JP6872276B2 - Mobile projection device and program for mobile projection device - Google Patents

Description

The present invention relates to a mobile projection device and a program for a mobile projection device.

For example, in Patent Document 1 (Japanese Unexamined Patent Publication No. 2007-229855), it is possible to move along with a specific person and to 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 Patent Document 1, it is possible to display image information such as advertisements and warnings related to the moving current position to a moving person.

JP-A-2007-229855

However, the autonomous mobile robot according to the invention of Patent Document 1 must move with a specific person. Originally, the user only needs to project the projection image when and where it is needed, so that the accompanying movement of the autonomous mobile robot itself is troublesome, and the movement route for the accompanying movement of the autonomous mobile robot is provided. It was troublesome to move in consideration.

Further, 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. Therefore, when there are a plurality of viewers, it is difficult for the plurality of viewers to view the projection image at the same time. In particular, when there are a large number of viewers, for example, a person in the rear may not be able to view the projection image because the person in front of the viewer is in the way.

An object of the present invention is to provide a mobile projection device capable of solving the above problems.

In order to solve the above problems, the present invention
The aerial flight mechanism for flying in the air, and
A pulp projector unit to form a projection image,
A projection location determination unit that detects the brightness of a predetermined location and determines whether or not to use it as a projection location for displaying the projected image based on the detected brightness.
A control unit that controls the projector unit so that the projected image is displayed at the projection location determined by the projection location determination unit.
Equipped with a,
The projection location determination unit is characterized in that it determines whether or not the detected brightness is equal to or less than a predetermined threshold value, and when it is determined that the brightness is not equal to or less than the predetermined threshold value, searches for another location. To provide a mobile projection device.

The mobile projection device according to the present invention includes an aerial flight mechanism unit and can fly and move in the air. Therefore, it is possible to fly to a necessary place at a necessary time and provide a projection image to the viewer at that place by using the equipped projector unit.

The mobile projection device according to the invention detects the brightness of the place, based on the brightness detected, because it to determine whether to use the place as a projection location, watch The viewer can always see the projected image in an easy-to-see state.

Here, it is natural that the concept of the place where the determined projected image is displayed 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 height directions). Includes different positions, etc.).

According to the projection device according to the present invention, the projected image is projected at a predetermined location based on the detected brightness, so that the viewer can always view the projected image in an easy-to-see state.

It is a figure for demonstrating the structural example of the 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 the 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 the 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 usage mode of 1st Embodiment of the mobile projection apparatus by this invention. It is a figure for demonstrating the structural example of the 2nd Embodiment of the mobile projection apparatus by this invention. It is a figure which shows the example of the usage mode of the 2nd Embodiment of the mobile projection apparatus by this invention. It is a figure for demonstrating the structural example of the 3rd Embodiment of the mobile projection apparatus by this invention. It is a figure for demonstrating the structural example of the 3rd Embodiment of the mobile projection apparatus by this invention. It is a figure which shows the example of the usage mode of the 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 the 4th Embodiment of the mobile projection apparatus by this invention. It is a figure which shows a part of the flowchart for demonstrating the processing operation example of 4th Embodiment of the mobile projection apparatus by this invention. It is a figure which shows a part of the flowchart for demonstrating the processing operation example 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 the mobile projection device according to the present invention. The mobile projection device 1 according to the embodiment of the present invention is configured to autonomously fly in the air and move. FIG. 1 (A) is a view of the mobile projection device 1 of this embodiment as viewed from above, and FIG. 1 (B) is a view of the mobile projection device 1 of this embodiment as viewed from the front. It is a figure.

The mobile projection device 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 the drive control unit 3. As shown in FIG. 1, in the aerial flight mechanism unit 2, rotary blade (rotor) mechanisms 5A, 5B, 5C, 5D are attached to the tips of four arms 4A, 4B, 4C, 4D extending from the drive control unit 3. It is composed of.

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, respectively, to drive the rotary blades 52A, 52B, 52C, and 52D. It is configured to be rotationally driven. The rotation speed and rotation direction of the motor drive units 51A, 51B, 51C, and 51D are controlled by the 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 drive and a power source for drive control. Power is also supplied from the battery to cameras, microphones, various sensors, displays, control units, etc., which will be described later. 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 a solar cell is installed, the mobile projection device 1 has an advantage that it can fly while being charged by sunlight during the daytime outdoors.

In this example, the motor drive units 51A, 51B, 51C, and 51D are independently controlled by the drive control signal from the drive control unit 3, so that the mobile projection device 1 takes off, lands, and climbs ( It is possible to perform various movement operations such as (directly above, diagonally above), descending (directly below, diagonally below), right turn, left turn, forward, reverse, right shift, left shift, and in the vertical direction. It is possible to control the attitude such as the tilt angle with respect to the hovering position and the position of the hovering position.

In the mobile projection device 1 of this embodiment, a camera, a microphone, various sensors, etc., which will be described later, are attached integrally with the drive control unit 3, and a housing containing the drive control device unit 10 including the control unit. Body 6 is formed. In this example, the housing 6 is configured in a box shape as a whole.

The two legs 7A and 7B are attached to the housing 6 so as to face each other. In this example, the legs 7A and 7B are made of pipe members formed in a trapezoidal shape, and as shown in FIG. 1B, the legs 7A and 7B stably hold the mobile projection device 1 on the landing surface 8. It is formed. The shape and members of the legs are not limited to this, and various possibilities can be considered. 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. Further, in order to facilitate the movement on the landing 8, a movable wheel may be attached to the leg portion.

Then, the projector 9 is placed at a position above the rotary blades 52A, 52B, 52C, 52D so as not to interfere with the rotation of the rotary blades 52A, 52B, 52C, 52D. It is fixedly provided on a support base 92 supported by a support pillar 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. The remote control transmission unit 93 is attached to the support base 92 at a position where the remote control reception unit (not shown) of the projector 9 can receive the remote control signal.

The projector 9 of this example includes a playback unit (not shown) of a DVD (Digital Versatile Disc) as an example of a storage medium. Then, 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. 9L is a lens for projecting a projection image. Further, the reproduced sound of the sound information stored in the DVD in correspondence with the image information is emitted from the speakers 9SL and 9SR included in the projector 9.

A plurality of image information and audio information prepared in advance for providing to the viewer are stored in the DVD. Each of these plurality of image information and audio information can be cueed 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 is provided and a microphone MC is provided on the front surface of the housing 6. A speaker SP is also provided on the front surface of the housing 6. As shown in FIGS. 1A and 1B, cameras CM2 and CM3 are provided on the left and right sides of the housing 6, and cameras CM4 are provided on the back surface of the housing 6. Further, as shown in FIG. 1B, a camera CM5 is provided on the bottom surface of the housing 6.

The optical axis of the cameras CM1 to CM5 (corresponding to the shooting direction) is a direction orthogonal to each mounting surface of the cameras CM1 to CM5, and a predetermined angle of view range can be shot around the optical axis direction.

A drive control device unit 10 is provided in the housing 6. FIG. 2 is a block diagram showing a configuration example of the drive control device 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 device unit 10 in this embodiment refers to the control unit 101 composed of a computer through the system bus 100, the aerial flight drive unit 102, the gyro sensor 103, the geomagnetic sensor 104, and the altitude sensor 105. , Obstacle sensor 106, moving space information memory 107, current position detection unit 108, flight drive signal generation unit 109, position / orientation control signal generation unit 110, camera group 111, guidance message memory 112, image recognition unit 113, voice interface unit. Each of 114, a voice recognition unit 115, a projected image list memory 116, a projector remote control interface 117, and a remote control signal generation unit 118 is connected and configured.

A microphone MC is connected to the voice interface unit 114, and a speaker SP is connected to the voice interface unit 114. Further, a remote control transmission unit 93 is connected to the projector remote control interface 117.

The air flight drive unit 102 supplies drive control signals to the motor drive units 51A, 51B, 51C, 51D of the rotary blade mechanisms 5A, 5B, 5C, and 5D of the air flight mechanism unit 2 according to the control of the control unit 101. To do.

The gyro sensor 103 detects a change in acceleration of the mobile projection device 1 during flight, and is used to detect the flight traveling direction of the mobile projection device 1, its speed, and its attitude. The geomagnetic sensor 104 is used to detect in which direction the mobile projection device 1 is flying and moving. The altitude sensor 105 is for detecting the altitude at which the mobile projection device 1 is located at that time point, and includes, for example, a barometric pressure sensor.

The obstacle sensor 106 emits light, infrared rays, millimeter waves, quasi-millimeter waves, microwaves, ultrasonic waves, etc., and detects the presence of obstacles by detecting reflected waves from the obstacles, as well as light and light. It is said that the time and attenuation from the emission of infrared rays or ultrasonic waves to the reception of reflected waves can be detected, and the distance to the detected obstacle can be calculated from the time and attenuation. ing. In this embodiment, the obstacle sensor 106 is an obstacle in the space where the mobile projection device 1 is used (hereinafter referred to as a moving space), for example, an obstacle such as an indoor wall, a chest of drawers, a bed, a desk, or an outdoor space. It is used to detect obstacles such as utility poles, buildings, and trees in a moving space, and to avoid collisions with them when flying.

The moving space information memory 107 stores spatial information related to the indoor or outdoor moving space in which the mobile projection device 1 is used. Examples of indoor moving spaces include museums, museums, and stores. Examples of outdoor moving spaces include a limited range of spaces such as theme parks, amusement parks, zoos, concert venues, soccer stadiums, and baseball stadiums. 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 around a company, around a station, or around an airport, without being limited to a limited range of space. Will be done.

An application program for panoramic photography (for example, Photosynth) is stored in the memory of the control unit 101 of the mobile projection device 1 of this embodiment, and the mobile projection device 1 flies in the moving space in advance. Then, using all or a part of the cameras CM1 to CM5, a picture is taken in a range of 360 degrees at each place in the moving space. Then, the control unit 101 uses an application program for panoramic photography to generate 3D image information at each point in the moving space from the captured image information, and the generated 3D image information is used as the moving space information. Store in memory 107.

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

In the information stored in the moving space information memory 107, the position information of the home position defined above is also stored. Further, when the moving space is indoors, the moving space information memory 107 also stores information on the length, width, and height of the room to be used in advance. Further, when the moving space is indoors, 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, etc. The position of the tree may also be stored in advance.

The moving space information memory 107 also has a location (position information) such as an indoor wall on which a projection image can be projected by the projector 9 and an outdoor building wall, which is the length × width × height of the wall. It is stored in advance with the information. A screen for projecting a projection image may be provided in advance in the room or outdoors, and the screen position may be stored in the moving space information memory 107.

Further, in a facility mainly composed of children such as a kindergarten and a nursery school, it is possible to put an instruction to that effect in the moving space information memory 107 so that the projection is performed at a low position according to the height of the child. Even in facilities such as nursing care facilities for the elderly and hospitals where there are more wheelchairs, it is possible to put an instruction to that effect in the moving space information memory 107 so that the projection can be 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 location information, the current position may be detected using radio waves from a mobile phone base station or radio waves from an access point for Wi-Fi (Wireless Fidelity®) communication. .. Further, the surroundings of the mobile projection device 1 are photographed by 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.

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

Then, the flight drive signal generation unit 109 uses 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, images taken from the cameras CM1 to CM5 of the camera group 111. Is generated, a flight drive signal for moving from the base position to the position instructed by the control unit 101 is generated, and is supplied to the air flight mechanism unit 2 through the air flight drive unit 102. In this case, the flight drive signal comprises a signal for driving each of the motor drive units 51A to 51D of the four rotary blade mechanisms 5A to 5D. The generated flight drive signal is supplied to each of the motor drive units 51A to 51D of the air flight mechanism unit 2 through the air 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 from the base to the position instructed by the control unit 101, or from the current position to the base. Move by.

The position / orientation control signal generation unit 110 refers to the projection surface of the place where the determined projection image is projected based on the captured images of the gyro sensor 103, the geomagnetic sensor 104, the altitude sensor 105, and the cameras CM1 to CM5, as will be described later. Position and orientation so that the orientation and position of the own device are appropriate orientation and position (whether the optical axis of the lens 9L of the projector 9 is orthogonal to the wall surface on which the projection image is projected, or the front and back And a position / orientation control signal for controlling whether the position in the left-right direction is appropriate and the position in the up-down direction (height position) is appropriate, etc.) is generated.

In the mobile projection device 1 of this embodiment, as will be described later, the control unit 101 determines a place to project the projection image according to the number of viewers. Here, the concept of the place where the projected projection image is projected 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). ) Includes the concept.

Then, 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 projected image at the position where the determined projection image is projected (high). At (including the position), a flight drive signal for hovering is generated and supplied to the air flight mechanism unit 2 through the air flight drive unit 102. Then, the position / attitude control signal generation unit 110 generates a signal for controlling the height position to hover.

The mobile projection device 1 projects and displays a projection image by the projector 9 at a determined location in a hovering state. If there is a landable space such as a desk in a place suitable for projecting a projection image by the projector 9 to a determined place, the mobile projection device 1 will land at that place and the projector. The projection image may be projected to the determined place according to 9. After projection, the surrounding situation can be judged, and the location can be adjusted by moving up, down, left, and right from the determined location, or the location itself may be changed. For example, if it is difficult for the viewer to see, move it to a place where it is easy to see.

The camera group 111 includes the above-mentioned cameras CM1 to CM5. Each of the cameras CM1 to CM5 outputs the captured image information of the moving image to the system bus 100. Identification information for identifying which camera the photographed image information is from is added to the photographed image information transmitted from each of the cameras CM1 to CM5 to the system bus 100. 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, 0.5 second interval, instead of the captured image information of a moving image.

The guidance message memory 112 stores a service in which the mobile projection device 1 provides a projection image, guidance on an image projected by the service, and any guidance message capable of selecting an image. ..

The image recognition unit 113 recognizes a person and the number of people from the captured image information captured by the cameras CM1 to CM5. The image recognition unit 113 also recognizes the above-mentioned obstacles to be avoided during flight. The image recognition 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) or an image of an obstacle, thereby performing pattern matching processing on the person and the number of persons. Recognize obstacles as well as recognize. The flight drive signal generation unit 109 generates a flight drive signal that avoids the recognized obstacle and moves in the air.

Further, 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 the images of the surrounding environment taken by the cameras CM1 to CM5. It is also used to explore places such as the walls of buildings and the walls of outdoor buildings.

The voice interface unit 114 has a function of supplying the voice signal picked up by the microphone MC to the voice recognition unit 115. Further, the voice interface unit 114 has a function of emitting a voice or the like for transmitting the guidance message voice to the viewer from the speaker SP according to 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 a DVD loaded in the projector 9, a playback order number thereof, a start point of a recording address on the DVD, and a start point of the recording address on the DVD. A list of projected image information consisting of 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 projected image list memory 116, and image information in a list of the playback order numbers. The projection image of the list is provided to the viewer.

Then, the guidance message voice stored in the guidance message memory 112 includes an explanation and guidance regarding the projection image of this list, and indicates a desired projection image from the list by a playback order number. Contains guide messages to

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

A remote control transmitter 93 is connected to the projector remote control interface 117. Then, the remote control signal for DVD is stored in the remote control signal generation unit 118, and 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 control unit 101 can also realize the processing functions of the flight drive signal generation unit 109, the position / attitude control signal generation unit 110, the image recognition unit 113, and the voice recognition unit 115 as software processing functions. ..

[Operation flow of the mobile projection device 1 of the first embodiment]
3 and 4 are flowcharts showing an example of the operation flow of the mobile projection device 1 of the first embodiment. In the following description, the control unit 101 has the processing functions of the flight drive signal generation unit 109, the position / attitude control signal generation unit 110, the image recognition unit 113, and the voice recognition unit 115, and the control unit 101 has the software processing function. It will be described as a case where it is 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 photographs the line-of-sight range with the cameras CM1 to CM5, performs image recognition of the captured image, and goes to a museum or theme park where the mobile projection device 1 is installed. Monitor visitors.

Then, the control unit 101 determines whether or not a visitor has been detected from the image recognition results of the captured images of the cameras CM1 to CM5 (step S102), and when the visitor is not detected, 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 in the vicinity of the detected visitor (step S103). Then, the control unit 101 detects or confirms the number of viewers from the image recognition results 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 the projection image with respect to the detected number of visitors is near the visitors, by image recognition of the captured images of the cameras CM1 to CM5. The determination is made based on the result and the stored information of the moving space information memory 107 (step S105). When it is determined in step S105 that there is no suitable place for projecting the projection image with respect to the number of visitors near the visitors, it is appropriate based on the stored information of the moving space information memory 107. A guidance message voice is emitted from the speaker SP so as to guide the visitors to the appropriate place, and the person is moved to the appropriate place and guided (step S106). The method of guidance is not limited to voice, and it is also possible to mount a light (not shown) such as an LED on the mobile projection device 1 and guide by turning on or blinking the light.

When it is determined in step S105 that a suitable place for projecting the projection image with respect to the number of visitors is near the visitors, and after guiding the visitors 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 projected image according to the number of people (step S107). Then, the control unit 101 controls the projector 9 so as 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. (Step S108).

At this time, the speakers 9SL and 9SR of the projector 9 emit sound attached to the projection image, but the control unit 101 responds to the number of viewers who have determined the screen size of the projection image. 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 volume of the sound from the speakers 9SL and 9SR is relatively low when the number of viewers is small and the screen size of the projection image is small, and when the number of viewers is large and the screen size is large. Is loud according to the screen size. As a result, the volume of the sound from the speakers 9SL and 9SR is controlled to be appropriate according to the number of viewers.

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

Then, when it is determined in step S111 that the requested sound from the viewer has not been detected, and after the projected image to be projected is changed in step S112, the number of viewers is increased by the control unit 101. It is determined whether or not the change has occurred (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), and the change is necessary. When the determination is made, the process is returned to step S103, and the processes after this step S103 are repeated. The discrimination criteria in step S114 can be set in various ways. For example, it can be set that the screen size is increased when the number of people increases, but the screen size is not reduced when the number of people decreases. Also, if the projection location is changed or the screen size is changed frequently, it will be tiring, so it is possible to limit the number of changes and the change time.

When it is determined in step S113 that the number of viewers has not changed, and when it is determined in step S114 that the projection location and / or the screen size does not need to be changed, the control unit 101 stores the image in the DVD. It is determined whether to terminate the projection image providing service based on the projection of all of the image information being performed or the recognition of the voice of the end request from the viewer (step S115).

When 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 after this step S108. Further, when it is determined in step S115 that the projection image providing service is to be terminated, the control unit 101 sends a remote control signal for termination to the projector 9, then flies back to the standby place (step S116), and steps the process. Return to S101 and enter the standby state.

[Example of usage of the mobile projection device 1 of the first embodiment]
Next, FIG. 5 shows an example of the usage mode of the mobile projection device 1 of the first embodiment described above. The example of FIG. 5 (A) shows the case where there is only one visitor, and the example of FIG. 5 (B) shows the case where there are many visitors.

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

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

Further, when the number of visitors HM is large as shown in FIG. 5 (B), the control unit 101 of the mobile projection device 1 arranges the viewers in front of and behind the projection location PS. In consideration of this, the projection location is set higher (above) than the horizontal direction of the viewer's line of sight so that the viewer behind can also see it, and the screen size is set to one person. Decide on a larger screen size than in the case of a small number of people. In the example of FIG. 5B, the projection location is the height position of the wall surface WL, which is looked up by a large number of viewers HM, and is the location PS2 of the determined screen size portion.

Then, the control unit 101 of the mobile projection device 1 moves the own device to the determined height position, controls the own device 1 to hover at the determined height position, and also controls the remote control signal. The projector 9 is controlled so that the screen size is determined 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 on the wall surface WL location PS2.

At the start of projection of the projection image, there was only one viewer, but when the number of viewers increases, the projection location (projection position) and / or screen size is changed according to the increase in the number of viewers. The control is as described in the above-mentioned flowchart.

In that case, when the wall surface WL includes an upper part as a projection location of the projection image and an area corresponding to a wide screen size as in the wall surface WL of the example of FIG. 5, the wall surface WL is different in the same wall surface WL as the projection location. The position can be determined. However, if it is not possible to secure an appropriate area portion within the same wall surface WL as the projection location, it may be necessary to move the projection location to another wall surface where an appropriate projection location can be secured. As mentioned above. In the case of this movement, the control unit 101 of the mobile projection device 1 of this embodiment guides the movement to the viewer by a guidance message voice, as described above. As explained 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 number of screens 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 the projected projection image according to the number of viewers, and changing the number of screens between one and two screens. This is an example of making it possible.

FIG. 6 is a front view of the mobile projection device 1AB of the second embodiment, and corresponds to FIG. 1 (B) of the first embodiment. The view of the mobile projection device 1AB of the second embodiment viewed from above is the same as that of FIG. 1 (A). In the mobile projection device 1AB of the second embodiment shown in FIG. 6, the same reference numerals are given to the same parts as those of the mobile projection device 1 of the first embodiment described above, and the description thereof will be omitted. ..

As shown in FIG. 6, the mobile projection device 1AB of the second embodiment is mounted on a support base 92AB supported by a support pillar 91AB planted from the upper surface of a 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. Then, remote control transmission units 93A and 93B for remotely controlling each of the projectors 9A and 9B attached to the support base 92AB are attached. The remote control transmission units 93A and 93B are mounted on the support base 92AB at positions where the remote control reception units (not shown) of the projectors 9A and 9B can receive remote control signals. Others are configured in the same manner as in the first embodiment.

Although not shown, the drive control device unit of the mobile projection device 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 the projector remote control interface, respectively.

In the mobile projection device 1AB of the second embodiment, when the number of viewers is one to a small number (the number of people in the front row does not interfere with the viewing even if there are a plurality of rows), the lower row. Projection image PjA (see FIG. 7) is projected by the projector 9A of the above. When there are a large number of viewers (the number of people in multiple rows and the number of people in the front row obstructs the 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 by. As a result, the viewer in the rear can view the projection image PjB projected by the projector 9B in the upper stage without disturbing the viewer in the front row.

Needless to say, the screen size of the projection image can be changed also in the mobile projection device 1AB of the second embodiment. In that case, it goes without saying that 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 changed independently.

Further, in the second embodiment described above, the two projectors 9A and 9B are oriented in the same optical axis direction, but they may be arranged so as 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 projector has the upward direction (ceiling direction) orthogonal to the front direction and the left-right direction as the optical axis direction. It may be attached as follows.

Further, in the second embodiment described above, the example is two projectors, but 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 the projected projection image 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 front view of the mobile projection device 1CDE of the third embodiment, and corresponds to FIG. 1 (B) of the first embodiment. The view of the mobile projection device 1CDE of the third embodiment as viewed from above is omitted. In the mobile projection device 1CDE of the third embodiment shown in FIG. 8, the same reference numerals are given to the same parts as those of the mobile projection device 1 of the first embodiment described above, and the description thereof will be omitted. ..

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

Then, remote control transmitters 93C, 93D, 93E for remotely controlling each of the projectors 9C, 9D, and 9E, which are mounted side by side on the support base 92CDE, are mounted, respectively. The remote control transmitters 93C, 93D, and 93E are mounted on the support base 92CDE at positions where the remote control receivers (not shown) of the projectors 9C, 9D, and 9E can receive remote control signals. Others are configured in the same manner as in the first embodiment.

Although not shown, the drive control device unit of the mobile projection device 1CDE of the third embodiment is substantially the same as the configuration of the first embodiment of FIG. However, the remote control transmission units 93C, 93D, and 93E are different from the configuration of FIG. 2 in that they are connected to the control unit 101 via the projector remote control interface.

In the mobile projection device 1CDE of the third embodiment, when the number of viewers is one to a small number and the viewers are relatively concentrated in one place, the central projector 9C is used. The projection image PjC is projected. When there are a large number of viewers and they are scattered scatteredly, 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. Two screens with one of PjD and the projection image PjE, or three screens with both the projection image PjC by the central projector 9C and the projection image PjD and the projection image PjE by the projectors 9D and 9E on both sides thereof should be used. To. The control unit 101 determines whether to use two screens or three screens based on the image recognition results of the captured images of the cameras CM1 to CM5, not only on the number of viewers but also on the degree of concentration (scattering degree). Make a judgment accordingly.

As a result, when the viewers are in multiple groups and are concentrated in each group, they are scattered as a whole, or when they are composed of only single-acting people or multiple couples and are scattered. In this case as well, it is possible to enable all viewers to view the image well by using two or three projection images. Further, not only the image recognition of the captured image but also the line of sight of each viewer may be detected, the degree of concentration (degree of scattering) of the viewer may be grasped, and the screen configuration may be considered.

Needless to say, even in the mobile projection device 1CDE of the third embodiment, the screen sizes of the projection images PjC, PjD, and PjE can be changed. In that case, it goes without saying that each of the projection images PjC, PjD, and PjE can be changed independently.

Further, in the third embodiment described above, the three projectors 9C, 9D, and 9E are oriented in the same optical axis direction, but they may be arranged so as 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 have the upward direction (ceiling direction) orthogonal to the front direction and the left-right direction as the optical axis direction. It may be attached as follows.

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

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

[Fourth Embodiment]
In the above-described embodiment, the mobile projection device waits at a position where the visitors can be seen as a waiting place, and when the visitors are detected, the mobile projection device moves by flight to the side of the detected visitors to provide a projection image. I tried 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, the location is moved to that location, and the projection image is provided. To do.

The mobile projection device of the fourth embodiment described below is provided with a configuration in consideration of the case where the viewer is a foreigner.

Before explaining the configuration example of the mobile projection apparatus of the fourth embodiment, an example of the 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 device 1F of the fourth embodiment is provided with various guides by projection images in a museum. The museum in this example has multiple exhibition spaces separated by walls. That is, as shown in FIG. 10, the museum of this example is provided with a plurality of exhibition spaces including a Western painting space 201, a Japanese painting space 202, a calligraphy space 203, a sculpture space 204, a special exhibition space 205, and a pottery space 206. It has an entrance hall 207. A visitor can enter the entrance hall 207 through the gate 209 by purchasing a 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 so that a plurality of the mobile projection devices 1F of the fourth embodiment stand by. .. Of course, the mobile projection device 1F can be configured to stand by one unit, or may stand by two or more units, for example, 100 units or more.

In each of the Western-style painting space 201, the Japanese-style painting space 202, the calligraphy space 203, the sculpture space 204, the special exhibition space 205, the pottery space 206, and the entrance hall 207, visitors can enter the mobile projection device 1F of the fourth embodiment. Calling posts 211,212,213,214,215,216,217 are installed to send a calling signal to call.

Each of the calling posts 211,212,213,214,215,216,217 includes call buttons 211BT, 212BT, 213BT, 214BT, 215BT, 216BT, 217BT. When the call button 211BT, 212BT, 213BT, 214BT, 215BT, 216BT, 217BT is pressed by a visitor (viewer), the call post provided with the pressed call button contains identification information for identifying oneself. Send a call signal.

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

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

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

The communication unit 121 has a wireless communication function for performing the above-mentioned 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 identification information of the call post 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 device unit 10F stores moving space information including a plurality of exhibition spaces 201 to 206 and the entrance hall 207 of the museum shown in FIG. 10, and also exhibits the exhibition spaces 201 to 206. And, the correspondence information between the identification information and the position information of the calling posts 211 to 217 installed in each of the entrance hall 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 is based on 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, and the exhibition space 2011 to the exhibition space 201 It is determined and recognized from which of 206 and the entrance hall 207 the call signal is received. Then, the control unit 101 generates a flight drive signal for the flight drive signal generation unit 109 to move to any of the exhibition spaces 201 to 206 and the entrance hall 207 where the recognized call post exists, and the flight drive signal generation mechanism The part 2 is controlled so that the flight movement is executed. The control unit 101 of the mobile projection device 1F that has received the call signal and has started moving in response to the call does not receive another call signal from the start of movement to the return to the standby base 210. As described above, the communication unit 121 is controlled to the sleep state or the stop state.

The foreign language determination unit 122 moves to the vicinity of the viewer to provide a projection image, and based on the voice recognition result of the voice recognition unit 115 for the voice signal picked up by the microphone MC, the viewer Determines which language is used when is a foreigner.

The DVD loaded in the mobile projection device 1F of the fourth embodiment contains not only image information and audio information in Japanese but also image information and audio information of the same program content, such as English and Spanish. , French, German, Chinese, and Korean, respectively, image information and audio information are stored in association with the identification information of the language used. As for the contents of the program, the image information and audio information of the guidance to be provided to the viewers in the exhibition spaces 201-206 and the entrance hall 207 are associated with the identification information of the exhibition spaces 201-206 and the entrance hall 207. It is stored.

If it is determined that the language used by the viewer is a foreign language other than Japanese, but it is determined that it does not match any of the prepared languages, it will be provided to the viewer. Ask them to select the language to be used and provide it in the selected language.

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

Others have the same configuration as each part of the drive control device unit 10 of the mobile projection device 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.

[Operation flow of the mobile projection device 1F of the 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 performs 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. The case where it is realized as a software processing function will be described.

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 call signal by the communication unit 121.

Then, the control unit 101 determines whether or not the reception of the call signal through the communication unit 121 is detected (step S202), and when the reception of the call signal is not detected, the control unit 101 returns to step S201 to maintain the 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 transmitted the received call signal, and detects and recognizes the position of the call post (step S203). Then, the control unit 101 moves to any of the exhibition spaces 201 where the recognized call post is located, or to the entrance hall 207 (step S204). Prior to this movement, the control unit 101 controls the communication unit 121 to sleep or stop so as not to respond to other ringing signals.

After moving to any of the exhibition spaces 201 where the call post that transmitted the call signal is located, or to the entrance hall 207, the control unit 101 recognizes the calling viewer from the captured images of the cameras CM1 to CM5, and recognizes the called viewer. A guidance message sound is emitted from the speaker SP to guide the viewer (including a plurality of people) to the place where the projection image is projected, 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 results 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 projected 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 picked up by the microphone MC, and selects the language used by the provided voice (step S208). As described above, when the language used by the viewer cannot be determined, the viewer is asked to select the language used as described above. The selection of the language to be used by the viewer can also be performed by voice recognition.

Next, the control unit 101 controls its own device so as 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. Make a sound (step S209). The guidance message voice used at this time is in the language used selected 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 to the volume according to the number of viewers (or the screen size of the projection image) as in the first embodiment. To.

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

Then, when it is determined in step S211 that the requested sound from the viewer has not been detected, and after the projected image to be projected is changed in step S212, the number of viewers is increased by the control unit 101. It is determined whether or not the change has occurred (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), and the change is necessary. When the determination is made, the process is returned to step S207, and the processes after this step S207 are repeated. The discrimination criteria in step S214 can be variously set in the same manner as the discrimination criteria in step S114.

When it is determined in step S213 that the number of viewers has not changed, and when it is determined in step S214 that the projection location and / or the screen size does not need to be changed, the control unit 101 stores the image in the DVD. It is determined whether to terminate the projection image providing service based on the projection of all of the image information being performed or the recognition of the voice of the end request from the viewer (step S215).

When 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 after this step S209. Further, when it is determined in step S215 that the projection image providing service is to be terminated, the control unit 101 sends a remote control signal for termination to the projector 9, then flies back to the standby place (step S216), and is in a sleep state or. The communication unit 121 that has been stopped is returned to the operating state, and the ringing signal is returned to the receivable state (step S217). Then, the control unit 101 returns the process to step S201 and enters the standby state.

According to the fourth embodiment described above, the mobile projection device 1F flies to the place in response to a call from a place where the own device cannot see, and the number of people to the spectator is increased. It is possible to provide a projection image with a projection location and a screen size corresponding to the above. In addition, if the viewer is a foreigner and the language used in advance can be used, 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 image to be determined does not take into consideration the ease of viewing the projection image at that location. However, for example, in the case of outdoors, in a place exposed to direct sunlight, the projection image is projected at that location. Even if you project, the image may be difficult to see. The control unit 101 may be configured to take such a case into consideration. That is, the control unit 101 detects the brightness (illuminance) of the portion where the image is to be projected, such as the wall surface of the place where the projection image is to be projected, and the brightness is the ease of viewing the projection image. It is determined whether or not it is equal to or less than a predetermined threshold value in consideration of. Then, if the brightness of the place is equal to or less than the predetermined threshold value, the control unit 101 determines the place as the projection place and uses it as the place to project the projection image. On the other hand, if the brightness of the place is brighter than the predetermined threshold value, the control unit 101 does not determine the place as the projection place, but searches for another suitable projection place.

If there are parts with different brightness in the same wall and the width of the part where the brightness is equal to or less than the predetermined threshold value is larger than the screen size of the projected image of the projection image, that is the case. The part can also be determined as the projection location. For example, if a wall is exposed to direct sunlight, but there is a shadow area of a predetermined size with a brightness below the threshold due to the shadow of an adjacent building, projection is performed in the shadow area. Since the image can be projected, the shadow region portion can be determined as the projection location.

Further, in the above embodiment, in the mobile projection device, the projector is directly fixed to the support base so as not to move. However, the projector may be placed and fixed on a rotating table that rotates in the horizontal direction provided on the support table. In that case, instead of 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, the mobile projection device itself maintains the hovering state. The projection position of the projection image can be moved in the horizontal direction by rotating the turntable provided on the support base to rotate the projector.

Also, on the support base, the direction of the optical axis of the projector may be directed downward from the surface parallel to the bottom surface of the support base (direction of the dip angle), or above the surface parallel to the bottom surface of the support base (elevation angle). By providing a tilt mechanism that can be oriented in the direction of) and fixing the projector to this tilt mechanism, the control unit 101 controls the tilt mechanism to move the projection position of the projection image in the vertical direction. It may be configured to allow.

Further, in the above-described embodiment, the projector 9 is provided with a DVD drive in order to reproduce the image information and the audio information stored in the DVD and provide the projection image and the accompanying audio, but the projector 9 is limited to the DVD drive. Instead, it may be equipped with a BD (Blu-ray Disc), an HDD (Hard Disk Drive), or an SSD (Solid State Drive). Further, it may be equipped with a flash memory such as a USB or SD card. Further, image information and audio information may be obtained from a cloud on the Internet.

Further, in the above-described embodiment, the projector 9 is provided as a separate body from the housing 6, but it is needless to say that the projector 9 may be incorporated in the housing 6. In that case, the remote control transmitter and projector remote control I / F attached to the housing 6 and the remote control receiver attached to the projector 9 are not required.

Further, in the above-described embodiment, the projector has a function of reproducing image information and audio information from a storage medium, but the projector is not limited to such a function. For example, the mobile projection device can be configured to have a function of receiving projection image information or audio information sent from the outside by wireless communication, projecting it with a projector, and reproducing sound. .. In that case, the projection image information and the 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 receive the information. , By making a request to the providing server, the projection image information and the audio information corresponding to the request may be obtained 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 rotor blade mechanisms, but the number of rotor blade mechanisms may be three or less. It may be 5 or more. Further, the mechanism is not limited to the helicopter type, and may be an airplane type mechanism or the like.

Further, in the above-described embodiment, the number of cameras in the camera group 111 is five and the number of microphones is one, but it goes without saying that the number is not limited. In addition, various positions for providing cameras and microphones can be considered. The camera may be a standard camera, a wide-angle camera, a fisheye camera, or a 360-degree camera. Further, it may be a telephoto camera, an infrared camera, or the like. Of course, these cameras may be used together.

Furthermore, it goes without saying that there may be a plurality of gyro sensors, geomagnetic sensors, altitude sensors, and obstacle sensors.

In the case of a mobile projection device that is expected to be used outdoors, it is desirable to make it waterproof. If the waterproof specifications are not sufficient, the mobile projection device needs to take protective measures such as waiting in a place where it is not exposed to rain or snow and not flying when it rains or snows. In addition, if the mobile projection device becomes rainy or snowy during the flight, or if it detects the possibility of rain or snowfall, the mobile projection device will promptly land in a place where it will not be exposed to rain or snow. Ask for the communicator's instructions. In this case, rainfall and snowfall are detected by a rainfall sensor and a snowfall sensor. If the mobile projection device is equipped with an umbrella, the umbrella may be used when it rains or snows. In addition, the mobile projection device can measure wind power or wind speed, and if the wind is strong, there is a high possibility of an accident, so it may not fly outdoors.

In addition, it goes without saying that various modifications of the mobile projection device can be considered due to its mechanism.

1,1AB, 1CDE, 1F ... Mobile projection device, 2 ... Aerial flight mechanism unit, 9,9A, 9B, 9C, 9D, 9E ... Projector, 101 ... Control unit, 111 ... Camera, 113 ... Image recognition unit

Claims (38)

The aerial flight mechanism for flying in the air, and
A pulp projector unit to form a projection image,
A projection location determination unit that detects the brightness of a predetermined location and determines whether or not to use it as a projection location for displaying the projected image based on the detected brightness.
A control unit that controls the projector unit so that the projected image is displayed at the projection location determined by the projection location determination unit.
Equipped with a,
The projection location determination unit is characterized in that it determines whether or not the detected brightness is equal to or less than a predetermined threshold value, and when it is determined that the brightness is not equal to or less than the predetermined threshold value, searches for another location. Mobile projection device. The aerial flight mechanism for flying in the air, and
A pulp projector unit to form a projection image,
A projection location determination unit that detects the brightness of a predetermined location and determines whether or not to use it as a projection location for displaying the projected image based on the detected brightness.
A control unit that controls the projector unit so that the projected image is displayed at the projection location determined by the projection location determination unit.
Equipped with a,
The projection location determination unit is described when there are portions having different brightness in the predetermined location and the width of the portion whose brightness is equal to or less than a predetermined threshold value is larger than the screen size of the projected image. A mobile projection device, characterized in that a portion whose brightness is equal to or less than a predetermined threshold value is determined to be used as the projection location. The projection location determination unit is characterized in that it determines whether or not the detected brightness is below a predetermined threshold value, and when it is determined that the brightness is not below the predetermined threshold value, searches for another location. The mobile projection apparatus according to claim 2. The projection location determination unit determines whether or not the detected brightness is equal to or less than a predetermined threshold value, and when it is determined that the detected brightness is equal to or less than the predetermined threshold value, the predetermined location is used as the projection location. The mobile projection apparatus according to any one of claims 1 to 3, wherein the mobile projection apparatus is determined. It said predetermined threshold, mobile projection apparatus according to any one of claims 1 to 4, characterized in that the predetermined value in consideration of the watch ease of the projected image. The aerial flight mechanism for flying in the air, and
A pulp projector unit to form a projection image,
A projection location determination unit that detects the brightness of a predetermined location and determines whether or not to use it as a projection location for displaying the projected image based on the detected brightness.
A control unit that controls the projector unit so that the projected image is displayed at the projection location determined by the projection location determination unit.
Equipped with a,
The projection location determination unit is used when the predetermined location is outdoors and there is a location exposed to direct sunlight and a shadow region, and the width of the shadow region is larger than the screen size of the projected image. , A mobile projection apparatus, characterized in that the shadow region is determined to be used as the projection location. The aerial flight mechanism for flying in the air, and
A pulp projector unit to form a projection image,
A projection location determination unit that detects the brightness of a predetermined location and determines whether or not to use it as a projection location for displaying the projected image based on the detected brightness.
A control unit that controls the projector unit so that the projected image is displayed at the projection location determined by the projection location determination unit.
Equipped with a,
The projection location determination unit determines whether or not the predetermined location is exposed to direct sunlight when the predetermined location is outdoors, and searches for another location when it is determined to be a location exposed to direct sunlight. A mobile projection device characterized by When the predetermined place is outdoors, the projection place determining unit determines whether or not the predetermined place is a shadow area, and when it is determined that the predetermined place is a shadow area, the predetermined place is used as the projection place. The mobile projection apparatus according to claim 6 or 7 , wherein the mobile projection apparatus is determined to be used. The mobile projection device according to any one of claims 1 to 8, wherein the control unit guides a viewer who views the projected image to the projection location. A camera for photographing a viewer who observes the projected image is provided.
Claims 1 to 1, wherein the control unit controls the projector unit so as to display the projected image in a state in which the viewer can view the image based on the captured image of the camera. Item 9. The mobile projection apparatus according to any one of Items 9. The projector unit can form a plurality of projected images, and can form a plurality of projected images.
Claim 1 is characterized in that the control unit determines the number of projected images based on the images captured by the camera, and controls the projector unit so as to display the determined number of projected images. The mobile projection apparatus according to any one of claims 10. The mobile projection apparatus according to claim 11, wherein when the number of the determined projected images is a plurality, a plurality of projected images are projected in the vertical direction and / or the horizontal direction. The control unit is characterized by having a function of determining the size of the projected image based on the captured image of the camera and controlling the projector unit so as to display the projected image of the determined size. The mobile projection apparatus according to any one of claims 1 to 12. The control unit according to any one of claims 1 to 13, wherein the control unit has a function of controlling the distance from the projector unit to the projected image based on the captured image of the camera. Mobile projection device. The claim is characterized in that the control unit has a function of controlling the projector unit so as to change the projection location of the projection image and / or the size of the projection image based on the captured image of the camera. The mobile projection apparatus according to any one of items 1 to 14. Claims 1 to 1, wherein the projector unit includes means for emitting sound related to the projected image, and the control unit has a function of changing the volume of sound related to the projected image. Item 2. The mobile projection apparatus according to any one of Item 15. Claim 1 is characterized in that when the presence of the viewer is detected from the image captured by the camera, the viewer moves to the vicinity of the detected viewer and the projected image is displayed by the projector unit. The mobile projection apparatus according to any one of claims 16. Equipped with a communication means to receive call information
Based on the information for specifying the position included in the call information, the projector unit displays the projected image by moving to the vicinity of the viewer at the place where the call information is transmitted. The mobile projection apparatus according to any one of claims 1 to 17. As a space for the own device to fly and move, it is equipped with a moving space information memory that stores information on the moving space divided into a plurality of subspace areas that do not overlap with each other.
In the moving space information memory, the correspondence information between the information of the calling device that transmits the calling information installed in each of the subspace areas and the information of the subspace area to be installed is stored.
The information for specifying the position included in the call information is information for specifying in which of the subspace areas the call device that has sent the call information is installed. The mobile projection apparatus according to claim 18. A microphone for picking up voice of the viewer, the voice of the view viewer picked up by the microphone, provided with a said view viewer Languages determining unit determines a language to be used for ,
The projector unit includes image information in a plurality of foreign languages as image information of the projected image to be provided.
Claims 1 to 19, wherein the control unit selects the projected image provided by the projector unit to the viewer based on the foreign language determined by the foreign language determination unit. The mobile projection device according to any one of. A microphone for picking up voice of the viewer, the voice of the view viewer picked up by the microphone, provided with a said view viewer Languages determining unit determines a language to be used for ,
The projector unit includes audio information in a plurality of foreign languages as audio information accompanying the projected image to be provided.
Claims 1 to 1, wherein the control unit selects the audio information to be provided to the viewer in association with the projected image based on the foreign language determined by the foreign language determination unit. The mobile projection apparatus according to any one of claims 20. It is provided with a number detection unit that detects the number of viewers from the image taken by the camera.
The control unit determines a place to display the projected image according to the number of viewers detected by the number-of-person detection unit, and causes the projector unit to display the projected image at the determined place. The mobile projection apparatus according to any one of claims 1 to 21, wherein the mobile projection apparatus is controlled. It is provided with a number detection unit that detects the number of viewers from the image taken by the camera.
The control unit determines the number of projected images according to the number of viewers detected by the number detection unit, and controls the projector unit so as to display the determined number of projected images. The mobile projection apparatus according to any one of claims 1 to 22, wherein the mobile projection apparatus is characterized. It is provided with a number detection unit that detects the number of viewers from the image taken by the camera.
Claims 1 to 23, wherein the control unit controls so as to change the distance from the projector unit to the projected image according to the number of viewers detected by the number detection unit. The mobile projection device according to any one of. It is provided with a number detection unit that detects the number of viewers from the image taken by the camera.
The control unit determines the size of the projected image according to the number of viewers detected by the number detection unit, and displays the projected image of the determined size. The mobile projection apparatus according to any one of claims 1 to 24, wherein the mobile projection apparatus is controlled. It is provided with a number detection unit that detects the number of viewers from the image taken by the camera.
The claim is characterized in that the number of the viewers while displaying the projected image is monitored, and the projection location and / or the size of the projected image is changed according to the change in the number of the viewers. The mobile projection apparatus according to any one of 1 to 25. A number detection unit that detects the number of viewers from an image captured by the camera and a means for emitting sound related to the projected image by the projector unit are provided.
The mobile type according to any one of claims 1 to 26, wherein the control unit sets the volume of the voice related to the projected image to a volume corresponding to the number of people detected by the number of people detection unit. Projection device. The projector unit is attached to a turntable that rotates in the horizontal direction.
The control unit according to any one of claims 1 to 27, wherein the control unit rotates the turntable to rotate the projector unit to move the projection position of the projected image in the horizontal direction. Mobile projection device. The projector unit is attached to a support base having a tilt mechanism.
The method according to any one of claims 1 to 28, wherein the control unit drives and controls the tilt mechanism to move the projection position of the projected image projected by the projector unit in the vertical direction. Mobile projection device. Equipped with means to detect rainfall or snowfall, or to detect the possibility of rainfall or snowfall,
Claims 1 to claim that the control unit moves its own device to a place where it is not exposed to rainfall or snow when it detects the rainfall or snowfall, or when it detects the possibility of rainfall or snowfall. 29. The mobile projection apparatus according to any one of 29. A means for detecting rainfall or snowfall, or a means for detecting the possibility of rainfall or snowfall, and an umbrella.
Any of claims 1 to 30, wherein the control unit controls to use the umbrella when it detects the rain or snowfall, or detects the possibility of rain or snowfall. The mobile projection device described in. Equipped with a measuring means to measure wind power or wind speed
The mobile projection device according to any one of claims 1 to 31, wherein the control unit controls so as not to fly outdoors when the measuring means detects that the wind is strong. Claims 1 to 1, further comprising a storage unit that stores information on an indoor wall or an outdoor building wall on which the projected image can be projected, together with information on the length, width, and height of the wall. Item 32. The mobile projection apparatus according to any one of Items 32. 33. The movement according to claim 33, wherein the storage unit contains information instructing a low-position projection for kindergarten or nursery school children and / or wheelchair users. Type projection device. And aerial flying mechanism for flying through the air, a computer mobile projection device comprises and a pulp projector unit to form a projection image,
A projection location determining means that detects the brightness of a predetermined location and determines whether or not to use the projected image as a projection location to be displayed based on the detected brightness.
A control means for controlling the projector unit so that the projected image is displayed at the projection location determined by the projection location determination unit.
A program for functioning as,
The projection location determining means determines whether or not the detected brightness is equal to or less than a predetermined threshold value, and when it is determined that the detected brightness is not equal to or less than the predetermined threshold value, searches for another location.
A program for mobile projection equipment . And aerial flying mechanism for flying through the air, a computer mobile projection device comprises and a pulp projector unit to form a projection image,
A projection location determining means that detects the brightness of a predetermined location and determines whether or not to use the projected image as a projection location to be displayed based on the detected brightness.
A control means for controlling the projector unit so that the projected image is displayed at the projection location determined by the projection location determination unit.
A program for functioning as,
The projection location determining means is described when there are portions having different brightness in the predetermined location and the width of the portion whose brightness is equal to or less than a predetermined threshold value is larger than the screen size of the projected image. It is determined that a portion whose brightness is equal to or less than a predetermined threshold value is used as the projection location.
A program for mobile projection equipment . And aerial flying mechanism for flying through the air, a computer mobile projection device comprises and a pulp projector unit to form a projection image,
A projection location determining means that detects the brightness of a predetermined location and determines whether or not to use the projected image as a projection location to be displayed based on the detected brightness.
A control means for controlling the projector unit so that the projected image is displayed at the projection location determined by the projection location determination unit.
A program for functioning as,
The projection location determining means is used when the predetermined location is outdoors and there is a location exposed to direct sunlight and a shadow region, and the width of the shadow region is larger than the screen size of the projected image. , Determine to use the shadow area as the projection location
A program for mobile projection equipment . And aerial flying mechanism for flying through the air, a computer mobile projection device comprises and a pulp projector unit to form a projection image,
A projection location determining means that detects the brightness of a predetermined location and determines whether or not to use the projected image as a projection location to be displayed based on the detected brightness.
A control means for controlling the projector unit so that the projected image is displayed at the projection location determined by the projection location determination unit.
A program for functioning as,
The projection location determining means determines whether or not the predetermined location is exposed to direct sunlight when the predetermined location is outdoors, and searches for another location when it is determined to be a location exposed to direct sunlight. To do
A program for mobile projection equipment .

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