JP2016208255A - Movable projection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a movable projection device which can project a projection image enabling a viewer to easily view according to the number of viewers at a necessary time and a necessary place.SOLUTION: The movable projection device includes: an aerial flight mechanism part to fly in the air; a projector part to form a projection image; a camera to image a viewer viewing the projection image; a people count detection unit which detects the number of the viewers from the image imaged by the camera; and a control part which determines the place of displaying the projection image according to the number of the viewers detected by the people count detection, to control the projector part to display the projection image to the determined place.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a mobile projection apparatus.

  For example, Patent Document 1 (Japanese Patent Application Laid-Open No. 2007-229855) discloses an autonomy that can move along with a specific person and can project and display image information related to the vicinity of the moving point on an appropriate projection surface. Mobile robots have been proposed. According to the invention of this patent document 1, it is possible to display image information such as advertisements and warnings related to the current position during movement for a moving person.

JP 2007-229855 A

  However, the autonomous mobile robot of the invention of Patent Document 1 must move with a specific person. Originally, a user only has to project a projection image at a necessary place when necessary, and the accompanying movement of the autonomous mobile robot itself is troublesome, and the movement path for the accompanying movement of the autonomous mobile robot is set. I had to move in consideration and was troublesome.

  In addition, the autonomous mobile robot according to the invention of Patent Document 1 uses the head, back, and road surface of a specific person as a projection surface. For this reason, when there are a plurality of viewers, it is difficult for the viewers to simultaneously view the projection image. In particular, when there are a large number of viewers, for example, a person who is behind may not be able to view the projection image because the previous person gets in the way.

  It is an object of the present invention to provide a mobile projection apparatus that can solve the above problems.

In order to solve the above problems, the present invention provides:
An aerial flight mechanism for flying in the air;
A projector unit for forming a projection image;
A camera for photographing a viewer who views the projection image;
A number detection unit for detecting the number of viewers from the captured image of the camera;
A control unit for controlling the projector unit so as to determine a location for displaying the projection image according to the number of viewers detected by the number of people detection unit, and to display the projection image at the determined location; ,
A mobile projection apparatus is provided.

  The mobile projection apparatus according to the present invention includes an aerial flight mechanism and can fly and move in the air. Therefore, when necessary, it is possible to fly to a required place and provide a projection image to a viewer who is present using the equipped projector unit.

  Then, the mobile projection apparatus according to the present invention detects the number of viewers from the captured image of the camera, determines the location for displaying the projection image according to the detected number of viewers, and determines the determined location. The projector unit is controlled to display the projection image. It should be noted that the concept of the location where the projected image to be determined here includes the concept of different locations such as different wall surfaces, as a matter of course, different positions within the same wall surface (different positions and height directions in the left-right direction). Different positions).

  Thereby, for example, when there is only one viewer, a place where the single viewer can easily view can be set as a projection location of the projection image, and when there are a large number of viewers, It is possible to determine a place where all of the large number of viewers can view and control the projection image to be projected.

  According to the apparatus of the present invention, it is possible to provide a projection image to a viewer who is flying to a necessary place and is present on the spot. Since the location and size for displaying the projection image are determined according to the number of viewers, it is easy to view and all viewers can view according to the number of viewers. Projected images can be displayed as possible.

It is a figure for demonstrating the example of a structure of 1st Embodiment of the mobile projection apparatus by this invention. It is a block diagram for demonstrating the structural example of the drive control apparatus part of 1st Embodiment of the mobile projection apparatus by this invention. It is a figure which shows a part of flowchart for demonstrating the processing operation example of 1st Embodiment of the mobile projection apparatus by this invention. It is a figure which shows a part of flowchart for demonstrating the processing operation example of 1st Embodiment of the mobile projection apparatus by this invention. It is a figure which shows the example of the utilization aspect of 1st Embodiment of the mobile projection apparatus by this invention. It is a figure for demonstrating the structural example of 2nd Embodiment of the mobile projection apparatus by this invention. It is a figure which shows the example of the utilization aspect of 2nd Embodiment of the mobile projection apparatus by this invention. It is a figure for demonstrating the example of a structure of 3rd Embodiment of the movement type projection apparatus by this invention. It is a figure for demonstrating the example of a structure of 3rd Embodiment of the movement type projection apparatus by this invention. It is a figure which shows the example of the utilization aspect of 4th Embodiment of the mobile projection apparatus by this invention. It is a block diagram for demonstrating the structural example of the drive control apparatus part of 4th Embodiment of the movement type projection apparatus by this invention. It is a figure which shows a part of flowchart for demonstrating the example of a processing operation of 4th Embodiment of the mobile projection apparatus by this invention. It is a figure which shows a part of flowchart for demonstrating the example of a processing operation of 4th Embodiment of the mobile projection apparatus by this invention.

[First Embodiment]
FIG. 1 is a diagram showing a configuration example of a first embodiment of a mobile projection apparatus according to the present invention. The mobile projection apparatus 1 according to the embodiment of the present invention is configured to autonomously fly in the air and move. FIG. 1A is a view of the mobile projection apparatus 1 of this embodiment as viewed from above, and FIG. 1B is a view of the mobile projection apparatus 1 of this embodiment as viewed from the front. It is a figure.

  The mobile projection apparatus 1 of this embodiment includes an aerial flight mechanism unit 2 having a so-called quadcopter structure and a drive control unit 3. The aerial flight mechanism unit 2 is driven and controlled by a drive control unit 3. As shown in FIG. 1, the aerial flight mechanism unit 2 is provided with rotary wing (rotor) mechanisms 5A, 5B, 5C, 5D attached to the tips of four arms 4A, 4B, 4C, 4D extending from the drive control unit 3. Is configured.

  The rotary blade mechanisms 5A, 5B, 5C, and 5D rotate the rotary blade shafts (not shown) by the motor drive units 51A, 51B, 51C, and 51D, thereby rotating the rotary blades 52A, 52B, 52C, and 52D. It is configured to rotate. The motor drive units 51 </ b> A, 51 </ b> B, 51 </ b> C, 51 </ b> D are controlled in rotation speed and rotation direction by a drive control signal from the drive control unit 3. The motor drive units 51A, 51B, 51C, 51D and the drive control unit 3 use a battery (not shown) as a power source for rotational driving and a power source for driving control. A camera, a microphone, various sensors, a display, a control unit, and the like described later are also supplied with power from the battery. Further, the projector described later is also supplied with power from the battery. As the battery, for example, a rechargeable secondary battery is used. Moreover, a solar cell can also be used. When the solar cell is mounted, the mobile projection device 1 has an advantage that it can fly while being charged with sunlight during the daytime outdoors.

  In this example, each of the motor drive units 51A, 51B, 51C, and 51D is independently controlled by a drive control signal from the drive control unit 3, so that the mobile projection device 1 can take off, land, and rise ( Directly above, diagonally above), descending (directly below, diagonally below), right turn, left turn, forward, reverse, right shift, left shift, etc. It is possible to perform posture control such as an inclination angle with respect to and position control of the hovering position.

  In the mobile projection apparatus 1 of this embodiment, a camera, a microphone, various sensors, and the like, which will be described later, are attached integrally with the drive control unit 3, and a housing that includes a drive control apparatus unit 10 including a control unit. A body 6 is formed. In this example, the housing 6 has a box shape as a whole.

  Two legs 7A and 7B are attached to the housing 6 so as to face each other. In this example, the leg portions 7A and 7B are made of pipe members formed in a trapezoidal shape, and as shown in FIG. 1B, stably hold the movable projection device 1 on the landing surface 8. Is formed. The shape and members of the leg are not limited to this, and various types are conceivable. For example, it may be a wood or metal material in which four legs are formed in a cylindrical shape at the four corners of the housing 6. In order to facilitate movement on the landing surface 8, a movable wheel may be attached to the leg portion.

  At a position above the rotor blades 52A, 52B, 52C, and 52D that does not interfere with the rotation of the rotor blades 52A, 52B, 52C, and 52D, the projector 9 is installed in the drive control unit 3 portion of the housing 6. It is fixed to a support base 92 supported by a support column 91 planted from the upper surface. A remote control transmission unit 93 for remotely controlling the projector 9 is attached to the support base 92. Remote control transmitter 93 is attached to support base 92 at a position where a remote control receiver (not shown) of projector 9 can receive a remote control signal.

  The projector 9 of this example includes a DVD (Digital Versatile Disc) playback unit (not shown) as an example of a storage medium. The projector 9 has a function of reproducing the image information stored in the DVD loaded in the reproduction unit and projecting the image information as a projection image. Reference numeral 9L denotes a lens for projecting a projection image. Also, reproduced audio of audio information stored in association with image information on the DVD is emitted from speakers 9SL and 9SR provided in the projector 9.

  The DVD stores a plurality of image information and audio information prepared in advance for providing to the viewer. Each of the plurality of image information and audio information can be cued by a remote control signal.

  In the following description, the surface side on which the projection lens 9L of the projector 9 is provided is the front surface of the mobile projection device 1.

  In this example, as shown in FIGS. 1A and 1B, a camera CM1 and a microphone MC are provided on the front surface of the housing 6. A speaker SP is also provided on the front surface of the housing 6. Cameras CM2 and CM3 are provided on the left and right sides of the housing 6 as shown in FIGS. 1A and 1B, respectively, and a camera CM4 is provided on the back of the housing 6. Further, a camera CM 5 is provided on the bottom surface of the housing 6 as shown in FIG.

  The optical axes (corresponding to the shooting directions) of the cameras CM1 to CM5 are orthogonal to the respective mounting surfaces of the cameras CM1 to CM5, and a predetermined range of view angles can be taken around the optical axis direction.

  A drive control unit 10 is provided in the housing 6. FIG. 2 is a block diagram showing a configuration example of the drive control unit 10 in the mobile projection device 1 of this embodiment. In FIG. 2, the battery is omitted.

  As shown in FIG. 2, the drive control unit 10 in this embodiment has an aerial flight drive unit 102, a gyro sensor 103, a geomagnetic sensor 104, and an altitude sensor 105 through a system bus 100 with respect to a control unit 101 composed of a computer. , Obstacle sensor 106, moving space information memory 107, current position detection unit 108, flight drive signal generation unit 109, position and orientation control signal generation unit 110, camera group 111, guidance message memory 112, image recognition unit 113, voice interface unit 114, a voice recognition unit 115, a projection image list memory 116, a projector remote control interface 117, and a remote control signal generation unit 118 are connected to each other.

  The audio interface unit 114 is connected to a microphone MC and a speaker SP. In addition, a remote control transmission unit 93 is connected to the projector remote control interface 117.

  The aerial flight drive unit 102 supplies drive control signals to the motor drive units 51A, 51B, 51C, and 51D of the rotary wing mechanisms 5A, 5B, 5C, and 5D of the aerial flight mechanism unit 2 in accordance with the control of the control unit 101. To do.

  The gyro sensor 103 detects a change in acceleration during the flight of the mobile projection device 1, and is used to detect the flight traveling direction, the speed, and the posture of the mobile projection device 1. The geomagnetic sensor 104 is used to detect in which direction the mobile projection apparatus 1 is moving in flight. The altitude sensor 105 is for detecting the altitude at which the mobile projection apparatus 1 is located at the time, and is composed of, for example, an atmospheric pressure sensor.

  The obstacle sensor 106 emits light, infrared rays, millimeter waves, quasi-millimeter waves, microwaves, or ultrasonic waves and detects reflected waves from the obstacles, thereby detecting the presence of the obstacles, It is assumed that the time and amount of attenuation from when infrared rays or ultrasonic waves are emitted until the reflected wave is received can be detected, and the distance to the detected obstacle can be calculated from the time and amount of attenuation. ing. In this embodiment, the obstacle sensor 106 is an obstacle in a space in which the mobile projection device 1 is used (hereinafter referred to as a moving space), for example, an obstacle such as an indoor wall, wardrobe, bed, desk, etc. It is used to detect obstacles such as utility poles, buildings, trees, etc. in a moving space and to fly while avoiding collisions with them.

  The moving space information memory 107 stores space information regarding indoor and outdoor moving spaces where the mobile projection device 1 is used. Examples of indoor moving spaces include art museums, museums, stores, and the like. Examples of outdoor moving spaces are limited spaces such as theme parks, amusement parks, zoos, concert venues, soccer stadiums, and baseball fields. Of course, the space information is stored in the moving space information memory 107 as a moving space as long as it is within the flight range of the mobile projection device 1 such as a company area, a station area, an airport area, etc. Is done.

  The memory of the control unit 101 of the mobile projection apparatus 1 of this embodiment stores an application program for panoramic photographs (for example, Photosynth), and the mobile projection apparatus 1 flies in the mobile space in advance. Then, using all or part of the cameras CM1 to CM5, images are taken in a range of 360 degrees at each location in the moving space. And the control part 101 produces | generates 3D image information in each point in movement space from the image | photographed captured image information using the application program for panoramic photography, and uses the produced | generated 3D image information for movement space information. Store in the memory 107.

  In this case, in this example, the mobile projection device 1 determines a specific location of the moving space in which the mobile projection device 1 is used as a home position, and takes off and landing using that location as a base. The specific location may be defined in a charging station that is a normal standby location.

  The information stored in the moving space information memory 107 also stores the position information of the determined home position. In addition, when the moving space is a room, the moving space information memory 107 also stores in advance information on the length, width, and height of the room to be used. Furthermore, when the moving space is indoors, the structural information of the room to be used, such as beams, pipe spaces, and pillars, may be stored in advance, and when the moving space is outdoors, utility poles, buildings, The position of the tree may be stored in advance.

  In the moving space information memory 107, the location (position information) such as an indoor wall where an image can be projected by the projector 9 and an outdoor building wall is also the vertical x horizontal x height of the wall. Pre-stored with information. A screen for projecting a projection image may be provided in advance indoors or outdoors, and the screen position may be stored in the moving space information memory 107.

  In addition, in a kindergarten or nursery school or the like mainly in kindergarten, an instruction to that effect can be entered in the moving space information memory 107 so as to project at a low position according to the height of the kindergarten. Even in an elderly care facility or a facility with more wheelchairs such as a hospital, an instruction to that effect may be entered in the moving space information memory 107 so that projection is performed at a low position.

  The current position detection unit 108 includes, for example, a GPS (Global Positioning System) receiver, and detects the latitude, longitude, and altitude of the current position of the mobile projection device 1. In order to obtain more accurate position information, the current position may be detected using a radio wave from a mobile phone base station or a radio wave from an access point of Wi-Fi (Wireless Fidelity (registered trademark)) communication. . Further, the whole of the mobile projection apparatus 1 is photographed using all or a part of the cameras CM1 to CM5, and the photographed image information is compared with the 3D image information stored in the moving space information memory 107 to obtain an image. By recognizing, the relative position in the 3D image space may be grasped, and the current position may be detected. In order to detect the current position after movement, the current position detection unit 108 also uses the gyro sensor 103, the geomagnetic sensor 104, and the altitude sensor 105.

  The flight drive signal generator 109 starts the flight from the base (home position) and moves in the air according to the command based on the activation information by the control unit 101, and the base position information stored in the moving space information memory 107 From the position information of the current position detected by the current position detection unit 108, a moving direction and a moving distance are calculated in order to generate a flight drive signal for moving.

  The flight drive signal generation unit 109 uses the information such as the gyro sensor 103, the geomagnetic sensor 104, and the altitude sensor 105 based on the calculated direction and distance, and further, the captured images from the cameras CM1 to CM5 of the camera group 111. , A flight drive signal for moving from the base position to the position instructed by the control unit 101 is generated and supplied to the aerial flight mechanism unit 2 through the aerial flight drive unit 102. In this case, the flight drive signal includes signals for driving the motor drive units 51A to 51D of the four rotary wing mechanisms 5A to 5D. The generated flight drive signal is supplied to each of the motor drive units 51 </ b> A to 51 </ b> D of the aerial flight mechanism unit 2 through the aerial flight drive unit 102.

  In response to this flight drive signal, the aerial flight mechanism unit 2 rotationally drives each of the rotor blades 52A to 52D to fly in the air from the base to the position indicated by the control unit 101 or from the current position to the base. Move by.

  The position / orientation control signal generation unit 110 is based on the gyro sensor 103, the geomagnetic sensor 104, the altitude sensor 105, and the captured images of the cameras CM1 to CM5, as will be described later, with respect to the projection plane of the place where the determined projection image is projected. The position and orientation of the device itself so as to be an appropriate orientation and position (whether the optical axis of the lens 9L of the projector 9 is orthogonal to the wall surface or the like on which the projection image is projected) And a position / posture control signal for controlling whether the position in the horizontal direction is appropriate and the position in the vertical direction (height position) is appropriate.

  In the mobile projection device 1 of this embodiment, as will be described later, the control unit 101 determines a place to project a projection image according to the number of viewers. Here, the concept of the place to project the projection image to be determined includes the concept of different places such as different wall surfaces, and different positions within the same wall surface (different positions in the left-right direction and different positions in the height direction). ) Concept.

  When the location for projecting the projection image is determined, the control unit 101 controls the flight drive signal generation unit 109 to project the projection image to the location for projecting the determined projection image (high A flight drive signal for hovering is generated and supplied to the aerial flight mechanism unit 2 through the aerial flight drive unit 102. The position / orientation control signal generation unit 110 generates a signal for controlling the height position to be hovered.

  The mobile projection apparatus 1 projects and displays a projection image by the projector 9 on the determined place while hovering. If there is a space that can be landed, such as a desk, at a place suitable for projecting a projection image by the projector 9 to the determined place, the mobile projection device 1 will land at that place and the projector 9 may project the projection image to the determined place. In addition, after the projection, the surrounding situation can be determined, and the place can be moved up and down and left and right to adjust the place, or the place itself can be changed. For example, when it is difficult for the viewer to see, it moves to a place where it can be easily seen.

  The camera group 111 includes the cameras CM1 to CM5 described above. Each of the cameras CM <b> 1 to CM <b> 5 outputs captured image information of a moving image to the system bus 100. Identification information for identifying from which camera the captured image information is added to the captured image information sent from each of the cameras CM1 to CM5 to the system bus 100. Note that the captured image information from each of the cameras CM1 to CM5 may be captured image information of a still image at a predetermined time interval, for example, an interval of 0.5 seconds, instead of moving image captured image information.

  The guidance message memory 112 stores a guidance message for the mobile projection apparatus 1 to provide a service for providing a projection image, guidance for an image projected by the service, and selection of an image. .

  The image recognizing unit 113 recognizes a person and the number of persons from the photographed image information photographed by the cameras CM1 to CM5. The image recognition unit 113 also recognizes the obstacle to be avoided during the flight described above. The image recognizing unit 113 performs pattern matching processing on captured image information based on a comparison image for detecting a person stored in an image memory (not shown) and an image of an obstacle, thereby identifying the person and the number of persons. Recognize and recognize obstacles. The flight drive signal generation unit 109 generates a flight drive signal that avoids the recognized obstacle and moves in the air.

  In this embodiment, the image recognition unit 113 can project a projection image by the projector 9 stored in the moving space information memory 107 from an image of the surrounding environment captured by the cameras CM1 to CM5. It is also used to search for places such as the walls of buildings and the walls of outdoor buildings.

  The voice interface unit 114 has a function of supplying a voice signal collected by the microphone MC to the voice recognition unit 115. In addition, the voice interface unit 114 has a function of emitting sound for transmitting a guidance message voice to the viewer from the speaker SP in accordance with the control of the control unit 101. The microphone MC may be an omnidirectional microphone, but may be a directional microphone in order to collect only the sound uttered by the viewer.

  The projected image list memory 116 includes text information (for example, a title) indicating the contents of image information stored in the DVD loaded in the projector 9, a reproduction order number, a start point of a recording address on the DVD, A list of projection image information including end points is stored.

  The DVD stores text information (for example, a title) indicating the contents of the image information stored in the DVD stored in the projection image list memory 116, and image information of a list of reproduction order numbers. The projection image of the list is provided to the viewer.

  The guidance message voice stored in the guidance message memory 112 includes the explanation and guidance for the projection images in the list, and indicates the desired projection image from the list by the reproduction order number. A guide message is included.

  As will be described later, the control unit 101 receives the instruction voice of the reproduction order number of the desired projection image from the viewer through the microphone MC, recognizes the voice by the voice recognition unit 115, and recognizes the designated reproduction order number. To do. Then, the control unit 101 supplies a remote control signal from the remote control transmission unit 93 to the projector 9 for providing the projection image of the recognized reproduction order number as a projection image from the projector 9.

  A remote control transmission unit 93 is connected to the projector remote control interface 117. The remote control signal generation unit 118 stores a remote control signal for DVD. The control unit 101 calls the remote control signal of the projector 9 from the remote control signal generation unit 118 and transmits the remote control through the projector remote control interface 117. It is sent to the unit 93 and transmitted to the remote control receiving unit of the projector 9.

  In FIG. 2, the processing functions of the flight drive signal generation unit 109, the position / orientation control signal generation unit 110, the image recognition unit 113, and the voice recognition unit 115 can be realized by the control unit 101 as software processing functions. .

[Operation Flow of Mobile Projection Apparatus 1 of First Embodiment]
3 and 4 are flowcharts showing an example of the operation flow of the mobile projection apparatus 1 according to the first embodiment. In the following description, the control unit 101 uses the flight drive signal generation unit 109, the position / orientation control signal generation unit 110, the image recognition unit 113, and the voice recognition unit 115, and the control unit 101 uses the software processing function. The case will be described as being realized.

  First, the control unit 101 puts its own device in a standby state at the home position (step S101). In this standby state, the control unit 101 captures the line-of-sight range with the cameras CM1 to CM5, performs image recognition of the captured image, and visits a museum or theme park where the mobile projection device 1 is installed. Monitor visitors.

  And the control part 101 discriminate | determines whether the visitor was detected from the image recognition result of the picked-up image of camera CM1-CM5 (step S102), and when an attendant is not detected, it returns to step S101 and is in a standby state To maintain.

  When a visitor is detected in step S102, the control unit 101 flies and moves near the detected visitor (step S103). Then, the control unit 101 detects or confirms the number of viewers from the image recognition result of the captured images of the cameras CM1 to CM5 (step S104).

  Next, the control unit 101 recognizes whether or not an appropriate place for projecting a projection image for the detected number of visitors is near the visitor, based on the image captured by the cameras CM1 to CM5. It discriminate | determines based on a result and the memory | storage information of the movement space information memory 107 (step S105). In this step S105, when it is determined that there is no place suitable for projecting the projection image for the number of visitors in the vicinity of the visitor, the appropriate place is determined based on the information stored in the moving space information memory 107. The guidance message sound is emitted from the speaker SP so as to guide the visitor to a certain place, and is moved to the appropriate place for guidance (step S106). Note that the guidance method is not limited to voice, and a light (not shown) such as an LED may be mounted on the mobile projection apparatus 1 and guidance may be performed by turning on or blinking the light.

  When it is determined in step S105 that an appropriate place for projecting projection images for the number of visitors is near the attendee, or after the attendee is guided to an appropriate place in step S106. The control unit 101 determines an appropriate projection location and projection position according to the number of people and an appropriate screen size of the projection image according to the number of people (step S107). Then, the control unit 101 controls the projector 9 to project the projection image with the determined screen size at the projection position of the determined projection location, and emits a guidance message sound about the projected projection image from the speaker SP. Control is performed (step S108).

  At this time, the sound attached to the projection image is emitted from the speakers 9SL and 9SR of the projector 9, but the control unit 101 determines the screen size of the projection image according to the number of viewers. A remote control signal is transmitted to the projector 9 so that sound is emitted from the speakers 9SL and 9SR at a volume. That is, the sound volume from the speakers 9SL and 9SR is relatively small when the number of viewers is small and the screen size of the projection image is small, and the screen size is large when there are many viewers. The volume is set according to the screen size. Thereby, the sound volume from the speakers 9SL and 9SR is controlled to an appropriate value according to the number of viewers.

  Next, the control unit 101 monitors the voice recognition result of the voice collected by the microphone MC, and determines whether or not the desired voice from the viewer watching the projected projection image is detected. (Step S111 in FIG. 4). When it is determined in step S111 that the request voice from the viewer has been detected, the control unit 101 causes the projector 9 to project the projected image to be projected into a projection image according to the request from the viewer. A remote control signal is sent to make a change (step S112).

  When it is determined in step S111 that the desired voice from the viewer has not been detected, and after the projected image to be projected is changed in step S112, the control unit 101 determines the number of viewers. It is determined whether or not it has changed (step S113). When it is determined in step S113 that the number of viewers has changed, the control unit 101 determines whether or not the projection location and / or the screen size needs to be changed (step S114). If it is determined, the process returns to step S103, and the processes after step S103 are repeated. Note that various determination criteria can be set in step S114. For example, the screen size can be set to increase when the number of people increases, but the screen size cannot be reduced when the number of people decreases. In addition, frequent changes in projection location and screen size can result in fatigue, so it is possible to limit the number of changes and the change time.

  If it is determined in step S113 that the number of viewers has not changed, or if it is determined in step S114 that there is no need to change the projection location and / or the screen size, the control unit 101 stores the information in the DVD. It is determined whether or not to end the projection image providing service based on the fact that all of the image information that has been projected has been projected, or that the end-requested voice has been recognized by the viewer (step S115).

  If it is determined in step S115 that the projection image providing service is not terminated, the control unit 101 returns the process to step S108 and repeats the processes in and after step S108. If it is determined in step S115 that the projection image providing service is to be terminated, the control unit 101 sends an end remote control signal to the projector 9, then flies back to the standby position (step S116), and the process is performed. The process returns to S101 and enters a standby state.

[Example of Use of Mobile Projection Apparatus 1 of First Embodiment]
Next, FIG. 5 shows an example of a usage mode of the mobile projection apparatus 1 of the first embodiment described above. The example of FIG. 5 (A) shows a case where the number of visitors is one, and the example of FIG. 5 (B) shows a case where there are many visitors.

  As shown in FIG. 5A, when there is only one attendee HM, the control unit 101 of the mobile projection device 1 of this embodiment is in the vicinity of the attendee HM so that the attendee HM can easily see. The projection position is a height position that substantially coincides with the height position of the line of sight, and the screen size is determined to be a screen size that allows a single viewer to see the entire image at a glance. In the example of FIG. 5A, the projection location is the height position of the line of sight of the viewer HM near the viewer HM in the wall surface WL, and the position PS1 of the determined screen size portion. Has been.

  Then, the control unit 101 of the mobile projection apparatus 1 controls the apparatus to move to the determined height position and to hover at the determined height position, and controls the lens 9L by a remote control signal. The projector 9 is controlled so that the screen size is determined by the combination of the zoom processing by the projection and the projection distance. As a result, the projection image Pj1 having the determined screen size is projected and displayed on the place PS1 of the wall surface WL.

  Further, when the number of visitors HM is large as shown in FIG. 5B, the control unit 101 of the mobile projection device 1 causes the viewers to line up before and after the projection place PS. In consideration of the fact that the viewer is at the back, the projection position is set at a position higher (upward) than the horizontal direction of the viewer's line of sight, and the screen size is set to one person. Or a larger screen size than for small groups. In the example of FIG. 5B, the projection location is a height position that a large number of viewers HM look up in the wall surface WL, and is the location PS2 of the determined screen size portion.

  Then, the control unit 101 of the mobile projection apparatus 1 moves the own apparatus to the determined height position, controls the own apparatus 1 to hover at the height position, and controls the remote control signal. Thus, the projector 9 is controlled so that the screen size becomes the determined size by the combination of the zoom processing by the lens 9L and the projection distance. As a result, the projection image Pj2 having the determined screen size is projected and displayed at the location PS2 on the wall surface WL.

  The number of viewers is one at the time of starting projection of the projection image. However, when the number of viewers increases, the projection location (projection position) and / or the screen size is changed in accordance with the increase of the viewers. The control is performed as described in the flowchart above.

  In that case, when the wall surface WL includes an upper portion and a region corresponding to a wide screen size as the projection location of the projection image, like the wall surface WL in the example of FIG. 5, the projection location is different in the same wall surface WL. The position can be determined. However, when an appropriate region portion cannot be secured within the same wall surface WL as the projection location, it is necessary to move the projection location to another wall surface that can ensure an appropriate projection location. As described above. In the case of this movement, the control unit 101 of the mobile projection apparatus 1 of this embodiment may guide the movement by a guidance message voice to the viewer and guide the movement. As described in the flowchart.

[Second Embodiment]
In the first embodiment described above, the projection location (including different positions on the same wall surface) and the screen size of the projection image are changed according to the number of people, but the screen number of the projection image to be projected is changed. It may be. The second embodiment is an example of changing the number of screens of projection images to be projected according to the number of viewers, and changing the number of screens between one and two. It is an example when it is made possible to do.

  FIG. 6 is a front view of the mobile projection apparatus 1AB of the second embodiment, and corresponds to FIG. 1B of the first embodiment. A view of the mobile projection apparatus 1AB of the second embodiment viewed from above is the same as FIG. 1A. In the mobile projection apparatus 1AB of the second embodiment shown in FIG. 6, the same parts as those of the mobile projection apparatus 1 of the first embodiment described above are denoted by the same reference numerals, and the description thereof is omitted. .

  As shown in FIG. 6, the mobile projection apparatus 1AB of the second embodiment is mounted on a support base 92AB supported by a support column 91AB planted from the upper surface of the portion of the drive control unit 3 of the housing 6. It is fixed and provided. The projector 9A and the projector 9B are attached to the support base 92AB so as to be arranged in two upper and lower stages. Remote control transmitters 93A and 93B for remotely controlling the projectors 9A and 9B attached to the support base 92AB are respectively attached. Remote control transmitters 93A and 93B are attached to support base 92AB at a position where each remote control receiver (not shown) of projectors 9A and 9B can receive a remote control signal. Others are configured similarly to the first embodiment.

  The drive control unit of the mobile projection apparatus 1AB of the second embodiment is substantially the same as the configuration of the first embodiment of FIG. However, the remote control transmission units 93A and 93B are different from the configuration of FIG. 2 in that they are connected to the control unit 101 via a projector remote control interface.

  In the mobile projection apparatus 1AB of the second embodiment, when the number of viewers is one to a small number of people (the number of people in the front row is such that people in the front row do not interfere with viewing), The projector 9A projects a single projection image PjA (see FIG. 7). When there are a large number of viewers (the number of persons in the plurality of rows and the people in the front row interfere with viewing), as shown in FIG. 7, not only the lower projector 9A but also the upper projector 9B. The projection image PjB is also projected. Thereby, the viewer who is in the back can view the projection image PjB projected by the upper projector 9B without being disturbed by the viewer in the front row.

  Needless to say, the screen size of the projection image can also be changed in the mobile projection apparatus 1AB of the second embodiment. In that case, of course, the screen size of the projection image PjA by the projector 9A in the lower stage and the screen size of the projection image PjB by the projector 9B in the upper stage can be varied independently.

  In the second embodiment described above, the two projectors 9A and 9B are directed to the same optical axis direction, but may be arranged to face different optical axis directions. For example, one projector is mounted so that the front direction is the optical axis direction, but the other projector is the upper direction (ceiling direction) orthogonal to the front direction and the left and right direction is the optical axis direction. You may attach as follows.

  In the second embodiment described above, the example is the case of two projectors. However, the number of projectors may be three or more. For example, projectors may be installed in the upper, middle, and lower three stages.

[Third Embodiment]
The third embodiment is another example in which the number of screens of projection images to be projected is changed according to the number of viewers, and the number of screens can be changed between 1 and 3. This is the case.

  FIG. 8 is a view of the mobile projection apparatus 1CDE of the third embodiment as viewed from the front, and corresponds to FIG. 1B of the first embodiment. A view of the mobile projection apparatus 1CDE of the third embodiment viewed from above is omitted. In the mobile projection apparatus 1CDE of the third embodiment shown in FIG. 8, the same parts as those of the mobile projection apparatus 1 of the first embodiment described above are denoted by the same reference numerals, and the description thereof is omitted. .

  As shown in FIG. 6, the mobile projection apparatus 1 </ b> CDE of the third embodiment is mounted on a support base 92 </ b> CDE supported by a support column 91 </ b> CDE that is planted from the upper surface of the portion of the drive control unit 3 of the housing 6. It is fixed and provided. On the support base 92CDE, three projectors 9C, a projector 9D, and a projector 9E are attached so as to be arranged side by side on the same plane of the support base 92CDE. Of course, the arrangement method and the attachment method are not limited to this. For example, it may not be attached on the same plane, or may not be arranged side by side.

  Remote control transmitters 93C, 93D, and 93E for remotely controlling the projectors 9C, 9D, and 9E mounted side by side on the support base 92CDE are respectively attached. Remote control transmitters 93C, 93D, and 93E are attached to support base 92CDE at positions where each remote control receiver (not shown) of projectors 9C, 9D, and 9E can receive a remote control signal. Others are configured similarly to the first embodiment.

  The drive control unit of the mobile projection apparatus 1CDE of the third embodiment is substantially the same as the configuration of the first embodiment of FIG. However, remote control transmission units 93C, 93D, and 93E are different from the configuration of FIG. 2 in that they are connected to control unit 101 via projector remote control interfaces.

  In the mobile projection apparatus 1CDE of the third embodiment, when the number of viewers is one to a small number and is relatively centrally located in one place, the central projector 9C Projection image PjC is projected. If there are a large number of viewers who are scattered all over the place, as shown in FIG. 9, the projection image PjC by the central projector 9C and the projection images by the projectors 9D and 9E on both sides thereof are provided. Two screens with one of PjD and projection image PjE, or three screens with projection image PjC with central projector 9C and projection images PjD and projection image PjE with both projectors 9D and 9E on both sides are used. To. The control unit 101 determines whether to make two screens or three screens based not only on the number of viewers but also on the degree of concentration (scattering degree) based on the image recognition result of the captured images of the cameras CM1 to CM5. Judgment should be made accordingly.

  As a result, there are multiple groups of viewers that are scattered as a whole because they are concentrated in each group, or when there are only a single person or multiple couples scattered. In the case of (2), it is possible to allow all viewers to view the images satisfactorily by using two to three projection images. Further, not only image recognition of the photographed image but also the gaze of each viewer may be detected, the degree of concentration (scattering degree) of the viewer may be grasped, and the screen configuration may be considered.

  It goes without saying that the screen size of the projection images PjC, PjD, and PjE can be changed also in the mobile projection apparatus 1CDE of the third embodiment. In that case, of course, each of the projection images PjC, PjD, and PjE can be varied independently.

  In the third embodiment described above, the three projectors 9C, 9D, and 9E are directed to the same optical axis direction, but may be arranged to face different optical axis directions. . For example, one projector is mounted so that the front direction is the optical axis direction, while the other two projectors are the upper direction (ceiling direction) orthogonal to the front direction and the left and right directions are the optical axis direction. You may attach as follows.

  In the third embodiment described above, the example is the case of three projectors, but the number of projectors may be two or four or more.

  Furthermore, upper and lower two-stage projectors as in the second embodiment described above may be installed on the left and right.

[Fourth Embodiment]
In the above-described embodiment, the mobile projection device stands by as a waiting place at a position where the attendee can be seen, and when the attendee is detected, the mobile projection apparatus moves by flying to the detected attendee and provides a projection image. To do. In the fourth embodiment described below, in response to a call from the viewer, the location of the viewer who made the call is detected and moved to that location to provide a projection image. To do.

  The mobile projection apparatus according to the fourth embodiment described below includes a configuration that takes into account the case where the viewer is a foreigner.

  Before describing an example of the configuration of the mobile projection apparatus of the fourth embodiment, an example of an environment in which the mobile projection apparatus of the fourth embodiment is used will be described with reference to FIG.

  The example of FIG. 10 is a case where it is assumed that the mobile projection apparatus 1F of the fourth embodiment provides various guides as projection images in a museum. The art museum in this example has a plurality of exhibition spaces partitioned by walls. That is, as shown in FIG. 10, the art museum in this example includes a plurality of exhibition spaces including a Western painting space 201, a Japanese painting space 202, a drawing space 203, a sculpture space 204, a special exhibition space 205, and a pottery space 206. An entrance hall 207 is provided. The visitors can enter the entrance hall 207 through the gate 209 by purchasing the ticket at the outside ticket office 208 and presenting the ticket at the gate 209.

  The entrance hall 207 is provided with a standby base 210 for a mobile projection device, and the standby base 210 is configured to wait for a plurality of mobile projection devices 1F of the fourth embodiment. . Of course, one mobile projection apparatus 1F can be configured to stand by, or two or more, for example, 100 or more may stand by.

  The foreign-type space 201, the Japanese-style space 202, the calligraphic space 203, the sculpture space 204, the special display space 205, the pottery space 206, and the entrance hall 207, respectively, have visitors enter the mobile projection device 1F of the fourth embodiment. Call posts 211, 212, 213, 214, 215, 216, and 217 for sending call signals for calling are installed.

  Each of the call posts 211, 212, 213, 214, 215, 216, 217 includes call buttons 211BT, 212BT, 213BT, 214BT, 215BT, 216BT, and 217BT. When a call button 211BT, 212BT, 213BT, 214BT, 215BT, 216BT, or 217BT is pressed by a visitor (viewer), the call post including the pressed call button includes identification information for identifying itself. A call signal is sent out.

  As will be described later, the mobile projection apparatus 1F includes a communication unit that receives call signals from the call posts 211 to 217. Then, the mobile projection device 1F recognizes which call post the call signal is from the identification information included in the received call signal, and a visitor in the space where the recognized call post is installed. It moves by flying to the side (hereinafter referred to as a viewer) to provide a projection image. In this example, the call posts 211 to 217 and the plurality of mobile projection apparatuses 1F are connected by a wireless LAN of Wi-Fi (registered trademark) standard.

  Next, a configuration example of the mobile projection device 1F according to the fourth embodiment will be described. The mobile projection apparatus 1F of the fourth embodiment described below is mechanically configured in the same manner as the mobile projection apparatus 1 of the first embodiment in which one projector is mounted. The mobile projection apparatus 1F of the fourth embodiment is partially different from the mobile projection apparatus 1 of the first embodiment in the configuration of the drive control unit. In the following description of the mobile projection apparatus 1F of the fourth embodiment, the same parts as those of the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  FIG. 11 is a block diagram illustrating a configuration example of the drive control unit 10F of the mobile projection device 1F according to the fourth embodiment. As shown in FIG. 11, the drive control unit 10 </ b> F includes a communication unit 121 and a foreign language determination unit 122.

  The communication unit 121 includes a wireless communication function for performing the above-described wireless LAN communication. When the communication unit 121 receives a call signal from any of the call posts 211 to 217, the communication unit 121 extracts the call post identification information included in the received signal and sends it to the control unit 101 through the system bus 100.

  The moving space information memory 107 of the drive control unit 10F stores moving space information including a plurality of exhibition spaces 201 to 206 and an entrance hall 207 of the museum shown in FIG. The correspondence information between the identification information and the position information of the call posts 211 to 217 installed in the entrance halls 207 is stored.

  When the control unit 101 receives the identification information of the call post from the communication unit 121, the control unit 101 uses the correspondence information between the identification information of the call posts 211 to 217 and the position information stored in the moving space information memory 107 to display the display space 201. Whether the call signal is received from 206 or the entrance hall 207 is determined and recognized. Then, the control unit 101 causes the flight drive signal generation unit 109 to generate a flight drive signal for flying to any one of the exhibition spaces 201 to 206 and the entrance hall 207 where the recognized call post exists, and the aerial flight mechanism The unit 2 is controlled to execute the flight movement. Note that the control unit 101 of the mobile projection apparatus 1F that has received the call signal and started moving in response to the call does not receive another call signal from the start of movement until returning to the standby base 210. As described above, the communication unit 121 is controlled to be in a sleep state or a stopped state.

  The foreign language determination unit 122 is based on the voice recognition result in the voice recognition unit 115 for the voice signal picked up by the microphone MC when moving to the vicinity of the viewer to provide a projection image. If you are a foreigner, determine which language you are using.

  The DVD loaded in the mobile projection apparatus 1F of the fourth embodiment includes not only image information and audio information in Japanese but also image information and audio information of the same program content. For example, English, Spanish The image information and sound information in French, German, Chinese, and Korean are stored in association with the identification information of the language used. As program contents, image information and audio information of guidance to be provided to viewers in the exhibition spaces 201 to 206 and the entrance hall 207 are associated with identification information of the exhibition spaces 201 to 206 and the entrance hall 207, respectively. Stored.

  If it is determined that the language used by the viewer is a foreign language other than Japanese, but it is determined that the language does not match any of the prepared languages, it will be provided to the viewer The user selects a language to be used and provides the selected language.

  In the projection image list memory 116, in the mobile projection apparatus 1F of the fourth embodiment, guidance image information and audio information to be provided to viewers in the exhibition spaces 201 to 206 and the entrance hall 207 are stored. The correspondence information between the identification information and the address information on the DVD is stored, and the identification information of the image information and the sound information corresponding to a plurality of languages used for the image information and the sound information of the same program content And correspondence information with the storage address on the DVD is stored.

  The rest of the configuration is the same as that of each part of the drive control unit 10 of the mobile projection apparatus 1 of the first embodiment shown in FIG. The processing function of the foreign language determination unit 122 can be realized by the control unit 101 as a software processing function.

[Flow of Operation of Mobile Projection Apparatus 1F of Fourth Embodiment]
12 and 13 are flowcharts showing an example of the operation flow of the mobile projection device 1F of the fourth embodiment. In the following description, the control unit 101 controls the processing functions of the flight drive signal generation unit 109, the position / attitude control signal generation unit 110, the image recognition unit 113, the voice recognition unit 115, and the foreign language determination unit 122. An explanation will be given assuming that this is realized as a software processing function.

  First, the control unit 101 puts its own device in a standby state at the home position (step S201). In this standby state, the control unit 101 puts the communication unit 121 into an operating state and monitors the reception of the calling signal at the communication unit 121.

  And the control part 101 discriminate | determines whether reception of the call signal through the communication part 121 was detected (step S202), and when reception of a call signal is not detected, it returns to step S201 and maintains a standby state. .

  When the reception of the call signal is detected in step S202, the control unit 101 recognizes the identification information of the call post that has transmitted the received call signal, and detects and recognizes the position of the call post (step S203). Then, the control unit 101 moves to one of the exhibition spaces 201 with the recognized call post or the entrance hall 207 (step S204). Prior to this movement, the control unit 101 controls the communication unit 121 to be in a sleep state or a stopped state so as not to respond to other call signals.

  When the control unit 101 moves to any one of the exhibition spaces 201 having the call post that has transmitted the call signal or the entrance hall 207, the control unit 101 recognizes the viewer who has called the camera from the captured images of the cameras CM1 to CM5, and recognizes the recognition. A guidance message sound for guiding the place where the projection image is projected to the viewers (including a plurality of persons) is emitted from the speaker SP, and the viewer is guided to the projection place (step S205).

  Then, the control unit 101 detects or confirms the number of viewers from the image recognition result of the captured images of the cameras CM1 to CM5 (step S206).

  Next, the control unit 101 determines an appropriate projection location and projection position according to the number of people, and an appropriate screen size of the projection image according to the number of people (step S207). Next, the control unit 101 determines the language used by the viewer from the voice recognition result of the voice information collected by the microphone MC, and selects the language used for the provided voice (step S208). As described above, as described above, when the language used by the viewer cannot be determined, the viewer selects the language used. This language selection by the viewer can also be performed by voice recognition.

  Next, the control unit 101 controls the own apparatus to project a projection image with the determined screen size at the projection position of the determined projection location, and releases a guidance message voice about the projected projection image from the speaker SP. Make a sound (step S209). The guidance message voice used at this time is in the language used in step S208. The volume of the sound provided from the speakers 9SL and 9SR of the projector 9 together with the display of the projection image is set according to the number of viewers (or the screen size of the projection image), as in the first embodiment. The

  Next, the control unit 101 monitors the voice recognition result of the voice collected by the microphone MC, and determines whether or not the desired voice from the viewer watching the projected projection image is detected. (Step S211 in FIG. 13). When it is determined in step S211 that the request voice from the viewer has been detected, the control unit 101 causes the projector 9 to set the projection image to be projected as a projection image according to the request from the viewer. A remote control signal is sent to make a change (step S212).

  When it is determined in step S211 that the desired voice from the viewer has not been detected, and after the projection image to be projected is changed in step S212, the control unit 101 determines the number of viewers. It is determined whether or not it has changed (step S213). When it is determined in step S213 that the number of viewers has changed, the control unit 101 determines whether or not the projection location and / or the screen size needs to be changed (step S214). If it is determined, the process returns to step S207, and the processes after step S207 are repeated. Note that the discrimination criterion in step S214 can be variously set in the same manner as the discrimination criterion in step S114.

  If it is determined in step S213 that the number of viewers has not changed, or if it is determined in step S214 that there is no need to change the projection location and / or the screen size, the control unit 101 stores the information in the DVD. It is determined whether or not the projection image providing service is to be terminated based on the projection of all the image information that has been projected or the recognition of the termination request voice from the viewer (step S215).

  If it is determined in step S215 that the projection image providing service is not terminated, the control unit 101 returns the process to step S209 and repeats the processes in and after step S209. When it is determined in step S215 that the projection image providing service is to be terminated, the control unit 101 sends an end remote control signal to the projector 9 and then flies back to the standby position (step S216) to enter the sleep state or The communication unit 121 that has been in the stopped state is returned to the operating state, and is returned to a state in which the calling signal can be received (step S217). And the control part 101 returns a process to step S201, and will be in a standby state.

  According to the above-described fourth embodiment, the mobile projection device 1F moves in flight to the location in response to a call from a location where the device cannot be seen, and the number of persons is shown to the viewer. A projection image can be provided at a projection location and a screen size corresponding to. Further, when the viewer is a foreigner and the language used is available in advance, the guidance message voice and the voice information accompanying the projection image can be provided in the language used. There is also an effect.

[Other Embodiments or Modifications]
In the above example, the projection location to be determined does not consider the visibility of the projection image at that location, but for example, in the case of the outdoors and in direct sunlight, the projection image is displayed at the location. May cause difficulty in viewing the image. The control unit 101 may be configured to consider such a case. That is, the control unit 101 detects the brightness (illuminance) of a portion to which an image such as a wall surface of a place where a projection image is to be determined is projected, and the brightness is easy to view the projection image. It is determined whether or not the value is equal to or less than a predetermined threshold considering the above. If the brightness of the location is equal to or less than the predetermined threshold, the control unit 101 determines the location as a projection location and uses it as a location for projecting a projection image. On the other hand, if the brightness of the location is brighter than the predetermined threshold, the control unit 101 does not determine the location as the projection location, but searches for another appropriate projection location.

  When there are parts with different brightness in the same wall, and the area of the part whose brightness is less than or equal to the predetermined threshold is larger than the screen size of the projection image of the projection image, It is also possible to determine the portion as a projection location. For example, if there is a shadow area part with a predetermined width and a brightness below the threshold due to the shadow of an adjacent building, etc., on a wall that is in direct sunlight, the projection is in that shadow area part. Since an image can be projected, the shadow area portion can be determined as a projection location.

  In the above embodiments, in the mobile projection apparatus, the projector is fixed directly to the support base so as not to move. However, the projector may be mounted and fixed on a rotating table that rotates in the horizontal direction provided on the support table. In that case, the mobile projection device itself maintains the hovering state rather than moving or rotating the mobile projection device itself in the horizontal direction to move the projection position of the projection image in the horizontal direction. In this manner, the projection position of the projection image can be moved in the horizontal direction by rotating the rotating table provided on the support table to rotate the projector.

  Also, on the support base, the direction of the optical axis of the projector is directed downward (the direction of the dip) from the plane parallel to the bottom face of the support base, or above the plane parallel to the bottom face of the support base (elevation angle). A tilt mechanism that can be oriented in the same direction) is provided, and the projector is fixed to the tilt mechanism, and the control unit 101 controls the tilt mechanism to move the projection position of the projection image in the vertical direction. You may comprise.

  In the above-described embodiment, the projector 9 includes the DVD drive for reproducing the image information and the audio information stored in the DVD and providing the projection image and the accompanying sound. However, the projector 9 is not limited to the DVD drive. Alternatively, it may be provided with a BD (Blu-ray Disc), HDD (Hard Disk Drive), or SSD (Solid State Drive). In addition, a flash memory such as a USB or SD card may be provided. Furthermore, you may make it acquire image information and audio | voice information from the cloud on the internet.

  In the above-described embodiment, the projector 9 is provided as a separate body from the housing 6. However, it is needless to say that the projector 9 may be incorporated into the housing 6. In this case, the remote control transmission unit and the projector remote control I / F attached to the housing 6 and the remote control reception unit attached to the projector 9 are not necessary.

  In the above-described embodiment, the projector has a function of reproducing image information and audio information from the storage medium. However, the projector is not limited to this. For example, the mobile projection apparatus can be configured to receive projection image information and audio information sent from the outside by wireless communication, project them by a projector, and have a function of reproducing sound. . In that case, the projection image information and audio information sent from the outside may be selected and received by the mobile projection device from those sent in the broadcast format, or the mobile projection device may By making a request to the providing server, projection image information and audio information corresponding to the request may be acquired from the providing server.

  In the above-described embodiment, the aerial flight mechanism unit 2 of the mobile projection device has been described as an example of a helicopter type mechanism unit having four rotary wing mechanisms. However, the number of rotary wing mechanisms may be three or less. Five or more may be sufficient. Furthermore, it is not limited to a helicopter type mechanism, but may be an airplane type mechanism.

  In the above-described embodiment, the number of cameras in the camera group 111 is five and the number of microphones is one. However, the number is not limited. Various positions where a camera and a microphone are provided are also conceivable. The camera may be a standard camera, a wide angle camera, a fisheye camera, or a 360 degree camera. Moreover, a telephoto camera, an infrared camera, etc. may be used. Of course, these cameras may be used in combination.

  Of course, there may be a plurality of gyro sensors, geomagnetic sensors, altitude sensors, and obstacle sensors.

  In addition, in the case of a mobile projection apparatus that is expected to be used outdoors, it is desirable to use a waterproof specification. When the waterproof specification is not sufficient, the mobile projection device needs to take a countermeasure such as waiting in rain or snow when it is raining or snowing, and not flying. In addition, if the mobile projection device becomes rain or snow during the flight, or if it detects the possibility of rain or snow, the mobile projection device will land immediately where it will not be exposed to rain or snow, Ask for instructions from the communicator. In this case, rainfall or snowfall is detected by a rainfall sensor or a snowfall sensor. In addition, when the mobile projection apparatus is equipped with an umbrella, the umbrella may be used during rainfall or snowfall. In addition, the mobile projection device can measure wind force or wind speed, and if the wind is strong, the possibility of an accident occurring is high, so it may not fly outdoors.

  In addition, the mobile projection apparatus can of course be modified in various ways due to its mechanism.

DESCRIPTION OF SYMBOLS 1,1AB, 1CDE, 1F ... Mobile projection apparatus, 2 ... Aerial flight mechanism part, 9, 9A, 9B, 9C, 9D, 9E ... Projector, 101 ... Control part, 111 ... Camera, 113 ... Image recognition part

Claims (10)

An aerial flight mechanism for flying in the air;
A projector unit for forming a projection image;
A camera for photographing a viewer who views the projection image;
A number detection unit for detecting the number of viewers from the captured image of the camera;
A control unit for controlling the projector unit so as to determine a location for displaying the projection image according to the number of viewers detected by the number of people detection unit, and to display the projection image at the determined location; ,
A mobile projection apparatus comprising: The control unit determines the size of the projection image according to the number of the viewers detected by the number of people detection unit, and displays the projection image of the determined size so that the projector unit is displayed. The mobile projection apparatus according to claim 1, wherein the mobile projection apparatus is controlled. The control unit determines the number of projection images according to the number of viewers detected by the number of people detection unit, and controls the projector unit to display the determined number of projection images. The mobile projection apparatus according to claim 1 or 2, wherein The mobile projection apparatus according to claim 3, wherein
When the determined number of projected images is plural, a plurality of projected images are projected vertically according to the number of viewers detected by the number detection unit. apparatus. The mobile projection apparatus according to claim 3, wherein
When the determined number of projected images is plural, a plurality of projected images are projected in the left-right direction according to the number of viewers detected by the number-of-people detection unit. apparatus. The said control part is controlled to change the distance from the said projector part to the said projection image according to the number of said viewers detected by the said number detection part. The mobile projection apparatus according to any one of the above. 2. When the presence of the viewer is detected from a captured image of the camera, the projector moves to the vicinity of the detected viewer and the projection image is displayed by the projector unit. The mobile projection apparatus according to claim 6. A communication means for receiving call information;
8. The projection image is displayed by the projector unit by moving to the vicinity of the viewer who has transmitted the call information based on the position information included in the call information. The mobile projection apparatus according to any one of the above. The number of the viewers during display of the projection image is monitored, and the projection location and / or the size of the projection image is changed according to a change in the number of viewers. The mobile projection apparatus according to claim 1. Means for emitting a sound related to the projection image by the projector unit, and a volume of the sound related to the projection image is a volume according to the number of people detected by the number of people detection unit. The mobile projection apparatus according to claim 1.

Images