JP7012241B2 - Video display system and video display method - Google Patents

Description

The present invention relates to a video display system and a video display method in general, and more particularly to a video display system and a video display method for displaying a video by projecting the video on a projection surface.

Patent Document 1 describes a shopping cart used in a shopping mall or the like and displaying electronic information in the direction in which the pusher is directed.

The shopping cart described in Patent Document 1 has a display installed directly in front of the user who is the pusher of the shopping cart, and by displaying information about a bargain item on the display, it is electronic in the direction in which the user is heading. Display information. The display also includes a projector, and when the projector and the screen are installed in the shopping cart, the projector is installed on the user side of the shopping cart, and the screen is installed on the surface farthest from the user.

Japanese Unexamined Patent Publication No. 2004-106827

However, in the configuration described in Patent Document 1, since the video (information) is displayed to a specific person who is a user (pusher) of the shopping cart, for example, it is displayed for an unspecified person around the shopping cart. It may be difficult to see the image to be displayed.

The present invention has been made in view of the above reasons, and an object of the present invention is to provide a video display system and a video display method capable of displaying a video that is easy for an unspecified person to see.

The image display system according to the first aspect of the present invention includes a main body unit and a projection unit. The main body is movable. The projection unit is mounted on the main body unit and projects an image on a projection surface existing around the main body unit. The main body portion has a transport portion for transporting the dolly. The projection unit is configured to project an image onto a target area for projecting the image, at least during a waiting period during which the transport unit is not transporting the trolley.

The video display system according to the second aspect of the present invention further includes a detection unit and a movement control unit in the first aspect. The detection unit detects the state of the target area for projecting the image on the projection surface. When the state of the target area is not in a state where the image can be projected, the movement control unit moves the main body unit to secure the target area according to the detection result of the detection unit. , Controls the main body.

The video display system according to the third aspect of the present invention further includes a projection control unit in the second aspect. When the state of the target area is not in a state where the image can be projected, the projection control unit changes at least one of the size, shape, and projection direction of the image to secure the target area. As such, the projection unit is controlled according to the detection result of the detection unit.

In the image display system according to the fourth aspect of the present invention, in any one of the first to third aspects, the projection plane is selected from a plurality of planes including the first plane and the second plane having different orientations from each other. Will be done. The operation mode of the projection unit includes a first mode for projecting the image on the first surface and a second mode for projecting the image on the second surface.

In the fourth aspect, the image display system according to the fifth aspect of the present invention further includes a line-of-sight guidance unit that presents information for guiding a person's line of sight to the image projected by the projection unit. The line-of-sight guidance unit is configured to present information for guiding the line of sight to the second surface at least when the operation mode of the projection unit is the second mode.

The video display system according to the sixth aspect of the present invention further includes an autonomous control unit that controls the main body unit so that the main body unit moves autonomously in any one of the first to fifth aspects.

The video display system according to the seventh aspect of the present invention further includes a video generation unit in the sixth aspect. The video generation unit has at least one content in which the video is related to the current position of the main body portion, a content related to the movement path of the main body portion, and a content related to the posture of the main body portion. As shown, the video is generated in conjunction with the autonomous control unit.

In the second or third aspect, the image display system according to the eighth aspect of the present invention measures the cumulative time when the detection unit determines that the state of the target area is in a state where the image can be projected. It also has a time measurement unit.

In any one of the first to eighth aspects, the video display system according to the ninth aspect of the present invention determines the language in the video according to the attribute information of a person existing around the main body. It is configured in.
The video display system according to the tenth aspect of the present invention is configured to charge according to the cumulative time in the eighth aspect.
The image display method according to the eleventh aspect of the present invention includes a moving step of moving the main body portion and a projection step of projecting an image on a projection surface mounted on the main body portion and existing around the main body portion. It has a transport process for transporting a trolley, a detection process, and a movement control process . The detection step detects the state of the target area for projecting the image on the projection surface. In the movement control step, when the state of the target area is not in a state where the image can be projected, the main body portion is moved to secure the target area according to the detection result of the detection step. , Controls the main body. The projection step projects the image on the target area at least during a waiting period during which the transport step does not transport the dolly.
The image display method according to the twelfth aspect of the present invention further includes a projection control step in the eleventh aspect. In the projection control step, when the state of the target area is not in a state where the image can be projected, at least one of the size, shape, and projection direction of the image is changed to secure the target area. As such, the projection process is controlled according to the detection result of the detection process .

The present invention has an advantage that an image that can be easily seen by an unspecified person can be displayed.

FIG. 1 is a perspective view showing a video display system according to the first embodiment. FIG. 2 is a block diagram of the same video display system. FIG. 3 is a perspective view showing an operation of projecting an image of the same image display system. FIG. 4 is a perspective view showing another operation of projecting an image of the same image display system. FIG. 5A is a perspective view showing an operation of moving the main body of the same video display system to secure a target area, and FIG. 5B shows an operation of reducing the video of the same video display system to secure a target area. It is a perspective view. FIG. 6 is a perspective view showing an operation of switching the operation mode of the projection unit of the same image display system to secure the target area. FIG. 7A is a perspective view of the projection unit of the same video display system operating in the first mode, and FIG. 7B is a perspective view of the projection unit of the same video display system operating in the second mode. FIG. 8 is a flowchart showing an operation example of the same video display system. FIG. 9 is a perspective view showing a state in which the dolly is conveyed by the main body of the above-mentioned video display system. FIG. 10 is a block diagram of the video display system according to the second embodiment.

(Embodiment 1)
(1) Overview As shown in FIG. 1, the video display system 10 according to the present embodiment is introduced into a facility where a plurality of people enter and exit, such as an airport facility, a store, a station, and a hotel, and is used by users of the facility. On the other hand, it is a system for displaying the image Im1.

The "store" here is, for example, a store of a retail store such as a supermarket, a department store, a convenience store, a consumer electronics mass retailer, a clothing store, or a home center. Further, the video display system may be introduced in a facility containing a plurality of stores (tenants) such as a shopping mall or a shopping center.

In this embodiment, a case where the video display system 10 is introduced into an airport facility will be described as an example. The image display system 10 displays the image Im1 by projecting the image Im1 on a projection surface such as the floor surface F1 of the facility (here, the airport facility). The "video" referred to here is a video including at least one element such as a figure, computer graphics, a photograph, characters, numbers, and symbols, and may be a video including a combination of two or more elements. .. Further, the "video" may be either a monochrome video or a color video, and may be a still image or a moving image. The image Im1 displayed (projected) by the image display system 10 is, for example, an image for advertising or guidance. That is, the video Im1 is, for example, a video for advertisement consisting only of characters, a video for guidance consisting only of symbols such as arrows, and the like.

Further, in the present embodiment, the video display system 10 is a robot capable of autonomous traveling. Therefore, the image display system 10 can move in the airport facility and project the image Im1 on the projection surface (for example, the floor surface F1) at various places in the airport facility. Therefore, according to the video display system 10 according to the present embodiment, it is possible to present, for example, information for advertisement or guidance to an unspecified user of the airport facility.

(2) Configuration Hereinafter, the configuration of the video display system 10 according to the present embodiment will be described in detail.

As shown in FIGS. 1 and 2, the video display system 10 includes a main body unit 1, a projection unit 2, and a detection unit 3. Further, in the present embodiment, the video display system 10 further includes a control circuit 4, a drive unit 5, a transport unit 6, and a human machine interface 7 (HMI). In the present embodiment, the projection unit 2, the detection unit 3, the control circuit 4, the drive unit 5, the transfer unit 6, and the human-machine interface 7 are all mounted on the main body unit 1.

The main body 1 is a robot capable of autonomous traveling. The main body 1 is configured to be movable on the floor surface F1 which is a projection surface. It is sufficient that one or more main body units 1 are provided in the airport facility, and a plurality of main body units 1 may be provided depending on the scale of the airport facility and the like. In the present embodiment, all the components of the video display system 10 are provided in the main body 1, and each main body 1 constitutes an independent video display system 10, so that there are a plurality of main bodies 1 in the airport facility. For example, there will be a plurality of video display systems 10 in the airport facility.

As shown in FIG. 1, the main body 1 includes a base 11, a pair of columns 12, and an operation panel 13.

The base 11 has, for example, a plurality of (eg, four) wheels 14 (only one wheel is shown in FIG. 1). The shape of the base 11 in a plan view is V-shaped. In the present embodiment, the (V-shaped) apex of the base 11 is the front end of the main body 1, and the bifurcated end of the base 11 is the rear end of the main body 1. It is explained as. The arrows indicating "front", "rear", "left", "right", "top", and "bottom" in FIG. 1 are shown for the sake of explanation only and are not accompanied by substance. Further, these directions are not intended to limit the directions when the video display system 10 is used.

Each of the plurality of wheels 14 is an omnidirectional movable wheel such as an omni wheel. The drive unit 5 includes an electric motor for driving each of the plurality of wheels 14, a driver circuit for driving the electric motor, and the like. The drive unit 5 individually drives each of the plurality of wheels 14, so that the base 11 can move in all directions. That is, the main body 1 is driven by the drive 5 and can move on the floor surface F1 of the airport facility in all directions of front, back, left, and right. The drive unit 5 drives each of the plurality of wheels 14 in the rotation direction and rotation speed according to the control signal based on the control signals input from the control circuit 4 (movement control unit 41 and autonomous control unit 43 described later). do.

On the upper surface of the front end portion of the base 11, a transport portion 6 for transporting the carriage 100 (see FIG. 9), which will be described later, is provided. In the present embodiment, the transport unit 6 is, as an example, a mechanism for holding the bogie 100 by lifting the rear portion of the bogie 100.

The pair of columns 12 project upward from the rear end of the base 11. The upper end of the support column 12 is inclined with respect to the vertical direction. The operation panel 13 is supported by the pair of columns 12 so as to straddle between the upper ends of the pair of columns 12. For example, a human-machine interface 7 composed of a touch panel display is arranged on the operation panel 13. The human-machine interface 7 also serves as an output unit that presents information to the user by display, voice, or the like, and an input unit that accepts input from the user.

Here, at the front end portion and the rear end portion of the base 11, three openings 111 opened toward the side of the base 11 are formed. Inside each of these three openings 111, a sensor unit 311 is arranged so as to be exposed to the side of the base 11. Further, two sensor units 311 are also arranged on the upper surface of the base 11 (see FIG. 7A). These five sensor units 311 constitute a range finder (Laser Range Scanner) 31. The range sensor 31 emits light such as laser light from each of the plurality of (five in this case) sensor units 311 and is based on the time from the emission of the light to the reception of the reflected light of the main body 1. Measure the presence or absence of an object in the detection area set in the vicinity and the distance to the object. The range sensor 31 is viewed from the main body 1 by continuously changing the irradiation direction of the laser beam from each of the plurality of (five here) sensor units 311 in a plane parallel to the floor surface F1. It is possible to detect an object in almost all directions of 360 degrees.

A camera 32 is provided at the upper end of the operation panel 13. The camera 32 is, for example, an all-around camera configured to be capable of taking an all-around direction by combining an image pickup element and an optical system such as a lens or a reflector. Since the camera 32 is arranged at the highest portion of the main body 1, the blind spot caused by the main body 1 itself can be reduced to capture a wide range of images. That is, the camera 32 can capture a substantially omnidirectional image of 360 degrees when viewed from the main body 1.

Further, the operating power of each part (including the projection part 2 and the detection part 3 described later) mounted on the main body part 1 is secured by the rechargeable battery 15 (see FIG. 1) mounted on the main body part 1. Will be done. As an example, the battery 15 is provided on each of the pair of columns 12.

The projection unit 2 is mounted on the main body unit 1. The projection unit 2 is configured to project an image on a projection surface (for example, a floor surface F1) existing around the main body unit 1. Here, the projection surface is around the main body 1, that is, around the main body 1, and is at least within a range where the light from the main body 1 (projection 2) can reach, in other words, a range visible from the main body 1. It suffices as long as it exists, and it is not limited to the surface existing at a close distance to the main body 1. As long as the light from the main body 1 (projection 2) can reach, for example, even if it is a ceiling surface C1 (see FIG. 3), a wall surface, or the like located several tens of [m] away from the main body 1. It can be a projection plane that exists around the main body 1. In the present embodiment, the projection unit 2 is arranged at the lower end portion of the operation panel 13, and as an example, the image Im1 is projected toward the rear of the main body unit 1. That is, when the projection unit 2 projects the image Im1 on the floor surface F1, the image Im1 is projected on the floor surface F1 behind the main body unit 1.

Here, the projection plane is selected from a plurality of planes including at least the first plane and the second plane. The first surface and the second surface are surfaces having different orientations from each other. In the present embodiment, as an example, it is assumed that the first surface is the floor surface F1 of the airport facility and the second surface is the ceiling surface C1 of the airport facility. That is, on the projection surface on which the image Im1 from the projection unit 2 is projected, at least the floor surface F1 (first surface) facing upward and the ceiling surface C1 (second surface) facing downward (vertical direction) are present. include. The operation mode of the projection unit 2 includes a first mode for projecting the image Im1 on the first surface (floor surface F1) and a second mode for projecting the image Im1 on the second surface (ceiling surface C1). Specifically, the projection unit 2 has a swing mechanism that mechanically changes the elevation / depression angle of the projection unit 2 by the power of a motor or the like, and the direction of the optical system (projection lens) that emits the image Im1 (light). Is configured to be adjustable in the vertical direction. As a result, the projection unit 2 directs the optical system downward during operation in the first mode, projects the image Im1 on the floor surface F1 as the projection surface, and raises the optical system during operation in the second mode. The image Im1 is projected onto the ceiling surface C1 as the projection surface.

The details will be described in the column of "(3.1) Basic operation", but the image display system 10 basically operates the projection unit 2 in the first mode, and the floor surface F1 (first) as the projection surface. The image Im1 is projected on the surface). Therefore, in the following, unless otherwise specified, the projection surface will be described as the floor surface F1. On the other hand, when the predetermined switching condition is satisfied, the image display system 10 projects the image Im1 on the ceiling surface C1 (second surface) as the projection surface by operating the projection unit 2 in the second mode. However, the projection surface is not limited to the floor surface F1 and the ceiling surface C1, and may include, for example, a wall surface.

The detection unit 3 is configured to detect the state of the target region A1 for projecting the image Im1 on the projection surface (floor surface F1). Here, the detection unit 3 detects at least whether or not the state of the target area A1 is a state in which the image Im1 can be projected. The “target area” here means an area of the projection surface on which the image Im1 is projected from the projection unit 2. That is, the target area A1 of the projection surface functions as a screen on which the image Im1 is actually projected, and even if it is the projection surface, the image Im1 from the projection unit 2 is not projected on the area other than the target area A1. For example, when the image Im1 is projected on a planar projection surface, if there is a planar area on the projection surface having a size that accommodates the projected image Im1, this planar area constitutes the target area A1.

If the target area A1 can be seen from the main body 1, the detection unit 3 determines that the state of the target area A1 is in a state where the image Im1 can be projected. On the other hand, if there is some obstacle (including organisms such as humans and small animals) between the main body 1 and the target area A1 and the target area A1 cannot be seen from the main body 1, the detection unit 3 will be able to see the target area A1. It is determined that the state of the target area A1 is not in a state where the image Im1 can be projected. Even when an object exists on the target area A1 or there is a convex portion or a concave portion in a part of the target area A1 and a flat area (empty space) for projecting the image Im1 is not secured, the detection unit 3 may be used. , It is determined that the state of the target area A1 is not in a state where the image Im1 can be projected. Therefore, as an example, even if there is a crowd around the main body 1 and sufficient space for projecting the image Im1 cannot be secured on the projection surface (floor surface F1) around the main body 1. For example, the state of the target area A1 may not be a state in which the image Im1 can be projected.

When the state of the target area A1 is not in a state where the image Im1 can be projected, the image display system 10 may, for example, project the image Im1 to another place by the projection unit 2 or interrupt the projection of the image Im1. It is possible to do it. Further, when the state of the target area A1 is not in a state where the image Im1 can be projected, the image display system 10 projects the image Im1 by changing the size or shape of the image Im1 projected by the projection unit 2. It is also possible to do. The operation of the video display system 10 according to the detection result of the detection unit 3 will be described in detail in the column of "(3.2) Detection operation".

In the present embodiment, the detection unit 3 includes the above-mentioned range sensor 31 and the camera 32. That is, the detection unit 3 captures information such as the presence / absence of an object (including living things such as humans and small animals) around the main body 1 measured by the range sensor 31, the distance to the object, and the like, and further, the camera 32 captures the image. The image information around the main body 1 can be used. Based on this information, the detection unit 3 detects the target area A1 for projecting the image Im1 on the projection surface (floor surface F1).

As an example, when the target region A1 is a circular region having a radius of 0.5 [m] centered on a point 1.5 [m] behind the main body portion 1 on the floor surface F1, the detection unit 3 is the target region. The presence or absence of an object is determined on A1 and in the space between the main body 1 and the target area A1. When there is no object in this space, that is, when the target area A1 can be seen from the projection unit 2, the detection unit 3 may be in a state where the target area A1 can project the image Im1. Detected. On the other hand, when an object exists in this space, that is, when the target area A1 cannot be seen from the projection unit 2, the detection unit 3 changes the state of the target area A1 so that the image Im1 can be projected. It is detected that there is no such thing.

The control circuit 4 includes a movement control unit 41, a projection control unit 42, an autonomous control unit 43, a video generation unit 44, and a line-of-sight guidance unit 45. In the present embodiment, the control circuit 4 mainly comprises a computer system having a processor and a memory. By executing the program recorded in the memory of the computer system by the processor of the computer system, the functions of the movement control unit 41, the projection control unit 42, the autonomous control unit 43, the image generation unit 44, the line-of-sight guidance unit 45, and the like are performed. It will be realized. The program may be recorded in advance in a memory, may be provided through a telecommunication line such as the Internet, or may be recorded and provided on a recording medium such as a memory card.

The movement control unit 41 detects that the state of the target area A1 is such that the image Im1 can be projected by moving the main body unit 1 when the state of the target area A1 is not in the state where the image Im1 can be projected. The main body unit 1 is controlled according to the detection result of the unit 3. That is, when the detection unit 3 detects that the state of the target area A1 is not in a state where the image Im1 can be projected, the movement control unit 41 places the target area in another place on the target surface (floor surface F1). The main body 1 itself is moved so as to secure A1. Specifically, the movement control unit 41 receives the detection result of the detection unit 3, outputs a control signal to the drive unit 5, and controls the drive unit 5 by the control signal. As a result, the plurality of wheels 14 are driven by the drive unit 5, and the main body unit 1 moves on the floor surface F1 according to the control signal. Here, the movement control unit 41 confirms the state of the target area A1 after control from the detection result of the detection unit 3, so that the state of the target area A1 after control can project the image Im1. It is preferable to determine the control content of the drive unit 5 including the movement path of the main body unit 1.

The projection control unit 42 secures the target area A1 by changing at least one of the size, shape, and projection direction of the image Im1 when the state of the target area A1 is not in a state where the image Im1 can be projected. As described above, the projection unit 2 is controlled according to the detection result of the detection unit 3. That is, when the detection unit 3 detects that the state of the target area A1 is not in a state where the image Im1 can be projected, the projection control unit 42 detects an object (obstacle) on the target surface (floor surface F1). The projected image Im1 is deformed and / or moved so as to avoid and set the target area A1. Specifically, the projection control unit 42 receives the detection result of the detection unit 3, outputs a control signal to the projection unit 2, and controls the optical system and / or the drive system of the projection unit 2 by the control signal. .. Here, the projection control unit 42 confirms the state of the target area A1 after control from the detection result of the detection unit 3, so that the state of the target area A1 after control can project the image Im1. It is preferable to determine the control content of the projection unit 2.

The autonomous control unit 43 controls the main body unit 1 so that the main body unit 1 moves autonomously. Specifically, the autonomous control unit 43 outputs a control signal to the drive unit 5 and controls the drive unit 5 by the control signal. As a result, the plurality of wheels 14 are driven by the drive unit 5, and the main body unit 1 moves on the floor surface F1 according to the control signal. The autonomous control unit 43 estimates the current position of the main body unit 1 by using, for example, a gyro sensor and the output of a GPS (Global Positioning System). For the estimation of the current position of the main body 1 by the autonomous control unit 43, for example, image information around the main body 1 captured by the camera 32 may be further used. The autonomous control unit 43 determines a movement route of the main body 1 to the destination at least based on the current position of the main body 1 (route planning), and causes the main body 1 to move along this movement route. The main body unit 1 (drive unit 5) is controlled. Here, it is preferable that the autonomous control unit 43 controls the main body unit 1 (drive unit 5) by using the detection result of the detection unit 3. As a result, autonomous traveling of the main body 1 is realized.

The image generation unit 44 generates the image Im1 projected by the projection unit 2. Here, as an example, it is assumed that the video Im1 is an advertising video (still image) composed of a combination of figures and characters. Further, in the present embodiment, in the image generation unit 44, the image Im1 is related to the content related to the current position of the main body unit 1, the content related to the movement path of the main body unit 1, and the posture of the main body unit 1. The video Im1 is generated in conjunction with the autonomous control unit 43 so as to represent at least one of the contents. The "posture" of the main body 1 here includes the direction of the main body 1 itself, the direction in which the projection 2 projects the image Im1, and the like.

As an example, the image Im1 generated by the image generation unit 44 is located at the current position of the main body unit 1 so as to be an advertisement for the duty-free shop X in front of the duty-free shop X and an advertisement for the duty-free shop Y in front of the duty-free shop Y. The content changes in relation to it. Further, the video generation unit 44 has a recommend function for determining the content of the video Im1 to be generated according to the attribute information (for example, age group and gender) of the person existing around the main body unit 1. You may.

The line-of-sight guidance unit 45 presents information (hereinafter, also referred to as “guidance information”) for guiding a person's line of sight to the image Im1 projected by the projection unit 2. The line-of-sight guidance unit 45 is configured to present guidance information for guiding the line of sight to the second surface (ceiling surface C1) at least when the operation mode of the projection unit 2 is the second mode. As an example, the line-of-sight guidance unit 45 presents guidance information by controlling a light emitting unit 121 (see FIG. 7B) provided on the side surface of a pair of columns 12 of the main body unit 1. The line-of-sight guidance unit 45 may display guidance information on the human-machine interface 7 or other displays, or may present guidance information by voice.

Further, it is preferable that the video display system 10 is configured to determine the language in the video Im1 to be generated according to the attribute information (for example, nationality, etc.) of a person existing around the main body 1. Specifically, the video generation unit 44 has a language switching function for determining the language in the generated video Im1 according to the attribute information (for example, nationality, etc.) of a person existing around the main body unit 1. .. As a result, as an example, when there are many English-speaking people around the main body 1, the language in the video Im1 is English, and there are many Japanese-speaking people around the main body 1. The language in the video Im1 is Japanese. In order to realize the recommendation function and the language switching function, the image generation unit 44 may use, for example, image information around the main body unit 1 captured by the camera 32. Furthermore, if the current position of the main body 1 in the airport facility (for example, the arrival lobby or the departure lobby) is known, the area around the main body 1 can be obtained based on information such as the departure place of the arrival flight or the destination of the departure flight. The nationality of a person can be estimated. Therefore, the video display system 10 can also use information such as the departure place of the arrival flight or the destination of the departure flight as attribute information for the language switching function. Information such as the departure place of the arrival flight or the destination of the departure flight may be acquired by the main body 1 from the management system of the airport facility or the like at any time by communication, or is stored in the main body 1 in advance. It may be judged from the departure / arrival schedule.

Further, the language switching similar to the language switching function can be applied to the human-machine interface 7. That is, the language of the information such as display and voice presented by the human-machine interface 7 to the user and the information of the information that the human-machine interface 7 accepts the input from the user is the attribute information of the person existing around the main body 1. It may be determined accordingly. Further, the same language switching as the language switching function can be applied to the guidance information presented by the line-of-sight guidance unit 45.

Further, the video display system 10 is appropriately provided with a configuration other than the above, for example, a charging circuit of the battery 15, a communication unit, or the like. The communication unit is mounted on the main body unit 1, and for example, it communicates bidirectionally with an external communication device of the main body unit 1 by wireless communication using radio waves.

(3) Operation Hereinafter, the operation of the video display system 10 according to the present embodiment will be described.

(3.1) Basic Operation In the steady state, the image display system 10 operates the projection unit 2 in the first mode as a basic operation as shown in FIG. 3, and the floor surface F1 (first surface) as the projection surface. ) Is projected onto the image Im1. Since the main body 1 is configured to be capable of autonomous travel, the image Im1 can be projected onto the floor surface F1 at various locations in the airport facility. At this time, the area on the floor surface F1 on which the image Im1 is projected becomes the target area A1. Here, as an example, a circular area having a radius of 0.5 [m] centered on a point 1.5 [m] behind the main body 1 on the floor surface F1 is set as the target area A1, and the screen shape is formed in the target area A1. An example is shown in which a circular image Im1 is displayed.

Further, the projection unit 2 is not limited to the configuration in which the image Im1 is projected with the main body unit 1 stopped at a fixed position, and the image Im1 may be projected while the main body unit 1 is moving (autonomous traveling). When the image Im1 is projected while the main body 1 is moving, the target area A1 moves on the floor surface F1 as the main body 1 moves.

This makes it possible to display an image that is easy to see not only by a specific person but also by an unspecified person who is located around the main body 1, that is, is located so as to surround the main body 1. In particular, when the displayed image Im1 is, for example, an image such as an advertisement, it is possible to display an image Im1 that is easy to see not only by a specific person but also by an unspecified person so that as many people as possible can see it. preferable.

The image display system 10 does not need to constantly display (project) the image Im1. For example, when the main body 1 is present at a predetermined time zone and a predetermined place, or when a person is present around the main body 1. The image Im1 may be displayed only when a specific condition is satisfied.

(3.2) Detection operation Next, the operation of the video display system 10 according to the detection result of the detection unit 3 will be described.

That is, for example, when the target area A1 consisting of a circular region behind the main body 1 on the floor surface F1 can be seen from the main body 1, the detection unit 3 can project the image Im1 in the state of the target area A1. It is detected that there is. In this case, the projection unit 2 projects the image Im1 onto the target area A1 on the floor surface F1 as described in “(3.1) Basic operation”.

On the other hand, for example, as shown in FIG. 4, when the person H1 is present on the target area A1 formed of a circular area behind the main body 1 on the floor surface F1, the target area A1 cannot be seen from the main body 1 and the detection unit. At 3, it is detected that the state of the target area A1 is not in a state where the image Im1 can be projected. In this case, even if the projection unit 2 tries to project the image Im1 on the target area A1 in the same state, the light from the projection unit 2 is blocked by the foot of the person H1 on the target area A1 and the image Im1 is displayed on the target area A1. Cannot be projected. In FIG. 4, the image Im1 to be projected by the projection unit 2 is represented by an imaginary line (dashed-dotted line). The detection unit 3 may detect the state of the target area A1 in a state where the image Im1 is projected from the projection unit 2, or may be performed before the image Im1 is projected from the projection unit 2. good. In the present embodiment, as an example, it is assumed that the detection unit 3 periodically (for example, at 1-second intervals) detects the state of the target area A1 while the image Im1 is projected from the projection unit 2. ..

In the image display system 10 according to the present embodiment, a plurality of patterns can be operated as an operation when the state of the target area A1 is not in a state where the image Im1 can be projected. Therefore, below, the operation of the movement control unit 41, the operation of the projection control unit 42, and the operation of the projection unit 2, which are the operations of the image display system 10 when the state of the target area A1 is not in the state where the image Im1 can be projected. Each of the operation mode switching will be described.

(3.2.1) Movement control unit First, the operation of the movement control unit 41 will be described.

When the detection unit 3 detects that the state of the target area A1 is not in a state where the image Im1 can be projected, the movement control unit 41 moves the main body unit 1 to the target, for example, as shown in FIG. 5A. Secure area A1. In FIG. 5A, the main body portion 1 and the image Im1 before movement are represented by an imaginary line (dashed-dotted line). Further, in FIG. 5A, the direction of movement of the main body 1 is indicated by an arrow, but this arrow is indicated only for the sake of explanation and is not accompanied by an entity.

Here, the movement control unit 41 confirms the state of the target area A1 after control from the detection result of the detection unit 3, so that the state of the target area A1 after control can project the image Im1. The control content of the drive unit 5 is determined including the movement path of the main body unit 1. As an example, if the movement control unit 41 moves 1.2 [m] to the left front from the current position due to the current positional relationship between the main body unit 1 and the objects around the main body unit 1, the target area It is assumed that A1 can be secured. In this case, as shown in FIG. 5A, the movement control unit 41 moves the main body unit 1 to the left front by 1.2 [m] from the state shown in FIG. 4, so that the target area A1 for projecting the image Im1 is projected. Is secured. That is, if the main body 1 moves, the target area A1 also moves on the floor surface F1. If the state of the target area A1 after the movement is in a state where the image Im1 can be projected, as a result, the target area A1 for projecting the image Im1 is secured.

(3.2.2) Projection control unit Next, the operation of the projection control unit 42 will be described.

When the detection unit 3 detects that the state of the target area A1 is not in a state where the image Im1 can be projected, the projection control unit 42 determines, for example, the size, shape, and shape of the image Im1 as shown in FIG. 5B. And at least one of the projection directions is changed to secure the target area A1. In FIG. 5B, the image Im1 before the change is represented by an imaginary line (dashed-dotted line). Further, in FIG. 5B, the direction in which the size of the image Im1 changes is indicated by an arrow, but this arrow is indicated only for the sake of explanation and is not accompanied by an entity.

Here, the projection control unit 42 confirms the state of the target area A1 after control from the detection result of the detection unit 3, so that the state of the target area A1 after control can project the image Im1. The control content of the projection unit 2 is determined. As an example, if the projection control unit 42 reduces the image Im1 projected by the projection unit 2 to the size of 1/2 from the current positional relationship between the main body unit 1 and the objects around the main body unit 1, the target area A1 becomes. It is assumed that it can be secured. In this case, as shown in FIG. 5B, the projection control unit 42 reduces the image Im1 to a size of 1/2 from the state of FIG. 4, thereby securing the target area A1 for projecting the image Im1. .. That is, if at least one of the size, shape, and projection direction of the image Im1 projected by the projection unit 2 changes, the size, shape, and position of the target area A1 for projecting the image Im1 are accompanied by the change. At least one of them changes. Then, if the state of the target area A1 after the change is in a state where the image Im1 can be projected, as a result, the target area A1 for projecting the image Im1 is secured.

Further, as a specific example of changing the shape of the image Im1, the projection control unit 42 may change, for example, the image Im1 long in the front-rear direction of the main body 1 into the image Im1 long in the left-right direction of the main body 1. It is possible. The projection control unit 42 can also change the circular image Im1 into a rectangular image Im1 and the like.

(3.2.3) Switching of operation mode Next, switching of the operation mode of the projection unit 2 will be described.

When the detection unit 3 detects that the state of the target area A1 is not in a state where the image Im1 can be projected, the projection unit 2 has the first mode in which the floor surface F1 is the projection surface, as shown in FIG. The operation mode is switched to the second mode in which the ceiling surface C1 is the projection surface, and the target area A1 is secured. In FIG. 6, the image Im1 before switching the operation mode is represented by an imaginary line (dashed-dotted line). Further, in FIG. 6, the direction in which the projection direction of the image Im1 changes is indicated by an arrow, but this arrow is indicated only for the sake of explanation and is not accompanied by an entity.

That is, the image display system 10 basically operates the projection unit 2 in the first mode to project the image Im1 on the floor surface F1 (first surface) as the projection surface. In this state, when the detection unit 3 detects that the state of the target area A1 is not in a state where the image Im1 can be projected, the image display system 10 switches the operation mode of the projection unit 2 to the second mode. , The image Im1 is projected on the ceiling surface C1 (second surface) as the projection surface. In short, the detection unit 3 detects that the state of the target area A1 is not in the state where the image Im1 can be projected, and the state of the target area A1 is not in the state where the image Im1 can be projected. Then, the projection unit 2 switches the operation mode on the assumption that the switching condition is satisfied. Therefore, the projection surface is changed from the floor surface F1 to the ceiling surface C1, and if the state of the target area A1 on the changed projection surface (ceiling surface C1) is in a state where the image Im1 can be projected, the result is In addition, the target area A1 for projecting the image Im1 is secured.

By the way, when the operation mode of the projection unit 2 is suddenly switched and the projection surface is switched from the floor surface F1 (first surface) to the ceiling surface C1 (second surface), the image Im1 is projected on the ceiling surface C1. , It is considered that it is difficult for people around the main body 1 to notice. Therefore, in the present embodiment, the line-of-sight guidance unit 45 presents guidance information for guiding the line of sight to the second surface (ceiling surface C1) at least when the operation mode of the projection unit 2 is the second mode.

Specifically, as shown in FIG. 7A, the line-of-sight guidance unit 45 does not particularly present (display) guidance information while the operation mode of the projection unit 2 is the first mode. On the other hand, while the operation mode of the projection unit 2 is the second mode, the line-of-sight guidance unit 45 displays a person on the image Im1 projected on the second surface (ceiling surface C1) as shown in FIG. 7B. Guidance information for guiding the line of sight of the above is presented (displayed) by the light emitting unit 121. In the example of FIG. 7B, a plurality of light emitting portions 121 are provided on each side surface of the pair of columns 12 of the main body portion 1. Each of the plurality of light emitting units 121 is configured in the shape of an arrow pointing upward so as to point to the second surface (ceiling surface C1).

Therefore, when the operation mode of the projection unit 2 is switched from the first mode to the second mode, the light emitting unit 121 is turned on and the line of sight of a person can be guided to the image Im1 projected on the second surface (ceiling surface C1). The line-of-sight guidance unit 45 may present (display) guidance information by chain lighting (sequential lighting) in which a plurality of light emitting units 121 arranged in the vertical direction are sequentially lit from below.

(3.2.4) Summary As described above, in the image display system 10, when the state of the target area A1 is not in a state where the image Im1 can be projected, the operation of the movement control unit 41 and the operation of the projection control unit 42. , And switching of the operation mode of the projection unit 2, at least one of them is executed. As a result, the target area A1 for projecting the image Im1 is secured.

For example, when the image Im1 is projected using the floor surface F1 existing around the main body 1 as a projection surface, the number of people existing on the floor surface F1 is different from the case where the image is projected on a dedicated screen. And the position and the like change, and the state of the projection surface (floor surface F1) often changes. Therefore, if a sufficient target area A1 cannot be secured on the projection surface, at least a part of the image Im1 projected on the target area A1 may be chipped or distorted, and the normal image Im1 may not be displayed. ..

In the image display system 10 according to the present embodiment, the detection unit 3 detects the state of the target area A1 for projecting the image Im1 on the projection surface (floor surface F1 or the like) existing around the main body unit 1. There is. Therefore, as an example, when a target area A1 sufficient for projecting the image Im1 cannot be secured on the projection surface made of the floor surface F1, such as when there is a crowd around the main body 1, the image display system 10 may use the image display system 10. Measures such as projecting the image Im1 on another location can be taken. Therefore, according to the video display system 10 according to the present embodiment, it is possible to display a video that is even easier to see from an unspecified person.

By the way, when there is an operation of a plurality of patterns (here, 3 patterns) as an operation when the state of the target area A1 is not in a state where the image Im1 can be projected, the operation of these multiple patterns has a priority. Is preferably set. In the present embodiment, as an example, it is assumed that the priority is lowered in the order of the operation of the movement control unit 41, the operation of the projection control unit 42, and the switching of the operation mode of the projection unit 2. The operation of the image display system 10 at the time of projection of the image Im1 in this case will be described with reference to the flowchart of FIG.

That is, when the projection operation of the image Im1 is started, the image display system 10 first operates the projection unit 2 in the first mode, and starts the projection of the image Im1 on the floor surface F1 (first surface) which is the projection surface. (S1). In this state, the image display system 10 detects the state of the target area A1 on which the image Im1 is projected by the detection unit 3 (S2). At this time, if the state of the target area A1 detected by the detection unit 3 is in a state where the image Im1 can be projected (S2: Yes), the projection unit 2 continues the projection of the image Im1 (S9).

If the state of the target area A1 detected in step S2 is not in a state where the image Im1 can be projected (S2: No), the movement control unit 41 moves the main body unit 1 to secure the target area A1 (S3). .. After that, the video display system 10 detects the state of the target region A1 on which the video Im1 is projected by the detection unit 3 (S4). At this time, if the state of the target region A1 detected by the detection unit 3 is in a state where the image Im1 can be projected (S4: Yes), the projection unit 2 continues the projection of the image Im1 (S9).

If the state of the target area A1 detected in step S4 is not in a state where the image Im1 can be projected (S4: No), the projection control unit 42 changes the size and / or shape of the image Im1 to change the target area. Secure A1 (S5). That is, the projection control unit 42 changes at least one of the size, shape, and projection direction of the image Im1 (here, the size and / or shape of the image Im1). After that, the video display system 10 detects the state of the target region A1 on which the video Im1 is projected by the detection unit 3 (S6). At this time, if the state of the target area A1 detected by the detection unit 3 is in a state where the image Im1 can be projected (S6: Yes), the projection unit 2 continues the projection of the image Im1 (S9).

If the state of the target area A1 detected in step S6 is not in a state where the image Im1 can be projected (S6: No), the projection unit 2 switches the operation mode from the first mode to the second mode (S7). That is, the projection unit 2 starts projecting the image Im1 on the ceiling surface C1 (second surface) which is the projection surface. At this time, the line-of-sight guidance unit 45 presents (displays) guidance information for guiding the line of sight to the ceiling surface C1, so that the line of sight of a person around the main body 1 is projected onto the ceiling surface C1. Guidance (line-of-sight guidance) is performed (S8). Then, the projection unit 2 continues the projection of the image Im1 (S9).

The image display system 10 periodically repeats the processes S1 to S9 while the projection operation of the image Im1 is continued.

However, the flowchart of FIG. 8 is only an example of the operation of the video display system 10, and the priority order of the operation of the movement control unit 41, the operation of the projection control unit 42, and the switching of the operation mode of the projection unit 2 can be changed as appropriate. Is. For example, the priority may be lowered in the order of the operation of the projection control unit 42, the operation of the movement control unit 41, and the switching of the operation mode of the projection unit 2.

(3.3) Cart Transport Operation The video display system 10 according to the present embodiment has a function of transporting a cart 100 (cart, cart) by the main body 1 as shown in FIG. In short, the image display system 10 has two functions of displaying (projecting) the image Im1 and transporting the trolley 100. In the present embodiment, since it is assumed that the video display system 10 is used in the airport facility, the trolley 100 to be transported is, for example, a baggage cart for baggage used in the airport facility.

In the present embodiment, as shown in FIG. 9, the transport unit 6 provided in the main body 1 is configured to hold the bogie 100 by lifting the rear portion of the bogie 100 as an example. In the example of FIG. 9, the carriage 100 located in front of the main body 1 is conveyed so as to be pushed by the main body 1 from the rear. Therefore, in the video display system 10, the carriage 100 can be conveyed by the main body 1 autonomously traveling while the transport unit 6 holds the carriage 100.

The transport operation of the trolley 100 is roughly divided into two operation modes: a collection mode in which the unused trolley 100 is transported to a predetermined place, and a follow-up mode in which the user of the trolley 100 is followed and the trolley 100 is transported. There is. In either the recovery mode or the follow-up mode, the main body unit 1 is controlled by the autonomous control unit 43 and moves autonomously. In the follow-up mode, the autonomous control unit 43 uses the detection result of the detection unit 3 or the like to move the main body unit 1 so as to follow the preceding user.

In the collection mode, the main body 1 transports, for example, a dolly 100 left in an airport facility, a parking lot, or the like to a predetermined place such as a cart storage place. As a result, it is possible to reduce the time and effort required for the person (airport staff, etc.) to collect the trolley 100. In the follow-up mode, the main body 1 moves so as to follow the movement of the user of the dolly 100, and carries the dolly 100 in place of the user of the dolly 100. As a result, the dolly 100 can be transported in place of a user whose hands are closed, such as holding a child or holding luggage in both hands, which improves convenience for the user. ..

By the way, in the image display system 10 according to the present embodiment, the projection unit 2 projects the image Im1 on the target area A1 at least during the standby period in which the transport unit 6 (main body unit 1) does not transport the carriage 100. It is configured in.

That is, as described above, even if the main body 1 has a function of transporting the trolley 100, the main body 1 does not always transport the trolley 100, but if there is no trolley 100 to be transported, the trolley 100 is transported. Is not done. In the present embodiment, in order to effectively utilize the main body 1 during the standby period during which the transport unit 6 (main body 1) is not transporting the carriage 100, the projection unit 2 mounted on the main body 1 is used. The image Im1 is projected. As a result, the main body 1 that autonomously moves in the airport facility can be effectively used not only during the transportation period during which the carriage 100 is being transported but also during the waiting period during which the carriage 100 is not being transported.

However, the projection unit 2 may project the image Im1 at least during the waiting period, may project the image Im1 only during the waiting period, or may project the image Im1 during both the waiting period and the transport period.

(3.4) Guidance operation The video display system 10 according to the present embodiment has a function of providing guidance (direction guidance, etc.) to the user of the airport facility in the main body 1. That is, the main body 1 moves the movement route to the destination ahead of the user, and the projection 2 projects the guidance image Im1, so that the video display system 10 moves behind the main body 1. It is possible to guide the walking user to the destination.

In this case, the main body unit 1 is controlled by the autonomous control unit 43 and moves autonomously. For example, when a destination desired by the user is input by the human-machine interface 7, the autonomous control unit 43 determines a movement route to the destination (route planning). The autonomous control unit 43 controls the main body unit 1 (drive unit 5) so that the main body unit 1 moves along the movement path determined by the route plan.

At this time, it is preferable that the image generation unit 44 generates the image Im1 having the content related to the movement route determined by the route plan. As a specific example, the image generation unit 44 generates an image Im1 including a text sentence such as "turn right at the next corner" and "go straight ahead".

Further, the content of the image Im1 generated by the image generation unit 44 may change in relation to the posture of the main body unit 1. For example, when the movement path of the main body 1 is indicated by an arrow in the image Im1, the appearance of the arrow from the user may change depending on which direction the main body 1 is facing with respect to the traveling direction. .. As a specific example, when the arrow of the image Im1 indicates a straight line, when the main body 1 points to the right with respect to the traveling direction, the user appears that the arrow indicates a right turn instead of a straight line. In such a case, the video Im1 generated by the video generation unit 44 is preferably content related to the posture of the main body unit 1, for example, the content is changed depending on the orientation of the main body unit 1.

(4) Modification Example 1 is only one of various embodiments of the present invention. The first embodiment can be modified in various ways depending on the design and the like as long as the object of the present invention can be achieved. Further, the same function as that of the video display system 10 may be realized by a video display method, a computer program, a recording medium on which a computer program is recorded, or the like.

Hereinafter, modified examples of the first embodiment are listed. The modifications described below can be applied in combination as appropriate.

In the first embodiment, the case where the projection unit 2 uses the structural surface of a building such as the floor surface F1 as the projection surface has been described, but the present invention is not limited to this example, and the projection surface may be a surface existing around the main body unit 1. Just do it. For example, the projection unit 2 may project the image Im1 on the projection surface with the outdoor ground (ground surface), the outer wall surface of the building, or the like as the projection surface. Further, the projection surface is not limited to a flat surface, and may be a three-dimensional surface having predetermined unevenness such as a curved surface. When the projection surface is a three-dimensional surface, the projection unit 2 can project a three-dimensional image on the projection surface by using a 3D projection mapping technique. Further, the projection unit 2 may project an image on the surface of the screen with the surface of the dedicated screen as the projection surface.

Further, the video display system 10 may be configured to perform more various detections on the state of the target area A1 by using the detection results of the camera 32 included in the detection unit 3. For example, the detection unit 3 determines from the image captured by the camera 32 the color of the target area A1, the reflectance of light, the surface roughness, and the like, and the state of the target area A1 is suitable for projection of the image Im1. You may decide whether or not it is in a state. As a specific example, when the color of the target area A1 is similar to that of the projected image Im1, or when the reflectance of the light of the target area A1 is equal to or less than the specified value, the detection unit 3 determines that the target area A1 is in a state of the target area A1. It may be determined that the state is not suitable for the projection of the image Im1. Further, the detection unit 3 detects the distortion of the image Im1 actually projected on the target area A1 by comparing the image captured by the camera 32 with the image Im1 generated by the image generation unit 44. The state of the target area A1 may be detected.

Further, the projection unit 2 projects the hue and / or the hue of the image Im1 to be projected according to information such as the color of the target region A1 or the reflectance of light extracted from the image captured by the camera 32 of the detection unit 3. The brightness and the like may be changed.

Further, the projection unit 2 is not limited to the configuration in which the image Im1 is projected toward the rear of the main body 1, and may, for example, project the image Im1 toward the front of the main body 1. The projection unit 2 may be provided on each side surface of the pair of columns 12, and in this case, the image Im1 can be projected toward the left and right sides of the main body unit 1. In this configuration, both when the main body 1 follows the user of the bogie 100 as in the follow-up mode of the bogie transport operation and when the main body 1 moves ahead of the user as in the above-mentioned guidance operation. The image Im1 can be easily seen by the user.

Further, the video display system 10 is not limited to a configuration in which all the components are integrally provided in the main body 1 as in the first embodiment, and some components may be distributed and provided. For example, the fact that the projection unit 2 and the detection unit 3 are integrated in one housing (main body unit 1) is not an essential configuration for the video display system 10, and the video display system 10 has a plurality of components. It may be distributedly provided in the housing. Further, for example, it is not an essential configuration for the video display system 10 that the individual components such as the detection unit 3 are integrated in one housing, and the individual components are dispersed in a plurality of housings. It may be provided.

As a specific example in which some components of the video display system 10 are distributed and provided, the detection unit 3 is omitted from the main body unit 1, and a surveillance camera provided in the facility (airport facility) constitutes the detection unit 3. May be good. Even in this case, for example, by communicating between the detection unit 3 (surveillance camera) on the facility side and the main body unit 1, the main body unit 1 receives the detection result of the detection unit 3 and operates in the same manner as in the first embodiment. realizable. Further, when the video display system 10 includes a plurality of main bodies 1, the so-called V2V (Vehicle to Vehicle) communication technology for directly communicating between vehicles (vehicle-to-vehicle) is applied to the plurality of main bodies 1. May be applied to. As a result, one main body unit 1 receives the detection result of the detection unit 3 from other main body units 1 existing in the vicinity, and is used for detecting the state of the target area A1 together with the detection result of its own detection unit 3. be able to. It is also possible for a plurality of main body units 1 to cooperate with each other to project one image Im1.

Further, the detection unit 3 is not limited to the configuration having two types of sensors, the range sensor 31 and the camera 32, and may have only one type of sensor or three or more types of sensors. Further, the detection unit 3 is not limited to a sensor that optically detects an object such as a range sensor 31 and a camera 32, and for example, a ToF (Time-of-Flight) type distance image camera and ultrasonic waves are detected. It may have a sonar sensor to be used, a radar to detect radio waves, and the like.

Further, the line-of-sight guidance unit 45 may present guidance information at least when the operation mode of the projection unit 2 is the second mode, and presents guidance information even when the operation mode of the projection unit 2 is the first mode. It may be configured to be used. In this case, while the operation mode of the projection unit 2 is the first mode, the line-of-sight guidance unit 45 presents guidance information for guiding the line of sight to the first surface (floor surface F1).

Further, the image generation unit 44 may be controlled by the projection control unit 42. In this case, the projection control unit 42 can change at least one of the size, shape, and projection direction of the image Im1 projected by the projection unit 2 by software in the image generation unit 44. Further, when the projection control unit 42 changes the size and / or shape of the image Im1, the content of the image Im1 generated by the image generation unit 44 may be changed together with the size and / or shape of the image Im1. good.

Further, the main body 1 is not limited to the configuration of traveling on the floor surface F1, and may be configured to move by flight, for example, like a drone.

Further, the case where the first surface is the floor surface F1 and the second surface is the ceiling surface C1 has been illustrated, but the present invention is not limited to this. For example, the first surface is the ceiling surface C1 or the wall surface, and the second surface is the floor surface F1 or. It may be a wall surface. Further, the projection plane may be selected from a plurality of planes including at least the first plane and the second plane, and may be selected from a plurality of planes including three or more planes. Further, the projection plane may be selected from a plurality of planes including the first plane and the second plane, and the projection plane is not limited to the configuration in which the projection plane is selectively selected, and a plurality of planes are simultaneously selected as the projection planes. You may. In this case, the image Im1 from the projection unit 2 is simultaneously projected on the plurality of projection surfaces. In this case, a plurality of projection units 2 may be provided corresponding to a plurality of surfaces on which the image Im1 is projected.

Further, in the first embodiment, the case where the wheel 14 is an omni wheel has been described, but the present invention is not limited to this configuration, and the wheel 14 may be a mecanum wheel or the like, or may not be an omnidirectional movable wheel. ..

Further, the video display system 10 is not limited to airport facilities, and may be applied to facilities such as stores, train stations, and hotels.

The various modifications described above can be applied in combination as appropriate.

(Embodiment 2)
As shown in FIG. 10, the video display system 10A according to the present embodiment is different from the video display system 10 according to the first embodiment in that it further includes a time measuring unit 46. Hereinafter, the same configurations as those in the first embodiment may be designated by a common reference numeral and description thereof may be omitted as appropriate.

The time measuring unit 46 measures the cumulative time when the detection unit 3 determines that the state of the target area A1 is in a state where the image Im1 can be projected. The "cumulative time" here is the total (cumulative) of the time when the detection unit 3 detects that the state of the target area A1 is in a state where the image Im1 can be projected. It's time to do it. In other words, the total time obtained by subtracting the time when the detection unit 3 detects that the state of the target area A1 is not in the state where the image Im1 can be projected is the total time when the projection unit 2 projects the image Im1. It is measured by the time measuring unit 46. In the present embodiment, the time measuring unit 46 is provided in the control circuit 4A of the main body unit 1A.

The time information representing the cumulative time measured by the time measuring unit 46 is transmitted, for example, from the communication unit mounted on the main body unit 1A to an external management device of the main body unit 1A. For example, when the video Im1 is a video for advertising, the cumulative time can be used for billing calculation for the advertiser. That is, during the period when the detection unit 3 detects that the state of the target area A1 is not in a state where the image Im1 can be projected, at least a part of the image Im1 projected on the target area A1 is missing or distorted. Then, it is a period during which the normal image Im1 is not displayed. Therefore, it is preferable to exclude such a period from the billing target and to charge only the period in which the advertisement is substantially displayed.

In short, in the video display system 10A according to the present embodiment, measures such as billing can be taken according to the length of time that the video Im1 is substantially displayed. Therefore, when the detection unit 3 detects that the state of the target area A1 is not in a state where the image Im1 can be projected, it is not essential to take measures such as projecting the image Im1 to another place. By reflecting the detection result of the detection unit 3 in the billing or the like, it is possible to provide equal services to the users (advertisers and the like) of the video display system 10A.

Further, the time measuring unit 46 may be provided separately from the main body unit 1A. For example, the time measuring unit 46 may be provided in a management device or the like capable of communicating with the communication unit of the main body unit 1A. In this case, it becomes easy to manage the cumulative time outside the main body 1A.

Further, the cumulative time may be used not only for billing calculation but also for, for example, management of the operating time of the main body 1.

The configuration (including the modified example) of the video display system 10A according to the second embodiment can be appropriately combined with the configuration of the first embodiment (including the modified example).

The drawings shown in the above embodiments are merely conceptual diagrams for explaining an example of the video display system 10 (10A), and the shape, size, positional relationship, etc. of each part may be appropriately different from the actual embodiment. There is also.

(summary)
As described above, the video display system (10, 10A) according to the first aspect of the present invention includes a main body unit (1,1A), a projection unit (2), and a detection unit (3). .. The main body (1,1A) is movable. The projection unit (2) is mounted on the main body unit (1,1A), and projects an image (Im1) on a projection surface existing around the main body unit (1,1A). The detection unit (3) detects the state of the target area (A1) for projecting the image (Im1) on the projection surface.

According to this configuration, since the image (Im1) is projected on the projection surface existing around the main body (1,1A), it is located not only on a specific person but also around the main body (1,1A). It has the advantage of being able to display an image (Im1) that is easy for an unspecified person to see. Moreover, the detection unit (3) detects the state of the target area (A1) for projecting the image (Im1) on the projection surface existing around the main body unit (1,1A). For example, when a target area (A1) sufficient for projecting an image (Im1) cannot be secured on the projection surface, such as when there is a crowd around the main body (1,1A), the image display system (10, In 10A), measures such as projecting an image (Im1) on another place can be taken. Therefore, according to this aspect, it is possible to display an image (Im1) that is even easier to see from an unspecified person.

The video display system (10, 10A) according to the second aspect of the present invention further includes a movement control unit (41) in the first aspect. When the state of the target area (A1) is not in a state where the image (Im1) can be projected, the movement control unit (41) moves the main body unit (1,1A) to secure the target area (A1). As described above, the main body unit (1,1A) is controlled according to the detection result of the detection unit (3).

According to this configuration, for example, when the main body (1,1A) is in a crowd and the state of the target area (A1) is not in a state where the image (Im1) can be projected, the main body (1,1A) ( By moving every 1,1A), the image (Im1) can be displayed in the empty space. Furthermore, if the main body (1,1A) can move so as to avoid crowds and project an image (Im1), it will lead to guiding the viewer of the image (Im1) to a place away from the crowds. .. As a result, the video display system (10, 10A) can guide people to places where people do not originally gather in facilities such as airport facilities, and alleviates the bias in the distribution of people in the facilities. It also contributes to smoothing the flow of people in the facility.

The video display system (10, 10A) according to the third aspect of the present invention further includes a projection control unit (42) in the first or second aspect. The projection control unit (42) changes at least one of the size, shape, and projection direction of the image (Im1) when the state of the target area (A1) is not in a state where the image (Im1) can be projected. The projection unit (2) is controlled according to the detection result of the detection unit (3) so as to secure the target area (A1).

According to this configuration, when the state of the target area (A1) is not in a state where the image (Im1) can be projected, for example, the image (Im1) is reduced to move the main body (1,1A). Even if the route cannot be secured, the image (Im1) can be displayed.

In the video display system (10, 10A) according to the fourth aspect of the present invention, in any one of the first to third aspects, the main body portion (1,1A) is a transport unit for transporting the carriage (100). It has (6). The projection unit (2) is configured to project an image (Im1) onto the target area (A1) at least during a standby period during which the transport unit (6) is not transporting the carriage (100).

According to this configuration, the projection unit (2) mounted on the main body unit (1,1A) uses the free time (standby period) in which the transport unit (6) does not transport the bogie (100). It is possible to project an image (Im1). As a result, the main body portion (1, 1A) can be effectively used not only during the period during which the trolley (100) is being transported, but also during the waiting period during which the trolley (100) is not being transported.

In the video display system (10, 10A) according to the fifth aspect of the present invention, in any one of the first to fourth aspects, the projection planes include a plurality of projection planes having different orientations of the first plane and the second plane. It is selected from the aspect of. The operation mode of the projection unit (2) includes a first mode for projecting an image (Im1) on the first surface and a second mode for projecting an image (Im1) on the second surface.

According to this configuration, the projection unit (2) can switch whether to project the image (Im1) on the first surface or the second surface in which the orientations of the surfaces are different from each other, depending on the operation mode. Therefore, for example, when the state of the target area (A1) is not in a state where the image (Im1) can be projected, the projection unit (2) projects the image (Im1) between the first surface and the second surface. By switching, it becomes possible to display the image (Im1) in the empty space.

The image display system (10, 10A) according to the sixth aspect of the present invention presents information for guiding a person's line of sight to the image (Im1) projected by the projection unit (2) in the fifth aspect. A line-of-sight guidance unit (45) for performing the above is further provided. The line-of-sight guidance unit (45) is configured to present information for guiding the line of sight to the second surface at least when the operation mode of the projection unit (2) is the second mode.

According to this configuration, when the image (Im1) is projected on at least the second surface, the person's line of sight can be directed to the image (Im1). Therefore, for example, even when the projection destination of the image (Im1) is switched from the first surface to the second surface, the image (Im1) that is easily visible to an unspecified person located around the main body (1,1A) is displayed. It has the advantage of being able to.

In the video display system (10, 10A) according to the seventh aspect of the present invention, in any one of the first to sixth aspects, the main body portion (1, 1A) moves autonomously. Further, an autonomous control unit (43) for controlling 1A) is provided.

According to this configuration, since the main body portion (1,1A) moves autonomously, it is possible to omit the manpower required to operate the main body portion (1,1A).

The video display system (10, 10A) according to the eighth aspect of the present invention further includes a video generation unit (44) in the seventh aspect. In the image generation unit (44), the image (Im1) has a content related to the current position of the main body unit (1,1A), a content related to the movement path of the main body unit (1,1A), and a main body unit (1,1A). A video (Im1) is generated in conjunction with the autonomous control unit (43) so as to represent at least one of the contents related to the posture of 1,1A).

According to this configuration, an image suitable in relation to at least one of the current position of the main body (1,1A), the movement path of the main body (1,1A), and the posture of the main body (1,1A). (Im1) can be displayed.

In the image display system (10, 10A) according to the ninth aspect of the present invention, in any one of the first to eighth aspects, the state of the target area (A1) projects an image (Im1) by the detection unit (3). Further, a time measuring unit (46) for measuring the cumulative time determined to be in a possible state is provided.

According to this configuration, except for a period in which at least a part of the image (Im1) projected on the target area (A1) is missing or distorted and the normal image (Im1) is not displayed, the image (Im1) is substantially (. It is possible to measure the time when Im1) is displayed.

In any one of the first to ninth aspects, the video display system (10, 10A) according to the tenth aspect of the present invention corresponds to the attribute information of a person existing in the vicinity of the main body (1,1A). , It is configured to determine the language in the video (Im1).

According to this configuration, for example, the language in the video (Im1) is determined according to the attribute information such as the nationality of the person existing around the main body (1,1A), so that the video (Im1) is viewed. You can automatically select the language that suits you.

The fourth aspect is an aspect that can be carried out by itself, and it is not essential to presuppose any one of the first to third aspects. That is, the video display system (10, 10A) according to the fourth aspect is mounted on the movable main body portion (1,1A) and the main body portion (1,1A), and is mounted on the main body portion (1,1A). It is provided with a projection unit (2) for projecting an image (Im1) on a projection surface existing around the. The main body unit (1,1A) has a transport unit (6) for transporting the trolley (100), and at least the transport unit (6) of the projection unit (2) transports the trolley (100). It is configured to project an image (Im1) during a non-waiting period.

The sixth aspect is an aspect that can be carried out by itself, and it is not essential to presuppose any one of the first to fifth aspects. That is, the video display system (10, 10A) according to the sixth aspect is mounted on the movable main body portion (1,1A) and the main body portion (1,1A), and is mounted on the main body portion (1,1A). It is provided with a projection unit (2) for projecting an image (Im1) on a projection surface existing around the. The projection plane is selected from a plurality of planes including the first plane and the second plane having different orientations from each other. The operation mode of the projection unit (2) includes a first mode for projecting an image (Im1) on the first surface and a second mode for projecting an image (Im1) on the second surface. The image display system (10, 10A) further includes a line-of-sight guidance unit (45) that presents information for guiding a person's line of sight to the image (Im1) projected by the projection unit (2). The line-of-sight guidance unit (45) is configured to present information for guiding the line of sight to the second surface at least when the operation mode of the projection unit (2) is the second mode.

The ninth aspect is a mode that can be carried out by itself, and it is not essential to presuppose any of the first to eighth aspects. That is, the video display system (10, 10A) according to the ninth aspect includes a main body unit (1,1A), a projection unit (2), and a detection unit (3). The projection unit (2) is mounted on the main body unit (1,1A), and projects an image (Im1) on a projection surface existing around the main body unit (1,1A). The detection unit (3) detects the state of the target area (A1) for projecting the image (Im1) on the projection surface. This video display system (10, 10A) is a time measuring unit (46) that measures the cumulative time when the detection unit (3) determines that the state of the target area (A1) is in a state where the image (Im1) can be projected. ) Is further provided. In this case, in the video display system (10,10A), it is not essential that the main body (1,1A) is movable, and for example, even if the main body (1,1A) is fixed in a fixed position. good.

The configurations according to the second to tenth aspects are not essential configurations for the video display system (10, 10A) and can be omitted as appropriate.

1,1A Main unit 2 Projection unit 3 Detection unit 6 Transport unit 10,10A Video display system 41 Movement control unit 42 Projection control unit 43 Autonomous control unit 44 Image generation unit 45 Line-of-sight guidance unit 46 Hours measurement unit 100 trolley A1 Target area C1 Ceiling surface (second surface, projection surface)
F1 floor surface (first surface, projection surface)
Im1 video

Claims (12)

Movable body and
It is mounted on the main body and includes a projection unit that projects an image on a projection surface existing around the main body.
The main body portion has a transport portion for transporting the dolly.
The projection unit is configured to project the image onto a target area for projecting the image, at least during a waiting period during which the transport unit does not transport the trolley.
Video display system. A detection unit that detects the state of the target area for projecting the image on the projection surface, and
When the state of the target area is not in a state where the image can be projected, the main body is controlled according to the detection result of the detection unit so as to move the main body to secure the target area. The video display system according to claim 1, further comprising a movement control unit. When the state of the target area is not in a state where the image can be projected, the detection is performed so as to secure the target area by changing at least one of the size, shape, and projection direction of the image. The video display system according to claim 2, further comprising a projection control unit that controls the projection unit according to the detection result of the unit. The projection plane is selected from a plurality of planes including a first plane and a second plane having different orientations from each other.
The operation mode of the projection unit is
The first mode of projecting the image on the first surface and
It has a second mode of projecting the image on the second surface.
The video display system according to any one of claims 1 to 3. Further provided with a line-of-sight guidance unit that presents information for guiding a person's line of sight to the image projected by the projection unit.
The line-of-sight guidance unit is
At least when the operation mode of the projection unit is the second mode, it is configured to present information for guiding the line of sight to the second surface.
The video display system according to claim 4. Further provided with an autonomous control unit that controls the main body portion so that the main body portion moves autonomously.
The video display system according to any one of claims 1 to 5. As shown in the video, at least one of the content related to the current position of the main body portion, the content related to the movement path of the main body portion, and the content related to the posture of the main body portion.
A video generation unit that generates the video in conjunction with the autonomous control unit is further provided.
The video display system according to claim 6. Further provided is a time measuring unit for measuring the cumulative time when the detection unit determines that the state of the target area is in a state where the image can be projected.
The video display system according to claim 2 or 3. It is configured to determine the language in the video according to the attribute information of the person existing around the main body.
The video display system according to any one of claims 1 to 8. It is configured to charge according to the cumulative time.
The video display system according to claim 8. The movement process in which the main body moves and
A projection process that projects an image on a projection surface that is mounted on the main body and exists around the main body.
The transport process for transporting the dolly and
A detection step for detecting the state of the target area for projecting the image on the projection surface, and
When the state of the target area is not in a state where the image can be projected, the main body is controlled according to the detection result of the detection step so as to move the main body to secure the target area. Movement control process and
In the projection step, the image is projected onto the target area at least during a waiting period during which the transport step does not transport the trolley.
Video display method. When the state of the target area is not in a state where the image can be projected, the detection is performed so as to secure the target area by changing at least one of the size, shape, and projection direction of the image. It further has a projection control process that controls the projection process according to the detection result of the process.
The video display method according to claim 11.

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