PAIRING DISPLAY DEVICE, PAIRING DISPLAY SYSTEM, AND PAIRING DISPLAY METHOD

A pairing display device includes a detection processing unit for detecting a user who is paired with a movable object having a display unit and a detection unit, by using the detection unit, and an output processing unit for, when the user is detected by the detection processing unit, displaying information showing that the user is paired with the movable object on a floor in the vicinity of the movable object, by using the display unit.

TECHNICAL FIELD

The present disclosure relates to a pairing display device for, a pairing display system for, and a pairing display method of performing display about the pairing of a movable object and a user.

BACKGROUND ART

In recent years, attention has been given to facility guidance systems using movable objects. As facilities, for example, hospitals, airports, or commercial facilities are provided. A movable object moves in a facility while carrying a user, or moves while following a user. As the movable object, for example, an electric wheelchair, an electric cart, or a mobile robot is provided. The user can be moved to his or her destination in the facility by the movable object by notifying the movable object of the destination.

When the user uses a movable object provided in the facility, the user needs to perform pairing with a movable object which the user wants to use. The pairing is a process of performing personal authentication to determine whether or not the user is one registered in the system, and, when the user is authenticated as one registered in the system, assigning a movable object as a movable object which can move in accordance with an instruction from the user.

For example, in a system described in Patent Literature 1, a server transmits reservation status data about the current usage reservation status of each robot to a user terminal, and the user terminal transmits reservation data for making a reservation to use a robot, the reservation being inputted by the user in consideration of the reservation status data, to the server. The server determines the reservation to use the robot by authenticating the user on the basis of the reservation data.

CITATION LIST

Patent Literature

Patent Literature 1: JP 2005-64837 A

SUMMARY OF INVENTION

Technical Problem

In the conventional technology described in Patent Literature 1, a reservation to use a robot, i.e., pairing can be performed using a user terminal. However, a problem is that in a facility where robots are arranged, it is difficult for a user who has performed pairing with a robot without making contact with the robot to know whether or not the user has been actually paired with the robot.

There can also be considered a case in which a robot authenticates a user who has entered the facility and then performs pairing. However, in general, users do not know which robots, out of the robots arranged in the facility, have been paired with other users, and thus do not know with which robot they should make contact for pairing. Therefore, users need to look for an available robot by himself/herself or to ask a manager of the facility for an available robot, which is inconvenient.

The present disclosure is made to solve the above-mentioned problem, and it is therefore an object of the present disclosure to obtain a pairing display device, a pairing display system, and a pairing display method capable of performing display to provide a notification that a movable object and a user are paired with each other.

Solution to Problem

A pairing display device according to the present disclosure includes: processing circuitry to detect a user who is paired with a movable object having a projector and a detector, by using the detector; and to display, when the user is detected, information showing that the user is paired with the movable object on a floor in the vicinity of the movable object, by using the projector. The processing circuitry displays an image showing a state in which the movable object and the user are paired with each other on the floor in the vicinity of the movable object.

Advantageous Effects of Invention

According to the present disclosure, the user who is paired with the movable object is detected using the detection unit, and, when the user is detected, the information showing that the user is paired with the movable object is displayed on the floor in the vicinity of the movable object, by using the display unit. By visually recognizing the information displayed on the floor, the user can recognize that the user is paired with the movable object which displays the information.

DESCRIPTION OF EMBODIMENTS

FIG. 1is a block diagram showing the configuration of a pairing display device10according to Embodiment 1. A movable object1can perform autonomous movement, and, for example, an electric wheelchair, an electric cart, or a mobile robot is provided as the movable object. The movable object1shown inFIG. 1includes a display unit2, a detection unit3, a sound output unit4, and the pairing display device10.

The display unit2displays information on a floor B in the vicinity of the movable object1, and is, for example, a projector (projection unit) that projects information onto the floor B. The display unit2can also display the information in three dimensions on the floor B in the vicinity of the movable object1. For example, in the case where the display unit2is a projector, the projector projects the information in three dimensions onto the floor B in the vicinity of the movable object1. Here, “display in three dimensions” or “projection in three dimensions” refers to display or projection of information in a form in which the information can be viewed in a stereoscopic manner by human vision. However, the display unit2does not necessarily have to display the information in three dimensions, and may perform two-dimensional display of the information.

The detection unit3detects a user A in the vicinity of the movable object1, and is, for example, a camera device that can capture an image of an area in the vicinity of the movable object1. The user A is a person who is paired with the movable object1, and appearance information about the user A is registered in the pairing display device10. The camera device which is the detection unit3captures an image of the user A, and outputs information about the image to the pairing display device10. The detection unit3may be a sensor in which any one of infrared light, light, and an acoustic wave, and a camera device are combined.

The sound output unit4outputs a sound to an area in the vicinity of the movable object1, and is, for example, a speaker. For example, the sound output unit4outputs sound effect information, voice guidance, and a warning which are ordered by the pairing display device10. The sound effect information is sound information corresponding to the information which is displayed by the display unit2on the floor B in the vicinity of the movable object1.

The pairing display device10performs display about the pairing of the movable object1and the user A. The pairing display device10shown inFIG. 1includes an output processing unit10aand a detection processing unit10b. When the user A is detected by the detection processing unit10b, the output processing unit10adisplays information showing that the user A is paired with the movable object1on the floor B in the vicinity of the movable object1by using the display unit2. The information showing that the user A is paired with the movable object1is, for example, an image20showing at least one of the name of the user A, a face image, or a specific mark. For example, the output processing unit10adisplays the image20on the floor B in the vicinity of the movable object1at the time that the user A enters the detection range of the detection unit3.

Further, the output processing unit10acan display the image20in a region which is on the floor B in the vicinity of the movable object1and which is the effective detection range of the detection unit3. The effective detection range is a range where stable detection of an object can be performed by the detection unit3, and, in the case where the detection unit3is, for example, a camera device, the effective detection range is defined by the viewing angle or the like of the camera device. The effective detection range is also referred to as the stable detection range. Because the image20is displayed in the region which is the effective detection range of the detection unit3, the user A can be guided to the region where the user can be detected stably by the detection unit3.

The image20is display information for showing that the user A is paired with the movable object1, and the image20is formed of a graphic, a character, or a combination of a graphic and a character. The image20may be an animation image whose display mode varies with time. In the case where the display unit2is a projector, the output processing unit10aprojects the image20in three dimensions onto the floor B in the vicinity of the movable object1by using the projector.

The output processing unit10amay output a sound corresponding to the information displayed on the floor B in the vicinity of the movable object1by using the sound output unit4. Because the output mode of the sound effect is defined by the frequency, the rhythm, and the tempo of the sound effect, the output processing unit10amay change these.

The detection processing unit10bdetects the user A who is operating the image20, by using the detection unit3. For example, the detection processing unit10bcan perform an image analysis on an image of the area in the vicinity of the movable object1, the image being captured by the camera device which is the detection unit3, and detect the user A from the image on the basis of the appearance information about the user A and a result of the image analysis. As the image analysis, for example, an image analysis method such as pattern matching is used.

Next, a pairing display method according to Embodiment 1 will be explained in detail.

FIG. 2is a flowchart showing the pairing display method according to Embodiment 1.

The detection processing unit10bdetects the user A who is paired with the movable object1(step ST1). For example, the detection processing unit10bperforms an image analysis on an image of an area in the vicinity of the movable object1, the image being captured by the camera device, and detects the user A on the basis of a result of the image analysis. When the user A is not detected (when NO in step ST1), the detection processing unit10brepeats the detecting process in step ST1until the user A is detected.

When the user A is detected by the detection processing unit10b(when YES instep ST1), the output processing unit10adisplays an image20on the floor B in the vicinity of the movable object1by using the display unit2(step ST2). For example, a face image of the user A is displayed, as the image20, on the floor B, as shown inFIG. 1. The user A can recognize that the user is paired with the movable object1which displays the image20on the floor B, by visually recognizing the image20.

Next, a pairing display system according to Embodiment 1 will be explained.

FIG. 3is a block diagram showing the configuration of the pairing display system according to Embodiment 1.

InFIG. 3, the same components as those shown inFIG. 1are denoted by the same reference signs, and an explanation of the components will be omitted hereinafter. The pairing display system shown inFIG. 3displays the fact that the user A and the movable object1are paired with each other, and includes the movable object1and a server30.

The movable object1can perform autonomous movement, and, for example, an electric wheelchair, an electric cart, or a mobile robot is provided as the movable object. The movable object1shown inFIG. 3includes the display unit2, the detection unit3, the sound output unit4, and a communication unit5. The communication unit5communicates with the server30. Each of the following units: the display unit2, the detection unit3, and the sound output unit4operates on the basis of a control signal received, via the communication unit5, from the server30.

The display unit2displays information on the floor B in the vicinity of the movable object1on the basis of control information received, via the communication unit5, from the server30. The movable object1is, for example, a projector that projects information onto the floor B. The detection unit3detects the user A in the vicinity of the movable object1, and transmits the detection result to the server30via the communication unit5. The sound output unit4outputs a sound to an area in the vicinity of the movable object1on the basis of control information received, via the communication unit5, from the server30.

The server30is a device that performs, by using the display unit2, display about the pairing of the movable object1and the user A on the basis of information received from the movable object1. As shown inFIG. 3, the server30includes an output processing unit10a, a detection processing unit10b, and a communication unit10c. The communication unit10ccommunicates with the communication unit5which the movable object1includes.

The output processing unit10adisplays an image20on the floor B in the vicinity of the movable object1, by transmitting a control signal to the movable object1via the communication unit10cto control the display unit2. The detection processing unit10bdetects the user A, by transmitting a control signal to the movable object1via the communication unit10cto control the detection unit3.

Next, a hardware configuration for implementing the functions of the pairing display device10will be explained.

The functions of the output processing unit10aand the detection processing unit10bin the pairing display device10are implemented by a processing circuit. More specifically, the pairing display device10includes a processing circuit for performing the processes of steps ST1and ST2ofFIG. 2. The processing circuit may be either hardware for exclusive use or a central processing unit (CPU) that executes a program stored in a memory.

FIG. 4Ais a block diagram showing a hardware configuration for implementing the functions of the pairing display device10.FIG. 4Bis a block diagram showing a hardware configuration for executing software that implements the functions of the pairing display device10. InFIGS. 4A and 4B, an input interface100relays information outputted from the detection unit3to the detection processing unit10bwhich the pairing display device10includes. An output interface101relays information outputted from the output processing unit10ato the display unit2, the sound output unit4, or both of them.

In the case where the processing circuit is a processing circuit102shown inFIG. 4Awhich is hardware for exclusive use, the processing circuit102is, for example, a single circuit, a composite circuit, a programmable processor, a parallel programmable processor, an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a combination of these. The functions of the output processing unit10aand the detection processing unit10bin the pairing display device10may be implemented by separate processing circuits, or may be implemented collectively by a single processing circuit.

In the case where the processing circuit is a processor103shown inFIG. 4B, the functions of the output processing unit10aand the detection processing unit10bin the pairing display device10are implemented by software, firmware, or a combination of software and firmware. The software or the firmware is described as programs and the programs are stored in a memory104.

The processor103implements the functions of the output processing unit10aand the detection processing unit10bin the pairing display device10by reading and executing the programs stored in the memory104. For example, the pairing display device10includes the memory104for storing the programs by which the processes of steps ST1and ST2in the flowchart shown inFIG. 2are performed as a result when the programs are executed by the processor103. These programs cause a computer to perform procedures or methods performed in the output processing unit10aand the detection processing unit10b. The memory104may be a computer readable storage medium in which the programs for causing the computer to function as the output processing unit10aand the detection processing unit10bare stored.

The memory104is, for example, a non-volatile or volatile semiconductor memory, such as a random access memory (RAM), a read only memory (ROM), a flash memory, an erasable programmable read only memory (EPROM), and an electrically-EPROM (EEPROM), a magnetic disc, a flexible disc, an optical disc, a compact disc, a mini disc, a DVD, or the like.

Apart of the functions of the output processing unit10aand the detection processing unit10bin the pairing display device10may be implemented by hardware for exclusive use, and a part of the functions may be implemented by software or firmware. For example, the function of the output processing unit10ais implemented by the processing circuit102which is hardware for exclusive use, and the function of the detection processing unit10bis implemented by the processor103's reading and executing a program stored in the memory104. As mentioned above, the processing circuit can implement the above-mentioned functions by using hardware, software, firmware, or a combination of hardware, software, and firmware.

Next, a variation on the display provided by the pairing display device10will be explained.

FIG. 5is a diagram showing a display example of the state of the pairing of a movable object1A and a user A1, and the state of the pairing of a movable object1B and a user A2. InFIG. 5, the user A1is paired with the movable object1A, and the user A2is paired with the movable object1B. The pairing display device10is mounted in each of the movable objects1A and1B.

The output processing unit10aof the pairing display device10mounted in the movable object1A displays a state in which the movable object1A and the user A1are paired with each other, on a floor B in the vicinity of the movable object1A by using the display unit2. Similarly, the output processing unit10aof the pairing display device10mounted in the movable object1B displays a state in which the movable object1B and the user A2are paired with each other, on the floor B in the vicinity of the movable object1B by using the display unit2.

For example, after the movable object1A and the user A1are paired with each other, the detection processing unit10bdetects the user A1's movement by using the detection unit3. The output processing unit10adisplays an image20aunder the user A1and a dotted line image20bextending from the display unit2of the movable object1A toward the image20aon the floor B in response to the user A1's movement detected by the detection processing unit10b, by controlling the display unit2. Similarly, the output processing unit10adisplays an image20aunder the user A2and a dotted line image20bextending from the display unit2of the movable object1B toward the image20aon the floor B in response to the user A2's movement detected by the detection processing unit10b.

The user A1can grasp that the user A2and the movable object1B are paired with each other by visually recognizing the image20aunder the user A2and the dotted line image20b. On the other hand, the user A2can grasp that the user A1and the movable object1A are paired with each other by visually recognizing the image20aunder the user A1and the dotted line image20b. Further, a different user other than the users A1and A2can grasp that the movable objects1A and1B are excluded from objects to be paired with the different user by visually recognizing the images20aand20b.

Further, when the movable object1A is one that moves while following the user A1, any other user other than the user A1is alerted to the possibility that, if he/she blocks the path between the user A1and the movable object1A, he/she may collide with the movable object1A, by visually recognizing the images20aand20bshowing that the movable object1A and the user A1are paired with each other. As a result, because any other user other than the user A1moves in such a way as not to block the path between the user A1and the movable object1A, the safety of use of the movable object1A is improved. The same goes for any other user, including the user A1, other than the user A2.

As mentioned above, the pairing display device10according to Embodiment 1 detects the user A who is paired with the movable object1by using the detection unit3, and, when the user A is detected, displays the image20showing that the user A is paired with the movable object1on the floor B in the vicinity of the movable object1, by using the display unit2. The user A can recognize that the user is paired with the movable object1which displays the image20by visually recognizing the image20displayed on the floor B.

Further, the output processing unit10aof the pairing display device10according to Embodiment 1 displays the images20aand20bshowing a state in which the movable object1A and the user A1are paired with each other on the floor B in the vicinity of the movable object1A. Any other person other than the user A1can grasp that the user A1and the movable object1A are paired with each other by visually recognizing the image20aunder the user A1and the dotted line image20b.

A pairing display device according to Embodiment 2 displays an image showing that a user and a movable object are paired with each other on a floor, like that of Embodiment 1, and, after that, displays an image which the user can operate on the floor. Because a user who has realized that he/she is paired with a movable object from the display of an image in Embodiment 1 can recognize that he/she has established pairing with the movable object through his/her own operation on the image in Embodiment 2 (this operation is pseudo because the pairing has been established before the operation), the user can use the movable object1with confidence.

FIG. 6is a block diagram showing the configuration of the pairing display device10according to Embodiment 2. The movable object1can perform autonomous movement, like that of Embodiment 1, and, for example, an electric wheelchair, an electric cart, or a mobile robot is provided as the movable object. The movable object1shown inFIG. 6includes a display unit2, a detection unit3, a sound output unit4, and the pairing display device10. Further, a user A is a person who is paired with the movable object1, and identification information about the user A is registered in the pairing display device10.

The pairing display device10according to Embodiment 2 performs display about the pairing of the movable object1and the user A, and includes an output processing unit10a, a detection processing unit10b, and a check unit10d. The output processing unit10adisplays an image20and a progress situation of an operation on this image20on a floor B in the vicinity of the movable object1by using the display unit2.

The image20in Embodiment 2 is an operation image for urging the user A to perform an operation about the pairing, and the image20is formed of a graphic, a character, or a combination of a graphic and a character. The image20may be an animation image whose display mode varies with time. In the case where the display unit2is a projector, the output processing unit10aprojects the image20and display information showing the progress situation of the operation in three dimensions onto the floor B in the vicinity of the movable object1by using the projector. As described in Embodiment 1, “display in three dimensions” or “projection in three dimensions” refers to display or projection of information in a form in which the information can be viewed in a stereoscopic manner by human vision. However, the display unit2does not necessarily have to display the information in three dimensions, and may perform two-dimensional display of the information.

The output processing unit10acan display the image20in a region which is on the floor B in the vicinity of the movable object1and which is the effective detection range of the detection unit3. The effective detection range is a range where stable detection of an object can be performed by the detection unit3, and, in the case where the detection unit3is, for example, a camera device, the effective detection range is defined by the viewing angle or the like of the camera device. The effective detection range is also referred to as the stable detection range. Because the image20is displayed in the region which is the effective detection range of the detection unit3, the user A can be guided to the region where the user can be detected stably by the detection unit3.

The output processing unit10amay change the display mode of the image20in response to the progress situation of the operation using the image20. For example, in a case where the user A operates the image20displayed on the floor B using the user's foot, the output processing unit10achanges the display mode of the image20which is operated by the user A's foot detected by the detection processing unit10b. The user A can recognize that the user A himself/herself has actively established the pairing with the movable object1, by visually recognizing the display mode of the image20which changes in response to the progress situation of the operation. Further, because the user A does not have to directly touch or approach the movable object1, there is provided an advantage of reducing the possibility that the user carelessly collides with the body of the movable object1, thereby improving the safety.

The output processing unit10adisplays, on the floor B in the vicinity of the movable object1, the completion of the operation on the image20. For example, the output processing unit10achanges the display mode of the image20at the time that the check unit10didentifies the person who is operating the image20as the user A. The user A can easily grasp the completion of the operation on the image20by visually recognizing the change of the display mode of the image20.

The output processing unit10amay output a sound corresponding to the information displayed on the floor B in the vicinity of the movable object1by using the sound output unit4. Because the output mode of the sound effect is defined by the frequency, the rhythm, and the tempo of the sound effect, the output processing unit10amay change these. For example, the output processing unit10acauses the sound output unit4to output the sound effect at the time that the operation on the image20is started, and causes the sound output unit4to change the output mode of this sound effect in response to the progress situation of the operation. When the person who is operating the image20is identified as the user A, the output processing unit10achanges the output mode of the sound effect which has been outputted until the user A is identified to a different mode. As a result, the user A can realize the operation on the image20visually and acoustically.

The detection processing unit10bdetects the user A who is operating the image20, by using the detection unit3. The identification information about the user A is set in the detection processing unit10b. The identification information includes pieces of personal information for identifying the user A, such as gender, age, and face information, and may include appearance information about the user A. The appearance information about the user A may indicate the user A's clothes or hairstyle, whether or not the user A is using a cane, or a combination of these characteristics when the user operates the image20. For example, the detection processing unit10bperforms an image analysis on an image of an area in the vicinity of the movable object1, the image being captured by the camera device which is the detection unit3, to detect the user A from the image on the basis of the appearance information about the user A and a result of the image analysis. As the image analysis, an image analysis method such as pattern matching can be used.

The check unit10dchecks the progress situation of an operation on the image20. For example, the check unit10ddetermines the progress situation of an operation on the image20on the basis of a result of the image analysis on an image of the user A's foot detected by the detection processing unit10b. The progress situation of the operation on the image20, which is checked by the check unit10d, is sequentially outputted to the output processing unit10a.

Next, a pairing display method according to Embodiment 2 will be explained in detail.

FIG. 7is a flowchart showing the pairing display method according to Embodiment 2. Before the processing shown inFIG. 7is performed, the image20in Embodiment 1 (image showing that the movable object1and the user A are paired with each other) is displayed on the floor B, so that the user A recognizes that the user is paired with the movable object1. Further,FIG. 8Ais a diagram showing an example of the image20for urging the user A to perform an operation, and shows the image20displayed in three dimensions on the floor B and having a push button shape. The image20shown inFIG. 8Ais projected by the display unit2onto the floor B in three dimensions.FIG. 8Bis a diagram showing the progress situation of an operation on the image20ofFIG. 8A.FIG. 8Cis a diagram showing the completion of the operation on the image20ofFIG. 8A.

The output processing unit10adisplays the image20for operation on the floor B in the vicinity of the movable object1by using the display unit2(step ST1a) . For example, as shown inFIG. 8A, a push button on which characters “pair” showing that this is an image for an operation about pairing are written is displayed, as the image20for operation, on the floor B. Because the push button is displayed on the floor B, the user A can push down the push button using the user's foot even in a state where the user cannot use both hands for operation.

The detection processing unit10bdetects the user A who is operating the image20for operation (step ST2a). For example, the detection processing unit10bdetects a foot of the user A who is operating (pushing down) the push button, and outputs information about this detection to the check unit10d. The check unit10dchecks the progress situation of the operation on the image20, and outputs the progress situation to the output processing unit10a. The output processing unit10achanges the display mode of the image20described in step ST1ain response to the progress situation of the operation on the image20. For example, as shown inFIG. 8B, the output processing unit10achanges the image into an image in which the push button is gradually pushed down, by using the display unit2. At this time, the output processing unit10amay change the output mode of the sound effect in response to the pushing down of the push button, by using the sound output unit4.

The check unit10dchecks whether or not the operation on the image20is completed (step ST3a) . For example, the check unit10ddetermines the completion of the operation on the basis of whether the position of the user's A foot detected by the detection processing unit10bhas touched the floor B. When the operation on the image20is not completed (when NO in step ST3a), the process of step ST3ais repeated.

In contrast, when the operation on the image20is completed (when YES in step ST3a), the output processing unit10adisplays the fact that the user A's operation is completed (step ST4a). For example, as shown inFIG. 8C, the image of the push button is changed to an image in a state where the push button is completely pushed down. In addition, the characters “Pair” written on the push button may be changed to characters “Succeeded” showing that the pairing of the movable object1and the user A has succeeded. At this time, the output processing unit10amay change the output mode of the sound effect outputted from the sound output unit4to a mode different from the one which is set until the operation has been completed. The display mode of the image20displayed on the floor B and the sound effect outputted from the sound output unit4make it possible for the user A to recognize that the pairing with the movable object1has been established through the user's own operation.

When it is determined that the person detected by the detection processing unit10bis a third person other than the user A, the output processing unit10amay temporarily change the characters written on the push button which is the image20to display of information showing that the person is not the user to be paired, such as “You are not the user of this movable object.” The characters and the text which are displayed by the output processing unit10amay be displayed either in the language usually used in the area where the display device is used or in another language. Further, the display may be performed while the language is changed according to identification status of the user detected by the detection processing unit10b.

A target person to be paired with the movable object may include not only a user but a companion of the user. The detection processing unit10bdetects a person present in the vicinity of the user A1who is operating the image20, by using the detection unit3, as shown inFIG. 9A. When the operation by the user A1is completed, the output processing unit10adisplays a confirmation image for an operation to confirm whether or not the person detected by the detection processing unit10bis a companion A3of the user A1. For example, a push button20cas shown inFIG. 9Bis displayed on the floor B by the output processing unit10a. On the push button20c, characters “Companion?” showing that this is the image for the operation to confirm whether or not the person is a companion are written. The companion A3pushes down the push button20cusing the companion's foot.

The detection processing unit10bdetects the companion A3who is operating the pushbutton20c, and outputs information about the detection to the check unit10d. The check unit10dchecks the progress situation of the companion A3's operation on the image of the push button20con the basis of a result of performing an image analysis on the image of the companion A3's foot detected by the detection processing unit10b. The output processing unit10achanges the image20to an image in which the push button is gradually pushed down, in response to the progress situation of the operation checked by the check unit10d. The output processing unit10amay change the output mode of the sound effect in response to the pushing down of the push button20c, by using the sound output unit4.

When the check unit10ddetermines that the companion A3's operation on the push button20cis completed, the output processing unit10adisplays an image showing that the movable object1, and a group of the user A1and the companion A3are paired with each other on the floor B. When the group of the user A1and the companion A3is paired with the movable object1, not only the user A1's action but also the companion A3's action is reflected in the movement of the movable object1. For example, in the case where the movable object1is one that moves while carrying the user A1, and the companion A3moves while following this movable object1, even when the companion A3takes an action different from that by the user A1, the movable object1takes an action which conforms to the companion A3. For example, when the companion A3stops suddenly during the movement of the movable object1, the movable object1stops in response to the companion A3's stopping. As a result, both the user A1and the companion A3can act together without getting separated from each other.

Further, after the movable object1, and the group of the user A1and the companion A3are paired with each other, the output processing unit10amay display an image showing a state where the movable object1, and the group of the user A1and the companion A3are paired with each other, on the floor B in the vicinity of the movable object1. For example, as shown inFIG. 9C, the output processing unit10adisplays an image20aunder both the user A1and the companion A3, and an image20bextending from the display unit2to the image20aand having a dotted line shape on the floor B in response to the movements of both the user A1and the companion A3. A different user other than both the user A1and the companion A3can grasp that the group of the user A1and the companion A3is paired with the movable object1, and the movable object1is excluded from objects to be paired with the different user, by visually recognizing the images20aand20b.

The functions of the output processing unit10a, the detection processing unit10b, and the check unit10din the pairing display device10are implemented by a processing circuit. More specifically, the pairing display device10includes a processing circuit for performing steps ST1ato ST4ashown inFIG. 7. The processing circuit may be either hardware for exclusive use or a CPU that executes a program stored in a memory.

As mentioned above, the pairing display device10according to Embodiment 2 displays the image20for the user A to perform an operation about pairing on the floor B in the vicinity of the movable object1, and detects the user A who is operating the image20. Because the user A can recognize that he/she has established pairing with the movable object1through his/her own operation, the user A can use the movable object1with confidence.

FIG. 10is a block diagram showing the configuration of a pairing display device10A according to Embodiment 3. A movable object1can perform autonomous movement, and, for example, an electric wheelchair, an electric cart, or a mobile robot is provided as the movable object. The movable object1shown inFIG. 10includes a display unit2, a detection unit3, a sound output unit4, and the pairing display device10A. A user A is one who has registered for a service that allows the user to use the movable object1, and identification information about the user A is set in the pairing display device10A. The user A is carrying a user terminal40. The user terminal40is a terminal device that communicates with the pairing display device10A, and is, for example, a smartphone, a mobile telephone terminal, or a tablet information terminal.

The user A can transmit appearance information about the user A to the pairing display device10A by using the user terminal40. The appearance information about the user A indicates the user A's clothes or hairstyle, whether or not the user A is using a cane, or a combination of these characteristics at the place where the movable object1is located.

The pairing display device10A performs display about the pairing of the movable object1and the user A, and, for example, is mounted in the movable object1. As shown inFIG. 10, the pairing display device10A includes an output processing unit10a, a detection processing unit10b, and a communication unit10e. As shown inFIG. 3, these components may be included in a server30.

The user A transmits usage reservation data to the pairing display device10A mounted in the movable object1by using the user terminal40before going to the place where the movable object1is located. The communication unit10ewhich the pairing display device10A includes communicates with the user terminal40, to receive the usage reservation data, and outputs the received usage reservation data to the detection processing unit10b. When receiving the usage reservation data, the detection processing unit10brecognizes that the pairing of the movable object1and the user A has been established.

The detection processing unit10btransmits information indicating that the pairing with the movable object1by the user A has been established to the user terminal40via the communication unit10e. When the pairing with the movable object1has been established, the user A transmits the appearance information about the user A to the pairing display device10A by using the user terminal40. The communication unit10eoutputs the appearance information about the user A received from the user terminal40to the detection processing unit10b.

The detection processing unit10bdetects a person present in the vicinity of the movable object1, and determines whether the appearance of the detected person matches the appearance information about the user A. When the person present in the vicinity of the movable object1matches the appearance information about the user A, the detection processing unit10bdetermines that the person is the user A. When the user A is detected by the detection processing unit10b, the output processing unit10adisplays an image20on a floor B in the vicinity of the movable object1by using the display unit2.

The functions of the output processing unit10a, the detection processing unit10b, and the communication unit10ein the pairing display device10A are implemented by a processing circuit. More specifically, the pairing display device10A includes a processing circuit for performing the processing mentioned above. The processing circuit may be either hardware for exclusive use or a CPU that executes a program stored in a memory.

As mentioned above, in the pairing display device10A according to Embodiment 3, the communication unit10ereceives the appearance information about the user A which is transmitted using the user terminal40. The detection processing unit10bdetects the user A by using the appearance information received by the communication unit10e. When the user A is detected by the detection processing unit10b, the output processing unit10adisplays the image20showing that the user A is paired with the movable object1on the floor B in the vicinity of the movable object1. The user A can recognize that the user is paired with the movable object1which displays the image20on the floor B, by visually recognizing the image20displayed on the floor B.

It is to be understood that the present disclosure is not limited to the above-mentioned embodiments, and any combination of two or more of the above-mentioned embodiments can be made, various changes can be made in any component according to any one of the above-mentioned embodiments, or any component according to any one of the above-mentioned embodiments can be omitted within the scope of the present disclosure.

INDUSTRIAL APPLICABILITY

The pairing display device according to the present disclosure can be used for, for example, the pairing of a movable object, such as an electric wheelchair, an electric cart, and a mobile robot, and a user.

REFERENCE SIGNS LIST