Aerial display and guidance system

Abstract

In fields where humans and autonomous vehicles coexist, collisions can occur if a person fails to notice an autonomous vehicle and makes an unexpected movement. [Solution] The aerial display guidance system comprises: an observation device installed in a field where autonomous mobile vehicles and people may coexist; an analysis unit that detects people within the range of the autonomous mobile vehicle's movement path or within a range adjacent to the movement path based on observation information observed by the observation device; a video setting unit that sets an image for people detected by the analysis unit to recognize the movement path; and a display device that displays the image set by the video setting unit in the air.

Description

Technical Field

[0001] The present disclosure relates to an in-air display guidance system, an in-air display guidance device, an in-air display guidance method, and an in-air display guidance program.

Background Art

[0002] In Patent Document 1, an autonomous body movement control system measures the positions of a person and an autonomous moving body in a field where the person and the autonomous moving body coexist, and detects a danger area where contact between the person and the autonomous moving body is likely to occur. The autonomous body movement control system predicts the movement path of the person in this danger area and selects a person who may visually observe the danger area. Then, it instructs the camera possessed by this selected person to photograph the danger area. After that, the autonomous body movement control system updates the environmental information based on the image taken by the camera, determines and instructs the movement path and speed of the autonomous moving body so as not to collide with the person.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the autonomous body movement control system of Patent Document 1, the movement path and speed of the autonomous moving body are set so as to be free from danger, and the autonomous moving body moves. However, when a person does not notice the autonomous moving body and makes an unexpected movement, a collision may occur. To prevent this, it is also conceivable to display the movement path of the autonomous moving body on the floor surface. However, people do not always notice it.

[0005] This disclosure was made to solve the aforementioned problems. The purpose is to provide aerial display guidance that reduces the occurrence of collisions by allowing people to recognize the movement path of an autonomous mobile object through visual means via aerial displays and to be alerted to it. [Means for solving the problem]

[0006] The aerial display guidance system disclosed herein includes an observation device installed in a field where autonomous mobile vehicles and people may be present, and based on the observation information observed by the observation device, it displays the range of the autonomous mobile vehicle's movement path, or adjacent to the movement path. detection The system comprises: an analysis unit that detects people within a range; a video setting unit that sets video for the people detected by the analysis unit to recognize their movement path; a display position setting unit that identifies the gaze of the people detected by the analysis unit and sets the position of the video to be displayed in the air in a display area that touches the outside of the movement path range and partially overlaps with the detection range, based on the gaze; and a display device installed below the floor of the field that displays the video set by the video setting unit in the air set by the display position setting unit. [Effects of the Invention]

[0010] This disclosure enables the recognition of the autonomous mobile vehicle's movement path through aerial displays and provides warnings. This reduces the occurrence of collisions between people and autonomous mobile vehicles due to people failing to notice the vehicle's movement path. [Brief explanation of the drawing]

[0011] [Figure 1] This is a diagram showing the configuration of the aerial display and guidance system in Embodiment 1. [Figure 2] This diagram shows an example of a building field where an aerial display and guidance system will be installed. [Figure 3] This is a configuration diagram showing the configuration of the display device. [Figure 4] This is a diagram showing the configuration of the analysis unit. [Figure 5] This is a diagram showing the configuration of the display position setting unit. [Figure 6]This is a top-down view of a display device installed beneath the field floor. [Figure 7] This is an operation flowchart of the aerial display guidance system in Embodiment 1. [Figure 8] This figure shows an example of hardware resources for an aerial display and guidance system. [Figure 9] This figure shows another example of hardware resources for an aerial display and guidance system. [Figure 10] This is an external view of the robot in Embodiment 2. [Figure 11] This is a diagram showing the configuration of the robot in Embodiment 2. [Figure 12] This is a diagram showing the configuration of the aerial display and guidance system in Embodiment 3. [Figure 13] This is a diagram showing the configuration of the robot's disembarkation floor determination unit. [Figure 14] This figure shows an example of a boarding area that the aerial display guidance system in Embodiment 3 corresponds to. [Figure 15] This diagram shows the installation status of the display device and a configuration diagram illustrating its configuration. [Figure 16] This is an operation flowchart of the aerial display guidance system in Embodiment 3. [Modes for carrying out the invention]

[0012] The embodiments for implementing this disclosure will be described with reference to the attached drawings. In each drawing, the same or corresponding parts are denoted by the same reference numerals, and redundant explanations are simplified or omitted as appropriate.

[0013] Embodiment 1. Figure 1 is a configuration diagram of an aerial display guidance system in Embodiment 1. This aerial display guidance system is applied to part or all of one or more buildings. Figure 2 is a diagram showing an example of a field of a building where the aerial display guidance system is installed. Note that Figure 2 assumes a field such as a manufacturing line in a factory. However, the aerial display guidance system can be applied anywhere as long as it is a field where robots, which are autonomous mobile bodies, are mixed with people, such as warehouses, offices, stores, airports, stations, hospitals, construction sites, etc., other than manufacturing lines.

[0014] In Figure 1, the aerial display guidance system 1 includes an observation device 2, an aerial display guidance device 10, a display device 20, and a notification device 30. As shown in Figure 2, the observation device 2 is provided at the upper part of the wall surface of the field 100 and is a photographing device such as a camera that reflects the situation of the field 100. And the observation information output from the observation device 2 is in the form of video. Note that the observation device 2 can be, for example, an infrared sensor, a distance sensor that measures the distance to a person, a human presence sensor that detects the presence of a person, or other sensors as long as it can identify the position of a person. In that case, the observation information output from the observation device 2 is sensor data. Also, the observation device 2 can be an AI camera. In that case, the observation information is human information.

[0015] As shown in Figure 2, in the field 100 where people 200 and robots 300, which are autonomous mobile bodies, are mixed, there is a range of the movement path 100a along which the robot 300 moves. In the case of a manufacturing line, the range through which the transport robot, which is the robot 300 that transports parts and products, passes is preset. The width of this movement path 100a is set within a range that takes into account a margin for the lateral width of the robot 300 with respect to the traveling direction. In this case, it is necessary to make the people 200 recognize the movement path 100a. When a person 200 enters the detection range within a certain range adjacent to the movement path 100a, the aerial display guidance system in Figure 1 performs an aerial display for recognizing the movement path 100a to arouse attention through vision.

[0016] FIG. 3 is a configuration diagram showing the configuration of the display device 20. The main body of the display device 20 is installed embedded under the floor surface of the field 100. The display device 20 includes a video source 20a, a beam splitter 20b, and a retroreflective element 20c.

[0017] The video source 20a is arranged inside under the floor surface on the detection range 100b side. The video source 20a is a device that emits a visible light video that serves as the basis for the aerial video 20d. Here, the video source 20a is, for example, a display panel that displays a planar video. Note that the video source 20a may be, for example, a volumetric display that displays a three-dimensional video.

[0018] The beam splitter 20b is an optical element that transmits a part of the incident light and reflects a part of it. The beam splitter 20b is, for example, a half mirror or the like. Here, the beam splitter 20b has a planar shape. The beam splitter 20b is arranged so as to be on the same plane as the floor surface of the movement path 100a.

[0019] The retroreflective element 20c is arranged inside under the floor surface on the movement path 100a side. The retroreflective element 20c is an optical element that reflects the light incident from the incident direction in the reflection direction that is parallel to the incident direction and on the opposite side of the incident direction.

[0020] The light of the video emitted from the video source 20a is reflected by the beam splitter 20b. The light reflected by the beam splitter 20b is incident on the retroreflective element 20c. The retroreflective element 20c reflects the incident light in the opposite direction. The light reflected by the retroreflective element 20c is incident on the beam splitter 20b. The light that has passed through the beam splitter 20b without being reflected after being reflected by the retroreflective element 20c converges within the display range 100c adjacent to the movement path 100a in the space above the floor surface of the field 100, forming a real image of the aerial video 20d. In this way, the display device 20 displays the aerial video 20d in the air for the person 200. Note that at this time, the displayable range in which the aerial video 20d can be displayed in the air is a range symmetric to the range in which the video source 20a displays the video with the beam splitter 20b as the symmetry plane.

[0021] The aerial display guidance device 10 includes a receiving unit 11, an analysis unit 12, a display position setting unit 13, a display image setting unit 14, and an audio setting unit 15.

[0022] The receiving unit 11 receives video footage captured by the observation device 2 wirelessly or via a wired connection. The analysis unit 12 analyzes the received video footage and detects people within the detection range 100b. Specifically, as shown in the configuration diagram of the analysis unit 12 in Figure 4, the analysis unit 12 has a person detection unit 12a and a detection range determination unit 12b. The person detection unit 12a analyzes the received video footage and detects people 200. The detection range determination unit 12b determines whether the detected people 200 are within the detection range 100b.

[0023] The display position setting unit 13 sets the position in which the aerial image 20d is displayed in the air by the display device 20. This position is the space in front of the person 200 detected in the detection range 100b. As shown in the configuration diagram of the display position setting unit 13 in Figure 5, the display position setting unit 13 includes a visibility range confirmation unit 13a and a display position changing unit 13b.

[0024] In the display device 20, the image source 20a and retroreflective element 20c are movable so that they are displayed in the air at a position set by the display position setting unit 13. Figure 6 is a top-down view of the display device 20 installed below the floor surface of the field 100. Specifically, the image source 20a and retroreflective element 20c are fixed to the movable part 20e. The beam splitter 20b is fixed to the floor surface. As this movable part 20e rotates, the height and horizontal position of the aerial image 20d, which is displayed symmetrically with respect to the image source 20a and the beam splitter 20b, changes.

[0025] The display image setting unit 14 sets the image emitted from the image source 20a. This image is intended to allow the person 200 to recognize the movement path 100a and to warn them against entering the movement path 100a. For example, as shown in the aerial image 20d1 in Figure 3, it may be an image showing that the robot is moving, or an image prohibiting entry into the movement path 100a. The image set by the display image setting unit 14 may also be a video such as an animation.

[0026] The voice setting unit 15, when the analysis unit 12 determines that a person 200 is within the detection range 100b, recognizes the movement path 100a and sets a voice message to warn against entering the movement path 100a. For example, this voice message may be linked to the aerial image 20d1 and say, "A robot is moving," or "Entry is prohibited here." Alternatively, it may be a voice message indicating that a robot 300 is moving. The notification device 30 is installed in the field 100 and emits the voice message set in the voice setting unit 15. The notification device 30 may be integrated into the display device 20.

[0027] Next, the operation of the aerial display guidance system 1 will be explained based on the operation flowchart in Figure 7. The receiving unit 11 acquires video from the observation device 2 (step S001). The person detection unit 12a of the analysis unit 12 receives the video from the receiving unit 11 and detects the person 200 in the video (step S002).

[0028] Next, the detection range determination unit 12b of the analysis unit 12 determines whether the detected person 200 is within the detection range 100b (step S003). The detection range determination unit 12b has prior information on the ranges of the movement path 100a and the detection range 100b in the field 100. Therefore, the detection range determination unit 12b can determine whether or not the person 200 is within the detection range 100b based on its position.

[0029] In step S003, if it is determined that the detection range 100b is within reach, the process is initiated to make the person 200 aware of the movement path 100a and to warn the person 200 not to enter the movement path 100a of the robot 300.

[0030] First, the display device 20 is normally in a fixed state. The fixed state is, for example, a position where the video source 20a and the retroreflective element 20c are at approximately the same height, and the line connecting them is perpendicular to the movement path 100a.

[0031] The visibility range confirmation unit 13a of the display position setting unit 13 determines whether the display position of the aerial image 20d when the display device 20 is in a fixed state is within the visible range of the person 200 detected in step S002 (step S004). This is done based on the position of the detected person 200 and the eye line position of the detected person 200. The visibility range confirmation unit 13a analyzes the image to identify the position of the person 200's eyes and to determine the line of sight from the angle of the face, etc. Then, the visibility range confirmation unit 13a defines a certain range centered on the line of sight as the visibility range. In this case, the visibility range is the space in front of the person 200.

[0032] If the display position setting unit 13's display position changing unit 13b determines in step S004 that the display position is not within the visible range, it changes the display position (step S005). For example, the movable unit 20e is rotated so that the line of sight of person 200 is aligned with the extension of the line connecting the video source 20a and the retroreflective element 20c.

[0033] The display video setting unit 14 sets a video to alert the person 200 to the movement path 100a (step S006). The audio setting unit 15 sets an audio to alert the person 200 to the movement path 100a (step S007).

[0034] The display device 20 displays the aerial image 20d set in the display image setting unit 14 (step S008). This aerial image 20d is displayed in the display area 100c, which overlaps with a part of the detection area 100b, located outside the range of the movement path 100a. The notification device 30 also emits the sound set in the sound setting unit 15 (step S009).

[0035] In this way, by displaying the information in the air directly in front of person 200, in a space where their gaze would naturally be directed, it is possible to prevent person 200 from missing or noticing the display. This reduces the occurrence of collisions between person 200 and robot 300. Furthermore, it becomes easier to determine, for example, where entry is prohibited.

[0036] Furthermore, using audio can enhance the prevention of situations where people might not notice something.

[0037] Furthermore, since the display device 20 is installed under the floor, it does not need to take up extra space on the field 100, for example.

[0038] The observation device 2 may be placed in locations other than the wall, such as columns, ceilings, or other building structures. Furthermore, the detection range 100b may be on both sides of the movement path 100a.

[0039] Furthermore, the aerial display guidance system 1 may have multiple display devices 20 and notification devices 30. It may also be installed on multiple floors. In that case, when the aerial display guidance device 10 detects a person 200 within the detection range 100b from the video from the observation device 2, it should display the person 200 in the air from the display device 20 closest to the person 200.

[0040] Furthermore, the aerial display and guidance device 10 may cooperate with the robot 300. In this case, the time it will take for the robot 300 to approach the person 200 within the detection range 100b can be estimated using the speed and position information obtained from the robot 300. Therefore, when the robot 300 approaches, the display device 20 displays a video of the robot 300 moving in the air. In this way, by displaying the video in the air only during the time when the robot 300 is approaching, the freedom of movement for the person 200 can be ensured.

[0041] Furthermore, the display device 20 may differ from the configuration shown in Figure 3, as long as it displays aerial images in a space separate from the main device within the building. For example, the display device 20 may be an aerial touch display or the like.

[0042] Furthermore, if multiple people 200 are clustered together in one location within the detection range 100b, the display position may be analyzed based on the standing positions of the people 200 and their eye level, so that everyone can see it, and the display may be made to appear in the air.

[0043] Furthermore, the detection range may be the entire range that can be acquired by the observation device 2, provided that the shooting range of the observation device 2 is not too wide. In other words, if the analysis unit 12 detects a person 200 from the video acquired from the observation device 2 in step S002, it will always determine in step S003 that the person is within the detection range.

[0044] Figure 8 shows an example of the hardware resources of the aerial display and guidance device 10. The aerial display and guidance device 10 is a computer having a processor 10a, memory 10b, and a transmitting / receiving circuit 10c as hardware resources. Note that there may be multiple processors 10a, memory 10b, and transmitting / receiving circuits 10c.

[0045] The processor 10a is also called a CPU (Central Processing Unit), central processing unit, arithmetic unit, microprocessor, or DSP. The memory 10b may be a semiconductor memory, magnetic disk, flexible disk, optical disk, compact disk, minidisc, or DVD. Possible semiconductor memories include RAM, ROM, flash memory, EPROM, and EEPROM.

[0046] Figure 9 shows another example of the hardware resources of the aerial display and guidance device 10. In the example in Figure 9, the aerial display and guidance device 10 has a processing circuit that includes a processor 10a, memory 10b, a transmit / receive circuit 10c, and dedicated hardware 10d. Some of the functions of the aerial display and guidance device 10 are realized by the dedicated hardware 10d. Alternatively, all of the functions of the aerial display and guidance device 10 may be realized by the dedicated hardware 10d. The dedicated hardware 10d can be a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

[0047] Embodiment 2. In Embodiment 2, the aerial display and guidance system 1 is mounted on the robot 300. Figure 10 is an external view of the robot 300. Figure 11 is a configuration diagram of the robot 300. In Figure 11, the same reference numerals are used for components that are the same as or corresponding to components in Figure 1, and their descriptions are omitted or simplified.

[0048] As shown in Figure 10, the robot 300's external shape is mainly composed of a running section 300a, a main body section 300b, and a camera section 300c. The running section 300a has a base section 300a1 and two rotatable wheels 300a2 attached to each of the left and right sides of the base section 300a1. The main body section 300b is installed on the top surface of the base section 300a1. The main body section 300b is, for example, a storage compartment for parts used in a manufacturing line. On the top surface of the base section 300a1, in front of the main body section 300b, a display device 20 is installed. The display device 20 is installed in the same manner as in Figure 3, with the beam splitter 20b positioned above the image source 20a and retroreflective element 20c. The display device 20 can change its orientation by rotating the movable section 20e and by rotating the display device 20 on the top surface of the base section 300a1. Therefore, the range in which the aerial image 20d can be displayed in the air by the display device 20 is wider compared to when it is positioned inside the floor surface of the field 100.

[0049] The camera unit 300c is installed on top of the main body unit 300b, and the observation device 2, which is camera 301, is located there.

[0050] In Figure 11, the robot 300 includes an observation device 2 consisting of a camera 301, a position detection unit 302, a wheel control unit 303, and a control unit 304. The robot 300 also includes an analysis unit 12, a display position setting unit 13, a display image setting unit 14, an audio setting unit 15, a display device 20, and a notification device 30. The robot 300 may also be configured to have other functions.

[0051] The position detection unit 302 has a GPS function and detects the position of the robot 300. The wheel control unit 303 has a motor and controls the rotation and stopping of the four wheels 300a2. The control unit 304 issues a drive command to the wheel control unit 303 based on the position information detected by the position detection unit 302 and the predetermined destination information. In addition, if the control unit 304 detects an obstacle from the image on the camera 301, it issues a stop command or a change of direction command to the wheel control unit 303. Furthermore, the control unit 304 appropriately controls each function of the robot 300.

[0052] The operation of the robot 300 in Figures 10 and 11 is the same as the operation flowchart shown in Figure 7. Specifically, in steps S001 to S003, the analysis unit 12 detects a person 200 within the detection range 100b in the direction of travel of the robot 300 based on the video acquired from the camera 301. Then, steps S004 to S007 are executed. After that, in step S008, the display device 20 recognizes the movement path 100a and displays an aerial image 20d in the air to warn the person. Also, in step S009, the notification device 30 recognizes the movement path 100a and emits an audible warning.

[0053] In this way, even if the robot 300 incorporates the aerial display guidance system 1, by displaying it in an aerial location where the person 200's gaze naturally falls, it is possible to prevent the person 200 from missing or noticing it.

[0054] Furthermore, when introducing the aerial display and guidance system 1 to an existing field 100, it becomes unnecessary to install the display device 20 under the floor and the observation device 2 on the wall, allowing for quick and inexpensive implementation.

[0055] Furthermore, the robot 300 may be equipped with a display device 20 and a notification device 30, and the aerial display guidance device 10 may be installed outside the robot 300 as a common part for multiple robots 300.

[0056] Furthermore, as long as the aerial image from the display device 20 can be displayed laterally with respect to the direction of travel of the robot 300, the installation configuration of the display device 20 on the robot 300 does not matter.

[0057] Embodiment 3. In Embodiment 3, when a robot 300 riding in an elevator car moves to the landing where the car has arrived, it is made to recognize the movement path and provide a warning. Figure 12 is a configuration diagram of the aerial display guidance system in Embodiment 3. In Figure 12, the same reference numerals are used for components that are the same as or corresponding to components in Figure 1, and their descriptions are omitted or simplified.

[0058] In Figure 12, the receiving unit 11 receives current location information and destination information from the robot 300. The receiving unit 11 also receives elevator operation information from the elevator control device 400. The robot 300 is equipped with a position detection unit 302 and constantly knows its own current location.

[0059] The robot disembarking floor determination unit 16 determines whether the robot 300 is on board, as well as the disembarking floor and disembarking time, based on the robot 300's current position information, destination information, and operation information from the elevator control device 400. Specifically, as shown in the configuration diagram of the robot disembarking floor determination unit 16 in Figure 13, the robot boarding determination unit 16 has a robot boarding determination unit 16a and a disembarking floor / disembarking time determination unit 16b. The robot boarding determination unit 16a determines that the robot 300 is on board if its current position is within the elevator shaft. The disembarking floor / disembarking time determination unit 16b determines the disembarking floor from the robot 300's destination information. Furthermore, the disembarking floor / disembarking time determination unit 16b determines the time when the elevator car will arrive at the disembarking floor from the operation information from the elevator control device 400.

[0060] Based on the information on the disembarking floor from the robot disembarking floor determination unit 16, the analysis unit 12 analyzes the video from the observation device 2 installed on the disembarking floor and determines whether there is a person 200 within the detection range 403b.

[0061] Figure 14 shows an example of a landing area that the aerial display guidance system 1 corresponds to. Figure 15 shows the installation status of the display device 20 and a configuration diagram showing its configuration.

[0062] In Figure 14, the observation device 2 is installed above the wall of the landing 403, which faces the landing door 402. The observation device 2 acquires video of the landing 403. A movement path 403a is defined on the landing 403 for the robot 300 to travel when it disembarks from the elevator car. The analysis unit 12 defines a detection range 403b that includes the movement path 403a and a wider area than that. That is, the detection range 403b includes the movement path 403a and its adjacent areas. This is to detect people 200 that are on the movement path 403a, which is in front of the landing door, when the robot disembarks. On the opposite side of the landing 403 from the landing door 402, there is an elevator shaft 401 on which the elevator car travels.

[0063] The display device 20 is installed on the wall above the landing door 402, facing the landing 403. Specifically, as shown in Figure 15, the image source 20a is positioned on the inside of the landing 403 wall. The beam splitter 20b is positioned so as to be flush with the landing 403 wall. The retroreflective element 20c is positioned above the image source 20a and on the inside of the landing 403 wall.

[0064] In this configuration, the light emitted from the image source 20a is reflected by the beam splitter 20b. The light reflected by the beam splitter 20b is incident on the retroreflective element 20c. The retroreflective element 20c reflects the incident light in the opposite direction. The light reflected by the retroreflective element 20c is incident on the beam splitter 20b. The light that is reflected by the retroreflective element 20c and then transmitted through the beam splitter 20b without being reflected causes the aerial image 20d to be displayed in the air within a displayable range slightly away from the landing door 402 towards the landing 403. In this case, the aerial image 20d is positioned so that a person 200 on the landing 403 has to look up at it slightly.

[0065] The aerial images 20d displayed in mid-air serve to help people 200 recognize the movement path 403a in which the robot 300 will disembark from the basket, and to warn them of the situation. For example, as shown in Figure 15, the aerial images 20d2 may combine the direction in which the robot 300 is disembarking with text indicating that it is disembarking.

[0066] Next, the operation of the aerial display guidance system 1 of Embodiment 3 will be explained based on the operation flowchart in Figure 16. In Figure 16, the same reference numerals are used for the same steps as in Figure 7, and the explanation is omitted or simplified.

[0067] The receiving unit 11 acquires video from the observation device 2, current location information and destination information from the robot 300, and operation information from the elevator control device 400 (step S010).

[0068] The robot boarding determination unit 16a of the robot disembarking floor determination unit 16 determines whether a robot 300 is in the elevator car based on the information acquired in step S010 (step S011).

[0069] If it is determined in step S011 that the robot 300 is on board, the disembarking floor / disembarking time determination unit 16b of the robot disembarking floor determination unit 16 determines the disembarking floor and disembarking time of the robot 300 (step S012).

[0070] The robot disembarkation floor determination unit 16 notifies the analysis unit 12 of the disembarkation floor information a certain time before the disembarkation time. The person detection unit 12a of the analysis unit 12 receives the disembarkation floor from the robot 300 and detects the person 200 in the video based on the video received from the observation device 2 of the disembarkation floor (step S013). The certain time is designed so that the aerial display of the aerial video 20d from step S008 occurs a few seconds before the elevator car arrives at the landing 403.

[0071] Next, the detection range determination unit 12b of the analysis unit 12 determines whether the detected person 200 is within the detection range 403b (step S014). The detection range determination unit 12b has prior information on the ranges of the movement path 403a and the detection range 403b at the landing 403. Therefore, the detection range determination unit 12b can determine whether or not the person 200 is within the detection range 403b based on their position.

[0072] If it is determined in step S014 that the detection range 403b is within reach, the process is initiated to make the person 200 aware of the movement path 403a and to warn the person 200 not to enter the movement path 403a of the robot 300.

[0073] First, the display device 20 is normally in a fixed state. The visibility range confirmation unit 13a of the display position setting unit 13 determines whether the display position of the aerial image 20d when the display device 20 is in a fixed state is within the visible range of the person 200 detected in step S013 (step S004).

[0074] If the display position setting unit 13b determines in step S004 that the display position is not within the visible range, it changes the display position (step S005).

[0075] The display video setting unit 14 sets a video to alert the person 200 to the movement path 403a (step S006). The audio setting unit 15 sets an audio to alert the person 200 to the movement path 403a (step S007). This audio is synchronized with the video. For example, in the case of an aerial video 20d2, the audio setting unit 15 sets the audio to say "The robot is disembarking." Alternatively, for example, an audio indicating that the robot is disembarking may be set.

[0076] The display device 20 displays the image set in the display image setting unit 14 in the air (step S008). The notification device 30 emits the sound set in the sound setting unit 15 (step S009).

[0077] In the elevator, the landing doors open, and robot 300 suddenly appears and moves to the landing. Therefore, there is a possibility that people 200 on landing 403 may not notice robot 300 and collide with it. To address this, an aerial display is used to inform people of the robot's disembarking route and warn them, thereby reducing the risk of collisions.

[0078] Furthermore, by displaying the aerial information a little before the boarding doors open, collisions that could occur when the boarding doors open and Robot 300 immediately descends can be avoided.

[0079] Although preferred embodiments have been described in detail above, the invention is not limited to these embodiments, and various modifications and substitutions can be made to the embodiments described above without departing from the scope of disclosure.

[0080] Furthermore, when referring to the number, quantity, amount, range, etc., of each element in the embodiments, the apparatus of this disclosure is not limited to the referred number unless specifically stated or clearly defined in principle. Also, the structures, etc., described in these embodiments are not necessarily essential unless specifically stated or clearly defined in principle.

[0081] The various aspects of this disclosure are summarized below as an appendix. (Note 1) Observation equipment installed in a field where autonomous mobile vehicles and humans may coexist, An analysis unit detects the range of the autonomous mobile body's movement path, or the range adjacent to the movement path, based on the observation information observed by the observation device, A video setting unit sets video for the person detected by the analysis unit to recognize the movement path, A display device that displays the image set in the image setting unit in the air, An aerial display and guidance system having (Note 2) The aerial display guidance system according to Appendix 1, which includes a display position setting unit that identifies the line of sight of the person detected by the analysis unit and sets the position of the image to be displayed in the air based on the line of sight. (Note 3) The aforementioned movement path is set by an audio setting unit which sets an audio for the person to recognize, detected by the analysis unit, An alarm device that emits the sound set in the voice setting unit, An aerial display and guidance system as described in Appendix 1 or Appendix 2, having the following: (Note 4) The display device is an aerial display and guidance system as described in any one of the appendices 1 to 3, installed beneath the floor of the field. (Note 5) The aforementioned video is a video showing the movement of the autonomous mobile body. The display device is an aerial display guidance system according to any one of the appendices 1 to 3, which displays the video in the air when the autonomous mobile body approaches the person. (Note 6) The display device is an aerial display and guidance system according to any one of the appendices 1 to 3, installed on the autonomous mobile body. (Note 7) The field is an elevator landing, and the display device is an aerial display guidance system as described in any one of Appendix 1 to 3, installed above the landing door. (Note 8) When the autonomous mobile unit is riding in the elevator car, it has a disembarking floor determination unit that determines the disembarking floor of the autonomous mobile unit. The aerial display guidance system described in Appendix 7, wherein the display device installed on the disembarking floor corresponds to the disembarking of the autonomous mobile vehicle and displays the image in the air. (Note 9) An analysis unit detects the range of the autonomous mobile vehicle's movement path, or the range of the person adjacent to the movement path, based on observation information observed by an observation device installed in a field where autonomous mobile vehicles and people may be present together. A video setting unit sets an image to be displayed in the air in order to allow the person detected by the analysis unit to recognize the movement path, A display position setting unit identifies the line of sight of the person detected by the analysis unit and sets the position of the image to be displayed in the air based on the line of sight, An aerial display and guidance device having the following features. (Note 10) An analysis step in which, based on observation information observed by an observation device installed in a field where autonomous mobile objects and humans may coexist, the range of the autonomous mobile object's movement path, or the range adjacent to the movement path, A video setting step in which video is set to allow the person detected in the analysis step to recognize the movement path, A display step in which the image set in the image setting step is displayed in the air, A method for providing guidance using aerial displays with thumbnails. (Note 11) On the computer, An analysis step in which, based on observation information observed by an observation device installed in a field where autonomous mobile objects and humans may coexist, the range of the autonomous mobile object's movement path, or the range adjacent to the movement path, A video setting step involves setting an image to be displayed in the air in order to allow the person detected in the analysis step to recognize the movement path, An aerial display guidance program that enables the execution of an aerial display. [Explanation of symbols]

[0082] 1. Aerial display and guidance system, 2. Observation equipment, 10 Aerial display and guidance device, 10a Processor, 10b Memory, 10c transmit / receive circuit, 10d dedicated hardware, 11 Receiving unit, 12 Analysis unit, 12a Human detection unit, 12b Detection range determination unit, 13 Display position setting unit, 13a Visibility range confirmation unit, 13b Display position changing unit, 14 Display video setting unit, 15 Audio setting unit, 16 Robot disembarkation floor determination unit, 16a Robot boarding determination unit, 16b Disembarking floor / disembarking time determination unit, 20 Display device, 20a Video source, 20b Beam splitter, 20c Retroreflective element, 20d Aerial image, 30. Notification device, 100 field, 100a movement path, 100b detection range, 100c display range, 200 people, 300 Robot, 300a Running section, 300a1 Base section, 300a2 wheels, 300b Main unit, 300c Camera unit, 301 Camera, 302 Position detection unit, 303 Wheel control unit, 304 Control unit, 400 Elevator control unit, 401 Hoistway, 402 Landing door, 403 Platform, 403a Travel Path, 403b Detection Range

Claims

1. Observation equipment installed in a field where autonomous mobile vehicles and humans may coexist, An analysis unit detects the range of the autonomous mobile body's movement path, or the person within a detection range adjacent to the movement path, based on the observation information observed by the observation device. A video setting unit sets video for the person detected by the analysis unit to recognize the movement path, A display position setting unit identifies the person's line of sight detected by the analysis unit and, based on the line of sight, sets the position of the image to be displayed in the air in a display range that touches the outside of the range of the movement path and partially overlaps with the range of the detection range. A display device installed beneath the floor of the field displays the image set in the image setting unit in the air as set in the display position setting unit, An aerial display and guidance system having

2. The aforementioned movement path is set by an audio setting unit which sets an audio for the person to recognize, detected by the analysis unit, An alarm device that emits the sound set in the voice setting unit, An aerial display and guidance system according to claim 1, having the following features.

3. The aforementioned video is a video showing the movement of the autonomous mobile body. The aerial display guidance system according to claim 1 or 2, wherein the display device displays the video in the air when the autonomous mobile body approaches the person.

Images