Projection system, method and program

Abstract

We provide a projection system that allows the projected content to be changed sequentially in accordance with the progress of the work. [Solution] The projection system 100 includes a projector that projects projected content related to the work onto a projection surface, a camera that captures a shooting area including the projection area of ​​the projected content onto the projection surface, and a control device. The control device analyzes the captured image taken within the shooting area and changes the projected content projected by the projector based on the proportion of the captured image to the projection area.

Description

[Technical Field]

[0001] This invention relates to a projection system, method, and program. [Background technology]

[0002] At construction sites, the use of projectors is attracting attention for purposes such as work instructions, warnings, and information sharing. For example, Patent Document 1 discloses a technology that controls a projector mounted on a moving vehicle to project an image onto the construction surface of the road based on the difference between the design shape data and the current shape data of the road surface. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-021069 [Overview of the project] [Problems that the invention aims to solve]

[0004] While there are various types of construction sites, tunnel construction sites, where sunlight is blocked, allow for sufficient visibility even with projector brightness. The technology disclosed in Patent Document 1 periodically changes the color projected onto the construction surface. However, there are cases where it is desirable to change the projected content sequentially according to the work schedule and progress, and in such cases, it is difficult to change the projected content with the technology disclosed in Patent Document 1.

[0005] This invention has been made in view of the above circumstances, and aims to provide a projection system, method, and program that can sequentially change the projected content in accordance with the progress of the work. [Means for solving the problem]

[0006] To achieve the above object, a projection system according to the present invention includes a projector that projects projection content related to work onto a projection destination, a camera that captures a shooting area including the projection area of the projection content projected onto the projection destination, and a control device. The control device analyzes a captured image captured within the shooting area and changes the projection content projected by the projector based on the ratio of the projection area occupied in the captured image.

Advantages of the Invention

[0007] According to the present invention, the projection content can be sequentially changed according to the progress of the work.

Brief Description of the Drawings

[0008] [Figure 1] It is a schematic diagram showing an overview of projection by a projection system according to Embodiment 1 of the present invention. [Figure 2] It is a diagram showing the configuration of a projection system according to Embodiment 1. [Figure 3] It is a diagram showing the configuration of a control device of a projection system according to Embodiment 1. [Figure 4A] It is an explanatory diagram for explaining the determination of an area where projection is possible on an excavation working surface according to Embodiment 1. [Figure 4B] It is a diagram showing a table of projection parameters according to Embodiment 1. [Figure 4C] It is an explanatory diagram for explaining projection onto an excavation working surface according to Embodiment 1. [Figure 4D] It is an explanatory diagram for explaining that the excavation work has progressed and the excavation working surface has moved since the time of FIG. 4C. [Figure 5] It is a flowchart showing the procedure of progress determination processing according to Embodiment 1. [Figure 6] It is a flowchart showing the procedure of projection processing according to Embodiment 1. [Figure 7] It is a diagram for explaining the extension of an excavation belt conveyor according to Embodiment 2. [Figure 8]It is a flowchart showing the procedure of progress determination processing based on the position of other devices according to Embodiment 2. [Figure 9A] It is an explanatory diagram for explaining the determination of the progress status of the excavation work from the staying status of the worker according to Embodiment 3. [Figure 9B] It is an explanatory diagram for explaining the case where the staying status of the worker has changed compared to the time of FIG. 9A. [Figure 10] It is a flowchart showing the procedure of progress determination processing based on the staying status of the worker according to Embodiment 3.

Mode for Carrying Out the Invention

[0009] The adjustment device and the like according to the embodiment will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals.

[0010] (Embodiment 1) The projection system 100 according to Embodiment 1 can photograph the excavation work surface in the tunnel which is the projection target with a camera, analyze the photographed image, and determine a projectable area that can be projected by a projector. Therefore, projection parameters including the projection position of the projector can be automatically determined. Further, the projection system 100 is a system that can detect the movement of the excavation work surface when the excavation work progresses in the tunnel and move the installation position of the projector. Furthermore, the projection system 100 is a system that can sequentially change the projection content according to the progress of the work. Thereby, it is not necessary for the administrator to change the installation position of the projector and the projection content according to the progress of the work.

[0011] The projection system 100 according to Embodiment 1 is a system that projects projection data M onto the excavation work surface S of a tunnel D, as shown in Figure 1. The projection system 100 includes a vehicle 1, a camera 2, a projector 3, an angle direction adjuster 4, and a control device 5, as shown in Figure 2. The vehicle 1 is an unmanned, self-propelled vehicle, and can be configured using, for example, an AGV (Automatic Guided Vehicle) or an AMR (Autonomous Mobile Robot). The vehicle 1 includes a transport platform 11, wheels 12 (12a, 12b), a communication port 13, and surrounding detection sensors 14 (14a to 14d). The transport platform 11 is a platform on which the camera 2, the projector 3, and the angle direction adjuster 4 (4a, 4b) are mounted. The transport platform 11 can move up and down, thereby adjusting the height of the camera 2 and the projector 3. The wheels 12 include the right wheel 12a and the left wheel 12b, and move the vehicle 1. The number of wheels 12 can be any number; for example, there may be a total of four wheels (front and rear on both sides), or a total of eight wheels (front, center, and rear on both sides, plus two in the center). The communication port 13 is a port for communicating with the control device 5 and other external devices, for example, receiving movement instructions from the control device 5. The communication port 13 can be configured using a contactless communication port such as Wi-Fi®, wireless LAN (Local Area Network), Bluetooth®, or infrared communication. The surrounding detection sensor 14 is a sensor that senses the four sides of the vehicle 1 to detect the position of surrounding workers, objects, etc., and includes a front detection sensor 14a, a rear detection sensor 14b, a right-side detection sensor 14c, and a left-side detection sensor 14d. The surrounding detection sensor 14 can be configured using, for example, a laser, a reflective sensor using light rays, an image sensor, etc. Camera 2 is a camera that captures still images or videos of the excavation work surface S of the tunnel D, including the projected data M, and the area around the vehicle 1, and is configured to be rotatable. Camera 2 can be configured using, for example, a camera using an image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) image sensor, or a video camera.Camera 2 is connected to control device 5 by wired or wireless connection and transmits captured still images or video data to control device 5. Projector 3 is a projection device that projects projection data M onto the excavation work surface S of tunnel D. Projector 3 is connected to control device 5 by wired or wireless connection and changes the projected content according to instructions from control device 5. Angle direction adjuster 4 is a stand on which projector 3 is mounted and comprises a fixing part 4a that is fixed to the transport table 11 and a mounting part 4b on which projector 3 is mounted. The mounting part 4b is configured to be rotatable up, down, left, and right. Angle direction adjuster 4 is connected to control device 5 by wired or wireless connection and moves the mounting part 4b according to instructions from control device 5 to adjust the angle and orientation of the mounted projector 3 to match the excavation work surface S. Angle direction adjuster 4 can be configured, for example, using an electric pan / tilt head.

[0012] The control device 5 controls the operation of the vehicle 1, camera 2, projector 3, and angle / direction adjuster 4. As shown in Figure 3, the control device 5 includes a communication unit 51, an operation input unit 52, a storage unit 53, and a control unit 54. The communication unit 51 transmits and receives various data and instructions between the vehicle 1, camera 2, projector 3, and angle / direction adjuster 4. The communication unit 51 can be composed of communication equipment such as Wi-Fi®, wired or wireless LAN, Bluetooth®, or infrared communication. The operation input unit 52 is a device that receives instructions from the administrator of the projection system 100, and can be composed of buttons, a keyboard, or a touch panel with a display function. The storage unit 53 stores various data and programs used by the control device 5 to control the operation of the vehicle 1, camera 2, etc. The storage unit 53 also includes projection parameters 531. The projection parameters 531 are various parameters for controlling the operation of the projector 3 that projects projection data M onto the excavation work surface S of the tunnel D. Details of the projection parameters 531 will be described later. The memory unit 53 can be configured with, for example, RAM (Random Access Memory), ROM (Read Only Memory), flash memory, etc., but is not limited to these. The control unit 54 is composed of, for example, a processor such as a CPU (Central Processing Unit) or DSP (Digital Signal Processor). The control unit 54 performs various processes to operate the vehicle 1, camera 2, etc. by executing a program stored in the memory unit 53. For example, the control unit 54 includes a communication control unit 541, a situation analysis unit 542, a driving control unit 543, a shooting control unit 544, a projection control unit 545, an adjustment unit 546, a sensing unit 547, and a determination unit 548. The communication control unit 541 controls the transmission and reception of various data and the transmission of instructions with the vehicle 1, camera 2, etc. via the communication unit 51. Furthermore, the communication control unit 541 receives the work schedule and progress status from an external server via the communication unit 51. The status analysis unit 542 analyzes the images captured by camera 2 and acquires the information necessary to project the projection data M.The driving control unit 543 controls the movement of the vehicle 1 according to the excavation work status. The shooting control unit 544 controls the camera 2 to photograph the excavation work surface S of the tunnel D, including projection data M, and the area around the vehicle 1. The projection control unit 545 controls the projector 3 to project the projection data M onto the excavation work surface S of the tunnel D. The projection control unit 545 also changes the content of the projection data M according to the progress of the excavation work and projects it onto the projector 3. The adjustment unit 546 controls the angle and orientation of the mounting part 4b of the angle direction adjuster 4 according to the direction of the excavation work surface S of the tunnel D, thereby controlling the angle and orientation of the projector 3. The sensing unit 547 controls the surrounding detection sensor 14 of the vehicle 1 to detect the positions of workers, objects, etc. around the vehicle 1. The determination unit 548 determines the progress of the excavation work from the analysis results of the situation analysis unit 542.

[0013] Next, the operation of the projection system 100 in this embodiment 1 will be explained with reference to Figures 4A to 4D. The projection system 100 projects projection data M onto the excavation work surface S while moving along the wall of the tunnel D so as not to interfere with workers or heavy machinery used for excavation work. First, the shooting control unit 544 included in the control unit 54 of the control device 5 of the projection system 100 causes the camera 2 to photograph the excavation work surface S, which is the projection target. The situation analysis unit 542 of the control unit 54 analyzes the size and shape of the excavation work surface S in the captured image and determines a projection area R on the excavation work surface S where projection data M can be projected, as shown in Figure 4A. The projection control unit 545 of the control unit 54 determines projection parameters 531 for projecting projection data M based on the size and shape of the projection area R. The projection parameters 531 are parameters for controlling the operation of the projector 3 and are parameters such as projection size, zoom, projection light intensity, and projection position, as shown in Figure 4B. The projection size is data that defines the size of the projection area of ​​the projection data M to be projected onto the excavation work surface S. For example, in Figure 4B, vertical: L h , Horizontal: L wThe zoom and projection intensity are determined by the distance between the excavation work surface S and the projector 3. For example, in Figure 4B, the zoom is aaa and the projection intensity is bbb. The distance between the excavation work surface S and the projector 3 is measured using known methods that utilize parallax and aberration. The projection control unit 545 determines the projection position within the projection area R according to the content to be projected. For example, in the case of a warning about contact with heavy machinery, it is projected around the heavy machinery, and in the case of specifying a mining location, it is projected near the mining location. Other appropriate projection positions include a height within the worker's field of vision, a position on the excavation work surface S where the projection is to be made with minimal irregularities, a position where the projection is not obstructed by heavy machinery or workers, and a position where the projection is not affected by light reflection from puddles on the ground. First, the projection control unit 545 instructs the shooting control unit 544 to use camera 2 to photograph the area around the moving vehicle 1, and the situation analysis unit 542 analyzes the captured images to determine the positions of surrounding workers and heavy machinery. Then, the control device 5 determines an appropriate position on the excavation work surface S for projecting the projection data M from the projector 3. In Figure 4B, the projection position is set to P1(x1,y1), P2(x2,y2), P3(x3,y3), and P4(x4,y4) as the coordinates of the four corner points of the projection area of ​​the projection data M. The coordinates of the four corners of the projection area of ​​the projection data M can be expressed as relative coordinates with respect to one point in the projection area.

[0014] As shown in Figure 4C, the projection control unit 545 of the control unit 54 projects projection data M onto the excavation work surface S according to each parameter set in projection parameter 531 on the projector 3. As the excavation work of tunnel D progresses, the excavation work surface S moves away from the projection system 100. As the distance between the projector 3 of the projection system 100 and the excavation work surface S increases, the projected projection data M becomes blurred and larger overall. Also, the brightness of the projection data M becomes dimmer, making it difficult for workers to see the projection data M. For example, as shown in Figure 4D, the excavation work surface S after the excavation work has progressed. a This includes the enlarged projection data M a The following is being projected. Enlarged projection data M a In this case, the projection area is vertical:L h +α, horizontal: Lw It is +β, and the ratio occupying the shooting area G of the camera 2 is larger than the projection data M shown in FIG. 4C. Therefore, in the first embodiment, when the ratio of the projection data M occupying the shooting area G of the camera 2 is larger than a predetermined specified ratio, it is determined that the excavation work has progressed. In this case, the projection system 100 moves the excavation work surface S after the progress of the excavation work to a position where the enlarged projection data M a becomes the projection size of the projection data M set in the projection parameter 531. a moves toward. At this time, the sensing unit 547 included in the control unit 54 of the control device 5 uses the surrounding detection sensor 14 of the traveling vehicle 1 to sense the four sides of the traveling vehicle 1 and detect the positions of surrounding workers and heavy machinery. The traveling control unit 543 of the control unit 54 controls the wheels 12 so as not to collide with workers or heavy machinery and moves according to the detection result. In addition, if necessary, the adjustment unit 546 of the control unit 54 causes the angle direction adjuster 4 to adjust the angle and direction of the projector 3 to an angle and direction that are easy to project onto the excavation work surface S. In addition, as a result of the progress of the excavation work, the content shown in the projection data M and the actual work may change. Therefore, in the first embodiment, when the ratio occupying the shooting area G of the camera 2 is larger than a predetermined specified ratio, the content displayed in the projection data M is changed according to the situation of the excavation work. For example, if the next work content is blasting using dynamite, a message instructing all workers to evacuate outside the tunnel D is projected. In addition, the moving direction of the heavy machinery is displayed to alert the workers so that they are not involved, the replacement of the heavy machinery and the planned material loading are presented, the progress of the work, and the work content is changed step by step, such as changing from the work content of the first stage to the work content of the second stage.

[0015] The processes executed by the control device 5 will be explained below with reference to the flowchart of the progress determination process shown in Figure 5. The progress determination process is stored as a progress determination process program in the memory unit 53 of the control device 5. When the projector 3 starts projecting the projection data M onto the excavation work surface S of the tunnel D, the program is read from the memory unit 53 into memory and executed by the processor. The shooting control unit 544 of the control unit 54 of the control device 5 causes the camera 2 to photograph the excavation work surface S of the tunnel D, which includes the projection data M (step S101). The situation analysis unit 542 of the control unit 54 of the control device 5 executes the projection process (step S102). The projection process will be explained below with reference to the flowchart shown in Figure 6. The situation analysis unit 542 analyzes the size and shape of the excavation work surface S in the image captured by the camera 2 and determines the projection area R on the excavation work surface S where the projection data M can be projected, as shown in Figure 4A (step S201). The projection control unit 545 of the control unit 54 determines projection parameters 531 for projecting projection data M (step S202). For example, the projection control unit 545 determines the projection size based on the size and shape of the projection area R, determines the zoom and projection light intensity from the distance between the excavation work surface S and the projector 3, and determines the projection position within the projection area R according to the content to be projected. The communication control unit 541 of the control unit 54 obtains the excavation work schedule and progress status from an external server via the communication unit 51 (step S203). The projection control unit 545 of the control unit 54 determines the projection content according to the excavation work schedule and progress status and prepares projection data M (step S204). For example, if the excavation work schedule includes blasting with dynamite, the projection control unit 545 prepares projection data M that includes a message instructing all workers to evacuate outside the tunnel D. The projection control unit 545 causes the projector 3 to project the projection data M according to the projection parameters 531 (step S205). The projection control unit 545 stores the projection parameters 531 in the storage unit 53 (step S206). The projection control unit 545 terminates the projection process. Return to Figure 5. The shooting control unit 544 of the control unit 54 of the control device 5 causes the camera 2 to photograph the excavation work surface S of the tunnel D, which includes the projection data M (step S103).The situation analysis unit 542 of the control unit 54 of the control device 5 determines the proportion of the captured image of camera 2 that is occupied by projection data M. The determination unit 548 of the control unit 54 determines whether the proportion of the captured image that is occupied by projection data M is equal to or greater than a predetermined proportion (step S104). If it is less than the predetermined proportion (step S104; NO), the determination unit 548 moves to step S108. If it is equal to or greater than the predetermined proportion (step S104; YES), the driving control unit 543 of the control unit 54 controls the driving vehicle 1 and the enlarged projection data M. a The excavation work surface S after the excavation work has progressed until it reaches a position where the projection size of the projection data M set in projection parameter 531 becomes the projection size of the excavation work surface S. a Move toward (step S105). The communication control unit 541 of the control unit 54 obtains the planned progress and progress status of the excavation work from an external server via the communication unit 51 (step S106). The projection control unit 545 of the control unit 54 changes the projected content according to the planned progress and progress status of the excavation work (step S107). The determination unit 548 of the control unit 54 determines whether or not a termination instruction has been given (step S108). For example, if a termination instruction is input from the administrator to the operation input unit 52 of the control device 5, and the communication control unit 541 of the control unit 54 receives a termination instruction from another external device via the communication unit 51, the determination unit 548 determines that a termination instruction has been given (step S108; YES), and terminates the progress determination process. Furthermore, if no termination instruction is input from the administrator to the operation input unit 52 of the control device 5, and the communication control unit 541 of the control unit 54 has not received a termination instruction from another external device via the communication unit 51, the determination unit 548 determines that there is no termination instruction (step S108; NO), returns to step S103, and executes the processing from step S103 onward.

[0016] As described above, the projection system 100 according to Embodiment 1 can capture images of the excavation work surface inside the tunnel, which is the projection target, with a camera, analyze the captured images, and determine the projection area of ​​the projector. Therefore, projection parameters, including the projection position of the projector, can be automatically determined. Furthermore, when excavation work progresses inside the tunnel D and the excavation work surface S moves, the projection system 100 can detect the movement of the excavation work surface S and move the position of the vehicle 1 carrying the projector 3. This eliminates the need for the manager to change the position of the vehicle 1 carrying the projector 3 in accordance with the progress of the work. In addition, the projection system 100 can sequentially change the projected content in accordance with the progress of the work. This allows workers to obtain appropriate information in accordance with the progress of the work.

[0017] (Embodiment 2) In Embodiment 1, the projection system 100 detects the movement of the excavation work surface S as excavation work progresses within the tunnel D, and moves the position of the vehicle 1 carrying the projector 3, as well as changing the projected content. However, the projection system 100 may also detect changes in the position of other equipment, move the position of the vehicle 1 carrying the projector 3, and change the projected content. For example, as shown in Figure 7, an excavation belt conveyor B is used as equipment to discharge rocks and sand excavated during tunnel D to the outside of the tunnel D. c There is. Excavation belt conveyor B c It extends from outside tunnel D towards the excavation work area. Therefore, excavation belt conveyor B c It extends in accordance with the progress of the excavation work. In this embodiment 2, the projection system 100 is the excavation belt conveyor B c By detecting the length of the projector, the position of the vehicle 1 carrying the projector 3 is moved, and the projected content is changed.

[0018] The process executed by the control device 5 in Embodiment 2 will be described below with reference to the flowchart of the progress determination process based on the position of other devices shown in Figure 8. The progress determination process based on the position of other devices is stored in the memory unit 53 of the control device 5 as a progress determination process program based on the position of other devices. When the projector 3 starts projecting the projection data M onto the excavation work surface S of the tunnel D, the program is read from the memory unit 53 and executed by the processor. The shooting control unit 544 of the control unit 54 of the control device 5 causes the camera 2 to photograph the excavation work surface S of the tunnel D, including the projection data M (step S301). The situation analysis unit 542 of the control unit 54 of the control device 5 executes the projection process (step S302). The projection process executes the flowchart shown in Figure 6. The shooting control unit 544 of the control unit 54 of the control device 5 causes the camera 2 to photograph the excavation belt conveyor B c The camera takes a picture of the excavation belt conveyor B in the image (step S303). The situation analysis unit 542 of the control unit 54 analyzes the image taken in step S201 and c The position of the excavation belt conveyor B is determined (step S304). The determination unit 548 of the control unit 54 of the control device 5 determines the position of the excavation belt conveyor B from the image captured by the camera 2. c It is determined whether or not the excavation belt conveyor B stored in the storage unit 53 is extended (step S305). In detail, the determination unit 548 determines whether or not the excavation belt conveyor B is extended. c Read the position of the excavation belt conveyor B. c If the position is not stored in the memory unit 53, the position value is set to 0. The determination unit 548 determines the position of the excavation belt conveyor B stored in the memory unit 53. c The position of the excavation belt conveyor B determined in step S304 c Compare with the position of the excavation belt conveyor B. c If the extension is not present (step S305; NO), the determination unit 548 moves to step S309. Also, the excavation belt conveyor B c If the projection is extended (step S305; YES), the determination unit 548 determines that the excavation work is progressing and the projection data M is expanding. The travel control unit 543 of the control unit 54 controls the travel vehicle 1 and the expanded projection data M aThe excavation work surface S after the excavation work has progressed until it reaches a position where the projection size of the projection data M set in projection parameter 531 becomes the projection size of the excavation work surface S. a Move toward (step S306). The communication control unit 541 of the control unit 54 obtains the planned progress and progress status of the excavation work from an external server via the communication unit 51 (step S307). The projection control unit 545 of the control unit 54 changes the projected content according to the planned progress and progress status of the excavation work (step S308). The determination unit 548 determines the excavation belt conveyor B determined in step S304. c The position is stored in the memory unit 53 (step S309). The determination unit 548 determines whether or not a termination instruction has been given (step S310). For example, if a termination instruction is entered from the administrator to the operation input unit 52 of the control device 5, the determination unit 548 determines that a termination instruction has been given (step S310; YES), and terminates the progress determination process based on the position of other devices. Also, for example, if no termination instruction has been entered from the administrator to the operation input unit 52 of the control device 5, the determination unit 548 determines that there is no termination instruction (step S310; NO), returns to step S303, and executes the processes from step S303 onwards.

[0019] As described above, the projection system 100 according to Embodiment 2 has the effects of Embodiment 1, in addition to the effects of other equipment such as the excavation belt conveyor B c By detecting changes in position, the vehicle 1 carrying the projector 3 can be moved, and the projected content can be changed.

[0020] (Embodiment 3) The projection system 100 can detect changes in the dwelling status of workers and may move the position of the vehicle 1 carrying the projector 3, or change the projected content. For example, the space around the vehicle 1, as captured by the camera 2, can be arbitrarily divided into multiple areas, and the number of workers dwelling in each area and their dwelling time can be determined. When the number of workers dwelling in each area and their dwelling time change, the control device 5 determines that there has been progress in the tunnel excavation work of Tunnel D and moves the position of the vehicle 1 carrying the projector 3. For example, as shown in Figure 9A, the control device 5 divides the space around the vehicle 1, as captured by the camera 2, into a first area A1 and a second area A2, and determines the number of workers in the first area A1 and the second area A2. By comparing this with the number of workers in the first area A1 and the second area A2 determined previously, the number of workers dwelling in the first area A1 and the second area A2 and their dwelling time can be determined. For example, in the first area A1 shown in Figure 9A, there are many people and their stay time is long, while in the second area A2, there are few people and their stay time is short. Subsequently, as shown in Figure 9B, the number of people and stay time decreases in the first area A1 and decreases again, while the number of people and stay time increases in the second area A2. In this case, the trend in the number of workers and their stay time has changed in the first area A1 and the second area A2. Therefore, the control device 5 determines that the change in the number of workers and their stay time in the first area A1 and the second area A2 indicates that the workers' movements have changed as the excavation work has progressed. In this case, the projection system 100 determines that the excavation work surface S of the tunnel D has moved as the excavation work has progressed, and moves the position of the vehicle 1 carrying the projector 3. It also changes the projected content of the projection data M.

[0021] The process executed by the control device 5 in Embodiment 3 will be described below with reference to the flowchart of the progress determination process based on the worker occupancy status shown in Figure 10. The progress determination process based on the worker occupancy status is stored in the memory unit 53 of the control device 5 as a progress determination process program based on the worker occupancy status. When the projector 3 starts projecting the projection data M onto the excavation work surface S of the tunnel D, the program is read from the memory unit 53 and executed by the processor. The shooting control unit 544 of the control unit 54 of the control device 5 causes the camera 2 to photograph the excavation work surface S of the tunnel D, including the projection data M (step S401). The situation analysis unit 542 of the control unit 54 of the control device 5 executes the projection process (step S402). The projection process executes the flowchart shown in Figure 6. The shooting control unit 544 of the control unit 54 of the control device 5 causes the camera 2 to photograph the area around the moving vehicle 1 (step S403). The situation analysis unit 542 of the control unit 54 of the control device 5 determines the number of people and the duration of stay for each area from the images captured by the camera 2 (step S404). Specifically, the situation analysis unit 542 divides the space around the moving vehicle 1, as captured by the camera 2, into arbitrary areas, for example, a first area A1 and a second area A2, and determines the number of workers in each area. The situation analysis unit 542 reads the previously determined number of workers in the first area A1 and second area A2 from the memory unit 53 and compares it with the number of workers it has determined. If the comparison result shows, for example, that the number of workers in the first area A1 remains unchanged but the number of workers in the second area A2 has decreased, the situation analysis unit 542 adds the duration of stay without changing the number of workers staying in the first area A1, and subtracts the duration of stay by decreasing the number of workers staying in the second area A2. The determination unit 548 of the control unit 54 of the control device 5 determines whether the dwelling trend for each area has changed (step S405). For example, if the number of workers dwelling in the first area A1 and the second area A2 remains unchanged and the dwelling time continues to be added, the determination unit 548 proceeds to step S410, assuming that the dwelling trend has not changed (step S405; NO). Also, if the number of workers dwelling in the first area A1 or the second area A2 decreases and the dwelling time is subtracted, the determination unit 548 determines that the dwelling trend has changed (step S405; YES), and that the excavation work is progressing and the projected data M is expanding.The driving control unit 543 of the control unit 54 controls the driving vehicle 1 and the enlarged projection data M. a The excavation work surface S after the excavation work has progressed until it reaches a position where the projection size of the projection data M set in projection parameter 531 becomes the projection size of the excavation work surface S. a The unit moves toward the target (step S406). The communication control unit 541 of the control unit 54 obtains the planned progress and status of the excavation work from an external server via the communication unit 51 (step S407). The projection control unit 545 of the control unit 54 changes the projected content according to the planned progress and status of the excavation work (step S408). The determination unit 548 stores the number of people and the time spent in each area, determined in step S404, in the storage unit 53 (step S409). The determination unit 548 determines whether or not a termination instruction has been given (step S410). For example, if a termination instruction is entered from the administrator into the operation input unit 52 of the control device 5, the determination unit 548 determines that a termination instruction has been given (step S410; YES), and terminates the progress determination process based on the status of workers' presence. Furthermore, if no termination instruction is entered by the administrator into the operation input unit 52 of the control device 5, the determination unit 548 determines that there is no termination instruction (step S410; NO), returns to step S403, and executes the processing from step S403 onward.

[0022] As described above, the projection system 100 according to Embodiment 3, in addition to the effects of Embodiments 1 and 2, can detect changes in the dwelling state of workers, move the position of the vehicle 1 carrying the projector 3, and change the projected content.

[0023] (Other variations) In embodiments 1 to 3 described above, the projection system 100 includes a vehicle 1, a camera 2, a projector 3, an angle and direction adjuster 4, and a control device 5, but it may be an integrated device. Furthermore, the control device 5 may be built into the vehicle 1.

[0024] Furthermore, in Embodiment 1, the vehicle 1 is moved when the proportion of the projection data M occupying the camera 2's shooting area G is greater than a predetermined percentage, but this is not limited to this. For example, the projection light of the projector 3 may be increased, or the projection area may be adjusted so that the proportion of the projection area occupying the camera 2's shooting area G is less than or equal to a predetermined percentage, and then the projector 3 may be made to project. Note that in Embodiments 2 and 3, the above may be done instead of moving the vehicle 1. Also, in Embodiments 2 and 3, the vehicle 1 may be moved when the proportion of the projection data M occupying the camera 2's shooting area G is greater than a predetermined percentage, similar to Embodiment 1. In detail, step S104 of the flowchart shown in Figure 5 of Embodiment 1 is added before step S306 of the flowchart shown in Figure 8 of Embodiment 2 and before step S406 of the flowchart shown in Figure 10 of Embodiment 3, and the determination is made.

[0025] Furthermore, the control device 5 may be placed outside the projection system 100, and the vehicle 1, camera 2, projector 3, and angle / direction adjuster 4 may receive and operate based on instructions from the control device 5 via the communication port 13 of the vehicle 1. For example, the control device 5 can also be implemented by a computer such as a smartphone, tablet, or PC that can communicate with the communication port 13 of the vehicle 1. Alternatively, the program executed by the control unit 54 of the control device 5 may be stored on a computer-readable recording medium such as a flexible disk, CD-ROM (Compact Disc Read Only Memory), DVD (Digital Versatile Disc), MO (Magneto-Optical disc), memory card, or USB memory, and distributed, and a computer capable of executing the above-mentioned processes may be configured by loading and installing the program into the computer.

[0026] Furthermore, the program can be superimposed on a carrier wave and applied via a communication medium such as the Internet. For example, the program could be posted and distributed on a bulletin board system (BBS) on a communication network. This program could then be launched and executed under the control of the operating system (OS), just like any other application program, to perform the aforementioned processes.

[0027] Furthermore, the control unit 54 of the control device 5 may consist of any single processor, such as a single processor, multi-processor, or multi-core processor, or it may be configured by combining any of these processors with processing circuits such as an ASIC (Application Specific Integrated Circuit) or FPGA (Field-Programmable Gate Array).

[0028] Although preferred embodiments of the present invention have been described above, the present invention is not limited to these specific embodiments, and the present invention includes the invention described in the claims and its equivalents. [Explanation of Symbols]

[0029] 2...Camera, 3...Projector, 5...Control equipment, 100...Projection system

Claims

1. A projector that projects the content related to the work onto the projection surface, A camera that captures a shooting area including the projection area of ​​the projected content projected onto the aforementioned projection surface, A projection system comprising control equipment, The control device analyzes the captured image taken within the shooting area and changes the projected content projected by the projector based on the proportion of the projection area within the captured image. Projection system.

2. The projected content consists of step-by-step content that corresponds to the progress of the work, or warnings to the workers that correspond to the progress of the work. The projection system according to claim 1.

3. The control device analyzes the captured image taken within the shooting area, and if the proportion of the projection area within the captured image exceeds a predetermined proportion, it changes the content projected by the projector to content corresponding to the progress of the next step in the process. The projection system according to claim 2.

4. The control device analyzes the captured image taken within the shooting area, and if the proportion of the image to the projection area exceeds a predetermined proportion, it changes the content projected by the projector to a warning to the worker that is appropriate to the progress of the next task. The projection system according to claim 2.

5. The control device analyzes the captured image taken within the shooting area and determines the projection area on which the projection content can be projected. The projector projects the content to be projected within the projection area. The projection system according to claim 1 or 2.

6. The aforementioned camera photographs other devices in its surroundings. The control device analyzes the position of the other device and, if it determines that the position of the other device has changed, changes the projected content projected by the projector. The projection system according to claim 1 or 2.

7. The aforementioned camera photographs the workers in the surrounding area. The control device analyzes the worker's dwelling pattern and, if it determines that the worker's dwelling pattern has changed, changes the projected content of the projector. The projection system according to claim 1 or 2.

8. A method performed by the projection system, The shooting area, which includes the projection area of ​​the projected content projected onto the projection surface, is photographed. The projected content to be projected onto the projection target is changed based on the ratio of the projection area to the captured image obtained by capturing the aforementioned shooting area. method.

9. On the computer, A process of capturing the shooting area, which includes the projection area of ​​the projected content projected onto the projection target. A process to change the projected content to be projected onto the projection destination based on the projection area in the captured image obtained by capturing the aforementioned shooting area. A program to execute.

Images