Gyroscope drift data compensation method, device, storage medium and projection equipment

Abstract

The present application proposes a gyroscope drift data compensation method, device, storage medium and projection equipment, which are applied to the projection equipment to obtain the current angular velocity corresponding to each axis of the gyroscope respectively; compensate the zero drift data according to the current device temperature, historical device temperature, current angular velocity and historical angular velocity corresponding to each axis respectively. Among them, the historical angular velocity is the angular velocity obtained by the last measurement, the historical device temperature is the temperature of the environment in which the gyroscope is located at the time of the last measurement, and the current device temperature is the temperature of the environment in which the gyroscope is located at the time of the current measurement. The compensated zero drift data matches the current ambient temperature and the vibration of the equipment. By ensuring the accuracy of the zero drift number, the accuracy of triggering the correction of the projection equipment is improved, so that the sensitivity of each trigger is basically consistent.

Description

Technical Field

[0001] The present application relates to the field of gyroscopes, and in particular to a gyroscope drift data compensation method, device, storage medium and projection equipment. Background Art

[0002] With the development of society and the progress of science, people's living standards are getting higher and higher. People's requirements for watching movies are also getting higher and higher. Projectors came into being to meet people's viewing needs. The projector is equipped with a gyroscope to measure the rotation angular velocity of each axis of the projector when it moves. The angular velocity is used to trigger the displacement auto focus and displacement automatic keystone correction functions.

[0003] However, angular velocity is easily affected by external factors, such as temperature changes and vibrations (sound vibrations, brackets, and fans on the projection equipment), which can easily cause data anomalies, leading to misjudgment of the projector and abnormal triggering of autofocus. Summary of the invention

[0004] The purpose of the present application is to provide a gyroscope drift data compensation method device, storage medium and projection equipment to at least partially improve the above-mentioned problems.

[0005] In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides a gyroscope drift data compensation method, which is applied to a projection device, and the method includes:

[0007] Get the current angular velocity of each axis in the gyroscope respectively;

[0008] Compensate the zero drift data based on the current device temperature, historical device temperature, current angular velocity, and historical angular velocity corresponding to each axis;

[0009] The historical angular velocity is the angular velocity obtained by the last measurement, the historical device temperature is the temperature of the environment in which the gyroscope is located during the last measurement, and the current device temperature is the temperature of the environment in which the gyroscope is located during the current measurement.

[0010] In a second aspect, an embodiment of the present application provides a projection device calibration triggering method, which is applied to a projection device, and the method includes:

[0011] Get the current angular velocity of each axis in the gyroscope;

[0012] When the current angular velocity of any axis is greater than the corresponding zero drift data, the projection device calibration is triggered;

[0013] Compensate the zero drift data based on the current device temperature, historical device temperature, current angular velocity, and historical angular velocity corresponding to each axis;

[0014] The historical angular velocity is the angular velocity obtained by the last measurement, the historical device temperature is the temperature of the environment in which the gyroscope is located during the last measurement, and the current device temperature is the temperature of the environment in which the gyroscope is located during the current measurement.

[0015] In a third aspect, an embodiment of the present application provides a gyroscope drift data compensation device, which is applied to a projection device, and the device includes:

[0016] An information acquisition unit, used to respectively acquire the current angular velocity corresponding to each axis of the gyroscope;

[0017] A compensation unit, used to compensate the zero drift data according to the current device temperature, the historical device temperature, the current angular velocity and the historical angular velocity corresponding to each axis;

[0018] The historical angular velocity is the angular velocity obtained by the last measurement, the historical device temperature is the temperature of the environment in which the gyroscope is located during the last measurement, and the current device temperature is the temperature of the environment in which the gyroscope is located during the current measurement.

[0019] In a fourth aspect, an embodiment of the present application provides a storage medium having a computer program stored thereon, which implements the above method when executed by a processor.

[0020] In a fifth aspect, an embodiment of the present application provides a projection device, comprising: a processor and a memory, wherein the memory is used to store one or more programs; when the one or more programs are executed by the processor, the above method is implemented.

[0021] Compared with the prior art, a gyroscope drift data compensation method, device, storage medium and projection device provided in the embodiments of the present application are applied to the projection device to obtain the current angular velocity corresponding to each axis of the gyroscope respectively; and compensate the zero drift data according to the current device temperature, historical device temperature, current angular velocity and historical angular velocity corresponding to each axis respectively. Among them, the historical angular velocity is the angular velocity obtained by the last measurement, the historical device temperature is the temperature of the environment in which the gyroscope is located at the time of the last measurement, and the current device temperature is the temperature of the environment in which the gyroscope is located at the time of the current measurement. The compensated zero drift data matches the current ambient temperature and the vibration of the device. By ensuring the accuracy of the zero drift number, the accuracy of triggering the correction of the projection device is improved, so that the sensitivity of each trigger is basically consistent.

[0022] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A schematic diagram of the connection of the projection device provided in the embodiment of the present application;

[0025] Figure 2 A schematic diagram of a flow chart of a gyroscope drift data compensation method provided in an embodiment of the present application;

[0026] Figure 3 A schematic diagram of another process of the gyroscope drift data compensation method provided in an embodiment of the present application;

[0027] Figure 4 A schematic diagram of sub-steps of S107 provided in an embodiment of the present application;

[0028] Figure 5 Another schematic diagram of a flow chart of a gyroscope drift data compensation method provided in an embodiment of the present application;

[0029] Figure 6 A schematic diagram of sub-steps of S107-2 provided in an embodiment of the present application;

[0030] Figure 7 One of the flow charts of the gyroscope drift data compensation method provided in the embodiment of the present application;

[0031] Figure 8 A schematic diagram of the effect provided by the embodiment of the present application;

[0032] Fig. 9 A schematic diagram of a flow chart of a projection device calibration triggering method provided in an embodiment of the present application;

[0033] Fig.10 A schematic diagram of a unit of a gyroscope drift data compensation device provided in an embodiment of the present application.

[0034] In the figure: 10 - processor; 11 - memory; 12 - bus; 13 - communication interface; 14 - gyroscope; 201 - information acquisition unit; 202 - compensation unit. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0037] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0038] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0039] In the description of the present application, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0040] In the description of this application, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0041] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0042] The angular velocity of the gyroscope is mainly used to detect the movement of the machine on the projection device, thereby triggering the functions of the projection device such as auto focus (AF) or automatic trapezoidal correction (AK). The triggering principle is to use the gyroscope to obtain the angle of the machine deflection, and start triggering when the preset threshold is reached. However, during the use of the projection device, due to the characteristics of the device itself, temperature changes, fan operation, and vibrations generated by the bracket or speaker may cause the gyroscope in the projection device to drift. Possibly, the angular velocity value obtained by the gyroscope will change with the temperature change. For example, when it is completely still, when the temperature is 10 degrees, the angular velocity value detected is 3° / s, and when the temperature is 25 degrees, the angular velocity value detected is 8° / s. Possibly, due to the special relationship of the projection device, the device will not only be affected by the temperature, but also by the interference of the fan inside the machine, the vibration generated when playing the sound, and the slight shaking of the bracket. Cause the problem of erroneous triggering of auto focus, automatic trapezoidal correction, or different sensitivity each time the trigger is triggered. In order to overcome the above problems, the embodiment of the present application provides a gyroscope drift data compensation method to at least partially improve the above problems.

[0043] The present application embodiment provides a projection device, which may be a projector or other terminal device carrying a gyroscope. Figure 1 , a schematic diagram of the structure of a projection device. The projection device includes a processor 10, a memory 11, and a bus 12. The processor 10 and the memory 11 are connected via the bus 12, and the processor 10 is used to execute an executable module stored in the memory 11, such as a computer program.

[0044] The processor 10 can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the gyroscope drift data compensation method can be completed by the hardware integrated logic circuit in the processor 10 or the instructions in the form of software. The above-mentioned processor 10 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0045] The memory 11 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory.

[0046] The bus 12 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus. Figure 1 Although only one bidirectional arrow is used in the diagram, it does not mean that there is only one bus 12 or only one type of bus 12 .

[0047] The memory 11 is used to store programs, such as programs corresponding to the gyroscope drift data compensation device. The gyroscope drift data compensation device includes at least one software function module that can be stored in the memory 11 in the form of software or firmware or fixed in the operating system (OS) of the projection device. After receiving the execution instruction, the processor 10 executes the program to implement the gyroscope drift data compensation method.

[0048] Possibly, the projection device provided in the embodiment of the present application further includes a communication interface 13. The communication interface 13 is connected to the processor 10 via a bus.

[0049] Of course, the projection device further includes a gyroscope 14 , which is used to detect posture information of the projection device and transmit the detected posture information to the processor 10 .

[0050] It should be understood that Figure 1 The structure shown is only a schematic diagram of a portion of the projection device. The projection device may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0051] The gyroscope drift data compensation method provided in the embodiment of the present application can be applied to but not limited to Figure 1 For detailed procedures, please refer to the projection equipment shown in the figure. Figure 2 , the gyroscope drift data compensation method includes:

[0052] S103, respectively obtaining the current angular velocity corresponding to each axis of the gyroscope.

[0053] Optionally, the gyroscope in the embodiment of the present application is a three-axis gyroscope, and the current angular velocity corresponding to each axis of the gyroscope can be continuously acquired at a preset frequency. The current angular velocity is the angular velocity measured most recently.

[0054] Optionally, the gyroscope in the embodiment of the present application may also be a gyroscope with more axes, such as a six-axis gyroscope or a nine-axis gyroscope, and the current angular velocity corresponding to each axis of the gyroscope can still be obtained.

[0055] S107, compensating the zero drift data according to the current device temperature, the historical device temperature, the current angular velocity and the historical angular velocity corresponding to each axis.

[0056] Among them, the historical angular velocity is the angular velocity obtained in the last measurement, the historical device temperature is the temperature of the environment in which the gyroscope is located during the last measurement, the current device temperature is the temperature of the environment in which the gyroscope is located during the current measurement, and the zero drift data is the reference data used to determine whether to trigger the projection device calibration.

[0057] As mentioned above, when the attitude information of the projection device does not change, the measurement data of the gyroscope will change and drift due to temperature changes or fan interference inside the projection device, vibration caused by playing sound, and slight shaking of the bracket. If the current angular velocity is directly compared with the zero drift data to determine whether to trigger the projection device correction (including AF and AK), there may be problems with triggering autofocus or automatic keystone correction, or the sensitivity of each trigger is different.

[0058] In the present application, the zero drift data is compensated by the current device temperature, historical device temperature, current angular velocity and historical angular velocity corresponding to each axis, so that the zero drift data matches the current ambient temperature and vibration of the device.

[0059] For example, when the temperature is 10 degrees, the angular velocity value detected is 3° / s, and the corresponding zero-point drift data is M. When the temperature is 25 degrees, the angular velocity value detected is 8° / s, and the corresponding zero-point drift data is N. That is, N is the data obtained after M compensation. Optionally, NM is approximately equal to 5° / s. When the temperature is 25 degrees, if the judgment on whether to trigger the projection device correction is based on the zero-point drift data M, there will be a problem of triggering autofocus or automatic trapezoidal correction. If the judgment on whether to trigger the projection device correction is based on the zero-point drift data N, this problem can be overcome. By ensuring the accuracy of the zero-point drift number, the accuracy of triggering the projection device correction is improved, so that the sensitivity of each trigger is basically consistent.

[0060] In summary, the embodiment of the present application provides a gyroscope drift data compensation method, which is applied to the projection device to obtain the current angular velocity corresponding to each axis of the gyroscope respectively; and compensate the zero drift data according to the current device temperature, historical device temperature, current angular velocity and historical angular velocity corresponding to each axis respectively. Among them, the historical angular velocity is the angular velocity obtained by the last measurement, the historical device temperature is the temperature of the environment in which the gyroscope is located at the time of the last measurement, and the current device temperature is the temperature of the environment in which the gyroscope is located at the time of the current measurement. The compensated zero drift data matches the current ambient temperature and the vibration of the device. By ensuring the accuracy of the zero drift number, the accuracy of triggering the correction of the projection device is improved, so that the sensitivity of each trigger is basically consistent.

[0061] exist Figure 2 Based on how to obtain the initial zero drift data, the present application embodiment also provides a possible implementation method, please refer to Figure 3 After the projection device is started, the gyroscope drift data compensation method also includes:

[0062] S101, continuously acquiring gyroscope data for a preset number of times at a preset frequency.

[0063] The gyroscope data includes the angular velocity of each axis in the gyroscope. Optionally, the projection device reads and saves the gyroscope data, and a set of data has three values, which are the angular velocity values ​​corresponding to the x-axis, y-axis and z-axis. Assuming that the preset number is 5, the first set of data to the fifth set of data are represented as val1, val2, val3, val4 and val5 respectively.

[0064] S102: When the absolute value of the difference between any two adjacent angular velocities of each axis is less than or equal to a first threshold, an average value of the angular velocities of a preset number of times is used as zero drift data of the corresponding axis.

[0065] Continuing to refer to the above example, calculate the absolute value of val5-val4, the absolute value of val4-val3, the absolute value of val3-val2, and the absolute value of val2-val1. When the absolute value of the difference between any two adjacent angular velocities is less than or equal to the first threshold a° / s, it is considered that the projection device is close to being stationary and the posture has not changed. The average value of val1, val2, val3, val4, and val5 is used as the initial zero drift data of the axis. When the projection device is close to being stationary, the initial zero drift data obtained is more accurate, which is conducive to the subsequent accurate triggering of the projection device correction function.

[0066] When the absolute value of the difference between any two adjacent angular velocities is not less than or equal to the first threshold, the preset number of times, such as 5 times, can be obtained again, or the next data can be added to the continuous number for further judgment.

[0067] exist Figure 3 Based on the content in S107, the present application embodiment also provides a possible implementation method, please refer to Figure 4 , S107 includes:

[0068] S107-1, obtaining a temperature compensation coefficient according to the current device temperature and the historical device temperature.

[0069] Optionally, the temperature compensation coefficient is calculated as:

[0070] D = (AB) * C;

[0071] Wherein, D represents the temperature compensation coefficient, A represents the current device temperature, B represents the historical device temperature, and C represents the temperature variation coefficient, which indicates the change value of the angular velocity for each degree change in temperature.

[0072] For example, if the temperature change trajectory is 21°C, 22°C…25°C, the average value of the angular velocity change per degree is 4. For every degree the temperature rises, the zero drift data is compensated by 4.

[0073] It should be noted that when the temperature changes, the natural frequency of the gyroscope will also change, and the relationship is:

[0074] E(T)=E 0 -E 0 K ET (TT 0 )

[0075] The relationship between the resonant frequency and temperature change is:

[0076]

[0077] In a small range near temperature T0, it can be linearly approximated as:

[0078]

[0079] Among them, ω n Characterize the gyroscope natural frequency, T 0 Characterization onset temperature, K ET represents the elastic coefficient, T represents the current temperature, m represents the unit meter, K represents the current elastic force, K 0 Characterization T 0 The elastic force, ω n (T) represents the natural frequency of the gyroscope at the current moment, E(T) represents the elastic modulus corresponding to the current temperature, and E 0 Characterizes the elastic modulus corresponding to the onset temperature.

[0080] From the above formula, we can know that the drift and natural frequency are linearly related, and the natural frequency and temperature change are also approximately linearly related. The temperature change coefficient can be obtained by using the linear relationship. Optionally, the temperature change coefficient can be pre-set or generated later. For details, please refer to Figure 5 The corresponding content.

[0081] S107-2, obtaining a vibration compensation coefficient according to the current angular velocity and the historical angular velocity.

[0082] Optionally, the fan and volume vibration on the projection device and the slight shaking caused by the device being placed on a bracket or other structure will also affect the angular velocity, which is reflected as irregular changes, but the changes are small. Therefore, it is necessary to obtain the vibration compensation coefficient based on the current angular velocity and the historical angular velocity to overcome the impact of vibration on the zero drift data.

[0083] This makes the zero drift data infinitely close to the real value, thereby achieving the purpose of offsetting the drift error, and the value of the vibration supplement coefficient compensation each time is very small, which will not cause false triggering due to sudden changes.

[0084] S107-3, compensating the zero drift data according to the temperature compensation coefficient and / or the vibration compensation coefficient.

[0085] Optionally, the zero drift data may be compensated based on both the temperature compensation coefficient and the vibration compensation coefficient; the zero drift data may be compensated based only on the temperature compensation coefficient; or the zero drift data may be compensated based only on the vibration compensation coefficient.

[0086] exist Figure 4Based on how to obtain the temperature variation coefficient, the present application embodiment also provides a possible implementation method, please refer to Figure 5 , the gyroscope drift data compensation method also includes:

[0087] S106, calculating the average value of the change in angular velocity per degree of temperature change based on the historical records, and determining the average value of the change as the temperature change coefficient.

[0088] The historical records include angular velocity values ​​corresponding to the axes at different temperatures of the environments where the gyroscopes are located.

[0089] For example, the temperature of the environment in which the gyroscope is located is 21°C, 22°C...25°C respectively. The angular velocity values ​​corresponding to the axis at different temperatures of the environment in which the gyroscope is located are obtained, so that the average value of the change in angular velocity per degree of temperature change can be calculated and determined as the temperature change coefficient.

[0090] exist Figure 4 Based on the content in S107-2, the present application embodiment also provides a possible implementation method, please refer to Figure 6 , S107-2 includes:

[0091] S107-2-A, when the current angular velocity is greater than the historical angular velocity, the vibration compensation coefficient is determined as a preset coefficient, and the preset coefficient value is positive. S107-2-B, when the current angular velocity is less than the historical angular velocity, the vibration compensation coefficient is determined as a preset coefficient, and the preset coefficient value is negative.

[0092] Optionally, the preset coefficient may be 1° / s, and a positive preset coefficient value indicates that the current zero point drift data is added with 1° / s, and a negative preset coefficient value indicates that the current zero point drift data is subtracted with 1° / s.

[0093] The zero drift data is slightly corrected through the vibration compensation coefficient to make the zero drift data infinitely close to the real value, so as to achieve the purpose of offsetting the drift error. The value of the vibration compensation coefficient is very small each time, which will not cause false triggering due to sudden changes.

[0094] exist Figure 2 On the basis of, in order to ensure the accuracy of the current angular velocity obtained, the embodiment of the present application also provides a possible implementation method, please refer to Figure 7 , the gyroscope drift data compensation method also includes:

[0095] S104, respectively determine whether the current angular velocity corresponding to each axis is abnormal data. If yes, execute S105; if no, retain and execute S107.

[0096] Optionally, the acquired current angular velocity is filtered, and if it is determined to be abnormal data or mutation data, it cannot be used for trigger correction judgment, nor can it be used to compensate zero drift data, and needs to be eliminated, and S105 is executed. Otherwise, it is retained and S107 is executed.

[0097] S105, eliminating abnormal data.

[0098] Please continue to refer to Figure 8 , Figure 8 A schematic diagram of the effect of the gyroscope drift data compensation method provided in an embodiment of the present application.

[0099] like Figure 8 As shown in the figure, the initial zero drift data is -40, and the current angular velocity at the end reaches about +5. Judging from the initial zero drift data of -40, the difference reaches 2.8° / s, which meets the trigger condition and will cause false triggering. If the zero drift data is compensated, the judgment is made based on the compensated zero drift data, and the trigger condition is not met, and false triggering will not occur.

[0100] The present application also provides a projection device calibration triggering method, which is applied to the projection device described above. Fig. 9 , the projection device calibration trigger method includes:

[0101] S103, respectively obtaining the current angular velocity corresponding to each axis of the gyroscope.

[0102] S107, compensating the zero drift data according to the current device temperature, the historical device temperature, the current angular velocity and the historical angular velocity corresponding to each axis.

[0103] S108, triggering projection device calibration when the current angular velocity of any axis is greater than the corresponding zero drift data.

[0104] It should be noted that, in the embodiment of the present application, the execution order of S108 and S107 is not limited, and S108 can be executed before or after S107.

[0105] It should be noted that the projection device calibration trigger method provided in this embodiment can execute the method flow shown in the above-mentioned gyroscope drift data compensation method flow embodiment to achieve the corresponding technical effect. For the sake of brief description, for parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above-mentioned embodiments.

[0106] See also Fig.10 , Fig.10 A gyroscope drift data compensation device is provided in an embodiment of the present application. Optionally, the gyroscope drift data compensation device is applied to the projection device described above.

[0107] The gyroscope drift data compensation device is applied to a projection device, and the device comprises: an information acquisition unit 201 and a compensation unit 202.

[0108] The information acquisition unit 201 is used to respectively acquire the current angular velocity corresponding to each axis of the gyroscope. Optionally, the information acquisition unit 201 may execute the above S103.

[0109] The compensation unit 202 is used to compensate the zero drift data according to the current device temperature, the historical device temperature, the current angular velocity and the historical angular velocity corresponding to each axis.

[0110] The historical angular velocity is the angular velocity obtained in the last measurement, the historical device temperature is the temperature of the environment in which the gyroscope is located during the last measurement, and the current device temperature is the temperature of the environment in which the gyroscope is located during the current measurement. Optionally, the compensation unit 202 may perform the above S107.

[0111] It should be noted that the gyroscope drift data compensation device provided in this embodiment can execute the method flow shown in the above method flow embodiment to achieve the corresponding technical effect. For the sake of brief description, for parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above embodiment.

[0112] The present application also provides a storage medium, which stores computer instructions and programs, which, when read and run, execute the gyroscope drift data compensation method or projection device correction trigger method of the above embodiment. The storage medium may include a memory, a flash memory, a register, or a combination thereof.

[0113] A projection device is provided below, which may be a projector. Figure 1 As shown, the above-mentioned gyroscope drift data compensation method and projection device correction trigger method can be implemented; specifically, the projection device includes: a processor 10, a memory 11, and a bus 12. The processor 10 can be a CPU. The memory 11 is used to store one or more programs. When the one or more programs are executed by the processor 10, the gyroscope drift data compensation method or projection device correction trigger method of the above-mentioned embodiment is executed.

[0114] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to the multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0115] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0116] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0117] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0118] It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above, and that the present application can be implemented in other specific forms without departing from the spirit or essential features of the present application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present application. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A gyroscope drift data compensation method, characterized in that: Applied to a projection device, the method comprises: Get the current angular velocity of each axis in the gyroscope respectively; Calculate the average value of the change in angular velocity per degree of temperature change based on the historical records, and determine the average value of the change as the temperature change coefficient; wherein the historical records include the angular velocity values ​​corresponding to the axis at different temperatures of the environment where the gyroscope is located; Compensating the zero drift data according to the current device temperature, the historical device temperature, the current angular velocity and the historical angular velocity corresponding to each axis respectively; wherein the historical angular velocity is the angular velocity obtained by the last measurement, the historical device temperature is the temperature of the environment in which the gyroscope is located at the time of the last measurement, and the current device temperature is the temperature of the environment in which the gyroscope is located at the time of the current measurement; The step of compensating the zero drift data according to the current device temperature, the historical device temperature, the current angular velocity and the historical angular velocity corresponding to each axis includes: Obtaining a temperature compensation coefficient according to the current device temperature and the historical device temperature, the temperature compensation coefficient is calculated as follows: D=(AB)*C; wherein D represents the temperature compensation coefficient, A represents the current device temperature, B represents the historical device temperature, and C represents the temperature change coefficient; Obtaining a vibration compensation coefficient according to the current angular velocity and the historical angular velocity; The zero drift data is compensated according to the temperature compensation coefficient and / or the vibration compensation coefficient.

2. The gyroscope drift data compensation method according to claim 1, characterized in that: After the projection device is started, the method further includes: Continuously acquiring a preset number of gyroscope data at a preset frequency, wherein the gyroscope data includes an angular velocity of each axis in the gyroscope; When the absolute value of the difference between any two adjacent angular velocities of each axis is less than or equal to the first threshold, an average value of the angular velocities of a preset number of times is used as the zero drift data of the corresponding axis.

3. The gyroscope drift data compensation method according to claim 1, characterized in that: The step of obtaining the vibration compensation coefficient according to the current angular velocity and the historical angular velocity comprises: When the current angular velocity is greater than the historical angular velocity, the vibration compensation coefficient is determined to be a preset coefficient, and the preset coefficient value is positive; When the current angular velocity is less than the historical angular velocity, the vibration compensation coefficient is determined as a preset coefficient, and the preset coefficient value is negative.

4. The gyroscope drift data compensation method according to claim 1, characterized in that: After respectively acquiring the current angular velocity corresponding to each axis of the gyroscope, the method further includes: Determine whether the current angular velocity corresponding to each axis is abnormal data. If so, remove the abnormal data; if not, retain it.

5. A gyroscope drift data compensation device, characterized in that: Applied to a projection device, the device comprises: An information acquisition unit, used to respectively acquire the current angular velocity corresponding to each axis of the gyroscope; The gyroscope drift data compensation device is used to calculate the average value of the change of the angular velocity per degree of temperature change according to the historical records, and determine the average value of the change value as the temperature change coefficient; wherein the historical records include the angular velocity values ​​corresponding to the axis at different temperatures of the environment where the gyroscope is located; A compensation unit, for compensating the zero drift data according to the current device temperature, the historical device temperature, the current angular velocity and the historical angular velocity corresponding to each axis, respectively; wherein the historical angular velocity is the angular velocity obtained by the last measurement, the historical device temperature is the temperature of the environment in which the gyroscope is located at the time of the last measurement, and the current device temperature is the temperature of the environment in which the gyroscope is located at the time of the current measurement; The zero drift data is compensated according to the current device temperature, historical device temperature, current angular velocity and historical angular velocity corresponding to each axis, including: obtaining a temperature compensation coefficient according to the current device temperature and the historical device temperature, the temperature compensation coefficient is calculated as follows: D=(AB)*C; wherein D represents the temperature compensation coefficient, A represents the current device temperature, B represents the historical device temperature, and C represents the temperature change coefficient; obtaining a vibration compensation coefficient according to the current angular velocity and the historical angular velocity; and compensating the zero drift data according to the temperature compensation coefficient and / or the vibration compensation coefficient.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

7. A projection device, characterized in that: include: A processor and a memory, the memory being used to store one or more programs; When the one or more programs are executed by the processor, the method according to any one of claims 1 to 4 is implemented.

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