Projection control apparatus, projection system, method, and program

Abstract

To provide a projection control device suitable for continuously projecting an image such as a message at an appropriate position.SOLUTION: The projection control device includes a control unit that projects an image at a specific position by a projection device installed in a moving body, and controls projection of the image by the projection device on the basis of a relative distance between the projection device and the specific position that changes with movement of the moving body such that a projection position of the image does not move from the specific position due to the movement of the moving body.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to a projection control device, a projection system, a method, and a program. [Background technology]

[0002] Robots such as AGVs (Automated Guided Vehicles) and AMRs (Autonomous Mobile Robots) are being used in facilities such as factories and logistics warehouses. However, it is difficult to completely automate a facility by replacing all personnel with robots. To enable coexistence between humans and robots, mobile objects such as AGVs and AMRs are equipped with a function to avoid collisions with humans. A specific configuration of this type of mobile object is described in, for example, Patent Document 1.

[0003] The mobile object described in Patent Document 1 uses sensors to detect objects such as people and obstacles in the vicinity. When a person is detected as an object, a projection device mounted on the mobile object projects a message onto the road surface toward the person. By visually recognizing the message, the person can detect the approach of the mobile object in advance. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2020-168953 Summary of the Invention [Problem to be solved by the invention]

[0005] In the configuration described in Patent Document 1, the message projected onto the road surface moves as the moving object moves. Therefore, the configuration described in Patent Document 1 is not suitable for continuously projecting an image such as a message at an appropriate position while the moving object is moving, for example, to help the moving object avoid a collision.

[0006] In view of the above circumstances, an object of the embodiments of the present disclosure is to provide a projection control device, a projection system, a method, and a program suitable for continuously projecting an image such as a message at an appropriate position. [Means for solving the problem]

[0007] A projection control device according to one embodiment of the present disclosure includes a control unit that projects an image at a specific position using a projection device installed on a mobile body, and controls the projection of the image by the projection device based on the relative distance between the projection device and the specific position, which changes as the mobile body moves, so that the projection position of the image does not move from the specific position due to movement of the mobile body. [Effects of the Invention]

[0008] According to an embodiment of the present disclosure, there are provided a projection control device, a projection system, a method, and a program suitable for continuously projecting an image such as a message at an appropriate position. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic external view of a moving body according to an embodiment of the present disclosure. [Figure 2] FIG. 1 is a block diagram of a moving body according to an embodiment of the present disclosure. [Figure 3] FIG. 10 is a diagram illustrating a state in which a moving body projects an image onto a crossroad in an embodiment of the present disclosure. [Figure 4] FIG. 10 is a diagram illustrating a state in which a moving body projects an image onto a crossroad in an embodiment of the present disclosure. [Figure 5] 10 is a flowchart illustrating a process performed using an information processing device connected to a mobile body according to an embodiment of the present disclosure. [Figure 6] 10 is a flowchart illustrating a process executed by a projection control device according to an embodiment of the present disclosure. [Figure 7] This is a subroutine of the projection process (step S204) in FIG. [Figure 8]FIG. 10 is a diagram illustrating how a moving body projects an image onto a blind spot point in an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0010] The following description relates to a projection control device, a projection system, a method, and a program according to an embodiment of the present disclosure. Common or corresponding elements are designated by the same or similar reference numerals, and redundant descriptions are appropriately simplified or omitted. The projection system 1 shown in FIG. 1 includes a mobile object 2 capable of transporting materials within a facility such as a factory. While FIG. 1 illustrates a cart-type AGV as the mobile object 2, the mobile object 2 is not limited to this configuration. The mobile object 2 may also be an unmanned forklift truck, a multi-legged robot, or other similar configuration. The mobile object 2 may be an AMR (Automated Mobile Robot) or a Rail Guided Vehicle (RGV) instead of an AGV. The mobile object 2 may also be a drone or other unmanned aerial vehicle (UAV). The mobile object 2 may also be a manned mobile object operated by an operator. The mobile object 2 is not limited to a robot intended for transporting materials, but may also be a robot that patrols, inspects, cleans, or otherwise navigates within a site or building.

[0011] A support column 3 is erected at the front of the mobile body 2. An electric pan head 20 is supported on the upper part of the support column 3. The electric pan head 20 supports a projector 30. The projector 30 is an example of a projection device. The electric pan head 20 is an example of an orientation change device that changes the orientation of the projector 30. The electric pan head 20 can change the orientation of the projector 30, for example, along three axes: pan, tilt, and roll. As shown in FIG. 2 , the projection system 1 includes a projection control device 10 in addition to the above-mentioned elements. The projection control device 10 includes an MCU (Micro Controller Unit) 12, storage 14, a GPS (Global Positioning System) module 16, and a communication interface 18. In this embodiment, the mobile body 2 on which the projection control device 10, the electric pan head 20, and the projector 30 are provided is referred to as the "projection system 1."

[0012] 1 and 2 merely show one example of the configuration of the projection system 1. For example, the projection control device 10 may be built into the projector 30. For example, the GPS module 16 may not be a component of the projection control device 10, but may be an element that is externally attached to the projection control device 10. The projection system 1 may also include other elements (e.g., a display, a speaker, etc.) that are not shown in FIGS. 1 and 2. The projection system 1 may also be configured not to include some of the elements shown in FIGS. 1 and 2. In this way, there is a degree of freedom in the design of the configuration of the projection system 1 including the projection control device 10, and various embodiments are possible.

[0013] The MCU 12 is an example of a computer. The MCU 12 is, for example, a single processor or a multiprocessor and includes at least one processor. When the MCU 12 includes multiple processors, the MCU 12 may be packaged as a single device or may be configured as multiple physically separated devices within the projection control device 10. The MCU 12 may be referred to as, for example, a control unit, a CPU (Central Processing Unit), or an MPU (Micro Processor Unit). The storage 14 is, for example, a non-volatile semiconductor memory such as a flash memory, an EPROM (Erasable Programmable ROM), or an EEPROM (Electrically Erasable Programmable ROM), a HDD (Hard Disk Drive), or an SSD (Solid State Drive). The storage 14 stores or has stored therein various programs and various data. For example, the storage 14 stores or has stored therein a projection control program 142, an image library 144, map data 146, and route data 148. The MCU 12 executes the projection control program 142, thereby executing various processes according to an embodiment of the present disclosure (such as projecting an image by the projector 30).

[0014] The GPS module 16 is an example of a position acquisition unit that acquires the current position of the projector 30. Instead of or in addition to the GPS module 16, the current position of the projector 30 may be acquired using other means, such as a DR (Dead Reckoning) sensor, a beacon, Bluetooth (registered trademark), Wi-Fi, or a positioning device that performs positioning using autonomous navigation using, for example, a gyro sensor, an acceleration sensor, or a vehicle speed sensor. The current position of the projector 30 may also be referred to as the current position of the projection system 1. Therefore, the position acquisition unit can also be considered an element that acquires the current position of the projection system 1. The mobile object 2 may be equipped with the GPS module 16 and at least one of the other means described above, instead of the projection control device 10. In this case, the projection control device 10 can determine the current position of the projection system 1 based on information about the current position acquired through communication with the mobile object 2. By using a mobile object 2 with a position information acquisition function, the GPS module 16 and the various means described above can be omitted from the projection control device 10.

[0015] The communication interface 18 is an interface that communicatively connects the MCU 12 with each component within the projection system 1. The communication interface 18 communicates with, for example, a driving control system 40 that controls the driving of the mobile object 2. The driving control system 40 is communicatively connected to an external device such as an information processing device 100 via a wireless or wired connection. The information processing device 100 is a personal computer (PC), a smartphone, a tablet terminal, a network-connected server, a client, or the like. An operator can operate the information processing device 100 to perform various settings, such as automatic driving settings, for the mobile object 2. For example, the operator operates the information processing device 100 to register map data within a facility in advance in the driving control system 40. The map data is, for example, configured as data in a road network format that represents passageways within the facility using nodes and links.

[0016] An operator can set a destination of the projection system 1 by operating the information processing device 100. The information processing device 100, for example, calculates and sets a movement route of the projection system 1 to the set destination using an algorithm such as Dijkstra's algorithm. The movement route may also be set manually by the operator operating the information processing device 100. The set movement route (including information on the destination) is registered in the travel control system 40. The travel control system 40 performs automatic travel control of the moving object 2 according to the registered movement route.

[0017] The MCU 12 communicates with the driving control system 40 via the communication interface 18 and stores the map data and travel route data registered in the driving control system 40 in the storage 14. For convenience, the map data and travel route data stored in the storage 14 are referred to as "map data 146" and "route data 148," respectively. In this way, the storage 14 is an example of a memory unit that holds the map data 146 including the travel route of the projection system 1.

[0018] In this embodiment, the projection control device 10 acquires the map data 146 and the route data 148 via the driving control system 40, but in another embodiment, the projection control device 10 may acquire the map data 146 and the route data 148 by directly communicating with the information processing device 100. Also, the projection control device 10 may be configured to be able to register map data and set travel routes. In this case, the operator performs operations to register map data and set travel routes using, for example, an HMI (Human Machine Interface) provided in the projection control device 10.

[0019] Here, AGVs are required to be equipped with sensing devices that detect targets (people, objects) in advance to avoid collisions with them. For this reason, this type of sensing device (not shown) is also installed in the projection system 1. However, sensing devices have limitations on the range they can detect. For example, this type of sensing device cannot detect pedestrians or other people in blind spots within the sensing range due to walls or other obstacles (such as pedestrians around a corner). There is a need to introduce a safer mechanism to avoid collisions with people in blind spots.

[0020] 3 and 4, an image projection function installed in the projection system 1 for avoiding a collision with a person in a blind spot will be described. FIG. 3 illustrates an example in which the projection system 1 makes a left turn at a potential blind spot (here, an intersection A, which is an example of a branching point) according to the route data 148. A person 5 is walking toward the intersection A at the passageway after the left turn. The projection system 1 is located in the blind spot from the perspective of the person 5. The person 5 is also located in the blind spot from the perspective of the projection system 1. Hereinafter, a point that may be in a blind spot for the person 5, such as a branching point, will be referred to as a "blind spot point." FIGS. 3 and 4 show an XYZ three-axis coordinate system. The X and Y axes extend in two horizontal directions that are perpendicular to each other, and the XY plane along the X and Y axes is approximately parallel to the road surface within the facility. The Z axis extends in a vertical direction that is perpendicular to both the X and Y axes. The directions in which the X, Y, and Z axes extend may be referred to as the X direction, Y direction, and Z direction, respectively.

[0021] For convenience, the height position of the projector 30 installed in the projection system 1 is set to a value z0 (Z = z0). The position information (e.g., latitude and longitude) of the projector 30 acquired by a position acquisition unit such as the GPS module 16 can be converted to X and Y values ​​and is represented by (x0, y0). In the XYZ coordinate system, the position P0 of the projector 30 is represented by coordinates (x0, y0, z0). The position P0 may be considered as the position of the projection system 1. The height position of the road surface within the facility on which the projection system 1 travels is set to a value z1 (Z = z1). In the XYZ coordinate system, the position P1, which is a projection reference point such as an intersection A, is represented by coordinates (x1, y1, z1). Note that, in order to reduce the processing load of each unit of the projection system 1, the position information of the projector 30, the projection system 1, and the projection reference points may be managed in a two-dimensional XY coordinate system rather than a three-dimensional XYZ coordinate system. This projection reference point is not at a position at a constant distance from the projection system 1 while it is moving, but is at a fixed position relative to the facility or road surface regardless of the position of the projection system 1 while it is moving.

[0022] In the example shown in FIG. 3, the MCU 12 acquires the position P1 (x1, y1, z1) of the intersection A, which is the next branch point on the travel route, based on the map data 146 and the route data 148. The MCU 12 detects the relative distance D between the position P0 (x0, y0, z0) of the projection system 1 and the position P1 (x1, y1, z1). When the relative distance D becomes equal to or less than a predetermined distance, the MCU 12 detects that the projection system 1 is approaching the intersection A. The predetermined distance is, for example, a relatively far distance to the intersection A. The predetermined distance is, for example, a distance that takes the projection system 1 approximately 10 seconds to reach the intersection A when traveling at a specified speed. The image library 144 of the storage 14 stores, for example, various materials that constitute projection images. For example, icons representing going straight, turning right, turning left, etc., and message images for warnings are stored. In addition to materials, for example, predefined projection images may also be stored in the image library 144.

[0023] The MCU 12 creates an image 200 to alert people. For example, the MCU 12 determines the display content of the projection image based on information about the relative distance D and the operation of the projection system 1 when it reaches intersection A. In the example of FIG. 3, the projection system 1 is supposed to turn left at intersection A when it reaches intersection A in about 10 seconds. Therefore, the MCU 12 creates an image 200 that combines the text "in 10 seconds," which indicates the time it will take for the projection system 1 to reach intersection A, with an icon representing a left turn. The MCU 12 controls the motorized platform 20 to adjust the orientation of the projector 30 so that the image 200 is projected onto area R, which is approximately centered on the position P1 of the projection reference point on the road surface of intersection A. For example, the MCU 12 controls the motorized pan head 20 according to the angle B (including the azimuth angle and the elevation / depression angle) formed between the optical axis AX of the projector 30 and the road surface, and adjusts the azimuth angle and the elevation / depression angle of the optical axis AX so that the image 200 can be projected centered on position P1 (x1, y1, z1). The angle B can be estimated based on the pan angle, tilt angle, and roll angle of the motorized pan head 20, for example. Note that in FIG. 3, the region R is shown slightly larger than the image 200 to make it easier to understand the positions of the region R and the image 200, but it is preferable that the size and shape of the region R and the size and shape of the image 200 match each other.

[0024] The MCU 12 further sets various parameters of the projector 30 (such as zoom shift, lens shift, and trapezoidal correction parameters without correcting the image data of the image 200 according to the relative distance D, parameters for correcting the image data of the image 200 according to the relative distance D, or a combination of these) so that the image 200 is projected in an area R centered on the position P1 (x1, y1, z1), that is, with a specified size and a specified shape. The MCU 12 controls the projector 30 using the set parameters to project the image 200. As a result, as exemplified in the upper diagram of FIG. 3 , projection of the image 200 begins toward the projection reference point position P1, which is the position determined by the projection system 1 at the intersection A.

[0025] Position P1 (x1, y1, z1) is an example of a specific position onto which image 200 is projected, and is located at a branching point (e.g., intersection A) on the travel path of projection system 1. Note that image 200 does not need to be projected exactly onto region R centered on position P1 (x1, y1, z1). It is sufficient that at least a portion of image 200 continues to be projected onto region R so that it does not deviate significantly from the target region R (the road surface on intersection A in the example of FIG. 3 ) according to the amount of movement. Therefore, in the example of FIG. 3 , the specific position onto which image 200 is projected may be anywhere on the road surface on intersection A. Additionally, MCU 12 projects a text image (an example of a message image that calls attention to people) included in image 200 in an orientation that is highly readable to, for example, person 5 in a passageway where a left turn is to be made (an example of a person at the end of a branching point). Therefore, person 5 can easily read the text image included in image 200. By viewing the image 200, the person 5 can know in advance that the projection system 1 is approaching the intersection A, how much time is left until the projection system 1 reaches the intersection A, and so on.

[0026] When the angle of the motorized pan head 20 and various parameters of the projector 30 are fixed, the image 200 also moves as the projection system 1 moves. In the example of FIG. 3 , in the case of a projection system compared to the projection system 1, when the comparison projection system approaches intersection A, the image 200 moves straight ahead through intersection A by the amount of movement of the projection system. In this case, it is difficult for the person 5 to grasp information about the moving image 200. This makes it difficult for the person 5 to notice the approach of the projection system 1. Therefore, in this embodiment, in order to make it easy to see and grasp information even when the projection system 1 moves, the MCU 12 sequentially controls the motorized pan head 20 and the projector 30 according to the relative distance D and the angle B so that the image 200 does not substantially move from a specific position (for example, an area R centered on position P1 (x1, y1, z1)) and updates the angle of the motorized pan head 20 and various parameters of the projector 30.

[0027] For example, even when the direction of position P1 (x1, y1, z1) relative to the projector 30 changes as the projection system 1 moves, the MCU 12 operates the motorized platform 20 to adjust the orientation of the projector 30 or adjusts the projection position by performing a lens shift of the projector 30 so that the projection position of the image 200 does not move from position P1. As a result, as shown in the lower diagram of FIG. 3, for example, even when the projection system 1 approaches the intersection A, the image 200 continues to be displayed on the road surface at the intersection A. Therefore, even if the person 5 cannot directly view the projection system 1, by viewing the image 200, the person 5 can know in advance that the projection system 1 is approaching the intersection A. Additionally, the display content of the image 200 projected on the road surface at the intersection A is sequentially updated according to the relative distance D. For example, as shown in the lower diagram of FIG. 3, as the relative distance D becomes shorter, the text indicating the arrival time (e.g., n seconds later) is updated. Furthermore, in order for the projection system 1 to more reliably inform the person 5 that he or she will turn left at the intersection A, the icon representing the left turn is displayed larger.

[0028] With the angle of the motorized pan head 20 and various parameters of the projector 30 fixed, the size and shape of the image 200 projected onto the road surface change as the projection system 1 moves. For example, the shorter the relative distance D, the larger the image 200 becomes, and the larger the angle B, the more the shape of the image 200 becomes distorted. When the image 200 changes from moment to moment in this manner, the visibility and readability of the image 200 may decrease. Therefore, in this embodiment, the MCU 12 sequentially controls the motorized pan head 20 and the projector 30 according to the relative distance D and angle B, and updates the angle of the motorized pan head 20 and various parameters of the projector 30, so that the image 200 is projected at a specific position (e.g., area R centered on position P1 (x1, y1, z1)) with a constant size and shape, even when the relative distance D changes over time as the projection system 1 moves. In other words, the MCU 12 controls the projection of the image by the projector 30 so that the image 200 continues to be projected at a constant size and shape. Note that, in order to continuously project image 200 onto area R on the road surface without changing its size or shape while keeping angle B fixed, it is possible to register a plurality of patterns of image data whose sizes and shapes differ from one another according to relative distance D. Furthermore, projector 30 may increase the luminance per unit area of ​​image 200 as relative distance D decreases, i.e., the closer projection system 1 is to person 5, the brighter the image becomes, making it easier for the person 5 to grasp the information. Alternatively, if image 200 is sufficiently bright, MCU 12 may adjust the luminance per unit area to be constant regardless of changes in relative distance D. In either case, projection system 1 may be equipped with an illuminance sensor for detecting the brightness on the road surface in order to project image 200 at an appropriate luminance that is easy to see and understand.

[0029] Referring to FIG. 5, a process performed using an information processing device 100 connected to the projection system 1 will be described. The order of the steps in the flowcharts shown in the embodiments of the present disclosure may be changed as long as it is consistent. For example, in the embodiments of the present disclosure, the processing of various steps is presented using an exemplary order, but the order is not limited to this presented order. Furthermore, the steps in the flowcharts shown in the embodiments of the present disclosure may be executed in parallel or in a tandem as long as it is consistent. As shown in FIG. 5, the information processing device 100 performs initial configuration in response to an operator's operation (step S101). For example, the information processing device 100 registers map data of the facility in the driving control system 40 of the mobile object 2. The map data registered in the driving control system 40 is stored in the storage 14 of the projection control device 10 (see map data 146 in FIG. 2). The map data 146 includes location information of blind spots, such as branching points in passageways within the facility. Blind spots are examples of specific locations to which images are projected. The location information of blind spots may be registered, for example, manually by an operator or automatically. For example, the position information of each node constituting the map data 146 is automatically registered as the position information of the blind spot point.

[0030] The information processing device 100 performs work setting in response to an operation by the operator (step S102). Specifically, when the destination of the projection system 1 is set by an operation by the operator, the information processing device 100 performs a route search. The information processing device 100 registers the travel route of the projection system 1 obtained by the route search in the travel control system 40. The travel route registered in the travel control system 40 is stored in the storage 14 of the projection control device 10 (see route data 148 in FIG. 2).

[0031] The process executed by the MCU 12 of the projection control device 10 will be described with reference to FIG. 6. For example, when the driving control system 40 receives an operation to turn on automatic driving, the process shown in FIG. 6 is started. The process shown in FIG. 6 is repeatedly executed, for example, every few milliseconds until the projection system 1 arrives at the destination. The MCU 12 acquires the current position P0 (x0, y0, z0) of the projection system 1 from the GPS module 16 (step S201). The MCU 12 determines whether the projection system 1 has approached a blind spot point (step S202). Specifically, the MCU 12 acquires the position P1 (x1, y1, z1) of the next blind spot point on the movement path of the projection system 1 based on the map data 146 and the route data 148. The MCU 12 calculates the relative distance D between the position P0 (x0, y0, z0) acquired in step S201 and the position P1 (x1, y1, z1) acquired in step S202. The MCU 12 determines whether the calculated relative distance D is equal to or less than a predetermined distance.

[0032] If the relative distance D exceeds the predetermined distance (step S202: NO), the projection system 1 is away from the next blind spot point on the movement path and is not approaching the next blind spot point. In this case, the MCU 12 determines whether the projection system 1 has arrived at the destination (step S203). If the projection system 1 has arrived at the destination (step S203: YES), the MCU 12 ends this flowchart. If the projection system 1 has not arrived at the destination (step S203: NO), the MCU 12 returns to the processing of step S201. If the relative distance D is equal to or less than the predetermined distance (step S202: YES), the projection system 1 is approaching the next blind spot point on the movement path. In this case, the MCU 12 executes the projection processing (step S204). After executing the projection processing, the MCU 12 returns to the processing of step S201.

[0033] The projection process (step S204) of FIG. 6 will be described with reference to FIG. 7. As shown in the subroutine of FIG. 7, the MCU 12 determines the type of the next blind spot point on the travel route (step S301). The type of blind spot point is, for example, a type of branching point, such as a crossroads, a T-junction, a Y-junction, an L-junction (a turning point for a right or left turn), or a multi-way intersection. The MCU 12 acquires operation information (information such as going straight, turning right, or turning left) of the projection system 1 at the next blind spot point on the travel route from the route data 148 (step S302). The MCU 12 acquires the current position P0 (x0, y0, z0) of the projection system 1 from the GPS module 16 (step S303), and calculates the relative distance D to the next blind spot point (step S304).

[0034] The MCU 12 creates an image 200 to be projected at the next blind spot point (step S305). Specifically, the MCU 12 acquires, from the image library 144, materials (e.g., icons representing going straight, turning right, turning left, etc.) corresponding to the operation information of the projection system 1 acquired in step S302. The MCU 12 estimates the arrival time to the next blind spot point based on the relative distance D and the moving speed of the projection system 1 (e.g., a predetermined specified speed). The MCU 12 creates an image 200 by combining the above materials with text indicating the estimated arrival time. In this way, the MCU 12 determines the display content of the image 200 to be display content corresponding to the operation of the projection system 1 at the next blind spot point.

[0035] Various patterns can be considered for the display form of the image 200. In Example 1 shown in Fig. 8, the projection system 1 goes straight at the next intersection on the travel route. In this case, the MCU 12 acquires an icon representing going straight from the image library 144, and generates image 200A by combining the acquired icon with text indicating the arrival time (for example, a message stating "in 10 seconds"). In image 200A, the message is displayed facing three directions so that it can be easily read by people who are going straight ahead at the intersection, people who are turning right, and people who are turning left.

[0036] It should be noted that there is a high possibility that people going straight ahead at the intersection will be able to see the projection system 1. Therefore, the message may be displayed facing only in two directions so that it is easy to read for people who are turning right and people who are turning left. The image 200A may be an image that does not include a message, for example, an image that includes only an icon that indicates going straight. The image 200A may only be a message image that indicates the arrival time. By simplifying the image 200A, the visibility and readability of the image 200A may be improved.

[0037] In Example 2 shown in Fig. 8, the projection system 1 turns right at the next intersection on the travel path. In this case, the MCU 12 obtains an icon representing a right turn from the image library 144, and generates image 200B that combines the obtained icon with text indicating the arrival time (for example, a message stating "in 10 seconds"). In image 200B, only one message is displayed in an orientation that is easy to read for people who will turn right at the intersection (i.e., people who are most concerned about a collision with the projection system 1). Another message may be displayed in an orientation that is easy to read for people who will turn left at the intersection, and yet another message may be displayed in an orientation that is easy to read for people who will go straight ahead at the intersection.

[0038] 8, the MCU 12 updates the image 200 as the projection system 1 approaches the intersection (step S305). For example, the MCU 12 sequentially updates the text in accordance with the estimated arrival time, or changes the display form (size, color, etc.) of the icon as appropriate. By updating the display content of the image 200A in accordance with the relative distance D, it is possible to more reliably notify people in blind spots that the projection system 1 is approaching.

[0039] The MCU 12 controls the motorized pan head 20 and the projector 30 based on the relative distance D and the angle B so that the image 200 is projected in a predetermined size and shape onto the next blind spot point (for example, an area R centered on the position P1 (x1, y1, z1)) (step S306), and projects the image 200 onto the next blind spot point (step S307).

[0040] When the projection system 1 passes the next blind spot point (step S308: YES), the MCU 12 ends the projection process (step S204). The MCU 12 repeats the processes of steps S303 to S308 until the projection system 1 passes the next blind spot point. During the loop process, the MCU 12 sequentially updates the display content of the image 200 in step S305, and also sequentially controls the motorized pan head 20 and the projector 30 in step S306 according to the relative distance D and angle B to update the angle of the motorized pan head 20 and various parameters of the projector 30 so that the image 200 projected on the road surface does not move from area R (and further so that the image 200 is projected with a constant size and shape). As a result, as shown in Examples 1 and 2 of FIGS. 3 and 8, while the projection system 1 is moving toward a blind spot point such as an intersection, the image 200 continues to be projected without moving from the road surface of the intersection. Therefore, the person 5 can easily view the image 200 and can know in advance that the projection system 1 is approaching a blind spot point.

[0041] The above is a description of exemplary embodiments of the present disclosure. The embodiments of the present disclosure are not limited to those described above, and various modifications are possible within the scope of the technical concept of the present disclosure. For example, embodiments of the present application also include appropriate combinations of embodiments explicitly exemplified in the specification or obvious embodiments. In the above embodiments, position information and map data are used to determine the approach of blind spots and to determine the display content of image 200. However, it is also possible to consider embodiments in which the approach of blind spots is determined and the display content of image 200 is determined without using position information and map data.

[0042] For example, a configuration using LiDAR (Light Detection and Ranging) is conceivable. In this case, a LiDAR mounted on the projection system 1 periodically performs three-dimensional scanning of the area ahead of the projection system 1. The MCU 12 analyzes the scanning data obtained by the LiDAR to detect blind spots located in the traveling direction of the projection system 1. For example, the MCU 12 determines a reference position (e.g., a corner of an intersection) of the detected blind spot, calculates the positions of four points on the road surface of the blind spot based on the determined reference position, and projects the image 200 onto a rectangular region R having the calculated four points as its four corners. Note that, to detect blind spots, an RGB-D camera or another type of device capable of acquiring distance information of an object may be employed instead of or in addition to the LiDAR. In the above embodiment, the mobile object 2 is an unmanned mobile object, but it may also be a manned mobile object such as a forklift. In this case, without setting step S102, when the driver approaches a branch point on the travel route, the appropriate image 200 can be projected by having the driver specify the direction at the branch point in advance using the direction indicator (including instructions to go straight, turn right, or turn left) provided in the projection system 1. [Explanation of symbols]

[0043] 1: Projection system, 2: Mobile object 2, 10: Projection control device, 14: Storage, 16: GPS module, 18: Communication interface, 20: Electric platform, 30: Projector, 40: Travel control system, 100: Information processing device, 142: Projection control program, 144: Image library, 146: Map data, 148: Route data

Claims

1. A projection device installed on a moving object projects an image at a specific position, controlling the projection of the image by the projection device based on the relative distance between the projection device and the specific position, which changes with the movement of the moving body, so that the projection position of the image does not move from the specific position due to the movement of the moving body; A control unit is provided. Projection control device.

2. the projection device is supported by an orientation variable device that varies the orientation of the projection device, when the direction of the specific position relative to the projection device changes as the moving object moves, the control unit operates the direction variable device to adjust the direction of the projection device so that the projection position of the image does not move from the specific position. The projection control device according to claim 1 .

3. the specific position is located at a branch point on a movement path of the moving object, When the control unit detects the approach of the moving object to the junction, the control unit projects the image onto the junction where the approach is detected. The projection control device according to claim 1 .

4. a storage unit that stores map data including the travel route; a position acquisition unit that acquires a current position of the projection device, The control unit acquiring the position of the next branch point on the travel route based on the map data; detecting an approach of the moving object to the next junction based on the acquired position of the next junction and the current position acquired by the position acquisition unit; The projection control device according to claim 3 .

5. The image includes a message image that calls attention to a person, the control unit projects the message image in an orientation that is highly readable for a person at a destination of the branch point. The projection control device according to claim 3 .

6. The control unit determining a display content of the image to be projected at the specific position to be a display content corresponding to the movement of the moving object at the specific position; The projection control device according to claim 1 .

7. the control unit updates the display content of the image projected at the specific position in accordance with the relative distance. The projection control device according to claim 1 .

8. the control unit controls the projection of the image by the projection device so that the image is projected at the specific position with a constant size and shape when the relative distance changes as the moving object moves. The projection control device according to claim 1 .

9. A projection control device according to any one of claims 1 to 8; The moving body; the projection device; A projection system comprising:

10. A projection device installed on a moving object projects an image at a specific position, controlling the projection of the image by the projection device based on the relative distance between the projection device and the specific position, which changes with the movement of the moving body, so that the projection position of the image does not move from the specific position due to the movement of the moving body; Have a computer execute the process, method.

11. A projection device installed on a moving object projects an image at a specific position, controlling the projection of the image by the projection device based on the relative distance between the projection device and the specific position, which changes with the movement of the moving body, so that the projection position of the image does not move from the specific position due to the movement of the moving body; Have a computer execute the process, program.

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