Mobile projection device, mobile projection system, control method of mobile projection device, and control program

Abstract

Provided are a mobile projection device, a mobile projection system, a method of controlling a mobile projection device, and a control program capable of appropriately projecting light of a pattern representing indication content according to position information or the like of the own device to a target person such as a victim.SOLUTION: A mobile projection device according to the present disclosure includes a distance measuring unit configured to measure a distance from the mobile projection device to an imaging area of an imaging unit based on light of a predetermined pattern projected onto the imaging area of the imaging unit by a projection unit, and a projection control unit configured to, when a target person is specified from a captured image of the imaging unit in a designated area, cause the projection unit to project light of a pattern determined based on position information of the mobile projection device acquired by a position information acquisition unit, a direction of the mobile projection device detected by a direction detection unit, and the distance from the mobile projection device to the imaging area of the imaging unit measured by the distance measuring unit to an area within a predetermined range from the target person.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] In recent years, development has been progressing on systems that use drones and other flying objects to provide information such as evacuation routes to people stranded in mountainous areas or evacuees in the event of a disaster.

[0003] Related technology is disclosed, for example, in Patent Document 1. The unmanned aerial vehicle disclosed in Patent Document 1 includes an aircraft position detection unit that detects the position of the aircraft itself, a flight control unit that controls the flight of the aircraft itself, and a projection unit that projects an image of a guided route onto a road surface for an unmanned guided vehicle traveling along the guided route. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2020-013429 Summary of the Invention [Problem to be solved by the invention]

[0005] In Patent Document 1, an unmanned aerial vehicle projects a guidance route for an unmanned guided vehicle (AGV) based on its position information onto a road surface, and the AGV then detects the guidance route projected onto the road surface by the AGV and travels along the detected guidance route. In other words, the AGV projects a guidance route for the AGV based on its position information onto the road surface regardless of whether the AGV is traveling close enough to detect the guidance route. Therefore, the configuration of Patent Document 1 may not be able to properly project information such as evacuation routes in areas where target people, such as victims or evacuees, can see the route.

[0006] An object of the present disclosure is to provide a mobile projection device, a mobile projection system, a control method for a mobile projection device, and a control program that solve the above-mentioned problems. [Means for solving the problem]

[0007] A mobile projection device according to one aspect of the present disclosure includes a position information acquisition unit that acquires position information of the mobile projection device itself, a direction detection unit that detects the orientation of the device itself, an imaging unit that images the area around the device itself, a movement control unit that moves the device itself to a designated area based on the position information acquired by the position information acquisition unit, a projection unit that projects light, a distance measurement unit that measures the distance from the device itself to the imaging area of ​​the imaging unit based on a predetermined pattern of light projected onto the imaging area of ​​the imaging unit by the projection unit, and a projection control unit that, when a target person is identified from the image captured by the imaging unit in the designated area, uses the projection unit to project light of a pattern determined based on the position information of the device itself acquired by the position information acquisition unit, the orientation of the device itself detected by the direction detection unit, and the distance from the device itself to the imaging area of ​​the imaging unit measured by the distance measurement unit, onto an area within a predetermined range from the target person.

[0008] A control method for a mobile projection device according to one aspect of the present disclosure acquires position information of the mobile projection device itself, moves the device to a specified area based on the acquired position information of the device, captures an image of the area around the device in the specified area, and when a target person is identified from the captured image, projects a predetermined pattern of light onto an imaging area, measures the distance from the device to the imaging area based on the predetermined pattern of light projected onto the imaging area, and projects a pattern of light determined based on the acquired position information of the device itself, the detected orientation of the device, and the measured distance from the device to the imaging area onto an area within a predetermined range of the target person.

[0009] A control program according to one aspect of the present disclosure causes a computer to perform the following processes: acquiring position information of a mobile projection device; moving the device to a specified area based on the acquired position information of the device; capturing an image of the area around the device in the specified area; if a target person is identified from the captured image, projecting a predetermined pattern of light onto an imaging area; measuring the distance from the device to the imaging area based on the predetermined pattern of light projected onto the imaging area; and projecting a pattern of light determined based on the acquired position information of the device, the detected orientation of the device, and the measured distance from the device to the imaging area onto an area within a predetermined range from the target person. [Effects of the Invention]

[0010] The present disclosure can provide a mobile projection device, a mobile projection system, a control method for a mobile projection device, and a control program that can appropriately project a pattern of light representing sign content based on the device's location information, etc., onto a target person such as a person in distress. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram illustrating an example configuration of a mobile projection system according to the present disclosure. [Figure 2] FIG. 1 is a block diagram illustrating an example of the configuration of a mobile projection device provided in a mobile projection system according to the present disclosure. [Figure 3] 1 is a block diagram showing a specific example of a projection unit provided in a mobile projection device according to the present disclosure. [Figure 4] 1 is a schematic diagram illustrating a portion of a mobile projection device according to the present disclosure. [Figure 5] 10 is a flowchart illustrating the operation of a mobile projection device according to the present disclosure. [Figure 6] 1A and 1B are conceptual diagrams for explaining the operation of a mobile projection device according to the present disclosure. [Figure 7]1A and 1B are conceptual diagrams for explaining the operation of a mobile projection device according to the present disclosure. [Figure 8] 1A and 1B are conceptual diagrams for explaining the operation of a mobile projection device according to the present disclosure. [Figure 9] 1A and 1B are conceptual diagrams for explaining the operation of a mobile projection device according to the present disclosure. [Figure 10] FIG. 1 is a block diagram illustrating an example of the configuration of a mobile projection device provided in a mobile projection system according to the present disclosure. [Figure 11] 10 is a flowchart illustrating the operation of a mobile projection device according to the present disclosure. [Figure 12] 1A and 1B are conceptual diagrams for explaining the operation of a mobile projection device according to the present disclosure. [Figure 13] FIG. 1 is a block diagram showing an example of a hardware configuration for realizing a control function of a mobile projection device provided in a mobile projection system according to the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments will be described with reference to the drawings. Note that the drawings are simplified, and the technical scope of the embodiments should not be narrowly interpreted based on the description in the drawings. Furthermore, identical elements are given the same reference numerals, and duplicate explanations will be omitted.

[0013] In the following embodiments, when necessary for convenience, the description will be divided into multiple sections or embodiments. However, unless otherwise specified, they are not unrelated to each other, and one is a partial or complete modification, application example, detailed explanation, supplementary explanation, etc. of the other. Furthermore, in the following embodiments, when the number of elements (including the number, numerical value, amount, range, etc.) is mentioned, it is not limited to that specific number, and may be more or less than the specific number, unless otherwise specified or when it is clearly limited to a specific number in principle.

[0014] Furthermore, in the following embodiments, the components (including operational steps, etc.) are not necessarily essential unless otherwise specified or considered to be clearly essential in principle. Similarly, in the following embodiments, when referring to the shape, positional relationship, etc. of components, etc., it is intended to include those that are substantially similar or approximate to the shape, etc., unless otherwise specified or considered to be clearly not essential in principle. The same applies to the above numbers, etc. (including numbers, numerical values, amounts, ranges, etc.).

[0015] <First Embodiment> FIG. 1 is a block diagram illustrating an example configuration of a mobile projection system according to the present disclosure. When a mobile projection device provided in the mobile projection system according to the present disclosure identifies a target person (such as a person lost during a search) from an image captured by an imaging unit, the mobile projection device projects a light pattern representing a type of sign content (e.g., an arrow indicating an evacuation direction) designated by a management device onto an area where the target person can be seen, after adjusting the light pattern based on the device's location information, orientation, and distance from the device to the imaging area of ​​the imaging unit. In other words, when a mobile projection device according to the present disclosure identifies a target person (such as a person lost during a search) from an image captured by the imaging unit, the mobile projection device projects a light pattern representing the sign content determined based on the device's location information, orientation, and distance from the device to the imaging area of ​​the imaging unit onto an area where the target person can be seen. This allows the target person to escape from the distress area and reach a destination by, for example, moving along the direction of the arrow represented by the projected light pattern. It is desirable that the laser be projected in a way that avoids the human body so that it does not enter the eyes of the victim TG when the victim looks up at the mobile projection device overhead.

[0016] 1, the mobile projection system 1 includes at least a mobile projection device 11, a management device 12, and a network 50. The mobile projection device 11 and the management device 12 are configured to be able to communicate with each other via the network 50. The management device 12 may be incorporated into the mobile projection device 11.

[0017] The mobile projection device 11 is, for example, an air vehicle such as a drone, and is configured to be able to move in the air above a designated area in response to instructions from the management device 12. Note that, in the present disclosure, an example will be described in which the mobile projection device 11 is an air vehicle such as a drone, but the present disclosure is not limited to this, and the mobile projection device 11 may be, for example, a vehicle or a mobile robot that can move on the ground in response to instructions from the management device 12.

[0018] 2 is a block diagram showing an example of the configuration of a mobile projection device provided in a mobile projection system according to the present disclosure. As shown in FIG. 2, mobile projection device 11 includes at least a position information acquisition unit 111, a direction detection unit 112, a control unit 113, an imaging unit 114, a projection unit 115, and a distance measurement unit 116. These multiple functional units provided in mobile projection device 11 may be implemented in different devices, or may be implemented in a single device. Alternatively, some of the multiple functional units may be implemented in a single device, and the remaining functional units may be implemented in another device. Hereinafter, mobile projection device 11 will also be simply referred to as the device itself.

[0019] The position information acquisition unit 111 is, for example, a GPS (Global Positioning System) sensor, and is configured to be able to acquire the position information of the mobile projection device 11.

[0020] The direction detection unit 112 is a direction sensor such as a geomagnetic sensor or a gyro sensor, and is configured to be able to detect the orientation of the mobile projection device 11.

[0021] The imaging unit 114 is a so-called camera that captures images of the periphery of the mobile projection device 11. In the present disclosure, since the mobile projection device 11 is an air vehicle such as a drone, the imaging unit 114 captures images of the area below the mobile projection device 11 during flight. Note that the imaging unit 114 may be an infrared camera that can capture images even at night.

[0022] The projection unit 115 projects a light pattern representing the designated marking content onto a designated area. In addition, the projection unit 115 projects light of a predetermined pattern used when the distance measurement unit 116, which will be described later, measures the distance onto the imaging area of ​​the imaging unit 114. The projection unit 115 will be described in detail later.

[0023] The distance measuring unit 116 measures the distance from the mobile projection device 11 to the imaging area of ​​the imaging unit 114 (the ground surface imaged by the imaging unit 114). For example, the distance measuring unit 116 measures the distance from the mobile projection device 11 to the imaging area of ​​the imaging unit 114 (the ground surface imaged by the imaging unit 114) by using triangulation with reference to the projection direction of light of a predetermined pattern (for example, a pattern representing a single point) projected onto the ground surface by the projection unit 115, the imaging direction of the light of the predetermined pattern imaged by the imaging unit 114, and the distance between the projection unit 115 and the imaging unit 114. However, the measurement of the distance from the mobile projection device 11 to the imaging area of ​​the imaging unit 114 by the distance measuring unit 116 is not limited to triangulation, and any method may be used.

[0024] The control unit 113 controls each function of the mobile projection device 11 in accordance with instructions from the management device 12. Specifically, the control unit 113 includes at least a movement control unit 1131 and a projection control unit 1132.

[0025] The movement control unit 1131 controls the movement of the mobile projection device 11 in accordance with instructions from the management device 12. Specifically, the movement control unit 1131 flies the mobile projection device 11 up to the sky above an area designated by the management device 12 while referring to the location information of the mobile projection device 11 acquired by the location information acquisition unit 111. Here, the designated area is, for example, the area surrounding a victim who has become stranded in a mountainous region or the like (disaster area), or the area surrounding evacuees who are taking refuge in a disaster (evacuation area). Information on the designated area is input to the management device 12, for example, by an operation of an administrator (user).

[0026] The projection control unit 1132 controls the projection of light by the projection unit 115 in accordance with instructions from the management device 12 .

[0027] Specifically, when a target person (e.g., a person lost during a search) is identified by image analysis of the image captured by the imaging unit 114, the projection control unit 1132 adjusts a pattern of light representing the type of sign content specified by the management device 12 based on the position information of the mobile projection device 11, the orientation of the mobile projection device 11, and the distance from the mobile projection device 11 to the imaging area of ​​the imaging unit 114 (specifically, the ground surface imaged by the imaging unit 114), and then uses the projection unit 115 to project the pattern of light onto an area where the target person is visible. Here, the area where the target person is visible is an area within a predetermined range from the target person that is close enough to the target person to be able to see the projected light, but is not in the target person's blind spot. For example, the area where the target person is visible is the imaging area that includes the target person, or an area adjacent to it.

[0028] The image analysis of the image captured by the imaging unit 114 may be performed by the projection control unit 1132, or may be performed by an image analysis unit (not shown) separately provided in the mobile projection device 11.

[0029] For example, the projection control unit 1132 uses the projection unit 115 to project a pattern of light representing an arrow indicating the direction in which the target person should move, which is determined based on the position information of the mobile projection device 11, the orientation of the mobile projection device 11, and the distance from the mobile projection device 11 to the imaging area of ​​the imaging unit 114, into an area visible to the target person.

[0030] More specifically, the projection control unit 1132 determines a movement route from the target person's current location to a destination location (e.g., an evacuation route for a stranded person) based on map information stored in a database (not shown) and the position information and orientation of the mobile projection device 11, and then causes the projection unit 115 to project a light pattern representing an arrow indicating the direction of movement along the determined movement route into an area visible to the target person. The projection control unit 1132 also adjusts the size and focus of the light pattern projected by the projection unit 115 based on the distance from the mobile projection device 11 to the imaging area of ​​the imaging unit 114. For example, the projection control unit 1132 narrows the spread of the projected light pattern as the distance from the mobile projection device 11 to the imaging area of ​​the imaging unit 114 increases, and widens the spread of the projected light pattern as the distance from the mobile projection device 11 to the imaging area of ​​the imaging unit 114 decreases, thereby keeping the size of the light pattern projected on the ground surface within a predetermined range that can be seen by the stranded person TG.

[0031] It is preferable that the projection surface onto which light is projected by the projection unit 115 is a smooth ground or wall. Therefore, the control unit 113 can estimate the shape of the projection surface onto which light is projected from the measurement result of the distance from the mobile projection device 11 to the imaging area by the distance measurement unit 116, and can adopt the smoothest possible ground or wall as the projection surface onto which light is projected. Alternatively, the control unit 113 may be configured to estimate the shape of the projection surface onto which light is projected from the measurement result of the distance from the mobile projection device 11 to the imaging area by the distance measurement unit 116, and project light in a pattern suited to the shape of the projection surface.

[0032] Furthermore, when an obstacle is identified in the area surrounding the target person from the image captured by the imaging unit 114, the projection control unit 1132 may project a light pattern representing an arrow indicating a movement direction to avoid the obstacle into an area visible to the target person using the projection unit 115. Here, an obstacle is an object that obstructs the movement of a person in distress, such as a river, a rock, a cliff, or dense vegetation.

[0033] Furthermore, when the illuminance of the image capture range captured by the image capture unit 114 is lower than a predetermined illuminance at night or the like (i.e., when the brightness of the image capture range captured by the image capture unit 114 is darker than a predetermined brightness), the projection control unit 1132 may project light in a pattern with a wide projection range that includes part or all of the image capture range captured by the image capture unit 114. Alternatively, the projection control unit 1132 may use a light (not shown) that illuminates the surroundings to illuminate a range that includes part or all of the image capture range captured by the image capture unit 114. This makes the illuminance of the image capture range captured by the image capture unit 114 equal to or higher than the predetermined illuminance, making it possible to identify the subject (the missing person and their surrounding environment) captured by the image capture unit 114.

[0034] Fig. 3 is a block diagram showing a specific configuration example of the projection unit 115. Fig. 4 is a diagram schematically showing the projection unit 115 of the mobile projection device 11. Fig. 4 also shows a power source 117 that is the power source of the mobile projection device 11.

[0035] The projection unit 115 includes at least a light source 1151, an optical spatial phase modulator 1152, and an optical system 1153. The light source 1151 emits coherent light with a specific wavelength in the visible range. For example, the light source 1151 emits laser light in the visible range. This makes the light visible not only at night but also during the day. The light emitted from the light source 1151 is incident on the optical spatial phase modulator 1152. The optical spatial phase modulator 1152 modulates the light emitted from the light source to form a pattern in accordance with instructions from the projection control unit 1132. The optical system 1153 is composed of a combination of lenses, reflecting mirrors, prisms, etc., and projects the light modulated by the optical spatial phase modulator 1152 onto an area visible to the target person. Here, the projection unit 115 can change the pattern of the projected light by adjusting the modulation degree of the optical spatial phase modulator 1152.

[0036] (Operation of the mobile projection device 11) Next, the operation of the mobile projection device provided in the mobile projection system according to the present disclosure will be described. Fig. 5 is a flowchart showing the operation of the mobile projection device 11. Figs. 6 to 9 are conceptual diagrams for explaining the operation of the mobile projection device 11. Note that in the present disclosure, an example will be described in which a target person, a victim TG being searched for, is lost in a disaster area A1 in a mountainous region.

[0037] First, the mobile projection device 11 receives an instruction from the management device 12 and moves to the distress area A1 while referring to the location information of the own device acquired by the location information acquisition unit 111 (steps S101 to S102).

[0038] When the mobile projection device 11 arrives in the air above the distress area A1, it stops in the air above any area of ​​the distress area A1 that has not yet been imaged by the image capturing unit 114 (step S103).

[0039] Here, if the illuminance of the image capture range captured by the image capture unit 114 is lower than a predetermined illuminance (YES in step S104), the mobile projection device 11 projects light in a wide pattern over a projection range that includes part or all of the image capture range captured by the image capture unit 114 (step S105). This makes the illuminance of the image capture range captured by the image capture unit 114 equal to or higher than the predetermined illuminance, making it possible to identify the subject (the missing person and their surrounding environment) captured by the image capture unit 114. Note that if the illuminance of the image capture range captured by the image capture unit 114 is equal to or higher than the predetermined illuminance (NO in step S104), there is no need to project light.

[0040] Thereafter, the mobile projection device 11 captures an image using the imaging unit 114 (step S106).

[0041] For example, if the victim TG is not identified from the image captured by the imaging unit 114 (NO in step S107; see FIG. 6), the mobile projection device 11 moves within the distress area A1 (step S108). Then, the mobile projection device 11 stops above any area in the distress area A1 that has not yet been imaged by the imaging unit 114 (step S103), and then executes the processes of steps S104 to S107 again.

[0042] Then, when the victim TG is identified from the image captured by the imaging unit 114 (YES in step S107; see FIG. 7), the mobile projection device 11 projects a predetermined pattern of light onto the imaging area of ​​the imaging unit 114 (the ground surface imaged by the imaging unit 114) (step S109; see FIG. 9). In the example of FIG. 9, the mobile projection device 11 projects a pattern of light representing one point onto the imaging area of ​​the imaging unit 114.

[0043] Thereafter, the mobile projection device 11 refers to the predetermined pattern of light projected onto the imaging area of ​​the imaging unit 114 and measures the distance from the device itself to the imaging area of ​​the imaging unit 114 by triangulation or the like (step S110).

[0044] Thereafter, the mobile projection device 11 adjusts a pattern of light representing the type of sign content specified by the management device 12 based on the position information of the device itself, the orientation of the device itself, and the distance from the device itself to the imaging area of ​​the imaging unit 114, and then projects it into an area visible to the victim TG (step S111).

[0045] For example, the mobile projection device 11 determines an evacuation route from the current location of the victim TG to a destination location based on map information stored in a database (not shown) and the location information and orientation of the device itself, and then projects a light pattern representing an arrow indicating the direction of movement (evacuation direction) along the determined evacuation route into an area visible to the victim TG (see FIG. 8). The mobile projection device 11 also adjusts the size and focus of the projected light pattern based on the distance from the device itself to the imaging area of ​​the imaging unit 114. For example, the mobile projection device 11 narrows the spread of the projected light pattern as the distance from the device itself to the imaging area of ​​the imaging unit 114 increases, and widens the spread of the projected light pattern as the distance from the device itself to the imaging area of ​​the imaging unit 114 decreases, thereby keeping the size of the light pattern projected onto the ground surface within a predetermined range that can be seen by the victim TG. The mobile projection device 11 moves along with the movement of the victim TG and projects a light pattern representing an arrow indicating the direction of movement along the evacuation route into an area visible to the victim TG. This allows the victim TG to escape from the disaster area A1 and reach a destination (for example, the foot of a mountain) by moving in the direction of the arrow.

[0046] In this way, when a mobile projection device according to the present disclosure identifies a target person (such as a person lost during a search) from an image captured by the imaging unit, the mobile projection device projects a light pattern representing a type of sign content (e.g., an arrow indicating an evacuation direction) designated by the management device, after adjusting the light pattern based on the location information of the mobile projection device, the orientation of the mobile projection device, and the distance from the device to the imaging area of ​​the imaging unit, into an area where the target person can be seen. In other words, when a mobile projection device according to the present disclosure identifies a target person (such as a person lost during a search) from an image captured by the imaging unit, the mobile projection device projects a light pattern representing a sign content determined based on the location information of the mobile projection device, the orientation of the mobile projection device, and the distance from the device to the imaging area of ​​the imaging unit, into an area where the target person can be seen. This allows the target person to escape from the distress area and reach a destination location, for example, by moving in the direction of the arrow represented by the projected light pattern. It is desirable that the laser be projected away from the human body so that it does not enter the eyes of the victim TG when the victim looks up at the mobile projection device overhead.

[0047] In this disclosure, an example has been described in which the mobile projection device 11 projects a light pattern that shows an arrow indicating the direction of movement, but this is not limited to this, and the mobile projection device 11 may also project a light pattern that shows letters or figures indicating evacuation information, etc.

[0048] In addition, although the present disclosure has been described with reference to an example in which the target person is a person lost in a mountainous region or the like, the present invention is not limited to this example and may be any person in any situation in which they need to obtain information from the light pattern projected by the mobile projection device 11.

[0049] <Embodiment 2> Fig. 10 is a block diagram showing an example configuration of a mobile projection device provided in a mobile projection system according to the present disclosure. As shown in Fig. 10, mobile projection device 21 further includes an attitude detection unit 118, as compared to mobile projection device 11. These multiple functional units provided in mobile projection device 21 may be implemented in different devices, or may be implemented in a single device. Alternatively, some of the multiple functional units may be implemented in a single device, and the remaining functional units may be implemented in another device. Hereinafter, mobile projection device 21 will also be simply referred to as the device itself.

[0050] The attitude detection unit 118 detects the attitude (tilt 9) of the mobile projection device 21 from the detection result of the acceleration sensor. When a target person (for example, a person lost during a search) is identified by image analysis of the image captured by the imaging unit 114, the projection control unit 1132 of the control unit 113 adjusts a pattern of light representing the type of sign content specified by the management device 12 based on the position information of the mobile projection device 21, the orientation of the mobile projection device 21, the attitude of the mobile projection device 21, and the distance from the mobile projection device 21 to the imaging area of ​​the imaging unit 114 (specifically, the ground surface imaged by the imaging unit 114), and then uses the projection unit 115 to project the pattern of light onto an area where the target person is visible.

[0051] The image analysis of the image captured by the imaging unit 114 may be performed by the projection control unit 1132, or may be performed by an image analysis unit (not shown) separately provided in the mobile projection device 21.

[0052] For example, the projection control unit 1132 uses the projection unit 115 to project a pattern of light representing an arrow indicating the direction in which the target person should move, which is determined based on the position information of the mobile projection device 21, the orientation of the mobile projection device 21, the posture of the mobile projection device 21, and the distance from the mobile projection device 21 to the imaging area of ​​the imaging unit 114, into an area visible to the target person.

[0053] More specifically, the projection control unit 1132 determines a movement route from the target person's current location to a destination location (e.g., an evacuation route for a stranded person) based on map information stored in a database (not shown) and the position information and orientation of the mobile projection device 21, and then causes the projection unit 115 to project a light pattern representing an arrow indicating the direction of movement along the determined movement route into an area visible to the target person. The projection control unit 1132 also adjusts the size and focus of the light pattern projected by the projection unit 115 based on the distance from the mobile projection device 21 to the imaging area of ​​the imaging unit 114. For example, the projection control unit 1132 narrows the spread of the projected light pattern as the distance from the mobile projection device 21 to the imaging area of ​​the imaging unit 114 increases, and widens the spread of the projected light pattern as the distance from the mobile projection device 21 to the imaging area of ​​the imaging unit 114 decreases, thereby keeping the size of the light pattern projected on the ground surface within a predetermined range that can be seen by the stranded person TG. Furthermore, the projection control unit 1132 adjusts the direction of light projected by the projection unit 115 based on the attitude of the mobile projection device 21. Based on the degree of change in the attitude of the mobile projection device 21 from a reference attitude, the projection control unit 1132 adjusts the direction of light projected by the projection unit 115 so as to minimize the influence of the degree of change. For example, even if the attitude of the mobile projection device 21 is tilted from the reference attitude due to a strong wind or the like, the projection control unit 1132 adjusts the direction of light projected by the projection unit 115 in real time so that light is projected onto a desired area.

[0054] (Operation of the mobile projection device 11) Next, the operation of the mobile projection device provided in the mobile projection system according to the present disclosure will be described. Fig. 11 is a flowchart showing the operation of the mobile projection device 21. Fig. 12 is a conceptual diagram for explaining the operation of the mobile projection device 21. Note that in the present disclosure, an example will be described in which a target person, a victim TG being searched, is lost in a disaster area A1 in a mountainous region.

[0055] The mobile projection device 21 executes the processes of steps S101 to S110 in the same manner as the mobile projection device 11. Thereafter, the mobile projection device 21 adjusts the light pattern representing the type of sign content designated by the management device 12 based on the position information, orientation, and posture of the own device, and the distance from the own device to the imaging area of ​​the imaging unit 114, and then projects the light pattern into an area visible to the victim TG (step S211).

[0056] For example, the mobile projection device 21 determines an evacuation route from the current location of the victim TG to a destination location based on map information stored in a database (not shown) and the location information and orientation of the mobile projection device 21, and then projects a light pattern representing an arrow indicating the direction of movement (evacuation direction) along the determined evacuation route into an area visible to the victim TG. The mobile projection device 21 also adjusts the size and focus of the projected light pattern based on the distance from the mobile projection device 21 to the imaging area of ​​the imaging unit 114. For example, the mobile projection device 21 narrows the spread of the projected light pattern as the distance from the mobile projection device 21 to the imaging area of ​​the imaging unit 114 increases, and widens the spread of the projected light pattern as the distance from the mobile projection device 21 to the imaging area of ​​the imaging unit 114 decreases, thereby keeping the size of the light pattern projected on the ground surface within a predetermined range that can be seen by the victim TG. The mobile projection device 21 also adjusts the direction of the projected light based on the attitude of the mobile projection device 21. For example, even if the attitude of the mobile projection device 21 is tilted from the standard attitude due to a strong wind or the like, the mobile projection device 21 adjusts the direction of the projected light in real time so that the light is projected onto the desired area (see FIG. 12).

[0057] In this way, when a mobile projection device according to the present disclosure identifies a target person (such as a person lost during a search) from an image captured by the imaging unit, the mobile projection device projects a light pattern representing a type of sign content (e.g., an arrow indicating an evacuation direction) designated by the management device, after adjusting the light pattern based on the device's location information, orientation, and attitude, and the distance from the device to the imaging area of ​​the imaging unit, into an area where the target person can be seen. In other words, when a mobile projection device according to the present disclosure identifies a target person (such as a person lost during a search) from an image captured by the imaging unit, the mobile projection device projects a light pattern representing a sign content determined based on the device's location information, orientation, and attitude, and the distance from the device to the imaging area of ​​the imaging unit, into an area where the target person can be seen. This allows the target person to escape from the distress area and reach a destination location, for example, by moving in the direction of the arrow represented by the projected light pattern. In particular, the mobile projection device according to the present disclosure can adjust the direction of projected light in real time so that light is projected onto the desired area even if the device's attitude is tilted from a reference attitude.

[0058] In this disclosure, an example has been described in which the mobile projection device 21 projects a light pattern that shows an arrow indicating the direction of movement, but this is not limited to this, and the mobile projection device 21 may also project a light pattern that shows letters or figures that indicate evacuation information, etc.

[0059] In addition, although the present disclosure has been described with reference to an example in which the target person is a person lost in a mountainous region or the like, the present disclosure is not limited to this example and may be a person in any situation in which it is necessary to obtain information from the light pattern projected by the mobile projection device 21.

[0060] (Hardware configuration for realizing the control function of the mobile projection devices 11 and 21) The control processing of the mobile projection devices 11, 21 implemented by the mobile projection system 1 according to the present disclosure can be implemented by a general-purpose computer system. Specifically, one or both of the control processing of the mobile projection devices 11, 21 by the management device 12 and the control processing by the control unit 113 provided in the mobile projection devices 11, 21 can be implemented by a general-purpose computer system. A brief explanation is given below. While the mobile projection device 11 will be described below, the same can be said for the mobile projection device 21.

[0061] 13 is a block diagram showing an example of the hardware configuration of the control function of the mobile projection device 11. The computer 100 includes, for example, a CPU (Central Processing Unit) 101, which is a control device, a RAM (Random Access Memory) 102, and a ROM (Read Only Memory) 103. The computer 100 further includes an IF (Interface) 104, which is an interface with the outside, and an HDD (Hard Disk Drive) 105, which is an example of a non-volatile storage device. The computer 100 may also include input devices such as a keyboard and a mouse, and a display device such as a display, as other components not shown.

[0062] The HDD 105 stores an OS (Operating System) (not shown) and a control program 106. The control program 106 is a computer program in which the control processing of the mobile projection device 11 is implemented.

[0063] The CPU 101 controls various processes in the computer 100, access to the RAM 102, ROM 103, IF 104, and HDD 105, etc. In the computer 100, the CPU 101 reads and executes the OS and control program 106 stored in the HDD 105. In this way, the computer 100 realizes the control function of the mobile projection device 11.

[0064] The above-mentioned program includes instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions described in this disclosure. The program may be stored on a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable medium or tangible storage medium includes RAM, ROM, flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray disc or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may also be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, transitory computer-readable medium or communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0065] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-described embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0066] Each drawing is merely an example for describing one or more embodiments. Each drawing may relate not only to one particular embodiment, but also to one or more other embodiments. As will be understood by those skilled in the art, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings to create, for example, an embodiment not explicitly shown or described. Not all features or steps shown in any one drawing are necessary to describe an exemplary embodiment, and some features or steps may be omitted. The order of steps described in any drawing may be changed as appropriate.

[0067] Furthermore, some or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes.

[0068] (Appendix 1) a position information acquisition unit that acquires position information of the mobile projection device itself; a direction detection unit that detects the orientation of the device itself; an imaging unit that captures an image of the surroundings of the device itself; a movement control unit that moves the device to a designated area based on the location information acquired by the location information acquisition unit; a projection unit that projects light; a distance measuring unit that measures a distance from the device itself to an imaging area of ​​the imaging unit based on a predetermined pattern of light projected onto the imaging area by the projection unit; a projection control unit that, when a target person is identified from the image captured by the imaging unit in the specified area, projects, using the projection unit, light of a pattern determined based on the position information of the device itself acquired by the position information acquisition unit, the orientation of the device itself detected by the direction detection unit, and the distance from the device itself to the imaging area of ​​the imaging unit measured by the distance measurement unit, onto an area within a predetermined range from the target person; A mobile projection device comprising:

[0069] (Appendix 2) the projection control unit projects light of a pattern having a size that fits within an area within a predetermined range from the target person onto an area within a predetermined range from the target person, based on the distance from the device itself to an imaging area of ​​the imaging unit measured by the distance measuring unit. 10. The mobile projection device of claim 1.

[0070] (Appendix 3) the projection control unit causes the projection unit to project light having a pattern representing an arrow indicating a direction in which the target person should move, onto an area within a predetermined range from the target person; 10. The mobile projection device of claim 1.

[0071] (Appendix 4) when an obstacle is identified in the area around the target person from the image captured by the imaging unit, the projection control unit uses the projection unit to project light in a pattern representing an arrow indicating a movement direction to avoid the obstacle onto an area within a predetermined range from the target person. 10. The mobile projection device of claim 3.

[0072] (Appendix 5) When the illuminance of the imaging range of the imaging unit is lower than a predetermined illuminance, the projection control unit uses the projection unit to project light of a pattern in a projection range that includes a part or all of the image captured by the imaging unit. 10. The mobile projection device of claim 1.

[0073] (Appendix 6) The projection unit is A light source and an optical spatial phase modulator that modulates the light emitted from the light source to form a pattern in accordance with an instruction from the projection control unit; an optical system that projects light modulated by the optical spatial phase modulator; having 10. The mobile projection device of claim 1.

[0074] (Appendix 7) the light is laser light; 10. The mobile projection device of claim 1.

[0075] (Appendix 8) further comprising an attitude detection unit that detects the attitude of the device itself using an acceleration sensor; the projection control unit causes the projection unit to project, onto an area within a predetermined range from the target person, light of a pattern determined based on the position information of the device itself acquired by the position information acquisition unit, the orientation of the device itself detected by the direction detection unit, the attitude of the device itself detected by the attitude detection unit, and the distance from the device itself to an imaging area of ​​the imaging unit measured by the distance measurement unit; 10. The mobile projection device of claim 1.

[0076] (Appendix 9) the projection control unit adjusts the direction of the light in real time based on the orientation of the device itself detected by the orientation detection unit; 9. The mobile projection device of claim 8.

[0077] (Appendix 10) a mobile projection device according to claim 1; a management device that instructs the mobile projection device to move to the designated area and also instructs the mobile projection device regarding the sign content to be displayed by the light pattern; A mobile projection system comprising:

[0078] (Appendix 11) Acquires location information of the mobile projection device itself, moving the device to a designated area based on the acquired location information of the device; taking an image of the surroundings of the own device in the specified area; When a target person is identified from the captured image, a predetermined pattern of light is projected onto the image capture area; measuring a distance from the device itself to the imaging area based on the predetermined pattern of light projected onto the imaging area; projecting light of a pattern determined based on the acquired position information, the detected orientation of the device, and the measured distance from the device to the imaging area onto an area within a predetermined range from the target person; A method for controlling a mobile projection device.

[0079] (Appendix 12) A process of acquiring position information of the mobile projection device itself; A process of moving the device to a designated area based on the acquired location information of the device; A process of capturing an image of the surroundings of the device in the specified area; a process of projecting a predetermined pattern of light onto an imaging area when a target person is identified from the captured image; a process of measuring a distance from the device itself to the imaging area based on the predetermined pattern of light projected onto the imaging area; a process of projecting light of a pattern determined based on the acquired position information, the detected orientation of the device, and the measured distance from the device to the imaging area onto an area within a predetermined range from the target person; A control program that causes a computer to execute the above.

[0080] Some or all of the elements (e.g., configurations and functions) described in Supplementary Notes 2 to 10 that are dependent on Supplementary Notes 1 may also be dependent on Supplementary Notes 11 and 12 in the same dependency relationship as Supplementary Notes 2 to 10. Some or all of the elements described in any Supplementary Note may be applied to various hardware, software, recording means for recording software, systems, and methods. [Explanation of symbols]

[0081] 1. Mobile projection system 11 Mobile projection device 21 Mobile projection device 12 Management device 50 Network 100 computers 101 CPU 102 RAM 103 ROM 104 IF 105 HDD 106 Control Program 111 Location information acquisition unit 112 Direction detection unit 113 Control Unit 114 Imaging unit 115 Projection section 116 Ranging section 117 Power supply 118 Attitude detection unit 1131 Movement control unit 1132 Projection control unit 1151 Light source 1152 Optical spatial phase modulator 1153 Optical system

Claims

1. a position information acquisition unit that acquires position information of the mobile projection device itself; a direction detection unit that detects the orientation of the device itself; an imaging unit that captures an image of the surroundings of the device itself; a movement control unit that moves the device to a designated area based on the location information acquired by the location information acquisition unit; a projection unit that projects light; a distance measuring unit that measures a distance from the device itself to an imaging area of ​​the imaging unit based on a predetermined pattern of light projected onto the imaging area by the projection unit; a projection control unit that, when a target person is identified from the image captured by the imaging unit in the specified area, projects, using the projection unit, light of a pattern determined based on the position information of the device itself acquired by the position information acquisition unit, the orientation of the device itself detected by the direction detection unit, and the distance from the device itself to the imaging area of ​​the imaging unit measured by the distance measurement unit, onto an area within a predetermined range from the target person; A mobile projection device comprising:

2. the projection control unit projects light of a pattern having a size that fits within an area within a predetermined range from the target person onto an area within a predetermined range from the target person, based on the distance from the device itself to an imaging area of ​​the imaging unit measured by the distance measuring unit.

10. The mobile projection device of claim 1.

3. the projection control unit causes the projection unit to project light having a pattern representing an arrow indicating a direction in which the target person should move, onto an area within a predetermined range from the target person; 10. The mobile projection device of claim 1.

4. when an obstacle is identified in the area around the target person from the image captured by the imaging unit, the projection control unit uses the projection unit to project light in a pattern representing an arrow indicating a movement direction to avoid the obstacle onto an area within a predetermined range from the target person.

4. The mobile projection device of claim 3.

5. When the illuminance of the imaging range of the imaging unit is lower than a predetermined illuminance, the projection control unit uses the projection unit to project light of a pattern in a projection range that includes a part or all of the image captured by the imaging unit.

10. The mobile projection device of claim 1.

6. The projection unit is A light source and an optical spatial phase modulator that modulates the light emitted from the light source to form a pattern in accordance with an instruction from the projection control unit; an optical system that projects light modulated by the optical spatial phase modulator; having 10. The mobile projection device of claim 1.

7. the light is laser light; 10. The mobile projection device of claim 1.

8. further comprising an attitude detection unit that detects the attitude of the device itself using an acceleration sensor; the projection control unit causes the projection unit to project, onto an area within a predetermined range from the target person, light of a pattern determined based on the position information of the device itself acquired by the position information acquisition unit, the orientation of the device itself detected by the direction detection unit, the attitude of the device itself detected by the attitude detection unit, and the distance from the device itself to an imaging area of ​​the imaging unit measured by the distance measurement unit; 10. The mobile projection device of claim 1.

9. the projection control unit adjusts the direction of the light in real time based on the orientation of the device itself detected by the orientation detection unit; 9. The mobile projection device of claim 8.

10. The mobile projection device according to claim 1; a management device that instructs the mobile projection device to move to the designated area and also instructs the mobile projection device regarding the sign content to be displayed by the light pattern; A mobile projection system comprising:

11. Acquires location information of the mobile projection device itself, moving the device to a designated area based on the acquired location information of the device; taking an image of the surroundings of the own device in the specified area; When a target person is identified from the captured image, a predetermined pattern of light is projected onto the image capture area; measuring a distance from the device itself to the imaging area based on the predetermined pattern of light projected onto the imaging area; projecting light of a pattern determined based on the acquired position information of the own device, the detected orientation of the own device, and the measured distance from the own device to the imaging area, onto an area within a predetermined range from the target person; A method for controlling a mobile projection device.

12. A process of acquiring position information of the mobile projection device itself; A process of moving the device to a designated area based on the acquired location information of the device; A process of capturing an image of the surroundings of the device in the specified area; a process of projecting a predetermined pattern of light onto an imaging area when a target person is identified from the captured image; a process of measuring a distance from the device itself to the imaging area based on the predetermined pattern of light projected onto the imaging area; a process of projecting light of a pattern determined based on the acquired position information of the own device, the detected orientation of the own device, and the measured distance from the own device to the imaging area, onto an area within a predetermined range from the target person; A control program that causes a computer to execute the above.

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