information based on a movement rule provided in advance in addition to the first mobile object information acquired by the first mobile object information acquisition unit and the second mobile object information acquired by the second mobile object information acquisition unit or the display control device (100, 100a) further comprises a movement command unit (150) for, when the first mobile object or the second mobile object is an autonomous mobile device that moves in the facility based on a predetermined movement plan, outputting movement command information indicating a movement command for the first mobile object or the second mobile object that is the autonomous mobile device, wherein the movement command unit outputs the movement command information corresponding to the display image displayed by the image information acquired by the image acquisition unit. [2] The display control device according to claim 1, wherein the image acquisition unit, when the type of the first mobile object or the second mobile object is a person according to the first mobile object information and the second mobile object information, acquires image information indicating a display image to be displayed in a space visible to the first mobile object or the second mobile object whose type is a person. [3] The display control device (100a) according to claim 1, further comprising a facility state acquisition unit (190) for acquiring facility state information indicating an operating state of a facility (15) installed in the facility, wherein the image acquisition unit acquires the image information based on the facility state information acquired by the facility state acquisition unit in addition to the first mobile object information acquired by the first mobile object information acquisition unit and the second mobile object information acquired by the second mobile object information acquisition unit. [4] The display control device according to claim 1, further comprising a facility structure acquisition unit (160) for acquiring facility structure information indicating a position where a structure constituting the facility is located, wherein the image acquisition unit acquires the image information based on the facility structure information acquired by the facility structure acquisition unit in addition to the first mobile object information acquired by the first mobile object information acquisition unit and the second mobile object information acquired by the second mobile object information acquisition unit. [5] The display control device according to claim 1, further comprising a movement plan acquisition unit (140) for, when the first mobile object or the second mobile object is an autonomous mobile device that moves in the facility based on a movement plan set in advance, acquiring movement plan information indicating the movement plan of the first mobile object or the second mobile object that is the autonomous mobile device, wherein the image acquisition unit acquires the image information based on the movement plan information acquired by the movement plan acquisition unit in addition to the first mobile object information acquired by the first mobile object information acquisition unit and the second mobile object information acquired by the second mobile object information acquisition unit. [6] The display control device according to claim 1, further comprising a contact prediction unit (130) for predicting a contact between the first mobile object and the second mobile object based on the first mobile object information acquired by the first mobile object information acquisition unit and the second mobile object information acquired by the second mobile object information acquisition unit, wherein the image acquisition unit acquires the image information based on a prediction result predicted by the contact prediction unit in addition to the first mobile object information acquired by the first mobile object information acquisition unit and the second mobile object information acquired by the second mobile object information acquisition unit. [7] Display system (10, 10a) comprising: a display output device (11, 11-1, 11-2, 11-3, 11-4) for displaying a display image displayed by acquired image information in a space in a facility, the display output device being installed in the facility, the space being visible to a first mobile object (1) moving in the facility or a second mobile object (2) moving in the facility; and a display control device (100, 100a) for acquiring the image information based on first mobile object information and second mobile object information and for outputting the acquired image information to the display output device, wherein the first mobile object information indicates a position, a moving speed, and a moving direction of the first mobile object, and is generated based on sensor information output by a sensor (12) installed in the device, wherein the second mobile object information indicates a position, a moving speed, and a moving direction of the second mobile object, and is generated based on the sensor information output by the sensor installed in the device, characterized by , that the display control device (100, 100a) acquires the image information on the basis of a movement rule provided in advance in addition to the first mobile object information acquired by the first mobile object information acquisition unit and the second mobile object information acquired by the second mobile object information acquisition unit or the display control device (100, 100a) further comprises a movement command unit (150) for, when the first mobile object or the second mobile object is an autonomous mobile device that moves in the facility based on a predetermined movement plan, outputting movement command information indicating a movement command for the first mobile object or the second mobile object that is the autonomous mobile device, wherein the movement command unit outputs the movement command information corresponding to the display image displayed by the image information acquired by the image acquisition unit. [8] A display control method comprising: Acquiring, by a first mobile object information acquiring unit (110), first mobile object information indicating a position, a moving speed and a moving direction of a first mobile object (1) moving in a facility; Acquiring, by a second mobile object information acquiring unit (120), second mobile object information indicating a position, a moving speed and a moving direction of a second mobile object (2) moving in the facility; Acquiring, by an image acquisition unit (170, 170a), on the basis of the first mobile object information acquired by the first mobile object information acquisition unit and the second mobile object information acquired by the second mobile object information acquisition unit, image information indicating a display image to be displayed in a space in the facility by a display output device (11, 11-1, 11-2, 11-3, 11-4) installed in the facility, the space being visible to the first mobile object or the second mobile object; and Outputting, by an image output unit (180, 180a), the image information captured by the image capture unit, characterized by , that the image information is acquired on the basis of a movement rule provided in advance in addition to acquired first mobile object information and the acquired second mobile object information, or, when the first mobile object or the second mobile object is an autonomous mobile device that moves in the facility based on a predetermined movement plan, outputting movement command information indicating a movement command for the first mobile object or the second mobile object that is the autonomous mobile device, wherein the movement command information is outputted that corresponds to the display image displayed by the acquired image information.

Images