JP2016122182A - Projection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a projection device capable of preventing projected images from overlapping one another when being projected in a situation where individual images are projected onto a plurality of mobile bodies, respectively.SOLUTION: A projection device comprises: a detection unit that detects a specific object; a projection unit that projects a first projection image; a drive unit that changes a direction of the projection unit so as to change a projection position of the first projection image; a control unit that controls the drive unit so that the first projection image is projected to track a motion of the detected specific object; and a communication unit that receives information on a second projection image projected by another projection device. The control unit acquires information on a position of the second projection image via the communication unit, and controls a projection method of the first projection image so that the first projection image and the second projection image do not overlap each other when being projected, on the basis of positions of the first projection image and the second projection image.SELECTED DRAWING: Figure 8

Description

  The present disclosure relates to a projection apparatus that detects a predetermined object and projects an image following the detected object.

  Patent Document 1 discloses a video camera that captures a moving body passing through a wall surface or floor surface with a fixed frame in the background, and position coordinates of the moving body that has entered the current image sequentially captured by the video camera. Based on the extracted position coordinates, display position coordinates that are separated from the position coordinates are calculated, and information such as texts and images is displayed in a predetermined display size in the calculated display position coordinates. An image processor that sequentially inserts and outputs as video information, and a video that has a display screen on the wall or floor, and displays video information such as text and images of a predetermined display size on the display screen as the mobile object moves A moving body-associated information display device including the display device is disclosed.

  According to the video display device of Patent Document 1, a single video camera can recognize a plurality of moving bodies, and can individually display information to be provided accompanying each of the recognized plurality of moving bodies.

JP 2005-115270 A

  When the information provided according to the position of the moving body is individually displayed for each of the plurality of moving bodies, the displayed information may overlap depending on the position of the moving body. If the information is displayed in an overlapping manner, the content of the information cannot be identified, and the content of the information cannot be accurately transmitted.

  The present disclosure provides a projection device that can prevent projected images from being superimposed and projected in a situation where individual images are projected onto each of a plurality of moving bodies.

  In a first aspect of the present disclosure, a projection apparatus for projecting an image is provided. The projection device includes a detection unit that detects a specific object, a projection unit that projects the first projection image, a drive unit that changes the orientation of the projection unit to change the projection position of the first projection image, Receives information on the control unit that controls the drive unit so that the first projection image is projected following the movement of the specific object detected by the detection unit, and the second projection image that is projected by another projection device. A communication unit. The control unit acquires information on the position of the second projection image via the communication unit, and based on the positions of the first projection image and the second projection image, the first projection image and the second projection image And the projection method of the first projection image is controlled so as not to be projected.

  According to the present disclosure, in a situation where individual images are projected on each of a plurality of moving bodies (specific objects), it is possible to prevent the projected images from being projected on each other.

It is a schematic diagram which shows the condition where a projector apparatus projects an image | video on a wall surface. It is a schematic diagram which shows the condition where a projector apparatus projects an image | video on a floor surface. It is a block diagram which shows the electric constitution of a projector apparatus. It is a block diagram which shows the electric constitution of a distance detection part. It is a figure for demonstrating the distance information acquired by the distance detection part. It is a block diagram which shows the optical structure of a projector apparatus. It is a figure explaining the usage example of a projector apparatus. 6 is a diagram illustrating a collision avoidance operation by detouring an image by the projector device in the first embodiment. FIG. 3 is a block diagram illustrating a functional configuration of a control unit for performing an avoidance operation by detouring an image according to Embodiment 1. FIG. It is a figure for demonstrating the change (detour) of the projection path | route of an image. 10 is a block diagram illustrating a functional configuration example of a control unit for performing an avoidance operation by repulsive force between images in Embodiment 2. FIG. FIG. 10 is a diagram for explaining a collision avoidance operation by the disappearance of an image by the projector device in the third embodiment. FIG. 10 is a block diagram illustrating a functional configuration example of a control unit for performing an avoidance operation due to disappearance of an image in the third embodiment. 10 is a block diagram illustrating a functional configuration example of a control unit for performing an obstacle avoidance operation by changing an image size according to Embodiment 4. FIG. It is a figure explaining the collision avoidance operation | movement by the repulsion of the image by a projector apparatus.

  Hereinafter, embodiments will be described in detail with reference to the drawings as appropriate. However, more detailed description than necessary may be omitted. For example, detailed descriptions of already well-known matters and repeated descriptions for substantially the same configuration may be omitted. This is to avoid the following description from becoming unnecessarily redundant and to facilitate understanding by those skilled in the art.

  The applicant provides the accompanying drawings and the following description in order for those skilled in the art to fully understand the present disclosure, and is not intended to limit the subject matter described in the claims. Absent.

(Embodiment 1)
The first embodiment will be described below with reference to the accompanying drawings. Hereinafter, a projector apparatus will be described as a specific embodiment of the projection apparatus according to the present disclosure.

[1-1. Overview]
An outline of a video projection operation by the projector device 100 will be described with reference to FIGS. 1 and 2. FIG. 1 is an image diagram in which the projector device 100 projects an image on a wall surface. FIG. 2 is an image diagram in which the projector apparatus 100 projects an image on the floor surface.

  As shown in FIGS. 1 and 2, the projector device 100 is fixed to the housing 120 together with the drive unit 110. Wirings electrically connected to the respective parts constituting the projector main body 100b and the driving unit 110 are connected to a power source via the casing 120 and the wiring duct 130. Thereby, electric power is supplied to the projector main body 100b and the drive unit 110. The projector device 100 has an opening 101 in the projector main body 100b. Projector apparatus 100 projects an image through opening 101.

  The drive unit 110 can change the projection direction of the projector device 100 by driving to change the orientation (posture) of the projector main body 100b. The drive unit 110 can drive the projection direction of the projector device 100 so as to be in the direction of the wall 140 as shown in FIG. Thereby, the projector device 100 can project the image 141 on the wall 140. Similarly, the drive unit 110 can drive the projection direction of the projector device 100 so as to be in the direction of the floor 150 as shown in FIG. Thereby, the projector device 100 can project the image 151 onto the floor 150. The drive unit 110 may be driven based on a user's manual operation, or may be automatically driven according to a detection result of a predetermined sensor. The content of the image 141 projected on the wall 140 and the image 151 projected on the floor 150 may be different or the same. The drive unit 110 includes an electric motor, and changes the orientation (posture) of the projector device 100 by rotating the projector main body 100b in the horizontal direction (pan direction) and the vertical direction (tilt direction), thereby projecting the image. And the projection position can be changed.

  The projector device 100 detects a specific object, follows the movement of the detected object, and projects a video (content) on a position or region having a predetermined positional relationship with respect to the position of the specific object. it can. In the following, “person” is detected as a specific object. Control for projecting an image following the detected movement of the person is called “person tracking control”.

[1-2. Constitution]
Hereinafter, the configuration and operation of the projector device 100 will be described in detail. FIG. 3 is a block diagram showing an electrical configuration of projector apparatus 100. The projector device 100 includes a drive control unit 200, a light source unit 300, a video generation unit 400, and a projection optical system 500. Hereinafter, the structure of each part which comprises the projector apparatus 100 is demonstrated in order.

  The drive control unit 200 includes a control unit 210, a memory 220, a distance detection unit 230, and a communication unit 240.

  The control unit 210 is a semiconductor element that controls the entire projector device 100. That is, the control unit 210 controls the operation of each unit such as the distance detection unit 230 and the memory 220 constituting the drive control unit 200 and the operation of the light source unit 300, the image generation unit 400, and the projection optical system 500. In addition, the control unit 210 can perform digital zoom control for reducing / enlarging the projection image by video signal processing and geometric correction for the projection video in consideration of the orientation of the projection plane. The control unit 210 also controls the drive unit 110 to change the projection direction and projection position of the projection light from the projector device 100. The control unit 210 provides information on the current control position of the drive unit 110 in the pan direction and the tilt direction, and information on the speed when the drive unit 110 in the pan direction and the tilt direction changes the orientation of the projector main body 100b. Obtain from 110. The control unit 210 may be configured only by hardware, or may be realized by combining hardware and software. For example, the control unit 210 can be configured by one or a plurality of CPUs, MPUs, and the like.

  The memory 220 is a storage element that stores various types of information. The memory 220 includes a flash memory or a ferroelectric memory. The memory 220 stores a control program and the like for controlling the projector device 100. The memory 220 stores various information supplied from the control unit 210. Further, the memory 220 stores image data of still images and moving images to be projected, a reference table including settings such as positions and projection sizes at which images are to be projected, shape detection target object data, and the like. Yes.

  The distance detection unit 230 includes, for example, a TOF (Time-of-Flight) type distance image sensor (hereinafter referred to as “TOF sensor”), and linearly detects a distance to an opposing projection surface or object. When the distance detection unit 230 faces the wall 140, the distance from the distance detection unit 230 to the wall 140 is detected. If the painting is hung on the wall 140, the distance detection unit 230 can detect the distance to the surface of the painting. Similarly, when the distance detection unit 230 faces the floor surface 150, the distance from the distance detection unit 230 to the floor surface 150 is detected. If an object is placed on the floor 150, the distance detection unit 230 can detect the distance to the surface of the object.

  The communication unit 240 is a module that communicates with other projector devices in accordance with a predetermined communication standard. The communication unit 240 may communicate with another projector device via a wired communication line, or may communicate via a wireless line. The communication unit 240 performs data communication in accordance with standards such as wireless LAN, WiFi, Bluetooth, and the like.

  FIG. 4A is a block diagram illustrating an electrical configuration of the distance detection unit 230. As shown in FIG. 4A, the distance detection unit 230 includes an infrared light source unit 231 that irradiates infrared detection light, and an infrared light reception unit 232 that receives infrared detection light reflected by an opposing surface (or object). And a sensor control unit 233. The infrared light source unit 231 irradiates the infrared detection light through the opening 101 so as to be diffused over the entire surface. The infrared light source unit 231 uses, for example, infrared light having a wavelength of 850 nm to 950 nm as infrared detection light. The controller 210 stores the phase of the infrared detection light emitted by the infrared light source unit 231 in an internal memory. When the opposing surfaces are not equidistant from the distance detection unit 230 and have an inclination or a shape, the plurality of pixels arranged on the imaging surface of the infrared light receiving unit 232 receive reflected light at different timings. Since the light is received at different timings, the phase of the infrared detection light received by the infrared light receiving unit 232 is different for each pixel. The sensor control unit 233 stores the phase of the infrared detection light received by each pixel by the infrared light receiving unit 232 in the memory.

  The sensor control unit 233 reads the phase of the infrared detection light emitted from the infrared light source unit 231 and the phase of the infrared detection light received by each pixel by the infrared light receiving unit 232 from the memory. The sensor control unit 233 measures the distance from the distance detection unit 230 to the opposite surface based on the phase difference between the infrared detection light emitted by the distance detection unit 230 and the received infrared detection light, and distance information (Distance image) can be generated.

  FIG. 4B is a diagram for explaining the distance information generated by the infrared light receiving unit 232 of the distance detection unit 230. The distance detection unit 230 detects the distance from the object that reflected the infrared detection light based on the phase difference described above for each of the pixels constituting the infrared image by the received infrared detection light. Thereby, the sensor control part 233 can obtain the detection result of the distance about the whole angle of view of the infrared image received by the distance detection part 230 for each pixel. The control unit 210 can acquire distance information from the distance detection unit 230.

  Based on the distance information, the control unit 210 can detect projection surfaces such as the walls 140 and the floor surface 150 and specific objects such as people and objects.

  In the above, the TOF sensor is exemplified as the distance detection unit 230, but the present disclosure is not limited to this. That is, as in a random dot pattern, a known pattern may be projected and a distance may be calculated from the deviation of the pattern, or a parallax obtained by a stereo camera may be used. Further, the projector device 100 may include an RGB camera (not shown) together with the distance detection unit 230. In that case, the projector device 100 may detect an object using image information output from the RGB camera together with distance information output from the TOF sensor. By using the RGB camera together, it is possible to detect an object using information such as the color of the object and characters written on the object in addition to the information of the three-dimensional shape of the object obtained from the distance information.

  Next, the optical configuration of the projector device 100 will be described. That is, the configuration of the light source unit 300, the image generation unit 400, and the projection optical system 500 in the projector device 100 will be described. FIG. 5 is a block diagram showing an optical configuration of projector device 100. As shown in FIG. 5, the light source unit 300 supplies light necessary for generating a projection image to the image generation unit 400. The video generation unit 400 supplies the generated video to the projection optical system 500. The projection optical system 500 performs optical conversion such as focusing and zooming on the video supplied from the video generation unit 400. The projection optical system 500 faces the opening 101 and projects an image from the opening 101.

  The configuration of the light source unit 300 will be described. As shown in FIG. 5, the light source unit 300 includes a semiconductor laser 310, a dichroic mirror 330, a λ / 4 plate 340, a phosphor wheel 360, and the like.

  The semiconductor laser 310 is a solid light source that emits S-polarized blue light having a wavelength of 440 nm to 455 nm, for example. S-polarized blue light emitted from the semiconductor laser 310 is incident on the dichroic mirror 330 via the light guide optical system 320.

  The dichroic mirror 330 has, for example, a high reflectance of 98% or more for S-polarized blue light having a wavelength of 440 nm to 455 nm, while P-polarized blue light having a wavelength of 440 nm to 455 nm and green having a wavelength of 490 nm to 700 nm. It is an optical element having a high transmittance of 95% or more for light to red light regardless of the polarization state. The dichroic mirror 330 reflects the S-polarized blue light emitted from the semiconductor laser 310 in the direction of the λ / 4 plate 340.

  The λ / 4 plate 340 is a polarizing element that converts linearly polarized light into circularly polarized light or converts circularly polarized light into linearly polarized light. The λ / 4 plate 340 is disposed between the dichroic mirror 330 and the phosphor wheel 360. The S-polarized blue light incident on the λ / 4 plate 340 is converted into circularly-polarized blue light and then irradiated onto the phosphor wheel 360 via the lens 350.

  The phosphor wheel 360 is an aluminum flat plate configured to be capable of high speed rotation. On the surface of the phosphor wheel 360, a B region which is a diffuse reflection surface region, a G region coated with a phosphor emitting green light, and an R region coated with a phosphor emitting red light. A plurality of and are formed. The circularly polarized blue light applied to the region B of the phosphor wheel 360 is diffusely reflected and reenters the λ / 4 plate 340 as circularly polarized blue light. The circularly polarized blue light incident on the λ / 4 plate 340 is converted into P-polarized blue light and then incident on the dichroic mirror 330 again. At this time, since the blue light incident on the dichroic mirror 330 is P-polarized light, it passes through the dichroic mirror 330 and enters the video generation unit 400 via the light guide optical system 370.

  The blue light or red light irradiated on the G region or R region of the phosphor wheel 360 excites the phosphor applied on the G region or R region to emit green light or red light. Green light or red light emitted from the G region or the R region is incident on the dichroic mirror 330. At this time, the green light or red light incident on the dichroic mirror 330 is transmitted through the dichroic mirror 330 and is incident on the image generation unit 400 via the light guide optical system 370.

  Since the phosphor wheel 360 rotates at high speed, blue light, green light, and red light are emitted from the light source unit 300 to the image generation unit 400 in a time-sharing manner.

  The video generation unit 400 generates a projection video corresponding to the video signal supplied from the control unit 210. The video generation unit 400 includes a DMD (Digital-Mirror-Device) 420 and the like. The DMD 420 is a display element in which a large number of micromirrors are arranged in a plane. The DMD 420 deflects each of the arranged micromirrors according to the video signal supplied from the control unit 210 to spatially modulate the incident light. The light source unit 300 emits blue light, green light, and red light in a time division manner. The DMD 420 repeatedly receives blue light, green light, and red light that are emitted in a time division manner through the light guide optical system 410 in order. The DMD 420 deflects each of the micromirrors in synchronization with the timing at which light of each color is emitted. Accordingly, the video generation unit 400 generates a projected video corresponding to the video signal. The DMD 420 deflects the micromirror according to the video signal into light that travels to the projection optical system 500 and light that travels outside the effective range of the projection optical system 500. Thereby, the video generation unit 400 can supply the generated projection video to the projection optical system 500.

  The projection optical system 500 includes optical members such as a zoom lens 510 and a focus lens 520. The projection optical system 500 enlarges the light incident from the video generation unit 400 and projects it onto the projection surface. The control unit 210 can control the projection area with respect to the projection target so as to obtain a desired zoom value by adjusting the position of the zoom lens 510. When the zoom value is increased, the control unit 210 moves the position of the zoom lens 510 in the direction in which the angle of view becomes narrower, thereby narrowing the projection area. On the other hand, when the zoom value is decreased, the control unit 210 moves the position of the zoom lens 510 in the direction in which the angle of view is widened to widen the projection area. In addition, the control unit 210 can adjust the focus of the projected video by adjusting the position of the focus lens 520 based on predetermined zoom tracking data so as to follow the movement of the zoom lens 510.

  In the above description, the configuration by the DLP (Digital-Light-Processing) method using the DMD 420 is described as an example of the projector device 100, but the present disclosure is not limited thereto. That is, the projector apparatus 100 may employ a liquid crystal configuration.

  In the above description, the configuration of the single plate system in which the light source using the phosphor wheel 360 is time-divided is described as an example of the projector device 100, but the present disclosure is not limited thereto. That is, the projector device 100 may employ a three-plate configuration including various light sources of blue light, green light, and red light.

  In the above description, the blue light source for generating the projected image and the infrared light source for measuring the distance are described as separate units, but the present disclosure is not limited thereto. That is, a unit in which a blue light source for generating a projected image and an infrared light source for measuring a distance may be integrated. If a three-plate method is adopted, a unit in which a light source of each color and an infrared light source are integrated may be used.

[1-3. Operation]
Hereinafter, the operation of the projector apparatus 100 having the above configuration will be described. The projector device 100 according to the present embodiment detects a person as a specific object, follows the detected movement of the person, and has a predetermined positional relationship with the position of the person (for example, in the traveling direction from the detected position of the person). A predetermined image can be projected at a position 1 m before).

  Specifically, the distance detection unit 230 irradiates infrared detection light toward a certain region (for example, an entrance of a store or a building), and acquires distance information in the region. Based on the distance information acquired by the distance detection unit 230, the control unit 210 detects the person, the position of the person, the traveling direction, the speed, and the like. The traveling direction and speed are detected from distance information of a plurality of frames. The control unit 210 determines a position to project the projection image based on the detected position of the person, the traveling direction, and the like. The control unit 210 controls the drive unit 110 to project the projection image at the determined position, and moves the projector main body 100b in the pan direction or the tilt direction. The control unit 210 detects the position of a person every predetermined period (for example, 1/60 seconds), and projects an image so that the person follows the projected image based on the detected position of the person.

  For example, as shown in FIG. 6, the projector device 100 is installed on a ceiling or a wall of a passage or a hall in a building, and when a person 6 is detected, the projected image 8 is projected following the movement of the person 6. To do. The projected image (content image) 8 is, for example, a figure or message such as an arrow that guides and guides the person 6 to a predetermined place or store, a message that welcomes the person 6, a text of an advertisement, a red carpet, etc. Includes graphics and images that produce movement. The projected image 8 may be a still image or a moving image. Accordingly, it is possible to present desired information to the detected person 6 at a position that is always easy to see according to the movement of the detected person 6, and to reliably transmit the desired information to the person 6. Become.

  Here, a problem in the case where a plurality of projector apparatuses 100 that project images by such human tracking control are arranged will be described.

  When a plurality of projector devices 100 are arranged, each projector detects a person, and displays each image following the detected person. In this case, depending on the position of the person following each projector, the image projected by one projector and the image projected by another projector may be projected in an overlapping manner. When the projected images overlap, it becomes difficult to see the contents of the images, and there is a problem that information indicated by the images cannot be correctly transmitted to a person who wants to present the images.

  Accordingly, the projector device 100 according to the present disclosure controls the image projecting method so that the images are not overlapped when there is a possibility that the image projected by the own device overlaps with the image projected by another projector device. . As a result, it is possible to prevent the projected image from the own apparatus from being overlapped with the projected images from other projector apparatuses and becoming difficult to see.

  Specifically, as shown in FIG. 7, when the projection images 8A and 8B are projected from the projector devices 100A and 100B, respectively, when the projection images 8A and 8B are likely to approach each other and overlap, 100A moves the projected image 8A in the order of FIGS. 7A, 7B, and 7C so as to bypass the other projected image 8B. Thus, the projection image 8A and the projection image 8B are prevented from overlapping. Hereinafter, the avoidance operation by detour as shown in FIG. 7 will be described.

  FIG. 8 is a diagram illustrating a functional configuration of the control unit 210 for realizing an avoidance operation by detour. The control unit 210 includes a control block 10 that performs human tracking control and a control block 20 that performs control for avoidance operation. The controller 210 adds the drive command (voltage) generated by the control block 10 and the drive command (voltage) generated by the control block 20 by the adder 37 to generate a final drive command (voltage). The drive command (voltage) is output to the drive unit 110 to drive the drive unit 110.

  First, the operation of the control block 10 that generates a drive command for human follow-up control will be described. In the following description, the position and speed are two-dimensional vectors having magnitude and direction.

  The human position detection unit 11 detects a person based on the distance information (distance image) from the distance detection unit 230. A person is detected in advance by storing a feature value indicating a person in the memory 220 and detecting an object indicating the feature value from distance information (distance image). The person position detecting unit 11 further calculates the position (relative position) of the detected person. Here, “relative position” refers to a position in a coordinate system centered on the position of the drive unit 110. The projection target position calculation unit 13 calculates the target projection position (relative position) of the projection image based on the detected position of the person. For example, a position that is separated from the detected person's position by a predetermined distance (for example, 1 m) in the traveling direction is calculated as the target projection position. The drive command calculation unit 15 is a drive for driving the drive unit 110 so as to control the orientation of the projector device 100 so that the projection image from the projector device 100 is projected onto the target projection position (relative position). Calculate the command (voltage).

  Next, the operation of the control block 20 that generates a drive command for the avoidance operation will be described. The position / speed communication unit 21 communicates with another projector apparatus, and receives information on the projection position (absolute position), size, and moving speed of the image currently projected by the other projector apparatus. Here, the “absolute position” refers to a position in an absolute coordinate system indicating the entire space including a plurality of projector apparatuses. In addition, the position / speed communication unit 21 transmits information regarding the projection position, size, and moving speed of an image projected by the own apparatus to another projector apparatus.

  The virtual mass B calculation unit 25 calculates the virtual mass of the projection image based on the moving speed of the projection position of the projection image of another projector device. Here, the virtual mass is calculated so as to take a lighter value as the speed increases. The virtual mass (m) can be calculated by the following formula.

Virtual mass (m) = coefficient (K) / moving image projection speed (v)
The position / speed acquisition unit 23 acquires distance information from the distance detection unit 230. Further, the position / speed acquisition unit 23 acquires information on the position of the driving unit 110 (position in the pan / tilt direction) and the driving speed from the driving unit 110. The position / velocity acquisition unit 23 is based on the information acquired from each of the distance detection unit 230 and the drive unit 110 and the installation position information 22 indicating the position (absolute position) where the drive unit 110 is installed. The projection position (absolute position) and moving speed of the currently projected image are calculated. The installation position information 22 is stored in the memory 220.

  The relative position calculation unit 27 acquires the position of the projection image of another projector device from the position / speed communication unit 21. Based on the position (absolute position) of the projection image of the other projector apparatus and the calculated position (absolute position) of the projection image of the own apparatus, the relative position calculation unit 27 The relative positional relationship (relative position, distance) between the projection image and the projection image is calculated.

  The virtual mass A calculation unit 29 calculates the virtual mass of the projection image of the own device based on the moving speed of the projection position of the current projection image of the own device.

  Based on the mass from the virtual mass A calculation unit 29, the mass from the virtual mass B calculation unit 25, and the positional relationship from the relative position calculation unit 27, the path calculation unit 30 projects the projection path of the projection image by its own device. Is calculated. The path calculation unit 30 compares the virtual mass of the projection image by the own device with the virtual mass of the projection image by another projector device. As a result of the comparison, when the virtual mass of the projection image by the own device is lighter than the virtual mass of the projection image by another projector device, the path calculation unit 30 determines to bypass the path of the projection image by the own device, Calculate a detour route. The calculation of the detour route will be described with reference to FIG.

  The calculation of the detour path of the projection image 8A will be described based on the projection image 8A projected by the own device and the projection image 8B projected by another projector device. A right avoidance trajectory Y1 and a left avoidance trajectory Y2 are set by shifting the trajectory by the same angle with respect to the original trajectory X of the projected image 8A by the human tracking control. The presence or absence of image collision is evaluated for these trajectories Y1 and Y2. Specifically, it is determined whether or not a collision with the projection image 8B occurs when the projection image 8A follows each of the trajectories Y1 and Y2, and a path (trajectory) on which the collision does not occur is selected. If a collision occurs in either the right or left orbit Y1, Y2, the avoidance angle is further expanded and the evaluation is performed again. The avoidance angle is initially set to a small value, and is increased step by step when a trajectory that can avoid a collision cannot be obtained. Thereby, an avoidance trajectory with the smallest possible avoidance angle can be obtained, and an avoidance trajectory with a small speed change (acceleration) can be obtained.

  Returning to FIG. 8, based on the route information calculated by the route calculation unit 30, the projection acceleration calculation unit 31 calculates the acceleration of the projection image. Further, the angular acceleration calculation unit 33 calculates an angular acceleration related to driving of the driving unit 110 from the acceleration of the projection image. Subsequently, the drive command calculation unit 35 calculates a drive command (voltage) for driving the drive unit 110 based on the angular acceleration. In this way, the control block 20 calculates a drive command related to the drive of the drive unit 110 for the avoidance operation.

  The adding unit 37 adds the drive command (voltage) for the human follow-up control calculated by the control block 10 and the drive command (voltage) for the avoidance operation calculated by the control block 20 to add the drive unit A drive command (voltage) for 110 is generated and output. The drive unit 110 rotates in the pan direction and the tilt direction based on a drive command (voltage). Thereby, the projector device 100 can project the projection image from the own device so as not to overlap the projection image from the other projector device while projecting the projection image while following the person.

[1-4. Effect, etc.]
As described above, the projector device 100 according to the present embodiment is a projection device that projects an image, and includes a human position detection unit 11 that detects a specific object, and a projection unit (video generation) that projects a first projection image. Unit 400, projection optical system 500), driving unit 110 that changes the direction of the projection unit to change the projection position of the first projection image, and the first projection following the movement of the detected specific object. A control unit 210 that controls the drive unit 110 so that an image is projected, and a communication unit 240 that receives information of a second projection image projected by another projection device are provided. The control unit 210 acquires information on the position of the second projection image via the communication unit 240, and based on the first projection image and the position of the second projection image, the first projection image and the second projection image are obtained. The projection method of the first projection image (in this example, the path of the projection image) is controlled so that the projection image does not overlap with the projection image.

  With the above configuration, even when a plurality of projector devices that perform human tracking control on a detected person are arranged, the projector device can project an image so as not to overlap with images of other projector devices. It becomes possible, and it becomes possible to convey information to the detected person reliably.

(Embodiment 2)
Another example of a projection method for preventing projection images from overlapping and projecting will be described. In the present embodiment, the two projected images are prevented from overlapping by adding a repulsive force that is inversely proportional to the distance between the two projected images and moving them.

  FIG. 10 is a diagram illustrating a functional configuration of the control unit 210 for realizing the avoiding operation by the repulsive force in the direction in which the images are separated from each other. Since the configuration and operation of the control block 10 relating to the human follow-up control in the control unit 210 are the same as those described in the first embodiment, description thereof is omitted here. Hereinafter, the configuration and operation of the control block 20b related to the avoidance operation will be described.

  In the control block 20b, the position / velocity acquisition unit 23 projects the current device based on the information acquired from each of the distance detection unit 230 and the drive unit 110 and the installation position information 22 indicating the installation position of the drive unit 110. For the current image, the projection position (absolute position), the image size, and the moving speed are calculated. Further, the position / speed communication unit 21 receives information on the projection position (absolute position), the size of the image, and the moving speed of the image projected by the other projector apparatus from the other projector apparatus.

  The relative position calculation unit 27 receives the position (absolute position) and size of the projection image of its own device from the position / velocity acquisition unit 23, and also receives the position of the projection image of another projector device from the position / velocity communication unit 21. (Absolute position) and size are received. At this time, the position of the projection image of the other projector device is represented by an absolute position. Based on the position of the projection image of the other projector apparatus and the current position (absolute position) of the projection image of the own apparatus, the relative position calculation unit 27 calculates the projection image of the other projector apparatus and the projection image of the own apparatus. The relative position is calculated. For example, using the position of one projection image as a reference (origin), the relative position of the other projection image is obtained.

  The repulsive force calculation unit 39 calculates a distance based on the relative position of the projection image by another projector device and the projected image by the own device, and calculates a repulsive force (repulsive force) acting on the projected image of the own device based on the distance. . The repulsive force is calculated so as to decrease as the distance between the projection image of the other projector device and the projection image of the own device increases. For example, the repulsive force can be calculated as a value that is inversely proportional to the distance between the projected image of the other projector apparatus and the projected image of the own apparatus or the square of the distance. By calculating the repulsive force in this way, a large repulsive force is applied to the projected image when the distance between the projected images is reduced. For this reason, when the two projected images are very close to each other, a large repulsive force is applied to the projected images, and the projected images are displayed so as to move away from each other. Note that the distance between two projection images is calculated in consideration of the size of the projection image.

  The projection acceleration calculating unit 31 calculates the acceleration (= force / mass) of the projection image from the repulsive force from the repulsive force calculating unit 39 and the mass from the virtual mass A calculating unit 29.

  The angular acceleration calculation unit 33 calculates an angular acceleration related to driving of the drive unit 110 from the acceleration calculated by the projection acceleration calculation unit 31. The drive command calculation unit 35 calculates a drive command (voltage) for driving the drive unit 110 based on the angular acceleration calculated by the angular acceleration calculation unit 33. In this way, the drive command related to the drive of the drive unit 110 for the avoidance operation is calculated by the control block 20b.

  The adder 37 adds the drive command (voltage) for the human follow-up operation calculated by the control block 10 and the drive command (voltage) for the avoidance operation calculated by the control block 20b, A drive command (voltage) for 110 is generated and output.

  As described above, by adding the virtual repulsive force of the projected image and controlling the trajectory, the two projected images can be moved away from each other before the two projected images are likely to collide. Can be prevented from overlapping each other.

(Embodiment 3)
Still another example of a projection method for preventing projection images from overlapping and projecting will be described. FIGS. 11A, 11 </ b> B, and 11 </ b> C are diagrams illustrating the avoidance operation in the present embodiment. In the present embodiment, when the two projected images 8A and 8B are likely to overlap, by deleting the overlapping portion in one projected image 8A (see FIG. 11B), the projected images 8A and 8B are overlapped. Do not become.

  FIG. 12 is a functional block diagram of the control unit 210 for realizing an avoidance operation for erasing an overlapping portion of the projection images 8A and 8B. Since the configuration (control block 10) and operation related to the human follow-up control in the control unit 210 are as described above, the description thereof is omitted. FIG. 12 illustrates a functional configuration of the control unit 210 regarding functions related to the projection image editing process. Hereinafter, the avoidance operation of this embodiment will be described.

  The position / speed acquisition unit 23 acquires distance information from the distance detection unit 230. Further, the position / speed acquisition unit 23 acquires information on the position of the driving unit 110 (position in the pan / tilt direction) and the driving speed from the driving unit 110. The position / velocity acquisition unit 23 is based on the information acquired from each of the distance detection unit 230 and the drive unit 110 and the installation position information 22 indicating the position (absolute position) where the drive unit 110 is installed. The projection position and size for the currently projected image are calculated. The position / speed communication unit 21 receives the position of the image currently projected by the other projector apparatus and the size of the image from the other projector apparatus.

  The virtual mass B calculation unit 25 calculates the virtual mass of the projection image of the other projector device based on the moving speed of the projection position of the projection image of the other projector device.

  The overlapping area calculation unit 41 receives the position and size of the projection image of another projector device from the position / speed communication unit 21. The overlapping area calculation unit 41 calculates an overlapping area based on the position and size of the projection image of another projector apparatus and the position and size of the current projection image of the own apparatus.

  The virtual mass A calculation unit 29 calculates the virtual mass of the projection image of the own device based on the moving speed of the projection position of the current projection image of the own device.

  The mask image generation unit 43 generates a mask image based on the mass of the projection image of the own device, the mass of the projection image of the other projector device, and the overlap region from the overlap region calculation unit 41. Specifically, the mask image generation unit 43 compares the mass of the projection image of its own device with the mass of the projection image of the other projector device, and if the projection image of its own device is lighter, the projection image of its own device A mask image is generated so as to delete the overlapping portion. On the other hand, if the projected image of the own apparatus is heavier, a mask image that transmits all of the projected image of the own apparatus is generated. The mask image is an image for selecting transmission or deletion for each pixel.

  The projection mask unit 45 masks and projects an image (video signal) using the mask image.

  By the above method, when two projection images are overlapped, an overlapping portion of one projection image is deleted and projected, so that it is possible to prevent the projection images from being overlapped and displayed.

  In the above example, the image with the lighter virtual mass, that is, the projection image with the faster movement is deleted, and the projection image with the slower movement is not deleted. Since the projected image with fast movement is harder to grasp the image content than the projected image with slow movement, the projected image with the faster movement is deleted from the viewpoint of visibility. However, the overlapped portion of the slower projected image may be deleted and displayed.

(Embodiment 4)
Still another example of a projection method for preventing projection images from overlapping and projecting will be described. In the present embodiment, when a projection image is projected on a projection surface such as a floor surface, and an obstacle that hinders projection is placed on the projection surface, the projection image is not blocked by the obstacle. A method for projecting the image will be described.

  Specifically, when a projected image is projected onto a projection surface such as a floor surface, and an obstacle that hinders projection is placed on the projection surface, the projection is performed without projecting to the obstacle. The size of the projected image is reduced so that the projected image is projected onto a flat area free from obstructions on the surface.

  FIG. 13 is a diagram illustrating a functional configuration of the control unit 210 for realizing an operation of changing the size of the projection image. Since the configuration and operation of the control block 10 that projects an image following a person in the control unit 210 are as described above, description thereof will be omitted. FIG. 13 shows a functional configuration of the control unit 210 with respect to functions related to the projection image editing process.

  The obstacle detection unit 51 detects the presence or absence of an obstacle from the distance information from the distance detection unit 230. An obstacle is an object that blocks projection light from reaching the projection plane of the projection image. Objects other than “people” detected as specific objects are detected as obstacles from the distance information.

  The position / speed acquisition unit 23 calculates a projection position for an image currently projected by the own apparatus based on the distance information from the distance detection unit 230.

  The projection plane detection unit 53 receives the position of the projection image currently projected by the own apparatus and the position of the obstacle detected by the obstacle detection unit 51. The projection plane detection unit 53 refers to the position information of the obstacle, and detects a plane area, that is, an area without an obstacle (hereinafter referred to as “empty area”) around the projection position of the current projection image. The projection size calculator 55 calculates the size of a planar area, that is, an area without an obstacle.

  The projection size changing unit 57 adjusts and projects the size of the projection image 47 so that the projection image 47 can be projected onto a plane area, that is, an area calculated as an area without an obstacle.

  With the above method, even when an object that is a hindrance to projection is placed on the projection surface, the object can be projected while avoiding the hindered object, An easy projection image can be displayed.

(Other embodiments)
As described above, Embodiments 1 to 4 have been described as examples of the technology disclosed in the present application. However, the technology in the present disclosure is not limited to this, and can also be applied to an embodiment in which changes, replacements, additions, omissions, and the like are appropriately performed. Moreover, it is also possible to combine each component demonstrated in the said Embodiment 1-4 and it can also be set as a new embodiment. Therefore, other embodiments will be exemplified below.
(1) The projector device 100 according to the present disclosure is an example of a projection device. The human position detection unit 11 in the present disclosure is an example of a detection unit that detects a specific object. The image generation unit 400 and the projection optical system 500 in the present disclosure are examples of a projection unit. The drive unit 110 in the present disclosure is an example of a drive unit that changes the orientation of the projection unit. The control unit 210 in the present disclosure is an example of a control unit that controls the drive unit. The communication unit 240 in the present disclosure is an example of a communication unit that receives information on a projection image projected by another projection apparatus.
(2) As another example of the collision avoidance operation of the projected images, as shown in FIGS. 14A, 14B, and 14C, the two projected images 8A and 8B collide by trajectory control by human tracking control. In some cases, a repelling avoidance operation may be performed. In this case, the rebound coefficient of the projection image is defined in advance and stored in the memory 220. The control unit 210 acquires information on the position, speed, and size of the projected image of the other projector device from the other projector device. Then, the control unit 210 determines whether or not the two projection images collide based on the position and size of the projection image of the own device and the projection image of another projector device. If it is determined that there is a collision, the control unit 210 calculates the speed resulting from the repulsion of the projection image of the own apparatus in consideration of the rebound coefficient and the movement speed of the projection position of the two projection images. Based on this speed, the drive command value of the drive unit 110 resulting from the repulsion is obtained, and the final drive command value of the drive unit 110 is obtained by adding the drive command value by the human follow-up control.
(3) In the above embodiment, the virtual mass is calculated based only on the moving speed of the projection position of the projection image, but the method of calculating the virtual mass is not limited to this. For example, instead of or in addition to the movement speed of the projection position of the projection image, the virtual mass may be calculated in consideration of the spatial frequency of the projection image. Specifically, the virtual mass is calculated so that the mass increases as the spatial frequency of the projection image increases. Thereby, in Embodiment 1, an avoidance operation is performed for an image having a lower spatial frequency. In the second embodiment, the lower the spatial frequency, the higher the acceleration, and the larger the avoidance operation. The higher the spatial frequency, the finer the content of the image. Therefore, when the image is moved a lot, the visibility decreases compared to an image with a low spatial frequency. For this reason, from the viewpoint of visibility, it is considered appropriate to move the image with the lower spatial frequency greatly in the avoidance operation.
(4) In the above embodiment, an upper limit may be provided for the acceleration (change in speed) of the projection image. That is, in FIGS. 8 and 10, when the calculated acceleration reaches the upper limit in the projected acceleration calculation unit 31, the acceleration may be limited to the upper limit. Thereby, rapid movement of the image can be reduced.
(5) In the above embodiment, each projector device acquires information on the projection image of the other projector device from the other projector device, and controls the trajectory of the projection image of the own device based on the acquired information. On the other hand, a central management device that centrally manages the positions of projection images of a plurality of projector devices may be provided. The central management device communicates with each projector device, collects information on the position of the projection image of each projector device, calculates the trajectory and image size of the image by the above-described method based on the collected information, and each projector You may make it instruct | indicate.
(6) In the above embodiment, a person is detected as a specific object and a predetermined image (content) is displayed following the movement of the person. However, the specific object is not limited to a person. For example, a moving object other than a person such as an automobile or an animal may be used.
(7) In the above embodiment, distance information is used to detect a specific object, but the specific object detection means is not limited to this. Instead of the distance detection unit 230, an imaging device that can capture an image using RGB light may be used. A specific object may be detected from an image captured by the imaging device, and the position, speed, and the like of the specific object may be detected.
(8) The techniques disclosed in the first to fourth embodiments can be appropriately combined.

  As described above, the embodiments have been described as examples of the technology in the present disclosure. For this purpose, the accompanying drawings and detailed description are provided.

  Accordingly, among the components described in the accompanying drawings and the detailed description, not only the components essential for solving the problem, but also the components not essential for solving the problem in order to illustrate the above technique. May also be included. Therefore, it should not be immediately recognized that these non-essential components are essential as those non-essential components are described in the accompanying drawings and detailed description.

  Moreover, since the above-mentioned embodiment is for demonstrating the technique in this indication, a various change, replacement, addition, abbreviation, etc. can be performed in a claim or its equivalent range.

  The projection device according to the present disclosure can be applied to various uses for projecting an image onto a projection surface.

6 persons 8, 8A, 8B, 47 Projected images 10, 20, 20b Control block 11 Person position detection unit 15, 35 Drive command calculation unit 21 Position / speed communication unit 23 Position / speed acquisition unit 25 Virtual mass B calculation unit 27 Relative Position calculation unit 29 Virtual mass A calculation unit 30 Path calculation unit 31 Projection acceleration calculation unit 33 Angular acceleration calculation unit 37 Addition unit 39 Repulsive force calculation unit 41 Overlapping region calculation unit 43 Mask image generation unit 45 Projection mask unit 51 Obstacle detection unit 53 Projection plane detection unit 57 Projection size change unit 100, 100A, 100B Projector device 100b Projector body unit 101 Opening unit 110 Drive unit 120 Housing 130 Wiring duct 140 Wall 141, 151 Video 150 Floor surface 200 Drive control unit 210 Control unit 220 Memory 230 Distance detector 231 Infrared light source 232 Red The communication unit 300 the light source unit 310 receiving unit 233 sensor controller 240 semiconductor laser 320 and light guide system 330 dichroic mirror 340 lambda / 4 plate 350 lens 360 phosphor wheel 370 guiding optical system 400 image generator 410 and light guide system 420 DMD
500 Projection optical system 510 Zoom lens 520 Focus lens X, Y1, Y2 Orbit

Claims (6)

A projection device for projecting an image,
A detection unit for detecting a specific object;
A projection unit that projects the first projection image;
A drive unit that changes the orientation of the projection unit to change the projection position of the first projection image;
A control unit that controls the drive unit so that the first projection image is projected following the movement of the specific object detected by the detection unit;
A communication unit that receives information of a second projection image projected by another projection device;
With
The control unit acquires information regarding the position of the second projection image via the communication unit,
Based on the positions of the first projection image and the second projection image, the projection method of the first projection image is controlled so that the first projection image and the second projection image are not projected overlapping each other. ,
Projection device. When the distance between the first projection image and the second projection image becomes smaller than a predetermined distance, the control unit bypasses the first projection image around the second projection image. Controlling the drive to move,
The projection apparatus according to claim 1. The control unit causes the first projection image to be detoured when the movement speed of the projection position of the first projection image is faster than the movement speed of the projection position of the second projection image;
The projection apparatus according to claim 2. The control unit controls the driving unit based on trajectories in directions away from each other as the distance between the first projection image and the second projection image becomes smaller with respect to the first projection image.
The projection apparatus according to claim 1. The control unit generates an image obtained by deleting a portion where the first projection image and the second projection image overlap from the first projection image, and causes the projection unit to project the generated image.
The projection apparatus according to claim 1. When there is an obstacle that blocks the projection light of the first projection image on the trajectory of the first projection image following the movement of the specific object, the control unit projects an image on the obstacle. Changing the size of the first projected image so that it is not
The projection apparatus according to claim 1.