Control device, control method, and control program

Abstract

A control device 100 controls a projector 106. The control device 100 comprises: a detection unit 140 that detects a distance to a person present in a projection direction; a calculation unit 130 that calculates a congestion degree in the projection direction using the distance; and a control unit 150 that controls the projector 106 such that a content is projected onto a projection region corresponding to the congestion degree.

Description

Control device, control method, and control program

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

[0002] Projection devices such as projectors are known. Projection devices project information onto a floor, etc. For example, an image projection device disclosed in Patent Document 1 projects map information onto a floor.

[0003] Japanese Patent Application Laid-Open No. 2007-149053

[0004] However, if a projection device performs projection without taking into consideration the congestion situation, the projection area may be covered by a person, making it difficult for the user to see the information.

[0005] The purpose of the present disclosure is to improve visibility.

[0006] According to one aspect of the present disclosure, there is provided a control device for controlling a projection device. The control device includes a detection unit that detects a distance to a person present in a projection direction, a calculation unit that calculates a congestion level in the projection direction using the distance, and a control unit that controls the projection device to project content onto a projection area corresponding to the congestion level.

[0007] According to the present disclosure, visibility can be improved.

[0008] 1 is a diagram illustrating an overview of a robot according to a first embodiment; FIG. 2 is a diagram illustrating hardware possessed by a robot according to the first embodiment; FIG. 3 is a block diagram illustrating functions of a robot according to the first embodiment; FIG. 4 is a flowchart illustrating an example (part 1) of processing performed by a robot according to the first embodiment; FIG. 5 is a diagram illustrating an example (part 1) of calculating a congestion level according to the first embodiment; FIG. 6 is a diagram illustrating an example (part 2) of calculating a congestion level according to the first embodiment; FIG. 7 is a diagram illustrating an example of a content management table according to the first embodiment; (A) to (C) are diagrams illustrating a specific example of projector control according to the first embodiment; (A) to (C) are diagrams illustrating an example of a projection area according to the first embodiment; (A) to (C) are diagrams illustrating a calculation example of a projection direction according to the first embodiment; (A) to (C) are diagrams illustrating a specific example of a projection area according to a congestion level according to the first embodiment; FIG. 8 is a flowchart illustrating an example (part 2) of processing performed by a robot according to the first embodiment; FIG. 9 is a diagram illustrating a control system according to the second embodiment; and FIG. 10 is a block diagram illustrating functions of a control device according to the second embodiment.

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following embodiments are merely examples, and various modifications are possible within the scope of the present disclosure.

[0010] First Embodiment. FIG. 1 is a diagram showing an overview of a robot according to a first embodiment. The robot 100 is a device that executes a control method. The robot 100 is also called a control device. The robot 100 has a projector. The robot 100 controls the projector. The projector may be a pan-tilt type, or a so-called oscillating type (i.e., a type that can change the projection direction). The robot 100 may rotate the entire robot 100 to project.

[0011] The robot 100 can guide the user to a destination. When guiding the user, the robot 100 projects information onto the floor. The user moves to the destination while visually checking the information projected onto the floor.

[0012] The robot 100 may move while in contact with the floor. The robot 100 may float like a drone. The robot 100 may move while floating.

[0013] Next, the hardware of the robot 100 will be described. Fig. 2 is a diagram showing the hardware of the robot of embodiment 1. The robot 100 is a computer. The robot 100 has a processor 101, a volatile storage device 102, a non-volatile storage device 103, a communication IF (Interface) 104, a camera 105, a projector 106, an input IF 107, and a speaker 108.

[0014] The processor 101 controls the entire robot 100. For example, the processor 101 is a central processing unit (CPU) or a field programmable gate array (FPGA). The processor 101 may be a multiprocessor. The robot 100 may also have a processing circuit.

[0015] The volatile memory device 102 is a main memory device of the robot 100. For example, the volatile memory device 102 is a random access memory (RAM). The nonvolatile memory device 103 is an auxiliary memory device of the robot 100. For example, the nonvolatile memory device 103 is a solid state drive (SSD).

[0016] The communication IF 104 communicates with other devices. The camera 105 can capture images of the surroundings of the robot 100. The projector 106 projects information. The projector 106 is also called a projection device. For example, the input IF 107 is a touch panel. The speaker 108 outputs sound.

[0017] The robot 100 may have sensors, a liquid crystal display (i.e., a display device), and the like.

[0018] Next, a description will be given of the functions of the robot 100. Fig. 3 is a block diagram showing the functions of the robot according to embodiment 1. The robot 100 has a storage unit 110, an acquisition unit 120, a calculation unit 130, a detection unit 140, and a control unit 150.

[0019] The storage unit 110 may be realized as a storage area secured in the volatile storage device 102 or the non-volatile storage device 103. Some or all of the acquisition unit 120, calculation unit 130, detection unit 140, and control unit 150 may be realized by a processing circuit. Furthermore, some or all of the acquisition unit 120, calculation unit 130, detection unit 140, and control unit 150 may be realized as program modules executed by the processor 101. For example, the program executed by the processor 101 is also referred to as a control program. For example, the control program is recorded on a recording medium.

[0020] The storage unit 110 stores various information. The functions of the acquisition unit 120, calculation unit 130, detection unit 140, and control unit 150 will be described later.

[0021] Next, the processing executed by the robot 100 will be described using a flowchart. Fig. 4 is a flowchart showing an example (part 1) of the processing executed by the robot of the first embodiment. (Step S11) The acquisition unit 120 acquires a guidance request from a user. For example, the acquisition unit 120 acquires the guidance request through a touch panel operation by the user. The guidance request includes a destination.

[0022] (Step S12) The calculation unit 130 calculates a route based on map information, the current position of the robot 100, and the destination. The map information is stored in the storage unit 110. Alternatively, the robot 100 may transmit the current position and the destination to a server, and the server may calculate the route. Then, the server transmits the route to the robot 100.

[0023] (Step S13) The detection unit 140 detects the distance to a person present in the projection direction. Specifically, the detection unit 140 detects the distance between the robot 100 and the person present in the projection direction. In particular, the detection unit 140 detects the distance using conventional technology. For example, the detection unit 140 detects the distance using an infrared sensor. Also, for example, if the camera 105 is an RGB-D camera, the detection unit 140 detects the depth obtained from the image generated by the RGB-D camera as the distance. Also, for example, the detection unit 140 detects the distance using the image generated by the camera 105 and a trained model. In particular, if the detection unit 140 inputs the image into the trained model, the trained model outputs the distance.

[0024] (Step S14) The calculation unit 130 calculates the degree of congestion in the projection direction using the distance. The calculation of the degree of congestion will be described using a specific example.

[0025] 5 is a diagram showing an example (part 1) of calculating the congestion degree in the first embodiment. FIG. 5 shows people 11, 12, and 13. Three distances are detected by executing step S13. The distance between the robot 100 and the person 11 is called the first distance. The distance between the robot 100 and the person 12 is called the second distance. The distance between the robot 100 and the person 13 is called the third distance.

[0026] The calculation unit 130 calculates the congestion degree using formula (1). Note that the "first distance" which is the common numerator in formula (1) is the distance between the robot 100 and the person closest to the robot 100 among the people present in the projection direction, and is selected as a reference value.

[0027]

[0028] The calculation unit 130 may calculate the congestion degree using equation (2).

[0029]

[0030] The calculation unit 130 may also calculate the congestion degree as follows.

[0031] FIG. 6 is a diagram showing a second example of how the congestion level is calculated in the first embodiment. For example, scores are assigned at 0.5 m intervals with the robot 100 at the center. For example, 3 points are assigned between 0 and 0.5 m. For example, 2 points are assigned between 0.5 and 1.0 m. The calculation unit 130 assigns scores according to distance. For example, the calculation unit 130 assigns 3 points to the first distance. The calculation unit 130 assigns 2 points to the second distance. The calculation unit 130 assigns 0 points to the third distance. The calculation unit 130 calculates the congestion level based on the scores. For example, the calculation unit 130 adds up the scores to calculate the congestion level (e.g., 5 = 3 + 2 + 0).

[0032] The case where the congestion level is expressed as a numerical value has been described. In any of the calculation methods described above, the congestion level will be a relatively high value when people present in the projection direction are close to the robot 100 and there are many people in the projection direction. Note that the calculated congestion level is not a value that simply represents the number of people. The congestion level may be expressed as a degree (e.g., high, low). For example, after the numerical value is calculated, the calculation unit 130 converts the numerical value into a congestion level expressed as a degree using a threshold or a range.

[0033] (Step S15) The acquisition unit 120 acquires a content management table from the storage unit 110 or an external device. The external device is a device that exists outside the robot 100. For example, the external device is a cloud server. The external device is not shown in the figure. An example of the content management table is shown below.

[0034] 7 is a diagram showing an example of a content management table according to the first embodiment. For example, the content management table 111 is stored in the storage unit 110. The content management table 111 is also referred to as content management information. The content management table 111 shows the correspondence between the congestion level and the content indicating the projection details. In detail, the content management table 111 has the following fields: congestion level, projection format, content type, and content.

[0035] (Step S16) The acquisition unit 120 acquires content according to the congestion level based on the content management table 111. Furthermore, if a guidance request has been received, the acquisition unit 120 acquires content for providing guidance using the content management table 111. (Step S17) The control unit 150 controls the projector 106 to project the content onto a projection area according to the congestion level. The control of the projector 106 will be described using a specific example.

[0036] 8A to 8C are diagrams showing specific examples of projector control according to the first embodiment. FIG. 8A shows a case where the degree of congestion is low. When the degree of congestion is low, the control unit 150 causes the projector 106 to perform wide-area projection. The projector 106 projects text, an image, or a video onto a large-sized projection area 20 in which the amount of information is not significantly limited. The projection area 20 may be circular.

[0037] 8B shows a case where the degree of congestion is medium. When the degree of congestion is medium, the control unit 150 causes the projector 106 to execute medium area projection. The projector 106 projects a short sentence of text as a caption onto a medium-sized projection area 20, in which the amount of information is limited to a certain extent.

[0038] 8C shows a case where the degree of congestion is high. When the degree of congestion is high, the control unit 150 causes the projector 106 to perform narrow-area projection. The projector 106 projects symbols or nouns onto a small-sized projection area 20 in which the amount of information is significantly limited.

[0039] Furthermore, the control unit 150 may control the projector 106 so that the background of the projection area 20 changes. The control unit 150 may control the projector 106 so that the frame of the projection area 20 flashes.

[0040] After the projection is completed, the robot 100 starts providing guidance based on the route. When providing guidance, the control unit 150 controls the robot 100 so that the robot 100 moves in parallel with the user to provide guidance to the destination. A specific example of the projection area 20 when the robot 100 moves in parallel is shown below.

[0041] 9A to 9C are diagrams showing examples of the projection area in the first embodiment. FIG. 9 shows a user 30. The user 30 is a person to be guided. FIG. 9A shows a case where the robot 100 is present on the right side of the user 30 when the direction of travel is the front, and the robot 100 moves parallel to or slightly ahead of the user 30. The projection area 20 is also tilted.

[0042] FIG. 9B shows a case where the robot 100 is located on the left side of the user 30 when the direction of travel is in front, and the robot 100 moves parallel to the user 30 or slightly ahead of the user 30.

[0043] 9(C) shows a case where the robot 100 is located to the right of the user 30 when the direction of travel is the front, and moves parallel to or slightly ahead of the user 30. Furthermore, the control unit 150 controls the projector 106 to project the content in the projection area 20 in the direction directly in front of the user 30, so that the content is easier for the user to read. As a result, the projector 106 projects the content in the projection area 20 in the direction directly in front of the user 30, who is facing the direction of travel. The robot 100 does not guide the user 30 by positioning itself directly in front of the user 30 (in front of the direction of travel), but instead maintains its position to the right or left of the user 30 and projects the content diagonally from the side in the direction directly in front of the user 30. This is done to avoid blocking the forward field of view of the user 30 being guided and to avoid a collision with the user 30 due to a sudden stop of the robot 100, etc.

[0044] Next, calculation of the projection direction of the projector 106 will be specifically described. Fig. 10 is a diagram showing an example of calculation of the projection direction in embodiment 1. To calculate the projection direction angle α, the control unit 150 calculates each value using the following equations (3) to (6).

[0045]

[0046]

[0047]

[0048]

[0049] When x and y are substituted into equation (6), tan α is expressed by equation (7).

[0050]

[0051] The angle α of the projection direction is expressed by equation (8).

[0052]

[0053] In this way, the projection direction angle α is calculated. The control unit 150 controls the projector 106 so that the projection is performed at the angle α. This allows the projector 106 to project the content as shown in FIG. 9 .

[0054] Next, a specific example will be shown in which the robot 100 moves in parallel with the user and content is projected onto the projection area 20 according to the congestion level. FIGS. 11A to 11C are diagrams showing specific examples of the projection area according to the congestion level in the first embodiment. FIG. 11A shows a case in which the congestion level is low. FIG. 11B shows a case in which the congestion level is medium. FIG. 11C shows a case in which the congestion level is high. FIGS. 11A to 11C show a case in which the robot 100 moves in parallel with the user.

[0055] By moving parallel to the user, the robot 100 can comfortably view the content projected in the front direction. Therefore, the robot 100 can improve the user's visibility. Furthermore, by moving parallel to the user, the robot 100 can avoid collisions between the robot 100 and the user.

[0056] Fig. 12 is a flowchart showing an example (part 2) of processing executed by the robot of embodiment 1. Fig. 12 shows processing after the robot 100 starts providing guidance. (Step S21) The control unit 150 determines whether the robot 100 has arrived at the destination. If the condition is met, the processing ends. If the condition is not met, the processing proceeds to step S22. Also, in step S21, the control unit 150 may determine whether a request to stop providing guidance has been received.

[0057] (Step S22) The detection unit 140 detects the distance between the robot 100 and a person present in the projection direction. (Step S23) The calculation unit 130 calculates the congestion level in the projection direction using the distance. (Step S24) The control unit 150 determines whether the congestion level has changed. If the congestion level has changed, the process proceeds to step S25. If the congestion level has not changed, the process proceeds to step S21.

[0058] (Step S25) The acquisition unit 120 acquires content corresponding to the changed congestion level based on the content management table 111. The changed congestion level is the congestion level calculated in step S23. (Step S26) The control unit 150 controls the projector 106 to project the content onto a projection area corresponding to the changed congestion level. Then, the process proceeds to step S21.

[0059] In this way, the robot 100 periodically calculates the congestion level. When the congestion level changes, the robot 100 changes the projection area and the content. This allows the robot 100 to appropriately switch the content with the amount of information appropriate for the projection area according to the congestion level even when the situation changes, thereby improving information transmission.

[0060] According to the first embodiment, the robot 100 projects content onto a projection area according to the congestion level. Therefore, the robot 100 can prevent the projection area from obscuring a person. Therefore, the user can easily view the content. Therefore, the robot 100 can improve visibility.

[0061] Second Embodiment Next, a second embodiment will be described. In the second embodiment, differences from the first embodiment will be mainly described. Furthermore, in the second embodiment, descriptions of the commonalities between the first embodiment and the second embodiment will be omitted.

[0062] In the first embodiment, the case where the robot 100 performs guidance has been described. Specifically, the case where the projector 106 moves has been described. In the second embodiment, the case where the projector does not move will be described.

[0063] FIG. 13 is a diagram showing a control system according to the second embodiment. The control system includes a control device 200 and a projector 300. The control device 200 and the projector 300 are connected via a network. For example, the network is a wired network or a wireless network. For example, the projector 300 is installed above a passageway of various facilities (e.g., on a ceiling or wall). The projector 300 is also referred to as a projection device. The projector 300 may be a pan-tilt device. The control device 200 controls the projector 300. The control device 200 can control the projector 300 to project content onto a projection area according to the degree of congestion.

[0064] Next, the function of the control device 200 will be described.

[0065] 14 is a block diagram showing the functions of the control device of embodiment 2. The control device 200 includes a storage unit 210, an acquisition unit 220, a calculation unit 230, a detection unit 240, and a control unit 250.

[0066] The storage unit 210 may be realized as a storage area secured in a volatile storage device or a non-volatile storage device included in the control device 200. Some or all of the acquisition unit 220, calculation unit 230, detection unit 240, and control unit 250 may be realized by a processing circuit included in the control device 200. Furthermore, some or all of the acquisition unit 220, calculation unit 230, detection unit 240, and control unit 250 may be realized as program modules executed by a processor included in the control device 200.

[0067] The storage unit 210 stores various information. For example, the storage unit 210 stores the content management table 111. The functions of the acquisition unit 220, the calculation unit 230, the detection unit 240, and the control unit 250 are almost the same as the functions of the acquisition unit 120, the calculation unit 130, the detection unit 140, and the control unit 150.

[0068] For example, the detection unit 240 detects the distance to a person present in the projection direction. Specifically, the detection unit 240 detects the distance between the projector 300 and a person present in the projection direction. In particular, the detection unit 240 detects the distance using conventional technology. For example, the detection unit 240 detects the distance using an infrared sensor. Also, for example, if the surveillance camera is an RGB-D camera, the detection unit 240 detects the depth obtained from the image generated by the RGB-D camera as the distance. Note that an illustration of the surveillance camera is omitted. Also, for example, the detection unit 240 detects the distance using the image generated by the surveillance camera and a trained model.

[0069] For example, the calculation unit 230 calculates the congestion degree in the projection direction using the distance. Specifically, the calculation unit 230 calculates the congestion degree using the method described with reference to Fig. 5 or 6. For example, the control unit 250 controls the projector 300 to project content onto a projection area according to the congestion degree. Note that the content is, for example, an advertisement.

[0070] Furthermore, for example, the calculation unit 230 periodically calculates the congestion degree. When the congestion degree changes, the control unit 250 controls the projector 300 to project content onto a projection area according to the changed congestion degree.

[0071] Furthermore, for example, the acquisition unit 220 acquires the content management table 111 from the storage unit 210 or an external device. Based on the content management table 111, the acquisition unit 220 acquires content according to the congestion level.

[0072] In this way, the functions of the acquisition unit 220 , calculation unit 230 , detection unit 240 , and control unit 250 are almost the same as the functions of the acquisition unit 120 , calculation unit 130 , detection unit 140 , and control unit 150 .

[0073] According to the second embodiment, the control device 200 projects content onto a projection area according to the congestion level. Therefore, the control device 200 can prevent people from obscuring the projection area. This allows users to easily view the content. Therefore, the control device 200 can improve visibility.

[0074] The features of the above-described embodiments can be combined with each other as appropriate.

[0075] 11, 12, 13 Person, 20 Projection area, 30 User, 100 Robot, 101 Processor, 102 Volatile storage device, 103 Non-volatile storage device, 104 Communication IF, 105 Camera, 106 Projector, 107 Input IF, 108 Speaker, 110 Storage unit, 111 Content management table, 120 Acquisition unit, 130 Calculation unit, 140 Detection unit, 150 Control unit, 200 Control device, 210 Storage unit, 220 Acquisition unit, 220 Storage unit, 230 Calculation unit, 240 Detection unit, 250 Control unit, 300 Projector.

Claims

1. A control device for controlling a projection device, comprising: a detection unit for detecting the distance to a person in the projection direction; a calculation unit for calculating the degree of congestion in the projection direction using the distance; and a control unit for controlling the projection device to project content into a projection area according to the degree of congestion.

2. The control device according to claim 1, wherein, when the degree of congestion changes after projection, the control unit controls the projection device to project content onto a projection area that corresponds to the changed degree of congestion.

3. The control device according to claim 1 or 2, wherein the calculation unit assigns a score according to the distance and calculates the congestion degree based on the score.

4. A control device as described in any one of claims 1 to 3, further comprising an acquisition unit that acquires content management information indicating a correspondence between congestion degree and content, and acquires the content corresponding to the calculated congestion degree based on the content management information.

5. The control device according to claim 4, wherein the acquisition unit acquires a guidance request from a user, and the control unit controls the control device so that, after projection is performed, the control device moves in parallel with the user to provide guidance to the destination.

6. The control device according to claim 5, wherein the control unit controls the projection device so that the content in the projection area is projected in a direction directly in front of the user facing in a traveling direction.

7. A control method, in which a control device that controls a projection device detects a distance to a person present in the projection direction, calculates a degree of congestion in the projection direction using said distance, and controls the projection device to project content into a projection area according to the degree of congestion.

8. A control program that causes a computer that controls a projection device to execute the following process: detect the distance to a person in the projection direction, use said distance to calculate the degree of congestion in the projection direction, and control said projection device to project content into a projection area according to said degree of congestion.

Images