JP2023068493A - Mobile projection device, mobile projection system, control method for mobile projection device, and control program - Google Patents

Abstract

To provide a mobile projection device, a mobile projection system, a control method for the mobile projection device, and a control program, which are capable of appropriately projecting light of a pattern representing indication contents according to position information etc. of the device to a target person such as a person in distress.SOLUTION: A mobile projection device comprises: a position information acquisition unit that acquires position information of the device itself; a direction detection unit that detects an orientation of the device; an imaging unit for imaging a surrounding of the device; a movement control unit for moving the device to a designated area based on the position information of the device; a projection unit that projects light; and a projection control unit that uses the projection unit to project the light of a pattern determined based on the position information and the orientation of the device onto an area visible to a target person in the case where the target person is identified from the captured image of the imaging unit in the designated area.SELECTED DRAWING: Figure 2

Description

The present invention relates to a mobile projection device, a mobile projection system, a control method for a mobile projection device, and a control program.

In recent years, for example, systems have been developed for providing information such as evacuation routes from aircraft such as drones to victims in mountainous areas and evacuees at the time of a disaster.

A related technique is disclosed in Patent Document 1, for example. The unmanned aerial vehicle disclosed in Patent Document 1 includes a self-position detection unit that detects the position of the self-aircraft, a flight control unit that controls the flight of the self-aircraft, and an unmanned guided vehicle that travels along a guidance route. and a projection unit that projects the image of the guidance route onto the road surface.

Japanese Patent Application Laid-Open No. 2020-013429

In Patent Document 1, after an unmanned flying object projects a guidance route for an unmanned guided vehicle according to its own position information onto a road surface, the unmanned flying vehicle projects the guidance route projected onto the road surface by the unmanned flying object. It detects and travels along the detected guidance route. That is, the unmanned flying object projects a guidance route for the unmanned carrier on the road surface according to the position information of the unmanned carrier, regardless of whether or not the unmanned guided vehicle is traveling close enough to detect the guidance route. ing. Therefore, with the configuration of Patent Literature 1, there is a possibility that information such as an evacuation route cannot be appropriately projected in an area that can be visually recognized by a target person such as a victim or an evacuee.

One object of the present disclosure is to provide a mobile projection device, a mobile projection system, a mobile projection device control method, and a control program that solve the above-described problems.

According to one embodiment, a mobile projection device includes a position information acquisition unit that acquires position information of the device, a direction detection unit that detects the orientation of the device, and an imaging unit that captures an image of the surroundings of the device. a movement control unit for moving the device to a designated area based on the position information acquired by the position information acquisition unit; a projection unit for projecting light; When the target person is identified from the image, using the projection unit, based on the position information of the device acquired by the position information acquisition unit and the orientation of the device detected by the direction detection unit and a projection control unit for projecting the determined pattern of light onto an area visible to the target person.

According to one embodiment, a control method for a mobile projection device includes the steps of: moving the device to a designated area based on position information of the device acquired by a position information acquisition unit; a step of capturing an image of the surroundings of the device by an imaging unit in the area obtained by the imaging unit; and projecting light of a pattern determined based on the position information and the orientation of the device detected by the direction detection unit onto an area visible to the target person.

According to one embodiment, the control program moves the device to a specified area based on the position information of the device acquired by the position information acquisition unit; When a target person is identified from the captured image of the image pickup unit, the position information of the own device acquired by the position information acquisition unit using the projection unit, and the direction A computer is caused to execute a process of projecting light of a pattern determined based on the orientation of the device detected by the detection unit onto an area visible to the target person.

According to the above-described embodiment, a mobile projection device capable of appropriately projecting a pattern of light representing indication content according to the position information of the device to a target person such as a victim. A projection system, a control method for a mobile projection device, and a control program can be provided.

1 is a block diagram showing a configuration example of a mobile projection system according to a first embodiment; FIG. 2 is a block diagram showing a configuration example of a mobile projection device provided in the mobile projection system shown in FIG. 1; FIG. 3 is a block diagram showing a specific example of a projection unit provided in the mobile projection device shown in FIG. 2. FIG. 1 is a diagram schematically showing part of the mobile projection device according to the first embodiment; FIG. 4 is a flow chart showing the operation of the mobile projection device according to the first embodiment; 4 is a conceptual diagram for explaining the operation of the mobile projection device according to the first embodiment; FIG. 4 is a conceptual diagram for explaining the operation of the mobile projection device according to the first embodiment; FIG. 4 is a conceptual diagram for explaining the operation of the mobile projection device according to the first embodiment; FIG. 2 is a block diagram showing a hardware configuration example of a control function of the mobile projection device in the mobile projection system according to the first embodiment; FIG.

Hereinafter, embodiments will be described with reference to the drawings. Since the drawings are simplified, the technical scope of the embodiments should not be narrowly interpreted based on the description of the drawings. Also, the same elements are denoted by the same reference numerals, and overlapping descriptions are omitted.

For the sake of convenience, the following embodiments will be divided into a plurality of sections or embodiments when necessary. However, unless otherwise specified, they are not unrelated to each other, and one is a part or all of the other in terms of modified examples, application examples, detailed explanations, supplementary explanations, and the like. In addition, in the following embodiments, when referring to the number of elements (including the number, numerical value, amount, range, etc.), when it is particularly specified, when it is clearly limited to a specific number in principle, etc. Except, it is not limited to the specific number, and may be more or less than the specific number.

Furthermore, in the following embodiments, the constituent elements (including operation steps and the like) are not necessarily essential, unless otherwise specified or clearly considered essential in principle. Similarly, in the following embodiments, when referring to the shape, positional relationship, etc. of components, etc., unless otherwise specified or in principle clearly considered otherwise, the shape is substantially the same. It shall include things that are similar or similar to, etc. This also applies to the above numbers and the like (including numbers, numerical values, amounts, ranges, etc.).

<Embodiment 1>
FIG. 1 is a block diagram showing a configuration example of a mobile projection system 1 according to a first embodiment. When the mobile projection device provided in the mobile projection system 1 identifies a target person (such as a victim being searched for) from the captured image of the imaging unit, the type of display content (for example, evacuation An arrow indicating a direction) is adjusted based on the position information and orientation of the device, and projected onto an area visible to the target person. In other words, when the mobile projection device identifies a target person (such as a victim being searched for) from the captured image of the imaging unit, the display content determined based on the position information and orientation of the device itself is displayed. The patterned light is projected onto an area visible to the target person. Thereby, the target person can get out of the distress area and reach the target position, for example, by moving along the direction of the arrow represented by the projected light pattern. Lasers are dangerous if they get into your eyes, so it is desirable that the laser is projected while avoiding the human body so that the lasers do not get into your eyes when you look up at the drone above your head. A specific description will be given below.

As shown in FIG. 1 , the mobile projection system 1 includes at least a mobile projection device 11 , a management device 12 and a network 50 . The mobile projection device 11 and the management device 12 are configured to be able to communicate with each other via the network 50 . Note that the management device 12 may be incorporated in the mobile projection device 11 .

The mobile projection device 11 is, for example, a flying object such as a drone, and is configured to be movable over a designated area in response to an instruction from the management device 12 . In the present embodiment, a case where the mobile projection device 11 is a flying object such as a drone will be described as an example. It may be a simple vehicle or a mobile robot.

FIG. 2 is a block diagram showing a configuration example of the mobile projection device 11. As shown in FIG.
As shown in FIG. 2 , the mobile projection device 11 includes at least a position information acquisition section 111 , a direction detection section 112 , a control section 113 , an imaging section 114 and a projection section 115 . Hereinafter, the mobile projection device 11 is also simply referred to as the own device.

The position information acquisition unit 111 is, for example, a GPS (Global Positioning System) sensor, and is configured to be able to acquire position information of the mobile projection device 11 .

The direction detection unit 112 is, for example, a direction sensor such as a geomagnetic sensor or a gyro sensor, and is configured to detect the direction of the mobile projection device 11 .

The image capturing unit 114 is a so-called camera, and captures an image of the surroundings of the mobile projection device 11 . In this embodiment, since the mobile projection device 11 is a flying object such as a drone, the imaging unit 114 captures an image of the area below the mobile projection device 11 in flight. Note that the imaging unit 114 may be an infrared camera capable of imaging even at night.

The projection unit 115 projects light of a pattern representing the designated indication content onto the designated area. Details of the projection unit 115 will be described later.

The control unit 113 controls each function of the mobile projection device 11 according to instructions from the management device 12 . Specifically, the controller 113 includes at least a movement controller 1131 and a projection controller 1132 .

The movement control unit 1131 controls movement of the mobile projection device 11 according to instructions from the management device 12 . Specifically, the movement control unit 1131 moves the mobile projection device 11 to the sky above the area specified by the management device 12 while referring to the position information of the mobile projection device 11 acquired by the position information acquisition unit 111 . let it fly Here, the specified area is, for example, an area around a person in distress in a mountainous area (distress area) or an area around an evacuee who is evacuating at the time of a disaster (evacuation area). Such area information is input to the management device 12 by, for example, an administrator's (user's) operation.

The projection control unit 1132 controls light projection by the projection unit 115 according to instructions from the management device 12 .

Specifically, when a target person (for example, a victim being searched for) is identified by image analysis of the image captured by the imaging unit 114, the projection control unit 1132 displays the type of display content specified by the management device 12. , is adjusted based on the position information and orientation of the mobile projection device 11, and then projected onto an area visible to the target person using the projection unit 115. FIG. Here, the area where the target person can visually recognize is an area that is close to the target person so that the target person can visually recognize the projected light, and an area that does not become a blind spot of the target person, and the projection surface is a smooth ground or a wall. is preferred.

The image analysis of the image captured by the imaging unit 114 may be performed by the projection control unit 1132 or by an image analysis unit (not shown) provided separately in the mobile projection device 11 .

For example, the projection control unit 1132 uses the projection unit 115 to project light in a pattern representing an arrow indicating the direction in which the target person should move, which is determined based on the position information and orientation of the mobile projection device 11. , projected onto an area where the target person can be seen.

More specifically, the projection control unit 1132 moves the target person from the current position to the target position based on map information stored in a database (not shown) and the position information and orientation of the mobile projection device 11. After determining the movement route (for example, the distress route of the victim), the target person uses the projection unit 115 to use the projection unit 115 to use the pattern of light that indicates the direction of movement along the determined movement route. Project to the possible area.

Note that when an obstacle is specified in the area around the target person from the captured image of the imaging unit 114, the projection control unit 1132 emits light in a pattern representing an arrow indicating a moving direction to avoid the obstacle. , the projection unit 115 may be used to project onto an area in which the target person can be visually recognized. Here, the obstacles are objects that hinder the movement of the victim, such as rivers, rocks, cliffs, and dense vegetation.

In addition, the projection control unit 1132 controls the projection control unit 1132 when the illuminance of the imaging range by the imaging unit 114 is lower than a predetermined illuminance at night or the like (that is, when the brightness of the imaging range by the imaging unit 114 is darker than the predetermined brightness). A light (not shown) that illuminates the surroundings may be used to illuminate a range that includes part or all of the range captured by the imaging unit 114 . As a result, the illuminance of the imaging range of the imaging unit 114 becomes equal to or higher than the predetermined illuminance, so that the subject (victim and its surrounding environment) imaged by the imaging unit 114 can be specified.

FIG. 3 is a block diagram showing a specific configuration example of the projection unit 115. As shown in FIG. 4 is a diagram schematically showing the projection section 115 of the mobile projection device 11. As shown in FIG. 4 also shows a power source 116, which is the power source of the mobile projection device 11. As shown in FIG.

The projection unit 115 includes at least a light source 1151 , an optical spatial phase modulator 1152 and an optical system 1153 . The light source 1151 emits coherent light that is in phase and has a specific wavelength in the visible region. For example, the light source 1151 emits visible laser light. As a result, it becomes visible not only at night but also during the day. Light emitted from the light source 1151 is incident on the optical spatial phase modulator 1152 . The optical spatial phase modulator 1152 modulates the light emitted from the light source into a pattern according to the instructions from the projection control section 1132 . The optical system 1153 is configured by a combination of lenses, reflecting mirrors, prisms, etc., and projects the light modulated by the optical spatial phase modulator 1152 onto an area visible to the target person. Here, the projection unit 115 can change the pattern of projected light by adjusting the modulation degree of the optical spatial phase modulator 1152 .

(Operation of mobile projection device 11)
Next, the operation of the mobile projection device 11 in the mobile projection system 1 will be described with reference to FIGS. 5 to 8. FIG. FIG. 5 is a flow chart showing the operation of the mobile projection device 11. As shown in FIG. 6 to 8 are conceptual diagrams for explaining the operation of the mobile projection device 11. FIG. In the present embodiment, a case where the victim TG being searched, who is the target person, is in distress in the distress area A1 in the mountainous area will be described as an example.

First, the mobile projection device 11 receives an instruction from the management device 12 and moves to the distress area A1 while referring to its own position information acquired by the position information acquisition unit 111 (steps S101→S102). .

When the mobile projection device 11 reaches the sky above the distress area A1, it stops above an arbitrary area of the distress area A1 that has not yet been imaged by the imaging unit 114 (step S103).

Here, when the illuminance of the imaging range by the imaging unit 114 is lower than the predetermined illuminance (YES in step S104), the mobile projection apparatus 11 adjusts the projection range to include part or all of the imaging range by the imaging unit 114. A broad pattern of light is projected (step S105). As a result, the illuminance of the imaging range of the imaging unit 114 becomes equal to or higher than the predetermined illuminance, so that the subject (victim and its surrounding environment) imaged by the imaging unit 114 can be specified. Note that when the illuminance of the imaging range by the imaging unit 114 is equal to or higher than the predetermined illuminance (NO in step S104), there is no need to project light.

After that, the mobile projection apparatus 11 performs imaging by the imaging unit 114 (step S106).

For example, if the victim TG is not identified from the captured image of the imaging unit 114 (NO in step S107; see FIG. 6), the mobile projection device 11 moves within the distress area A1 (step S108). Then, after stopping above an arbitrary area of the distress area A1 that has not yet been imaged by the imaging unit 114 (step S103), the processing of steps S104 to S107 is performed again.

Then, when the victim TG is specified from the captured image of the imaging unit 114 (YES in step S107; see FIG. 7), the mobile projection device 11 displays the type of display content specified by the management device 12. The patterned light is adjusted based on the positional information and orientation of the device itself, and projected onto an area visible to the victim TG (step S109).

For example, the mobile projection device 11 determines an evacuation route from the current position of the victim TG to the target position based on the map information stored in the database (not shown) and the position information and orientation of the device itself. Then, light having a pattern representing an arrow indicating the movement direction (evacuation direction) along the determined evacuation route is projected onto an area visible to the victim TG (see FIG. 8). In addition, the mobile projection device 11 moves along with the movement of the victim TG, and projects light in a pattern representing an arrow indicating the direction of movement along the distress route to an area visible to the victim TG. can be projected. As a result, the victim TG can escape from the distress area A1 and reach the target position (for example, the foot of the mountain) by moving along the direction of the arrow.

In this way, when the mobile projection device according to the present embodiment identifies a target person (such as a victim being searched for) from the captured image of the imaging unit, the display content of the type specified by the management device (for example, An arrow indicating an evacuation direction) is adjusted based on the position information and orientation of the device, and projected onto an area visible to the target person. In other words, when the mobile projection device according to the present embodiment identifies a target person (such as a victim being searched for) from the captured image of the imaging unit, A pattern of light representing the content of the indication is projected onto an area visible to the target person. Thereby, the target person can get out of the distress area and reach the target position, for example, by moving along the direction of the arrow represented by the projected light pattern.

In the present embodiment, the case where the mobile projection device 11 projects light in a pattern representing an arrow indicating the direction of movement has been described as an example, but the present invention is not limited to this. A pattern of light representing a figure may be projected.

Also, in the present embodiment, the case where the target person is a distressed person in a mountainous area or the like has been described as an example, but the present invention is not limited to this. The target person may be a person in any situation that requires obtaining information from the light pattern projected by the mobile projection device 11 .

(Hardware Configuration of Control Function of Mobile Projection Device 11)
Control processing of the mobile projection device 11 realized by the mobile projection system 1, specifically, control processing of the mobile projection device 11 by the management device 12, and control provided in the mobile projection device 11 One or both of the control processing by the unit 113 can be realized by a general-purpose computer system. A brief description will be given below with reference to FIG.

FIG. 9 is a block diagram showing an example of the hardware configuration of the control functions of the mobile projection device 11. As shown in FIG. The computer 100 includes, for example, a CPU (Central Processing Unit) 101 as a control device, a RAM (Random Access Memory) 102 and a ROM (Read Only Memory) 103 . The computer 100 further includes an IF (Interface) 104 that is an interface with the outside, and an HDD (Hard Disk Drive) 105 that is an example of a nonvolatile storage device. In addition, the computer 100 may include input devices such as a keyboard and a mouse, and display devices such as a display, as other components not shown.

The HDD 105 stores an OS (Operating System) (not shown) and a control program 106 . The control program 106 is a computer program in which control processing of the mobile projection apparatus 11 according to this embodiment is implemented.

The CPU 101 controls various processes in the computer 100, access to the RAM 102, ROM 103, IF 104 and HDD 105, and the like. In the computer 100, the CPU 101 reads the OS and the control program 106 stored in the HDD 105 and executes them. Thereby, the computer 100 implements the control function of the mobile projection device 11 .

Although the present disclosure has been described as a hardware configuration in the above embodiments, the present disclosure is not limited to this. The present disclosure can also realize the control processing of the mobile projection device 11 by causing the CPU to execute a computer program.

The programs described above also include instructions (or software code) that, when read into a computer, cause the computer to perform one or more of the functions described in the embodiments. The program may be stored in a non-transitory computer-readable medium or tangible storage medium. By way of example, and not limitation, computer readable media or tangible storage media may include RAM, ROM, flash memory, Solid-State Drives (SSDs) or other memory technologies, CD-ROMs, Digital Versatile Discs (DVDs), Blu-ray Including ray® discs or other optical disc storage, magnetic cassettes, magnetic tapes, magnetic disc storage or other magnetic storage devices. The program may be transmitted on a transitory computer-readable medium or communication medium. By way of example, and not limitation, transitory computer readable media or communication media include electrical, optical, acoustic, or other forms of propagated signals.

Although the embodiments of the present disclosure have been described in detail above with reference to the drawings, the specific configurations are not limited to those described above, and various design changes can be made without departing from the gist of the present disclosure. etc. is possible.

Some or all of the above embodiments can also be described in the following additional remarks, but are not limited to the following.

(Appendix 1)
a location information acquisition unit that acquires location information of its own device;
a direction detection unit that detects the orientation of the device;
an imaging unit for imaging the surroundings of the device;
a movement control unit that moves the device to a designated area based on the position information acquired by the position information acquisition unit;
a projection unit that projects light;
When a target person is specified from the captured image of the imaging unit in the designated area, the position information of the own device acquired by the position information acquisition unit and the direction detection unit detect by using the projection unit. a projection control unit for projecting light of a pattern determined based on the determined direction of the own device onto an area visible to the target person;
A mobile projection device with

(Appendix 2)
The projection control unit uses the projection unit to project light in a pattern representing an arrow indicating a direction in which the target person should move, onto an area visible to the target person.
1. The mobile projection device according to Appendix 1.

(Appendix 3)
When an obstacle is identified in the area around the target person from the captured image of the imaging unit, the projection control unit uses the projection unit to generate an arrow indicating a moving direction to avoid the obstacle. Projecting the represented pattern of light onto an area visible to the target person;
2. The mobile projection device according to Appendix 2.

(Appendix 4)
further having a database in which map information is stored;
The projection control unit determines a moving route from the current position of the target person to a target position based on the map information, and uses the projection unit to generate an arrow indicating a moving direction along the determined moving route. Project light of a pattern representing , to an area visible to the target person,
2. The mobile projection device according to Appendix 2.

(Appendix 5)
When the illuminance of the imaging range of the imaging unit is lower than a predetermined illuminance, the projection control unit uses the projection unit to adjust the projection range to include part or all of the image captured by the imaging unit. project a pattern of light,
5. The mobile projection device according to any one of Appendices 1-4.

(Appendix 6)
The projection unit is
a light source;
an optical spatial phase modulator that modulates light emitted from the light source so as to have a pattern according to instructions from the projection control unit;
an optical system for projecting light modulated by the optical spatial phase modulator;
having
6. The mobile projection device according to any one of Appendices 1-5.

(Appendix 7)
wherein the light is laser light;
7. The mobile projection device according to any one of Appendices 1-6.

(Appendix 8)
wherein the mobile projection device is configured to be able to fly;
8. The mobile projection device according to any one of appendices 1-7.

(Appendix 9)
The mobile projection device according to any one of Appendices 1 to 8;
a management device that instructs the mobile projection device to move to the designated area and instructs the display content represented by the light pattern;
A mobile projection system with

(Appendix 10)
a step of moving the own device to a designated area based on the location information of the own device acquired by the location information acquisition unit;
a step of capturing an image of the surroundings of the device by an imaging unit in the designated area;
When the target person is specified from the captured image of the imaging unit, the position information of the own device acquired by the position information acquisition unit using the projection unit, the orientation of the own device detected by the direction detection unit, projecting a pattern of light determined based on the area visible to the target person;
A control method for a mobile projection device, comprising:

(Appendix 11)
In the step of capturing an image of the surroundings of the device by the imaging unit, if the illuminance of the imaging range of the imaging unit is lower than a predetermined illuminance, part or all of the captured image of the imaging unit is captured using the projection unit. while projecting light in a pattern of a projection range including
11. A control method for a mobile projection device according to appendix 10.

(Appendix 12)
a process of moving the own device to a designated area based on the location information of the own device acquired by the location information acquisition unit;
a process of capturing an image of the surroundings of the device by an imaging unit in the designated area;
When the target person is specified from the captured image of the imaging unit, the position information of the own device acquired by the position information acquisition unit using the projection unit, the orientation of the own device detected by the direction detection unit, A process of projecting the light of the pattern determined based on the target person to the visible area;
A control program that causes a computer to execute

(Appendix 13)
In the process of capturing an image of the surroundings of the own device using the imaging unit, when the illuminance of the imaging range of the imaging unit is lower than a predetermined illuminance, the projection unit is used to capture part or all of the captured image of the imaging unit. while projecting light in a pattern of a projection range including
The control program according to appendix 12.

1 mobile projection system 11 mobile projection device 12 management device 50 network 100 computer 101 CPU
102 RAMs
103 ROMs
104IF
105 HDDs
106 control program 111 position information acquisition unit 112 direction detection unit 113 control unit 114 imaging unit 115 projection unit 116 power source 1131 movement control unit 1132 projection control unit 1151 light source 1152 optical spatial phase modulator 1153 optical system

Claims (10)

a location information acquisition unit that acquires location information of its own device;
a direction detection unit that detects the orientation of the device;
an imaging unit for imaging the surroundings of the device;
a movement control unit that moves the device to a designated area based on the position information acquired by the position information acquisition unit;
a projection unit that projects light;
When a target person is specified from the captured image of the imaging unit in the designated area, the position information of the own device acquired by the position information acquisition unit and the direction detection unit detect by using the projection unit. a projection control unit for projecting light of a pattern determined based on the determined direction of the own device onto an area visible to the target person;
A mobile projection device with The projection control unit uses the projection unit to project light in a pattern representing an arrow indicating a direction in which the target person should move, onto an area visible to the target person.
A mobile projection device according to claim 1 . When an obstacle is identified in the area around the target person from the captured image of the imaging unit, the projection control unit uses the projection unit to generate an arrow indicating a moving direction to avoid the obstacle. Projecting the represented pattern of light onto an area visible to the target person;
3. A mobile projection device according to claim 2. further having a database in which map information is stored;
The projection control unit determines a moving route from the current position of the target person to a target position based on the map information, and uses the projection unit to generate an arrow indicating a moving direction along the determined moving route. Project light of a pattern representing , to an area visible to the target person,
3. A mobile projection device according to claim 2. When the illuminance of the imaging range of the imaging unit is lower than a predetermined illuminance, the projection control unit uses the projection unit to adjust the projection range to include part or all of the image captured by the imaging unit. project a pattern of light,
A mobile projection device according to any one of claims 1-4. The projection unit is
a light source;
an optical spatial phase modulator that modulates light emitted from the light source so as to have a pattern according to instructions from the projection control unit;
an optical system for projecting light modulated by the optical spatial phase modulator;
has a
A mobile projection device according to any one of claims 1-5. wherein the light is laser light;
A mobile projection device according to any one of claims 1-6. a mobile projection device according to any one of claims 1 to 7;
a management device that instructs the mobile projection device to move to the designated area and instructs the display content represented by the light pattern;
A mobile projection system with a step of moving the own device to a designated area based on the location information of the own device acquired by the location information acquisition unit;
a step of capturing an image of the surroundings of the device by an imaging unit in the designated area;
When the target person is specified from the captured image of the imaging unit, the position information of the own device acquired by the position information acquisition unit using the projection unit, the orientation of the own device detected by the direction detection unit, projecting a pattern of light determined based on the area visible to the target person;
A control method for a mobile projection device, comprising: a process of moving the own device to a designated area based on the location information of the own device acquired by the location information acquisition unit;
a process of capturing an image of the surroundings of the device by an imaging unit in the designated area;
When the target person is specified from the captured image of the imaging unit, the position information of the own device acquired by the position information acquisition unit using the projection unit, the orientation of the own device detected by the direction detection unit, A process of projecting the light of the pattern determined based on the target person to the visible area;
A control program that causes a computer to execute

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