JP7126726B2 - 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 Patent Application Laid-Open No. 2007-229855), an autonomous robot that moves with a specific person and can project and display image information related to the vicinity of the movement point on an appropriate projection surface is disclosed. 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 current position of a moving person.

JP-A-2007-229855

However, the autonomous mobile robot of the invention of Patent Document 1 must move with a specific person. Originally, the user only needs to have the projection image projected when and where they need it. I had to consider and move, which was troublesome.

Further, the autonomous mobile robot of 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, there is a risk that, for example, a person in the rear will not be able to view the projection image because the person in front will be an obstacle.

SUMMARY OF THE INVENTION An object of the present invention is to provide a mobile projection apparatus that can solve the above problems.

In order to solve the above problems, the present invention
an aerial flight mechanism unit for flying in the air;
a projector unit for projecting an image;
a determination means for determining whether or not a place where the image is projected exists in the vicinity of a viewer;
Guiding the viewer to a suitable place for projecting the image when the determining means determines that the appropriate place for projecting the image does not exist near the viewer. means and
To provide a mobile projection device comprising:

A mobile projection apparatus according to the present invention has an aerial flight mechanism and can fly and move in the air. Therefore, it is possible to fly and move to a necessary place when necessary, and to provide a projection image to a viewer who is there by using the equipped projector section.

Then, in the mobile projection apparatus according to the present invention, the determining means determines whether or not the place where the image is to be projected exists in the vicinity of the viewer, and the appropriate location does not exist in the vicinity of the viewer. When it is determined that the image is to be projected, the viewer is guided to an appropriate place for projecting the image by the guiding means.

According to the projection device according to the present invention, even when there is no suitable place for projecting an image near the viewer, the viewer is guided to a suitable place for projecting the image and can view the projected image. Therefore, it can be expected that the viewer can always view the projected image in an easy-to-view state.

1 is a diagram for explaining a configuration example of a mobile projection apparatus according to a first embodiment of the present invention; FIG. 1 is a block diagram for explaining a configuration example of a drive control device section of a mobile projection apparatus according to a first embodiment of the present invention; FIG. FIG. 4 is a diagram showing part of a flowchart for explaining an example of processing operations of the mobile projection apparatus according to the first embodiment of the present invention; FIG. 4 is a diagram showing part of a flowchart for explaining an example of processing operations of the mobile projection apparatus according to the first embodiment of the present invention; BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram showing an example of how the first embodiment of the mobile projection device according to the present invention is used; FIG. 5 is a diagram for explaining a configuration example of a second embodiment of the mobile projection device according to the present invention; FIG. 10 is a diagram showing an example of a usage mode of the second embodiment of the mobile projection device according to the present invention; FIG. 12 is a diagram for explaining a configuration example of a third embodiment of the mobile projection device according to the present invention; FIG. 12 is a diagram for explaining a configuration example of a third embodiment of the mobile projection device according to the present invention; FIG. 11 is a diagram showing an example of a usage mode of the fourth embodiment of the mobile projection device according to the present invention; FIG. 12 is a block diagram for explaining a configuration example of a drive control unit of a mobile projection apparatus according to a fourth embodiment of the present invention; FIG. 14 is a diagram showing part of a flowchart for explaining an example of processing operations of the mobile projection apparatus according to the fourth embodiment of the present invention; FIG. 14 is a diagram showing part of a flowchart for explaining an example of processing operations of the mobile projection apparatus according to the fourth embodiment of the present invention;

[First embodiment]
FIG. 1 is a diagram showing a configuration example of a first embodiment of a mobile projection apparatus according to the present invention. A mobile projection apparatus 1 according to an embodiment of the present invention is configured so as to be able to autonomously fly in the air and move. FIG. 1(A) is a top view of the mobile projection device 1 of this embodiment, and FIG. 1(B) is a front view of the mobile projection device 1 of this embodiment. It is a diagram.

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

The rotary blade mechanisms 5A, 5B, 5C, and 5D rotate the rotary blades 52A, 52B, 52C, and 52D by rotating rotary blade shafts (not shown) by motor drive units 51A, 51B, 51C, and 51D, respectively. It is configured to be rotationally driven. The motor drive units 51A, 51B, 51C, and 51D are controlled in rotation speed and rotation direction by a drive control signal from the drive control unit 3. FIG. The motor drive units 51A, 51B, 51C, and 51D and the drive control unit 3 use a battery (not shown) as a power supply for rotation drive and a power supply for drive control. A camera, a microphone, various sensors, a display, a control unit, and the like, which will be described later, are also powered by the battery. A projector, which will be described later, is also supplied with power from the battery. For the battery, for example, a rechargeable secondary battery is used. A solar cell can also be used. When a solar battery is mounted, there is an advantage that the portable projection apparatus 1 can fly while being charged with sunlight outdoors in the daytime.

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 apparatus 1 can take off, land, and ascend ( Upward, diagonally upward), downward (downward, diagonally downward), right turn, left turn, forward, backward, right shift, left shift, etc., and vertical direction. Attitude control such as tilt angle with respect to and position control of hovering position can be performed.

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

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 trapezoidal pipe members, and as shown in FIG. formed. The shape and member of the leg are not limited to this, and various types are conceivable. For example, the housing 6 may be made of wood or metal with four legs formed into a cylindrical shape at the four corners. Also, in order to facilitate movement on the landing surface 8, movable wheels may be attached to the legs.

The projector 9 is located above the rotor blades 52A, 52B, 52C, and 52D at a position that does not interfere with the rotation of the rotor blades 52A, 52B, 52C, and 52D. It is fixed to a support base 92 supported by a support column 91 erected from the upper surface. A remote control transmitter 93 for remotely controlling the projector 9 is attached to the support base 92 . The remote control transmitter 93 is attached to the support base 92 at a position where a remote control receiver (not shown) of the projector 9 can receive a remote control signal.

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

A DVD stores a plurality of pieces of image information and audio information prepared in advance to be provided to viewers. Each of these plural pieces of image information and audio information can be cueed by a remote control signal.

In the following description, the side on which the projection lens 9L of the projector 9 is provided is the front side of the mobile projection apparatus 1. As shown in FIG.

In this example, as shown in FIGS. 1A and 1B, a camera CM1 and a microphone MC are provided on the front of the housing 6 . A speaker SP is also provided on the front of the housing 6 . As shown in FIGS. 1A and 1B, cameras CM2 and CM3 are provided on the left and right side surfaces of the housing 6, respectively, and a camera CM4 is provided on the rear surface of the housing 6. FIG. Further, a camera CM5 is provided on the bottom surface of the housing 6 as shown in FIG. 1(B).

The optical axes (corresponding to the photographing direction) of the cameras CM1 to CM5 are perpendicular to the respective mounting surfaces of the cameras CM1 to CM5, and a predetermined angle of view range can be photographed centering on the optical axis direction.

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

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

A microphone MC and a speaker SP are connected to the audio interface unit 114 . A remote control transmission section 93 is connected to the projector remote control interface 117 .

The aerial flight drive section 102 supplies drive control signals to the motor drive sections 51A, 51B, 51C, and 51D of the rotor mechanisms 5A, 5B, 5C, and 5D of the aerial flight mechanism section 2 under the control of the control section 101, respectively. do.

The gyro sensor 103 detects changes in acceleration during flight of the mobile projection device 1, and is used to detect the flight traveling direction, its speed, and attitude of the mobile projection device 1. FIG. The geomagnetic sensor 104 is used to detect in which direction the mobile projection apparatus 1 is flying. The altitude sensor 105 is for detecting the altitude at which the mobile projection apparatus 1 is positioned at the time, and is composed of, for example, an air pressure sensor.

The obstacle sensor 106 emits light, infrared rays, millimeter waves, quasi-millimeter waves, microwaves, ultrasonic waves, or the like, and detects the reflected waves from the obstacles, thereby detecting the presence of the obstacles and detecting the presence of the obstacles. It is possible to detect the time and attenuation from when an infrared ray or ultrasonic wave is emitted until the reflected wave is received, and to calculate the distance to the detected obstacle from the time and attenuation. ing. In this embodiment, the obstacle sensor 106 detects obstacles in the space in which the mobile projection apparatus 1 is used (hereinafter referred to as mobile space), such as indoor walls, chests, beds, desks, and outdoor obstacles. It is used to detect obstacles such as telephone poles, buildings, and trees in the mobile space and avoid collisions with them during flight.

The moving space information memory 107 stores space information regarding indoor and outdoor moving spaces in which the mobile projection apparatus 1 is used. Examples of indoor moving spaces include art galleries, museums, stores, and the like. Examples of outdoor moving spaces include limited spaces such as theme parks, amusement parks, zoos, concert venues, soccer stadiums, and baseball fields. Of course, space information is stored in the moving space information memory 107 as a moving space within the flight range of the mobile projection apparatus 1, such as around a company, around a station, around an airport, etc., without being limited to a limited range of space. be done.

The memory of the controller 101 of the mobile projection device 1 of this embodiment stores an application program for panorama photography (for example, Photosynth). Then, all or some of the cameras CM1 to CM5 are used to photograph each location within the movement space within a range of 360 degrees. Then, the control unit 101 uses an application program for panorama photography to generate 3D image information at each point in the moving space from the photographed image information, and converts the generated 3D image information into moving space information. Store in memory 107 .

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

The information stored in the movement space information memory 107 also includes position information of the determined home position. If the movement space is an indoor space, the movement space information memory 107 also stores in advance information on the length, width, and height of the room to be used. Furthermore, if the movement space is indoors, structural information of the room to be used such as beams, pipe spaces, and pillars may be stored in advance. The positions of trees may also be stored in advance.

In the moving space information memory 107, the locations (position information) of the walls of the room on which the projection image can be projected by the projector 9 and the walls of the building outdoors are also stored in the length, width, and height of the wall. Pre-stored with information. A screen for projecting a projection image may be provided in advance indoors or outdoors, and the position of the screen may be stored in the moving space information memory 107 .

Further, in a kindergarten, a nursery school, or the like, an instruction to that effect can be entered in the moving space information memory 107 so as to project at a low position according to the height of the child. In facilities such as nursing care facilities for the elderly and hospitals where there are many people in wheelchairs, an instruction to that effect may be entered in the moving space information memory 107 so that projection is performed at a lower position.

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

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

Based on the calculated direction and distance, the flight drive signal generation unit 109 uses information from the gyro sensor 103, the geomagnetic sensor 104, the altitude sensor 105, and the like. , a flight drive signal for moving from the base position to the position instructed by the control unit 101 is generated and supplied to the aerial flight mechanism unit 2 through the aerial flight drive unit 102 . In this case, the flight drive signal consists of signals for driving the motor drive units 51A to 51D of the four rotor mechanisms 5A to 5D, respectively. The generated flight drive signal is supplied to each of the motor drive sections 51A to 51D of the aerial flight mechanism section 2 through the aerial flight drive section 102 .

The aerial flight mechanism unit 2 receives the flight drive signal and 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. to move.

The position/orientation control signal generation unit 110, as described later, based on the images captured by the gyro sensor 103, the geomagnetic sensor 104, the altitude sensor 105, and the cameras CM1 to CM5, determines the projection image on the projection plane of the place where the The direction and position of the device itself is adjusted so that the direction and position are appropriate (whether the optical axis of the lens 9L of the projector 9 is perpendicular to the wall surface on which the projection image is projected, and whether the position in the horizontal direction is appropriate, and whether the position in the vertical direction (height position) is appropriate, etc.).

In the mobile projection apparatus 1 of this embodiment, as will be described later, the control unit 101 determines the location for projecting the projection image according to the number of viewers. Here, the concept of the place where the determined projection image is projected includes the concept of different places such as different wall surfaces, and also different positions within the same wall surface (different positions in the horizontal direction and different positions in the height direction). ) contains the concept of

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 projection image at the determined location (high (including the vertical position), a flight drive signal for hovering is generated and supplied to the aerial flight mechanism section 2 through the aerial flight drive section 102 . The position/attitude control signal generation unit 110 generates a signal for controlling the hovering height position.

The mobile projection apparatus 1 projects and displays a projection image with the projector 9 at the determined location while hovering. If there is a space such as a desk that can be landed in a place suitable for projecting a projection image by the projector 9 to the determined place, the mobile projection apparatus 1 lands on that place and the projector 9 9 may project the projection image to a determined location. After projection, the surrounding conditions can be determined, and the location can be adjusted by moving up, down, left, or right from the determined location, or the location itself can be changed. For example, if the viewer seems to have difficulty seeing, move to a place where the viewer can easily see.

The camera group 111 consists of the cameras CM1 to CM5 described above. Each of the cameras CM1 to CM5 outputs captured image information of moving images to the system bus 100 . The captured image information sent from each of the cameras CM1 to CM5 to the system bus 100 is added with identification information for identifying from which camera the captured image information is sent. Note that the captured image information from each of the cameras CM1 to CM5 may be captured image information of still images at predetermined time intervals, for example, 0.5 second intervals, instead of moving image captured image information.

The guidance message memory 112 stores guidance messages such as that the mobile projection apparatus 1 provides a service of providing a projection image, guidance regarding images to be projected by the service, and selection of images. .

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

Further, in this embodiment, the image recognition unit 113 uses the images of the surrounding environment captured by the cameras CM1 to CM5, stored in the moving space information memory 107, to project a projection image using the projector 9. It is also used to explore places such as the walls of a building, or the walls of an open-air building.

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

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

The DVD stores text information (for example, a title) indicating the content of the image information stored on the DVD stored in the projection image list memory 116, and image information of a list of reproduction order numbers thereof. , and projection images of the list are provided to viewers.

The guidance message voice stored in the guidance message memory 112 includes explanations and guidance about the projection images in this list, and the desired projection image from the list is indicated by the reproduction order number. It contains a guide message to

As will be described later, the control unit 101 receives, through the microphone MC, an instruction voice for the desired reproduction order number of the projected image from the viewer, and the voice recognition unit 115 recognizes the designated reproduction order number. make sure to Then, the control unit 101 causes the remote control transmission unit 93 to supply the projector 9 with a remote control signal for causing the projector 9 to provide the projected image of the recognized reproduction order number as a projection image.

A remote control transmission unit 93 is connected to the projector remote control interface 117 . A remote control signal for DVD is stored in the remote control signal generating section 118 , and the control section 101 calls the remote control signal for the projector 9 from the remote control signal generating section 118 and transmits the remote control signal through the projector remote control interface 117 . section 93 to be transmitted to the remote control receiving section of the projector 9 .

In FIG. 2, the control unit 101 can also implement 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. .

[Flow of Operation of Mobile Projection Device 1 of 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 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, and the voice recognition unit 115, and the control unit 101 performs software processing functions. A description will be given assuming that this has been achieved.

First, the control unit 101 puts the device into a standby state at the home position (step S101). In this standby state, the control unit 101 captures a line-of-sight range with the cameras CM1 to CM5, performs image recognition on the captured image, and directs the user to an art museum, theme park, or the like 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 images captured by the cameras CM1 to CM5 (step S102). to maintain

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

Next, the control unit 101 performs image recognition of the images captured by the cameras CM1 to CM5 to determine whether or not there is an appropriate place for projecting the projection image for the detected number of visitors near the visitors. A determination is made based on the result and information stored in the movement space information memory 107 (step S105). In this step S105, when it is determined that there is no suitable place near the visitors for projecting the projection image for the number of visitors, the appropriate A guide message voice is emitted from the speaker SP so as to guide the visitor to the appropriate place, and the visitor is guided to the appropriate place (step S106). The method of guidance is not limited to sound, and a light such as an LED (not shown) may be mounted on the mobile projection apparatus 1 and guidance may be provided by turning on or blinking the light.

When it is determined in step S105 that a suitable place for projecting a projection image for 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 projection 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 place, and emits a guidance message voice for the projected projection image from the speaker SP. (Step S108).

At this time, the speakers 9SL and 9SR of the projector 9 emit sounds attached to 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 level. That is, when the number of viewers is small and the screen size of the projection image is small, the volume of the sound from the speakers 9SL and 9SR is set to a relatively low volume, and when there are many viewers and the screen size is large. , the volume is large according to the screen size. As a result, the volume of the sound from the speakers 9SL and 9SR is controlled appropriately 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 desired voice from the viewer viewing the projected projection image has been detected. (Step S111 in FIG. 4). When it is determined in step S111 that the desired sound from the viewer has been detected, the control unit 101 instructs the projector 9 to make the projection image to be projected a projection image that meets the request from the viewer. A remote control signal is sent to change the setting (step S112).

Then, when it is determined in step S111 that the requested voice from the viewer is not detected, and after the projection image to be projected is changed in step S112, the control unit 101 determines whether the number of viewers is It is determined whether or not there has been a change (step S113). When it is determined in step S113 that the number of viewers has changed, the control unit 101 determines whether or not it is necessary to change the projection location and/or screen size (step S114). When it is determined, the process returns to step S103, and the processes after step S103 are repeated. It should be noted that various determination criteria can be set in step S114. For example, it is possible to set the screen size to increase when the number of people increases, but not to decrease when the number of people decreases. In addition, if the projection location and the screen size are changed frequently, it will be tiring, so it is also possible to limit the number of times of change 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 it is not necessary to change the projection location and/or the screen size, the control unit 101 stores the data in the DVD. It is determined whether or not to terminate the projection image providing service based on the fact that all the projected image information has been projected or the voice requesting termination from the viewer has been recognized (step S115).

When it is determined in step S115 that the projection image providing service is not to be terminated, the control unit 101 returns the process to step S108 and repeats the processes after step S108. Further, when it is determined in step S115 that the projection image providing service is to be terminated, the control section 101 sends a termination remote control signal to the projector 9, then flies back to the standby location (step S116), and the process proceeds to step S116. It returns to S101 and becomes a standby state.

[Usage Example of Mobile Projection Device 1 of First Embodiment]
Next, FIG. 5 shows an example of a 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 apparatus 1 of this embodiment places the image near the visitor HM so that the visitor HM can easily be seen. and the height position substantially matching the height position of the line of sight is set as the projection place, and the screen size is determined so that one viewer can see the whole at a glance. In the example of FIG. 5A, the projection location is the height of the eye level of the viewer HM near the viewer HM on the wall surface WL, and is the determined screen size portion location PS1. It is

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

Also, when the number of visitors HM is large as shown in FIG. In consideration of this, the projection location is set to a position higher (upper) than the viewer's line of sight in the horizontal direction so that the viewer in the back can also view it, and the screen size is set to one person. or 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 on the wall surface WL that many viewers HM look up at, and the determined screen size portion location PS2.

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

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 the screen size are changed in accordance with the increase in the number of viewers. The control is performed as described in the flowchart above.

In that case, if the wall surface WL has an area corresponding to the upper part and a wide screen size as the projection image projection location, like the wall surface WL in the example of FIG. position can be determined. However, if it is not possible to secure an appropriate area within the same wall surface WL as the projection location, it is not necessary to move the projection location to another wall surface that can secure an appropriate projection location. As mentioned above. In the case of this movement, the control unit 101 of the mobile projection apparatus 1 of this embodiment may guide the viewer with a guidance message voice to guide the movement. It is as described in the flow chart.

[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. can be The second embodiment is an example in which the number of screens of projection images to be projected is changed according to the number of viewers, and the number of screens is changed between one case and two cases. This is an example of the case where it is possible to

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

As shown in FIG. 6, the mobile projection apparatus 1AB of the second embodiment is mounted on a support base 92AB supported by a support column 91AB erected from the upper surface of the drive control unit 3 portion of the housing 6. It is fixed and installed. The projector 9A and the projector 9B are attached to the support base 92AB so as to be arranged vertically in two stages. Remote control transmitters 93A and 93B for remotely controlling the projectors 9A and 9B attached to the support base 92AB are attached, respectively. The remote control transmitters 93A and 93B are mounted on the support base 92AB at positions where the respective remote control receivers (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 unit of the mobile projection apparatus 1AB of the second embodiment has substantially the same configuration as that of the first embodiment shown in FIG. However, the remote control transmitters 93A and 93B differ from the configuration in FIG. 2 in that they are connected to the controller 101 via projector remote control interfaces.

In the mobile projection apparatus 1AB of the second embodiment, when the number of viewers is one to a small number (even if there are multiple rows, the number of people in the front row does not interfere with viewing), the lower row projector 9A projects one projection image PjA (see FIG. 7). When there are a large number of viewers (there are multiple rows and the number of people in the front row interferes with viewing), as shown in FIG. 7, not only the lower projector 9A but also the upper projector 9B The projection image PjB is also projected by . As a result, the viewers in the rear view can view the projection image PjB projected by the upper projector 9B without disturbing the viewers in the front row.

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

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 be oriented in different optical axis directions. For example, one projector is mounted so that the front direction is the optical axis direction, but the other projector is mounted so that the upward direction (ceiling direction) orthogonal to the front direction or the horizontal direction is the optical axis direction. You can install it like this.

Also, in the above-described second embodiment, two projectors are used as an example, but the number of projectors may be three or more. For example, projectors may be installed in three stages, upper, middle, and lower.

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

FIG. 8 is a front view of the mobile projection apparatus 1CDE of the third embodiment, and corresponds to FIG. 1B of the first embodiment. A top view of the mobile projection device 1CDE of the third embodiment 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 the mobile projection device 1 of the first embodiment described above, and the description thereof will be omitted. .

The mobile projection apparatus 1CDE of the third embodiment is, as shown in FIG. It is fixed and installed. Three projectors 9C, 9D, and 9E are mounted on the support base 92CDE so as to be arranged side by side on the same plane of the support base 92CDE. Of course, the arrangement method and mounting method are not limited to this. For example, they do not have to be mounted on the same plane or arranged side by side.

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

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

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

As a result, when the viewers are in a plurality of groups and are concentrated in each group, the viewers are scattered as a whole, or when the viewers are only a single person or a plurality of couples and are scattered. Even in , it is possible to allow all viewers to enjoy good viewing with 2 to 3 projection images. In addition to the image recognition of the captured image, it is also possible to detect the line of sight of each viewer, grasp the viewer's degree of concentration (scattering degree), and consider the screen configuration.

Needless to say, the screen size of the projection images PjC, PjD, and PjE can be changed also in the mobile projection device 1CDE of the third embodiment. In that case, each of the projection images PjC, PjD, and PjE can of course be varied independently.

Further, in the above-described third embodiment, 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, but the other two projectors are mounted so that the upward direction (ceiling direction) perpendicular to the front direction or the horizontal direction is the optical axis direction. You can install it like this.

Also, in the above-described third embodiment, three projectors are used as an example, but the number of projectors may be two or four or more.

Furthermore, two projectors, one above and one below, may be installed on the left and right as in the second embodiment described above.

[Fourth embodiment]
In the above-described embodiment, the mobile projection device waits at a position where a visitor can be seen as a waiting place, and when it detects a visitor, it flies to the side of the detected visitor to provide a projection image. I made it to do In the fourth embodiment described below, in response to a call from a viewer, the location of the viewer who called the viewer is detected, the viewer moves to that location, and a projection image is provided. do.

A mobile projection apparatus according to a fourth embodiment, which will be described below, has a configuration that takes into consideration the case where the viewer is a foreigner.

Before describing 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 the mobile projection device 1F of the fourth embodiment is assumed to provide various guidance by means of projection images in an art 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 has a plurality of exhibition spaces consisting of a foreign painting space 201, a Japanese painting space 202, a painting space 203, a sculpture space 204, a special exhibition space 205, and a pottery space 206. An entrance hall 207 is provided. A visitor can enter the entrance hall 207 through the gate 209 by purchasing a ticket at an outside ticket office 208 and presenting the ticket at the gate 209 .

A standby base 210 for the mobile projection apparatus is provided in the entrance hall 207, and a plurality of units of the mobile projection apparatus 1F of the fourth embodiment are configured to wait at the standby base 210. . Of course, the mobile projection apparatus 1F can be configured with one stand-by, or two or more, for example, 100 or more.

A foreign painting space 201, a Japanese painting space 202, a painting space 203, a sculpture space 204, a special exhibition space 205, a pottery space 206, and an entrance hall 207 allow visitors to use the mobile projection apparatus 1F of the fourth embodiment. Call posts 211, 212, 213, 214, 215, 216 and 217 are provided for sending out call signals for calling the.

Each of the call posts 211, 212, 213, 214, 215, 216, 217 comprises call buttons 211BT, 212BT, 213BT, 214BT, 215BT, 216BT, 217BT. When the call buttons 211BT, 212BT, 213BT, 214BT, 215BT, 216BT, and 217BT are pressed by the visitors (viewers), the call post having the pressed call buttons includes identification information for identifying itself. A ringing signal is sent.

As will be described later, the mobile projection apparatus 1F has a communication section for receiving call signals from the call posts 211-217. Then, the mobile projection apparatus 1F recognizes from which call post the call signal came from from the identification information included in the received call signal, and the entrants of the space where the recognized call post is installed. (Hereinafter referred to as a viewer), it moves by flying to the side of the viewer and executes the provision of the projection image. In this example, the call posts 211 to 217 and the plurality of mobile projection apparatuses 1F are connected by a Wi-Fi (registered trademark) standard wireless LAN.

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

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

The communication unit 121 has a wireless communication function for performing wireless LAN communication as described above. Upon receiving a call signal from one 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 via the system bus 100 .

The moving space information memory 107 of the drive control unit 10F stores moving space information consisting of the plurality of exhibition spaces 201 to 206 and the entrance hall 207 of the museum shown in FIG. and correspondence information between the identification information and the position information of each of the call posts 211 to 217 installed in 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 display space 201 to 201, based on the correspondence information between the identification information and the position information of the call posts 211 to 217 stored in the moving space information memory 107, is displayed. 206 or the entrance hall 207 from which the call signal is received is discriminated and recognized. Then, the control unit 101 causes the flight drive signal generation unit 109 to generate a flight drive signal for flying and moving to any of the exhibition spaces 201 to 206 and the entrance hall 207 where the recognized call post exists. The part 2 is controlled to execute its flying movement. Note that the control unit 101 of the mobile projection apparatus 1F, which has received the call signal and started moving in response to the call, does not receive another call signal during the period from when it starts moving until it returns to the standby base 210. As described above, the communication unit 121 is controlled to be in the sleep state or the stop state.

When the foreign language determination unit 122 moves to the vicinity of the viewer to provide the projection image, the foreign language determination unit 122 determines whether the viewer is If the person is a foreigner, determine which language is used.

The DVD loaded in the mobile projection apparatus 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 contents, but for example English and Spanish. , French, German, Chinese, and Korean are stored in correspondence with the identification information of the language used. As for the contents of the program, image information and audio information of guidance to be provided to viewers in each of the exhibition spaces 201 to 206 and the entrance hall 207 are associated with the identification information of the exhibition spaces 201 to 206 and the entrance hall 207. stored in

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, the The user selects the language to be used, and the service is provided in the selected language.

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

Other than that, it has the same configuration as each part of the drive control unit 10 of the mobile projection apparatus 1 of the first embodiment shown in FIG. Note that the processing function of the foreign language determination unit 122 can be implemented by the control unit 101 as a software processing function.

[Flow of Operation of Mobile Projection Device 1F of Fourth Embodiment]
12 and 13 are flowcharts showing an example of the operation flow of the mobile projection apparatus 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. A description will be given assuming that this is implemented as a software processing function.

First, the control unit 101 puts the device into 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 reception of a call signal by the communication unit 121 .

Then, the control unit 101 determines whether or not reception of a call signal through the communication unit 121 is detected (step S202), and when reception of a call signal is not detected, returns to step S201 and maintains 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 either the exhibition space 201 where the recognized call post is located or the entrance hall 207 (step S204). Prior to this movement, the control unit 101 controls the communication unit 121 to sleep or stop so that it does not respond to other call signals.

After moving to either the exhibition space 201 where the call post that sent the call signal is located or the entrance hall 207, the control unit 101 recognizes the viewer who made the call from the images captured by the cameras CM1 to CM5, and recognizes the viewer. A guide message voice for guiding the viewer (including a plurality of viewers) of the location where the projection image is to be projected is emitted from the speaker SP to guide the viewer to the projection location (step S205).

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

Next, the control unit 101 determines an appropriate projection location and projection position according to the number of people, and an appropriate screen size of the projection image according to the number of people (step S207). Next, the control unit 101 determines the language used by the viewer from the speech recognition result of the audio information picked up by the microphone MC, and selects the language used for the provided audio (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 used by the viewer can also be performed by voice recognition.

Next, the control unit 101 controls its own device to project the projection image with the determined screen size at the projection position of the determined projection place, and emits a guidance message voice for the projected projection image from the speaker SP. Sound (step S209). The guidance message voice used at this time is based on the language selected in step S208. The volume of the sound provided from the speakers 9SL and 9SR of the projector 9 along with the display of the projection image is set according to the number of viewers (or the screen size of the projection image), as in the first embodiment. be.

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 desired voice from the viewer viewing the projected projection image has been detected. (Step S211 in FIG. 13). When it is determined in step S211 that the desired sound from the viewer is detected, the control unit 101 instructs the projector 9 to set the projection image to be projected according to the request from the viewer. A remote control signal is sent to change the setting (step S212).

Then, when it is determined in step S211 that the requested voice from the viewer is not detected, and after the projection image to be projected is changed in step S212, the control unit 101 determines whether the number of viewers is It is determined whether or not there has been a change (step S213). When it is determined in step S213 that the number of viewers has changed, the control unit 101 determines whether or not it is necessary to change the projection location and/or the screen size (step S214). When it is determined, the process returns to step S207, and the processes after step S207 are repeated. It should be noted that the determination criteria in step S214 can be variously set as with the determination 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 it is not necessary to change the projection location and/or the screen size, the control unit 101 stores the data in the DVD. It is determined whether or not to terminate the projection image providing service based on the fact that all the projected image information has been projected or the voice requesting termination from the viewer has been recognized (step S215).

When it is determined in step S215 that the projection image providing service is not to be terminated, the control unit 101 returns the process to step S209 and repeats the processes after step S209. Further, when it is determined in step S215 that the projection image providing service is terminated, the control section 101 sends a termination remote control signal to the projector 9, then flies back to the standby location (step S216), and enters the sleep state or The communication unit 121, which has been in the stopped state, is returned to the operating state, and the call signal can be received (step S217). Then, the control unit 101 returns the processing to step S201 and enters a standby state.

According to the above-described fourth embodiment, the mobile projection apparatus 1F responds to a call from a place where the apparatus itself cannot see, flies to that place, and informs the viewers that the number of A projection image can be provided at a projection location and screen size corresponding to the In addition, if the viewer is a foreigner and a language prepared in advance can be used, it is possible to provide the guidance message voice and the voice information accompanying the projection image in the language used. There is also the effect of

[Other embodiments or modifications]
In the above example, the visibility of the projection image at that location was not taken into consideration when determining the projection location. is projected, the image may be difficult to see. The control unit 101 may be configured to consider such cases. 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 location to be determined as the projection image projection location. is equal to or less than a predetermined threshold in consideration of . Then, if the brightness of the location is equal to or less than the predetermined threshold value, the control unit 101 determines the location as the projection location and uses it as the location for projecting the projection image. On the other hand, if the brightness of the location is brighter than the predetermined threshold, the control unit 101 does not determine the location as a projection location and searches for another suitable projection location.

In addition, when there are portions with different brightness in the same wall, if the width of the portion whose brightness is equal to or less than the predetermined threshold is larger than the screen size of the projected image of the projection image, the A portion can also be determined as the projection location. For example, if a wall is exposed to direct sunlight, but there is a shadow area with a brightness below the threshold and a predetermined size due to the shadow of an adjacent building, projection is performed in that shadow area. Since the image can be projected, the shadow area portion can be determined as the projection location.

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

Also, on the support base, the optical axis of the projector may be oriented downward (inclination direction) from the plane parallel to the bottom surface of the support base, or upward (elevation angle) from the plane parallel to the bottom surface of the support base. direction) is provided, and by fixing the projector to this tilt mechanism, the tilt mechanism is controlled by the control unit 101, thereby moving 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 equipped with a DVD drive for reproducing image information and audio information stored on a DVD and providing projection images and accompanying audio. Instead, it may be equipped with a BD (Blu-ray Disc), HDD (Hard Disk Drive), or SSD (Solid State Drive). In addition, a flash memory such as a USB or an SD card may be used. Furthermore, 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 separately from the housing 6, but it is of course possible to incorporate it into the housing 6. FIG. In that case, the remote control transmitting section and projector remote control I/F attached to the housing 6 and the remote control receiving section attached to the projector 9 are not required.

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

In the above-described embodiment, the aerial flight mechanism section 2 of the mobile projection apparatus has been described as an example of a helicopter-type mechanism section having four rotary wing mechanisms. It may be 5 or more. Further, the mechanism is not limited to a helicopter type mechanism, and may be an airplane type mechanism.

In the above-described embodiment, the number of cameras in the camera group 111 was five and the number of microphones was one, but the number is of course not limited. Also, various positions for providing the camera and the microphone are conceivable. The camera may be a standard camera, a wide-angle camera, a fisheye camera, or a 360-degree camera. Alternatively, a telephoto camera, an infrared camera, or the like may be used. 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 addition, in the case of a portable projection device that is expected to be used outdoors, it is desirable to have a waterproof specification. 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 encounters rain or snow during flight, or if it detects the possibility of rain or snow, the mobile projection device should immediately land in a place protected from rain or snow. Seek the messenger'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 during rain or snow. In addition, the mobile projection apparatus can measure wind force or wind speed, and if the wind is strong, it is highly likely that an accident will occur, so it may not be flown outdoors.

In addition, it goes without saying that various modifications of the mobile projection apparatus are conceivable in terms of 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 (56)

an aerial flight mechanism unit for flying in the air;
a projector unit for projecting an image;
a determination means for determining whether or not a place where the image is projected exists in the vicinity of a viewer;
Guiding the viewer to a suitable place for projecting the image when the determining means determines that the appropriate place for projecting the image does not exist near the viewer. means and
A mobile projection device comprising: A number detection means for detecting the number of viewers,
2. The method according to claim 1, wherein the determination means determines whether or not the location is suitable for projecting the image based on the number of viewers detected by the number detection means. mobile projection device. 3. The mobile projection apparatus according to claim 1, wherein the guidance means emits a message sound for guidance. 4. The mobile projection apparatus according to any one of claims 1 to 3, wherein the guiding means guides the viewer by turning on or blinking a light. a moving space storage unit that stores spatial information about the moving space in which the device is used, including at least information on the location where the image is projected;
5. The method according to any one of claims 1 to 4, wherein an appropriate place for projecting the image is determined based on information stored in the movement space storage unit, and guidance is provided by the guidance means. mobile projection device. Equipped with a camera that captures the surroundings of the device,
The mobile type according to any one of claims 1 to 5, wherein an appropriate place for projecting the image is determined based on the image captured by the camera, and guidance is provided by the guiding means. projection device. Equipped with a brightness detection means for detecting the brightness of a place,
7. The mobile projection apparatus according to any one of claims 1 to 6, wherein an appropriate place for projecting the image is determined based on the brightness detected by the brightness detection means. 1. If it is outdoors, it is determined whether or not the location is exposed to direct sunlight, and if it is determined that the location is exposed to direct sunlight, searching for another location suitable for projecting the image. 8. The mobile projection apparatus according to any one of claims 7 to 8. If it is outdoors, it is determined whether or not it is a shadow area, and if it is determined that it is a shadow area, it is determined as a suitable place for projecting the image. The mobile projection device according to any one of the above. When there is a place exposed to direct sunlight and a shadow area outdoors, and the size of the shadow area is larger than the size of the image to be projected, the shadow area is used to project the image. 10. The mobile projection apparatus according to any one of claims 1 to 9, wherein an appropriate place is determined and guided by said guiding means. 5. The concept of the determined suitable place for projecting the image includes the concept of different places such as different wall surfaces and the concept of different positions within the same wall surface. 11. A mobile projection apparatus according to any one of claims 10 to 14. A camera for photographing a viewer viewing the projected image,
Claims 1 to 11, further comprising a control unit that controls the projector unit so as to project the image in a state that the viewer can view it, based on the image captured by the camera. The mobile projection device according to any one of 1. The projector unit is capable of projecting a plurality of images,
3. The control unit determines the number of images to be projected based on the images captured by the camera, and controls the projector unit to project the determined number of images. 13. The mobile projection device according to 12. 14. The mobile projection apparatus according to claim 13, wherein when the number of images to be projected is plural, the plural images are projected vertically and/or horizontally. The control unit determines the size of the image to be projected based on the image captured by the camera, and controls the projector unit to project the image of the determined size. The mobile projection apparatus according to any one of claims 12 to 14. 16. The mobile projection apparatus according to any one of claims 12 to 15, wherein the control unit performs control so as to change the distance to the projected image based on the image captured by the camera. . 12. The control unit controls the projector unit so as to change the projection location of the image and/or the size of the image based on the image captured by the camera. 17. The mobile projection device according to any one of 16. A number detection means for detecting the number of viewers from the image captured by the camera,
The control section determines a location for projecting the image according to the number of viewers detected by the number detection means, and controls the projector section to project the image at the determined location. 18. The mobile projection apparatus according to any one of claims 12 to 17, characterized in that: A number detection means for detecting the number of viewers from the image captured by the camera,
The control unit determines the number of images to be projected according to the number of viewers detected by the number detection means, and controls the projector unit to project the determined number of images. 19. The mobile projection apparatus according to any one of claims 12 to 18, characterized by: A number detection means for detecting the number of viewers from the image captured by the camera,
According to the number of viewers detected by the number detecting means, the control section performs control so as to change the distance from the projector section to the image. The mobile projection device according to any one of the above. A number detection means for detecting the number of viewers from the image captured by the camera,
The control section determines the size of the image according to the number of viewers detected by the number detection means, and controls the projector section to project the image of the determined size. 21. The mobile projection apparatus according to any one of claims 12 to 20, characterized in that: A number detection means for detecting the number of viewers from the image captured by the camera,
monitoring the number of viewers detected by the number-of-persons detection means, and changing the projection location and/or the size of the image according to a change in the number of viewers during display of the projected image; 22. The mobile projection apparatus according to any one of claims 12 to 21, further comprising means for performing. a number detection unit for detecting the number of viewers from the image captured by the camera; and a unit for emitting sound related to the image projected by the projector unit,
23. The mobile projection apparatus according to any one of claims 12 to 22, wherein the control unit sets the volume of the sound related to the image to a volume corresponding to the number of people detected by the number-of-people detection means. Device. A number detection means for detecting the number of viewers from the image captured by the camera,
means for controlling a height position substantially matching the height of the eye level of the viewer when the number of viewers is detected by the number-of-people detecting means as a place for projecting the image; 24. The mobile projection apparatus according to any one of claims 12 to 23, characterized by: 25. The mobile projection apparatus according to claim 24, further comprising means for controlling the aerial flight mechanism to hover at a height position substantially matching the height of the line of sight of the viewer. A number detection means for detecting the number of viewers from the image captured by the camera,
12. The apparatus further comprises means for performing control such that, when the number of viewers is detected by the number-of-persons detection means to be one, the image of a size that allows the viewer to view the entire image is projected. Item 26. A mobile projection apparatus according to any one of Items 25 to 26. 27. The movable type according to claim 26, further comprising means for controlling the image size so that the viewer can see the entire image by combining zoom processing by a lens of the projector unit and projection distance. projection device. A number detection means for detecting the number of viewers from the image captured by the camera,
When the number of viewers is detected by the number-of-people detecting means to be a predetermined number or more of the viewers, control is performed so that the image is projected at a position higher than the horizontal direction of the eyes of the viewers. 28. The mobile projection apparatus according to any one of claims 12 to 27, comprising means. 29. The mobile projection apparatus according to claim 28, further comprising means for controlling the aerial flight mechanism to hover above the horizontal line of sight of the viewer. A number detection means for detecting the number of viewers from the image captured by the camera,
When the number of viewers is detected by the number-of-persons detection means to be a predetermined number or more, the image is projected in a size larger than when the number of viewers is one or less than the predetermined number. 30. The mobile projection apparatus according to any one of claims 12 to 29, further comprising means for controlling such a movement. A means for controlling the size to be larger than when the number of viewers is one or a small number of viewers less than the predetermined number, by combining zoom processing by a lens provided in the projector unit and the projection distance. 31. The mobile projection device of claim 30, characterized by: 1 to 1, further comprising means for emitting sound related to the image projected by the projector unit, and means for changing the volume of the sound related to the image. 31. The mobile projection device according to any one of 31. A camera for photographing a viewer viewing the projected image,
2. When the presence of the viewer is detected from the image captured by the camera, the projector unit moves to the vicinity of the detected viewer and projects the image by the projector unit. 33. The mobile projection apparatus according to any one of claims 32 to 32. comprising communication means for receiving call information;
Based on the information for specifying the position included in the call information, the viewer moves to the vicinity of the viewer at the place where the call information is sent, and the image is projected by the projector unit. 34. The mobile projection apparatus according to any one of claims 1 to 33. A movement space information memory for storing information on a movement space divided into a plurality of non-overlapping partial space regions as a space in which the device is to fly and move,
the movement space information memory stores information on correspondence between information of a calling device that transmits the call information installed in each of the partial space areas and information on the installed partial space area;
The information for specifying the position included in the call information is information for specifying in which of the partial space areas the calling device that sent the call information is installed. 35. The mobile projection device of claim 34. The projector unit includes image information in a plurality of foreign languages as image information of the image to be projected,
a microphone for picking up a viewer's voice; and a foreign language determination unit that determines a foreign language used by the viewer from the viewer's voice picked up by the microphone,
selection means for selecting the image to be projected by the projector unit based on the foreign language determined by the foreign language determination unit;
36. The mobile projection apparatus according to any one of claims 1 to 35, characterized by: The projector unit includes audio information in a plurality of foreign languages as audio information accompanying the image to be projected,
a microphone for picking up a viewer's voice; and a foreign language determination unit that determines a foreign language used by the viewer from the viewer's voice picked up by the microphone,
selection means for selecting the audio information to be provided to the viewer along with the image based on the foreign language determined by the foreign language determination unit;
37. The mobile projection apparatus according to any one of claims 1 to 36, characterized by:

The projector unit is mounted on a turntable that rotates in a horizontal direction,
38. The movable type according to any one of claims 1 to 37, further comprising means for rotationally driving the turntable to rotate the projector unit to move the projection position of the image in the horizontal direction. projection device. The projector unit is attached to a support base having a tilt mechanism,
39. The movable type according to any one of claims 1 to 38, further comprising means for driving and controlling the tilt mechanism to vertically move the projection position of the image projected by the projector section. projection device. having means for detecting rain or snow, or for detecting the possibility of rain or snow;
Claims 1 to 39, characterized by comprising means for moving the self-device to a place where rain or snow does not hit when the rain or snow is detected or the possibility of rain or snow is detected. The mobile projection device according to any one of the above. Equipped with means for detecting rainfall or snowfall, or the possibility of rainfall or snowfall, and comprising an umbrella,
41. The apparatus according to any one of claims 1 to 40, further comprising means for controlling the umbrella to be used when the rain or snow is detected, or when the possibility of rain or snow is detected. mobile projection device. Equipped with means for detecting rainfall or snowfall, or the possibility of rainfall or snowfall, and means for requesting instructions when said rainfall or snowfall is detected, or said possibility of rainfall or snowfall is detected. 42. The mobile projection apparatus according to any one of claims 1 to 41, characterized by: Equipped with measuring means for measuring wind force or wind speed,
43. The mobile projection apparatus according to any one of claims 1 to 42, further comprising means for controlling so as not to fly outdoors when the measurement means detects that the wind is strong. Claims 1 to 3, characterized by comprising a storage unit that stores information about an indoor wall or an outdoor building wall on which the image can be projected, together with information about the length, width, and height of the wall. 43. The mobile projection device according to any one of 43. 45. Movement according to claim 44, characterized in that the storage unit contains information instructing low projection for kindergarten or nursery school children and/or wheelchair users. type projection device. 46. The mobile projection device according to any one of claims 1 to 45, comprising a solar battery and flying while being charged by sunlight. means for judging the viewing situation of the viewer, and adjusting the projection place of the image in the vertical and horizontal directions and/or moving the projection place when the viewing situation is judged to be inappropriate; 47. The mobile projection apparatus according to any one of claims 1 to 46. 48. The mobile projection apparatus according to claim 47, wherein the vertical and horizontal adjustment of the projection location of the image and/or the movement of the projection location are subject to a change frequency limit and/or a change time limit. a microphone for picking up the viewer's voice;
means for detecting the viewer's request based on the recognition result of the viewer's voice picked up by the microphone;
means for controlling to project the image according to the detected desire;
49. The mobile projection apparatus according to any one of claims 1 to 48, characterized by: 50. The mobile projection apparatus according to any one of claims 1 to 49, wherein the projector section has a function of reproducing image information of the image projected from a storage medium. 51. The mobile projection apparatus according to any one of claims 1 to 50, wherein the image information of the image projected by the projector unit is sent from the outside in a broadcasting format. 52. The mobile projection apparatus according to claim 51, further comprising a function of selecting image information of said image to be projected from among those externally sent in said broadcasting format. 53. The mobile projection apparatus according to any one of claims 1 to 52, further comprising a function of requesting and acquiring image information of said image projected by said projector unit from said image information providing server. . 54. The mobile projection device according to any one of claims 50 to 53, wherein the image information of said image is accompanied by audio information. 55. The mobile projection apparatus according to any one of claims 1 to 54, wherein, if there is a landing space at a suitable location for projecting said image, it lands on said landing space and projects said image. Device. A computer provided in a mobile projection apparatus including an aerial flight mechanism section for flying in the air and a projector section for projecting an image,
determining means for determining whether or not the place where the image is projected exists in the vicinity of the viewer;
Guiding the viewer to a suitable place for projecting the image when the determining means determines that the appropriate place for projecting the image does not exist near the viewer. means,
A mobile projection device program for functioning as

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