Projection device, projection system, and projection method

Abstract

A projection device (20) comprises: a distance measurement unit (22) that measures the distance to the projection device (20) from each of three or more non-aligned points located on two non-parallel reference lines, which are drawn on a projection surface (50) in the building and the positions of which are defined in drawing data of a building; an angle measurement unit (27) that measures the angle of the distance measurement unit (22) when the distance was measured; a control unit (24) that performs spatial recognition to link a position in the drawing data with a position on the projection surface (50) on the basis of the measured distance and the angle of the distance measurement unit (22) when the distance was measured; and a projection unit (23) that projects a light-emitting point at a position on the projection surface (50) corresponding to a work position defined in the drawing data. The control unit (24) shifts the position of the light-emitting point on the projection surface (50) on the basis of the result of the spatial recognition.

Description

Projection device, projection system, and projection method

[0001] The present invention relates to a projection apparatus, a projection system, and a projection method.

[0002] Japanese Patent Application Laid-Open No. 2003-144222 discloses an image processing device that reduces the workload of assembling a control panel or the like designed using an electrical design CAD.

[0003] Japanese Patent Application Laid-Open No. 2018-180868

[0004] The present invention provides a projection apparatus, a projection system, and a projection method that can shift the position of a light-emitting point according to a predetermined rule.

[0005] A projection device according to one aspect of the present invention is a projection device comprising: a distance measurement unit that measures the distance from each of three or more points that are not aligned in a straight line and are located on two non-parallel reference lines drawn on a projection surface within a building, the two non-parallel reference lines having positions defined in drawing data of the building, to the projection device; an angle measurement unit that measures the angle of the distance measurement unit when the distance is measured; a control unit that performs spatial recognition that links a position in the drawing data with a position on the projection surface based on the measured distance and the angle of the distance measurement unit when the distance was measured; and a projection unit that projects a light-emitting point onto a position on the projection surface that corresponds to a work position defined in the drawing data, and the control unit shifts the position of the light-emitting point on the projection surface based on the result of the spatial recognition.

[0006] A projection system according to one aspect of the present invention includes the projection device and an operation device that allows the user to remotely operate the projection device.

[0007] A projection method according to one aspect of the present invention is a projection method performed by a projection device equipped with a distance measuring unit, and includes a distance measurement step of measuring the distance to the projection device from each of three or more points that are not aligned in a straight line and are located on two non-parallel reference lines drawn on a projection surface within a building, the two non-parallel reference lines having positions defined in drawing data of the building; an angle measurement step of measuring the angle of the distance measuring unit when the distance is measured; a spatial recognition step of performing spatial recognition to link a position in the drawing data with a position on the projection surface based on the measured distance and the angle of the distance measuring unit when the distance was measured; a projection step of projecting a light-emitting point onto a position on the projection surface corresponding to a work position defined in the drawing data; and a shift step of shifting the position of the light-emitting point on the projection surface based on the result of the spatial recognition.

[0008] According to the present invention, a projection apparatus, a projection system, and a projection method are realized that are capable of shifting the position of a light-emitting point in accordance with a predetermined rule.

[0009] FIG. 1 is a diagram showing an overview of the operation of a projection system according to an embodiment. FIG. 2 is a block diagram showing the functional configuration of a projection system according to an embodiment. FIG. 3 is an external view of devices constituting a projection system according to an embodiment. FIG. 4 is a flowchart of an example of the operation of a projection system according to an embodiment. FIG. 5 is a diagram showing coordinate axes of Cartesian coordinates in space. FIG. 6 is a diagram showing a formula for calculating an orthogonal projection vector. FIG. 7 is a diagram for explaining issues in marking work. FIG. 8 is a diagram for explaining operation in a first mode. FIG. 9 is a diagram for explaining operation in a second mode. FIG. 10 is a diagram for explaining operation in a third mode.

[0010] Hereinafter, the embodiments will be described in detail with reference to the drawings. Note that the embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, component placement and connection forms, steps, and step order shown in the following embodiments are merely examples and are not intended to limit the present invention. Furthermore, among the components in the following embodiments, components not recited in independent claims will be described as optional components.

[0011] It should be noted that the drawings are schematic diagrams and are not necessarily strict illustrations. In addition, in the drawings, substantially the same components are denoted by the same reference numerals, and overlapping descriptions may be omitted or simplified.

[0012] (Embodiment) [Outline] First, an outline of a projection system according to an embodiment will be described. Fig. 1 is a diagram showing an outline of the operation of a projection system according to an embodiment.

[0013] A projection system 10 according to an embodiment includes a projection device 20. The projection device 20 is installed in a space 100 within a building under construction. The projection device 20 projects drawing data, which is at least a part of architectural design data, onto structures (specifically, floors, walls, ceilings, etc.) that make up the space 100 in actual size. Projecting in actual size means projecting onto the structure at a size that conforms to the dimensions specified in the architectural design data. The drawing data is, for example, data that indicates marking positions in space, and a line of light of the designed length is projected at a position where a user, such as a construction worker, should draw a marking line.

[0014] This allows the user to easily draw a marking line by simply tracing the projected light line. Note that it is not essential that the light line be used as a guide for drawing the marking line; the light line itself may be used as the marking line.

[0015] The projection system 10 only needs to be able to project part or all of the architectural design data, and the drawing data may be data other than data indicating marking positions. For example, if the drawing data includes data indicating the installation positions of equipment such as a system kitchen or a bathtub, the projection system 10 may project the installation positions of the equipment in actual size.

[0016] [Configuration] Next, the configuration of a projection device according to an embodiment will be described. Fig. 2 is a block diagram showing the functional configuration of a projection system 10. Fig. 3 is an external view of devices that make up the projection system 10. As shown in Figs. 2 and 3, the projection system 10 includes a projection device 20 and an operation device 40. First, the projection device 20 will be described.

[0017] The projection device 20 is a device that displays drawing data, which is at least a part of architectural design data, on a structure in actual size. The structure is specifically a floor, wall, ceiling, or pillar. The projection device 20 is mounted on a tripod and installed on the floor, for example. The projection device 20 may be installed on a hanging bolt on the ceiling or on a wall. The projection device 20 includes a communication unit 21, a distance measurement unit 22, a projection unit 23, a control unit 24, a memory unit 25, a drive unit 26, an angle measurement unit 27, an attachment unit 28 (shown in FIG. 3), and a housing 29 (shown in FIG. 3).

[0018] The communication unit 21 is a communication circuit (in other words, a communication module) for the projection device 20 to communicate with the operation device 40. The communication unit 21 performs wireless communication with the operation device 40, but may also perform wired communication. There are no particular limitations on the communication standard used for communication by the communication unit 21.

[0019] The distance measurement unit 22 detects the distance from the projection device 20 to a structure that constitutes the space 100. The distance measurement unit 22 is, for example, a distance measurement sensor such as a TOF (Time Of Flight) sensor. The distance measurement unit 22 may be a distance measurement sensor using a phase difference detection method, a distance measurement sensor using a triangulation method, or another distance measurement sensor. The distance measurement unit 22 has a distance measurement light source 22 a and a detection unit 22 b.

[0020] The distance measurement light source 22a is a light source that emits light toward a structure. The distance measurement light source 22a is realized, for example, by a light emitting element that emits infrared light, but may also be realized by a light emitting element that emits visible light. As will be described later, the distance measurement unit 22 has a laser pointer function for presenting the current distance measurement target point to the user. This function is realized, for example, by a light source separate from the distance measurement light source 22a, but may also be realized by the distance measurement light source 22a if the distance measurement light source 22a emits visible light.

[0021] Furthermore, the distance measurement light source 22 a does not necessarily need to be separate from the light source 23 a of the projection unit 23, and the light source 23 a of the projection unit 23 may be used as the distance measurement light source 22 a. In other words, the distance measurement unit 22 may be a sensor that does not have the distance measurement light source 22 a and has only the detection unit 22 b.

[0022] The detector 22b is a light receiving element that detects the light emitted by the distance measurement light source 22a and reflected by a structure, and is realized by a photodiode or the like.

[0023] The projection unit 23 is a projection module for projecting drawing data onto the projection surface 50. The projection unit 23 has a light source 23 a and a scanning unit 23 b. Although not shown, the projection unit 23 also includes other optical components such as lenses and mirrors.

[0024] The light source 23 a is, for example, a laser light source realized by a semiconductor light emitting element. Note that the light source 23 a may include a plurality of light emitting elements emitting different colors of light (for example, red light emitting elements, green light emitting elements, and blue light emitting elements) and may be configured to be able to switch the emitted color.

[0025] The scanning unit 23b scans the structure with the light emitted by the light source 23a. The scanning unit 23b is realized by, for example, a MEMS (Micro Electro Mechanical Systems) mirror, but may also be realized by a galvanometer mirror.

[0026] The control unit 24 is a control device that controls the distance measurement unit 22, the projection unit 23, and the drive unit 26 in order to project the drawing data onto the projection surface 50. The control unit 24 is realized by, for example, a microcomputer or a processor. The control unit 24 may also include a drive circuit for driving the projection unit 23 and a drive circuit for driving the drive unit 26. The functions of the control unit 24 are realized, for example, by the processor or the like that constitutes the control unit 24 executing a control program stored in the storage unit 25.

[0027] The storage unit 25 is a storage device that stores the drawing data and a control program for projecting the drawing data in actual size, which is executed by the control unit 24. The storage unit 25 is realized by a semiconductor memory or the like.

[0028] The drive unit 26 is a drive mechanism for changing the orientation of the projection device 20 (in other words, the orientation and angle of the distance measuring unit 22). More specifically, the drive unit 26 changes the orientation of the housing 29 based on the mounting unit 28. The drive unit 26 has a first drive unit 26a for changing the orientation of the projection device 20 in the tilt direction and a second drive unit 26b for changing the orientation of the projection device 20 in the pan direction. Each of the first drive unit 26a and the second drive unit 26b is realized by a rotation drive device such as a motor. The drive unit 26 may also have a third drive unit for changing the orientation of the projection device 20 in the roll direction. The drive unit 26 may also be a mechanism having a ball-shaped joint.

[0029] The angle measurement unit 27 measures the orientation of the projection device 20 (in other words, the orientation and angle of the distance measurement unit 22). Specifically, the angle measurement unit 27 is an angle sensor that measures the drive amount (i.e., the tilt angle and pan angle) of the drive unit 26. Note that if the drive unit 26 has a third drive unit for changing the orientation of the projection device 20 in the roll direction, the angle measurement unit 27 may measure the roll angle as the drive amount of the drive unit 26.

[0030] The mounting portion 28 is a mounting structure for mounting the projection device 20 on a tripod. The projection device 20 may also be mounted on a hanging bolt on the ceiling, in which case the mounting portion 28 is a mounting structure for mounting the projection device 20 on the ceiling.

[0031] The housing 29 accommodates the communication unit 21, the distance measurement unit 22, the projection unit 23, the control unit 24, and the storage unit 25. The housing 29 is made of, for example, resin, but may also be made of metal.

[0032] Next, the operation device 40 will be described. The operation device 40 is a remote controller that allows a user to remotely operate the projection device 20. The operation device 40 is, for example, a dedicated remote controller for the projection device 20. A mobile terminal such as a smartphone or tablet terminal on which a dedicated application program is installed may also be used as the operation device 40. Specifically, the operation device 40 includes an operation reception unit 41, a communication unit 42, a control unit 43, a storage unit 44, and a display unit 45.

[0033] The operation reception unit 41 is a user interface device that receives user operations. The operation reception unit 41 is realized by, for example, hardware buttons, but may also be realized by a touch panel or the like.

[0034] The communication unit 42 is a communication circuit (in other words, a communication module) that enables the operation device 40 to communicate with the projection device 20. The communication unit 42 performs wireless communication with the projection device 20, but may also perform wired communication. There are no particular limitations on the communication standard used for communication by the communication unit 42.

[0035] The control unit 43 causes the communication unit 42 to transmit to the projection device 20 an instruction signal for operating the projection device 20 in accordance with the operation accepted by the operation acceptance unit 41. The control unit 43 is realized by, for example, a microcomputer or a processor. The functions of the control unit 43 are realized, for example, by the processor or the like constituting the control unit 43 executing a control program stored in the storage unit 44.

[0036] The storage unit 44 is a storage device that stores a control program executed by the control unit 43. The storage unit 44 is realized by a semiconductor memory or the like. The storage unit 44 also stores architectural design data.

[0037] The architectural design data is three-dimensional data (more specifically, three-dimensional CAD (Computer Aided Design) data) that indicates the size and shape of the space 100. The architectural design data also includes drawing data (two-dimensional data) that indicates the layout of the space 100 and drawing data that indicates marking positions. At least the drawing data of the architectural design data is also stored in the memory unit 25 of the projection device 20.

[0038] The display unit 45 displays a screen showing the operating status of the projection device 20. The display unit 45 is realized by a display panel such as a liquid crystal panel or an organic EL (Electro-Luminescence) panel.

[0039] [Operation Example] In order to accurately project drawing data, it is important to link positions within the drawing data with positions within the projection surface 50. An operation example of the projection system 10, including a process for linking positions in this way, will be described. Figure 4 is a flowchart of the operation example of the projection system 10.

[0040] In the following description of the operation example, the coordinate axes of the Cartesian coordinate system are set in the space 100 as shown in Fig. 5. Fig. 5 is a diagram showing the coordinate axes of the Cartesian coordinate system in the space 100. The coordinate axes shown in Fig. 5 are defined with the position of the projection device 20 (more specifically, predetermined positions around the distance measuring unit 22 and the projection unit 23 in the projection device 20) as the origin O.

[0041] In the following description of the operation example, the projection surface 50 is a floor surface, and two reference lines L1 and L2 are drawn on the floor surface. The two reference lines L1 and L2 are drawn, for example, by a user. The two reference lines L1 and L2 are, for example, perpendicular to each other, and the position of the intersection of the two reference lines L1 and L2 is reference point D. Reference point D is the point onto which a predetermined point in the drawing data is to be projected. Note that the positions of the reference lines L1 and L2 are defined within the drawing data, and can be used to link positions in the drawing data with positions within the projection surface 50. It is not essential that the two reference lines L1 and L2 are perpendicular to each other; they may simply intersect (as long as they are not parallel).

[0042] First, the user installs the projection device 20 in the space 100 and measures the distance from each of three distance measurement points (hereinafter also referred to as measurement points) on the projection surface 50 to the projection device 20 (S11). Note that the user only needs to measure the distance from each of at least three distance measurement points to the projection device 20. The user may also measure the distance from each of three or more distance measurement points to the projection device 20.

[0043] For example, the distance measurement unit 22 of the projection device 20 presents a measurement point on the projection surface 50 to the user using a laser pointer. The user drives the drive unit 26 to align the laser pointer with the reference line L1 (or reference line L2) and performs a measurement instruction operation to instruct measurement (storage) of the distance in this state. The distance from the measurement point to the projection device 20 is then stored in the storage unit 25 together with the pan angle φ and tilt angle θ at the time the measurement instruction operation was issued. The pan angle φ and tilt angle θ are measured by the angle measurement unit 27. If the user repeats this operation three times, the distance r from each of three different measurement points on the projection surface 50 to the projection device 20, as well as the pan angle φ and tilt angle θ at that time, are stored in the storage unit 25.

[0044] Next, the control unit 24 calculates the Cartesian coordinates (x, y, z coordinates) of the three measurement points based on the stored information (i.e., the distance measurement results) (S12). The distance r from each of the three measurement points to the projection device 20, and the pan angle φ and tilt angle θ at that time, which are stored in the storage unit 25, indicate the polar coordinates of the three measurement points, and the control unit 24 can convert these polar coordinates into Cartesian coordinates (x, y, z coordinates) based on the following equation 1.

[0045]

[0046] Next, the control unit 24 calculates the orthogonal coordinates of the reference point D based on the orthogonal coordinates of the three measurement points (S13). As shown in Fig. 5, if the three measurement points are measurement point A, measurement point B, and measurement point C, the control unit 24 can calculate the coordinates of the reference point D based on the calculation formula for the orthogonal projection vector shown in Fig. 6. Fig. 6 is a diagram showing the calculation formula for the orthogonal projection vector. Note that if one of measurement point A, measurement point B, and measurement point C is the same point as reference point D, the processing of step S13 is omitted.

[0047] Next, the control unit 24 calculates the distance from the projection device 20 to the projection surface 50 (i.e., the plane passing through measurement points A, B, and C) and the inclination of the projection surface 50 relative to the projection device 20 (S14). The equation for the projection surface 50 is ax+by+cz=d, and the coordinates of measurement point A are (x ａ , y ａ , z ａ ), the coordinates of measurement point B are (x ｂ , y ｂ , z ｂ ), the coordinates of measurement point C are (x ｃ , y ｃ , z ｃ ), the following equation 2 (determinant) holds. The control unit 24 calculates the normal vector n = (a, b, c) of the projection surface 50 by transforming this equation 2 into equation 3. The normal vector n indicates the inclination of the projection surface 50 in Cartesian coordinates, and the length of the normal vector n indicates the distance from the projection device 20 to the projection surface 50. In other words, calculating the normal vector is equivalent to calculating the distance from the projection device 20 to the projection surface 50 and the inclination of the projection surface 50 with respect to the projection device 20.

[0048]

[0049] Next, the control unit 24 causes the projection unit 23 to project the drawing data onto the projection surface 50 based on the calculated distance from the projection device 20 to the projection surface 50 and the calculated inclination of the projection surface 50 (S15). Specifically, the control unit 24 corrects distortion of the drawing data in accordance with the calculated inclination of the projection surface 50, and corrects the projection magnification of the drawing data based on the calculated distance to the projection surface 50.

[0050] The drawing data also includes position information of the reference lines. Then, the control unit 24 controls the projection unit 23 to project the corrected drawing data onto the projection surface 50 so that the reference lines L1 and L2 in the corrected drawing data overlap with the reference lines L1 and L2 of the projection surface and so that a predetermined point in the corrected drawing data overlaps with the calculated coordinates of the reference point D (i.e., the control unit 24 determines the projection position). As a result, the drawing data is projected onto the projection surface 50 in actual size.

[0051] As described above, the projection system 10 uses points on the reference lines L1 and L2 of the projection surface 50, the positions of which are defined in the drawing data, as measurement points (points whose coordinates are specified). Therefore, the projection system 10 can easily link positions in the drawing data with positions on the projection surface 50.

[0052] [Operation in First Mode] When the projection unit 23 projects a light-emitting point at a position on the projection surface 50 corresponding to a work position (a position to be marked) defined in the drawing data and the user attempts to mark out the position of the light-emitting point, it may be impossible to mark out the position of the light-emitting point due to reasons such as unevenness on the projection surface 50 or the presence of building materials on the projection surface 50. In such cases, the user may attempt to mark out a position different from the position of the light-emitting point, but it is not easy for the user to mark out the appropriate position on the projection surface 50. Figure 7 is a diagram illustrating the challenges of such marking out, showing the projection surface 50 as viewed from a direction perpendicular to the projection surface 50.

[0053] 7, for example, a user wants to mark out a position P2 that is shifted parallel to a predetermined direction (dashed line) from a position P1 of the light-emitting point, but if the user does this manually, the marking will end up at a position P3. In other words, the problem is that the user cannot mark out the position they want.

[0054] Furthermore, when marking out a position different from the position of the light-emitting point (the position specified in the drawing data), the marked out position may not be recognizable later. For example, in the case of so-called insert marking out, the marked out position cannot be recognizable later.

[0055] To solve this problem, the projection system 10 has an operation mode that assists in shifting the position of the light-emitting point, thereby assisting the user in marking out work. These operation modes will be described below. First, the operation of the first mode will be described. Figure 8 is a diagram for explaining the operation of the first mode.

[0056] The first mode is a mode in which the position of the light-emitting point is shifted to a position where the user wants to perform marking work. As described above, the control unit 24 of the projection device 20 uses points on the reference lines L1 and L2 as measurement points and associates positions in the drawing data with positions on the projection surface 50 (hereinafter also referred to as spatial recognition), thereby determining the shift direction and shift amount of the light-emitting point on the projection surface 50 relative to the drive amount of the drive unit 26. Therefore, as shown in FIG. 8 , the control unit 24 can shift the position P1 of the light-emitting point to a position P2 desired by the user.

[0057] During operation in the first mode, the control unit 24 shifts the position of the light-emitting point on the projection surface 50 parallel to the X-axis direction and the Y-axis direction, for example, by controlling the pan angle φ and tilt angle θ of the drive unit 26 based on the results of spatial recognition.

[0058] For example, if arrow buttons as shown in FIG. 8 are provided as the operation receiving unit 41 of the operating device 40, the control unit 24 of the projection device 20 can shift the position of the light-emitting point parallel to the X-axis direction and the Y-axis direction depending on the length of time the user presses the arrow button or the number of times the user presses the arrow button.

[0059] In addition, the control unit 24 can not only shift the position of the light-emitting point parallel to the X-axis direction and the Y-axis direction, but also shift it diagonally along a direction that intersects both the X-axis direction and the Y-axis direction.

[0060] Alternatively, the user may input absolute values ​​of the X coordinate and the Y coordinate on the projection surface 50 to the operation accepting unit 41, and the control unit 24 may shift the light-emitting point to the position of the input X coordinate and Y coordinate. Alternatively, the user may input relative values ​​of the X coordinate and the Y coordinate on the projection surface 50 to the operation accepting unit 41, and the control unit 24 may shift the position of the light-emitting point by the input relative values ​​of the X coordinate and the Y coordinate.

[0061] In this way, the control unit 24 of the projection system 10 (projection device 20) can operate in a first mode, shifting the position of the light-emitting point on the projection surface 50 to a position specified by the user, based on the results of spatial recognition.

[0062] During operation in the first mode, the control unit 24 stores the position of the light-emitting point after the shift in the storage unit 25. The position of the light-emitting point after the shift is displayed on the display unit 45 of the operation device 40. This allows the user to later check the position where the marking work was performed.

[0063] Furthermore, before shifting the light-emitting point, the control unit 24 may determine whether the position of the light-emitting point after the shift will not interfere with the predetermined area, and may shift the position of the light-emitting point if it determines that there will be no interference. In other words, if the control unit 24 determines that the position of the light-emitting point after the shift will interfere with the predetermined area, it will not shift the light-emitting point even if instructed by the user. The predetermined area is, for example, another work position (a position that should be marked out for another purpose). The predetermined area is defined in advance in the drawing data.

[0064] According to such a determination process, it is possible to prevent the occurrence of rework, such as shifting the light-emitting point once again after shifting the light-emitting point.

[0065] [Operation in Second Mode] Next, operation in the second mode will be described. Fig. 9 is a diagram for explaining operation in the second mode. While the first mode is a mode in which the user manually shifts the position of the light-emitting point, the second mode is a mode in which the projection system 10 automatically shifts the position of the light-emitting point.

[0066] 9 is an image processing device that detects unevenness on the projection surface 50 and obstacles placed on the projection surface 50 by image processing an image of the projection surface 50 captured by the camera 60. For example, the control unit 24 of the projection device 20 acquires site information from the site information acquisition device 70 by communicating with the site information acquisition device 70 using the communication unit 21. The site information is information that indicates the actual state of the projection surface 50, and is information that indicates the coordinates of locations on the projection surface 50 where light-emitting points cannot be projected (unevenness or obstacles).

[0067] The control unit 24 can identify positions where the light-emitting point cannot be projected by collating (comparing) the architectural design data (drawing data) with the site information. When the projection unit 23 determines that a position on the projection surface 50 corresponding to a work position (a position to be marked out) defined in the drawing data is a position where the light-emitting point cannot be projected (projecting the light-emitting point is not appropriate), the control unit 24 automatically shifts the position of the light-emitting point. The direction and amount of shift are determined, for example, by a predetermined algorithm. Specifically, the control unit 24 shifts the position of the light-emitting point on the projection surface 50 by controlling the pan angle φ and tilt angle θ of the drive unit 26.

[0068] In this way, the control unit 24 of the projection system 10 (projection device 20) acquires on-site information indicating the actual state of the projection surface 50, and if it determines, based on the results of spatial recognition and the acquired on-site information, that it is not appropriate to project the light-emitting point at a position on the projection surface 50 corresponding to the work position, it can perform a second mode of operation in which the position of the light-emitting point is shifted.

[0069] Although the control unit 24 has been described as acquiring site information from the site information acquisition device 70, the control unit 24 may also have a function of generating site information (image processing function). In other words, the control unit 24 may acquire an image from the camera 60 by communicating with the camera 60, and generate (acquire) site information based on the acquired image.

[0070] Furthermore, during operation in the second mode, the control unit 24 stores the position of the light-emitting point after the shift in the storage unit 25. The position of the light-emitting point after the shift is displayed on the display unit 45 of the operation device 40. This allows the user to later check the position where the marking work was performed.

[0071] Also, similar to when the first mode is being operated, when the second mode is being operated, the control unit 24 may shift the light-emitting point after determining whether the position of the light-emitting point after the shift does not interfere with a predetermined area.

[0072] [Operation in Third Mode] Next, the operation in the third mode will be described. Fig. 10 is a diagram for explaining the operation in the third mode. While the first and second modes are modes in which the position of the light-emitting point is shifted, during operation in the third mode, instead of the light-emitting point, a straight line passing through the position of the light-emitting point (i.e., the position on the projection surface 50 corresponding to the work position defined in the drawing data) is projected. This allows the user to shift the position where marking work is performed along the straight line.

[0073] Specifically, the control unit 24 during operation in the third mode projects a straight line parallel to the X-axis direction, but may also project a straight line parallel to the Y-axis direction. Furthermore, the control unit 24 may also project a crosshair with the position of the light-emitting point as the intersection point, in which a straight line parallel to the X-axis direction and a straight line parallel to the Y-axis direction intersect. As described above, the control unit 24 performs spatial recognition, and therefore can project a straight line parallel to the X-axis direction and a straight line parallel to the Y-axis direction. When projecting a straight line, the control unit 24 controls the scanning unit 23b (mirror) in the projection unit 23.

[0074] By projecting a straight line passing through the position of the light-emitting point in this way, the user can shift the position where marking work is performed along the X-axis or Y-axis direction. In addition, by projecting a straight line, the user can easily grasp in which direction the position where marking work is to be shifted.

[0075] The control unit 24 can also project a straight line (a diagonal straight line) that passes through the position of the light-emitting point and is parallel to a direction that intersects both the X-axis direction and the Y-axis direction.

[0076] In this way, the control unit 24 of the projection system 10 (projection device 20) can operate in a third mode, in which the projection unit 23 projects a straight line passing through a position on the projection surface 50 corresponding to the work position, based on the results of spatial recognition.

[0077] [Variant] In the first mode operation and the second mode operation, the control unit 24 shifts the position of the light-emitting point by controlling the drive unit 26 based on the results of spatial recognition, but the position of the light-emitting point can also be shifted by controlling the scanning unit 23b of the projection unit 23 based on the results of spatial recognition.

[0078] More specifically, the control unit 24 controls a mirror (such as a MEMS mirror or a galvanometer mirror) included in the scanning unit 23b that changes the direction of light emitted from the projection unit 23. In this case, for example, information that associates the drive amount (pan angle φ and tilt angle θ) of the driving unit 26 with the displacement amount of the mirror, which are necessary to shift the light-emitting point in the same direction and by the same length, is stored in the storage unit 25. By referring to such information, the control unit 24 can control the displacement (angle) of the mirror included in the scanning unit 23b, thereby shifting the position of the light-emitting point in the same way as when controlling the driving unit 26.

[0079] When the projection unit 23 has a configuration similar to that of a liquid crystal projector, the position of the light-emitting point may be shifted by controlling the liquid crystal panel.

[0080] In addition, in the first and second mode operations, an example of shifting one light-emitting point corresponding to one work position has been described. However, there may be a case where multiple work positions related to each other are grouped in the drawing data, and multiple light-emitting points corresponding to the multiple work positions are projected simultaneously.

[0081] In such a case, when the position of the first light-emitting point corresponding to one of the grouped work positions is shifted, the control unit 24 may automatically shift the positions of the second light-emitting points corresponding to the other work positions in the same direction and by the same length as the first light-emitting point, thereby eliminating the need for the user to shift the positions of each of the plurality of light-emitting points corresponding to the grouped work positions, thereby improving user convenience.

[0082] Furthermore, the first mode operation, the second mode operation, and the third mode operation can be switched by, for example, a user operating the operation device 40. That is, the projection system 10 can perform all of the first mode operation, the second mode operation, and the third mode operation. However, it is sufficient that the projection system 10 is realized as a system that can perform at least one of the first mode operation, the second mode operation, and the third mode operation.

[0083] [Effects, etc.] Inventions derived from the disclosure of this specification are, for example, the following inventions. Hereinafter, the inventions derived from the disclosure of this specification will be described together with the effects, etc. obtained by the inventions.

[0084] Invention 1 is a projection device 20 comprising: a distance measuring unit 22 that measures the distance to the projection device 20 from each of three or more points that are not aligned in a straight line and are located on two non-parallel reference lines drawn on a projection surface 50 within a building, the two non-parallel reference lines having positions specified in drawing data of the building; an angle measuring unit 27 that measures the angle of the distance measuring unit 22 when the distance is measured; a control unit 24 that performs spatial recognition to link a position in the drawing data with a position on the projection surface 50 based on the measured distance and the angle of the distance measuring unit 22 when the distance was measured; and a projection unit 23 that projects a light-emitting point onto a position on the projection surface 50 that corresponds to a work position specified in the drawing data, and the control unit 24 shifts the position of the light-emitting point on the projection surface 50 based on the results of the spatial recognition.

[0085] By using the results of spatial recognition, the projection device 20 can shift the position of the light-emitting point according to a predetermined rule. For example, the projection device 20 can shift the position of the light-emitting point parallel to the X-axis or Y-axis, or by a fixed length.

[0086] Invention 2 is the projection device 20 of Invention 1, in which the control unit 24 operates in a first mode to shift the position of the light-emitting point on the projection surface 50 to a position specified by the user based on the result of spatial recognition.

[0087] Such a projection device 20 allows a user to shift the position of the light-emitting point to a position designated by the user.

[0088] Invention 3 is a projection device 20 according to Invention 1 or 2, in which the control unit 24 acquires on-site information indicating the actual state of the projection surface 50, and when it determines, based on the results of spatial recognition and the acquired on-site information, that it is not appropriate to project the light-emitting point onto a position on the projection surface 50 corresponding to the work position, it operates in a second mode to shift the position of the light-emitting point.

[0089] Such a projection device 20 can automatically shift the position of the light-emitting point to an appropriate position, improving user convenience.

[0090] Invention 4 is a projection device 20 according to any one of Inventions 1 to 3, in which the control unit 24 operates in a third mode in which, based on the results of spatial recognition, the projection unit 23 projects a straight line passing through a position on the projection surface 50 corresponding to the work position.

[0091] With this projection device 20, the user can shift the position where marking work is performed along a straight line.

[0092] Invention 5 is the projection device 20 of any of Inventions 1 to 4, further comprising a drive unit 26 that changes the orientation of the projection device 20, and the control unit 24 controls the drive unit 26 based on the results of the spatial recognition, thereby shifting the position of the light-emitting point on the projection surface 50.

[0093] In such a projection device 20, the position of the light-emitting point can be shifted by controlling the orientation of the projection device 20.

[0094] Invention 6 is the projection device 20 of any of Inventions 1 to 4, in which the projection unit 23 includes a mirror that changes the direction of light emitted from the projection unit 23, and the control unit 24 shifts the position of the light-emitting point on the projection surface 50 by controlling the mirror based on the results of spatial recognition.

[0095] Such a projection device 20 can shift the position of the light-emitting point by controlling the mirror provided in the projection device 20 .

[0096] A seventh aspect of the present invention is the projection device 20 of any one of the first to sixth aspects, wherein the control unit 24 stores the position of the light-emitting point after the shift in the storage unit 25 .

[0097] Such a projection device 20 can display the position of the light-emitting point after the shift stored in the memory unit 25 on the display unit 45 of the operation device 40, etc. If the position of the light-emitting point after the shift is displayed, the user can later check the position where the marking work was performed.

[0098] Invention 8 is the projection device 20 of any of Inventions 1 to 7, in which the control unit 24 determines, before shifting the light-emitting point, whether the position of the light-emitting point after the shift will not interfere with a predetermined area, and shifts the position of the light-emitting point if it determines that there will be no interference.

[0099] Such a projection device 20 can prevent the occurrence of rework, such as shifting the light-emitting point once again after shifting the light-emitting point.

[0100] A ninth aspect of the present invention is a projection system 10 including the projection device 20 of any one of the first to eighth aspects of the present invention, and an operation device 40 for allowing a user to remotely operate the projection device 20 .

[0101] Such a projection system 10 can use the results of spatial recognition to shift the position of the light-emitting point according to a predetermined rule. For example, the projection device 20 can shift the position of the light-emitting point parallel to the X-axis or Y-axis, or by a fixed length.

[0102] Invention 10 is a projection method executed by a projection device 20 equipped with a distance measuring unit 22, and includes a distance measurement step of measuring the distance to the projection device 20 from each of three or more points that are not aligned in a straight line and are located on two non-parallel reference lines drawn on a projection surface 50 within a building, the two non-parallel reference lines having positions specified in drawing data of the building; an angle measurement step of measuring the angle of the distance measuring unit 22 when the distance is measured; a spatial recognition step of performing spatial recognition to link a position in the drawing data with a position on the projection surface 50 based on the measured distance and the angle of the distance measuring unit 22 when the distance was measured; a projection step of projecting a light-emitting point onto a position on the projection surface 50 corresponding to a work position specified in the drawing data; and a shift step of shifting the position of the light-emitting point on the projection surface 50 based on the result of the spatial recognition.

[0103] Such a projection method can use the results of spatial recognition to shift the position of the light-emitting point according to a predetermined rule. For example, the projection device 20 can shift the position of the light-emitting point parallel to the X-axis or Y-axis, or by a certain length.

[0104] (Other Embodiments) Although the embodiments have been described above, the present invention is not limited to the above-described embodiments.

[0105] For example, although the above embodiment has been described with reference to a laser scanning projection device, the present invention may be realized as a projection device of another type. The projection device may be capable of projecting at least a portion of architectural design data in actual size onto a projection surface.

[0106] In the above-described embodiments, the projection system includes a projection device and an operation device. However, the projection system may be realized as a single device. The projection system may also be realized as a client-server system, in which case some of the processing described as being performed by the projection device in the above-described embodiments is performed by the server device.

[0107] The order of the processes described in the flowcharts of the above embodiments is merely an example. The order of the processes may be changed, or the processes may be executed in parallel.

[0108] Furthermore, the communication method between the devices in the above-described embodiments is not particularly limited. Wireless communication or wired communication may be performed between the devices. Furthermore, wireless communication and wired communication may be combined between the devices. Furthermore, when two devices communicate in the above-described embodiments, a relay device (not shown) may be interposed between the two devices.

[0109] In the above-described embodiments, each component may be realized by executing a software program suitable for that component, or by a program execution unit such as a CPU or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

[0110] Furthermore, each component may be realized by hardware. For example, each component may be a circuit (or integrated circuit). These circuits may form a single circuit as a whole, or each may be a separate circuit. Furthermore, each of these circuits may be a general-purpose circuit or a dedicated circuit.

[0111] Furthermore, the general or specific aspects of the present invention may be realized as a system, an apparatus, a method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM, or as any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium.

[0112] For example, the present invention may be realized as a program for causing a computer to execute the projection method, or as a computer-readable non-transitory recording medium on which such a program is recorded.

[0113] In addition, the present invention also includes forms obtained by applying various modifications to each embodiment that a person skilled in the art would think of, or forms realized by arbitrarily combining the components and functions of each embodiment within the scope of the present invention.

[0114] REFERENCE SIGNS LIST 10 Projection system 20 Projection device 21, 42 Communication unit 22 Distance measurement unit 22a Distance measurement light source 22b Detection unit 23 Projection unit 23a Light source 23b Scanning unit 24, 43 Control unit 25, 44 Memory unit 26 Drive unit 26a First drive unit 26b Second drive unit 27 Angle measurement unit 28 Mounting unit 29 Housing 40 Operation device 41 Operation reception unit 45 Display unit 50 Projection surface 60 Camera 70 Site information acquisition device 100 Space

Claims

1. A projection device comprising: a distance measurement unit that measures the distance from each of three or more points that are not aligned in a straight line and are located on two non-parallel reference lines drawn on a projection surface within a building, the two non-parallel reference lines having positions specified in drawing data of the building, to the projection device; an angle measurement unit that measures the angle of the distance measurement unit when the distance is measured; a control unit that performs spatial recognition to link a position in the drawing data with a position on the projection surface based on the measured distance and the angle of the distance measurement unit when the distance was measured; and a projection unit that projects a light-emitting point at a position on the projection surface that corresponds to a work position specified in the drawing data, and the control unit shifts the position of the light-emitting point on the projection surface based on the results of the spatial recognition.

2. The projection device according to claim 1, wherein the control unit operates in a first mode in which the position of the light-emitting point on the projection surface is shifted to a position designated by the user based on the result of the spatial recognition.

3. The projection device of claim 1, wherein the control unit acquires on-site information indicating the actual state of the projection surface, and when it determines, based on the results of the spatial recognition and the acquired on-site information, that it is not appropriate to project the light-emitting point at a position on the projection surface corresponding to the work position, it performs a second mode of operation in which the position of the light-emitting point is shifted.

4. The projection device according to claim 1, wherein the control unit operates in a third mode in which the projection unit projects a straight line passing through a position on the projection surface corresponding to the work position based on the result of the spatial recognition.

5. The projection device according to claim 1, further comprising a drive unit that changes the orientation of the projection device, wherein the control unit controls the drive unit based on the result of the spatial recognition, thereby shifting the position of the light-emitting point on the projection surface.

6. The projection device according to claim 1, wherein the projection unit includes a mirror that changes the direction of light emitted from the projection unit, and the control unit controls the mirror based on the result of the spatial recognition, thereby shifting the position of the light-emitting point on the projection surface.

7. The projection device according to claim 1, wherein the control unit stores the position of the light-emitting point after the shift in a storage unit.

8. A projection device as described in claim 1, wherein the control unit determines whether the position of the light-emitting point after shifting will not interfere with a predetermined area before shifting the light-emitting point, and shifts the position of the light-emitting point if it determines that there will be no interference.

9. A projection system comprising: a projection device according to any one of claims 1 to 8; and an operation device for a user to remotely operate said projection device.

10. A projection method performed by a projection device equipped with a distance measuring unit, comprising: a distance measuring step for measuring the distance to the projection device from each of three or more points that are not aligned in a straight line and are located on two non-parallel reference lines drawn on a projection surface within a building, the two non-parallel reference lines having positions defined in drawing data of the building; an angle measuring step for measuring the angle of the distance measuring unit when the distance is measured; a spatial recognition step for performing spatial recognition to link a position in the drawing data with a position on the projection surface based on the measured distance and the angle of the distance measuring unit when the distance was measured; a projection step for projecting a light-emitting point at a position on the projection surface corresponding to a work position defined in the drawing data; and a shift step for shifting the position of the light-emitting point on the projection surface based on the result of the spatial recognition.

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