Projection system and projection calibration method applying the same

Abstract

The present application discloses a projection system and a projection calibration method using the same. The projection system comprises a control module, a projection tube, a sighting driver, an observation device and an observation driver. The control module is used to send a first control instruction and a second control instruction. The sighting driver is electrically connected to the projection tube and is used to control the projection line of sight of the projection tube to align with a calibration point in response to the first control instruction. The observation driver is electrically connected to the observation device and is used to control the observation line of sight of the observation device to align with the calibration point in response to the second control instruction. The projection tube and the observation device are controlled to move asynchronously.

Description

Technical Field

[0001] This invention relates to a projection system and a projection calibration method using the same. Background Technology

[0002] A projection system projects an object toward a target point. To increase the accuracy of hitting the target, however, the projection system is affected by its own errors (e.g., component manufacturing tolerances, component assembly tolerances) and environmental factors (e.g., wind direction, wind speed), resulting in a deviation between the projected object and the target point. Therefore, developing a projection system that can improve upon the aforementioned deviation problem is one of the goals of those working in this field. Summary of the Invention

[0003] This invention relates to a projection system and a projection calibration method using the same.

[0004] According to an embodiment of the present invention, a projection system is provided. The projection system includes a control module, a projection tube, an aiming actuator, an observation device, and an observation actuator. The control module is used to issue a first control command and a second control command. The aiming actuator is electrically connected to the projection tube and is used to respond to the first control command by controlling a projection line of the projection tube to align with a calibration point. The observation actuator is electrically connected to the observation device and is used to respond to the second control command by controlling a line of observation of the observation device to align with the calibration point. The projection tube and the observation device move asynchronously under controlled motion.

[0005] According to another embodiment of the present invention, a projection calibration method is provided. The projection calibration method includes the following steps: In response to a first control command, an aiming driver controls a projection line of sight of a projection tube to align with a calibration point; and in response to a second control command, an observation driver controls an observation line of sight of an observation device to align with the calibration point. The step of the aiming driver controlling the projection line of the projection tube to align with the calibration point and the step of the observation driver controlling the observation line of the observation device to align with the calibration point are performed asynchronously.

[0006] To provide a better understanding of the above and other aspects of the present invention, specific embodiments are described below in conjunction with the accompanying drawings: Attached Figure Description

[0007] FIG. 1A This is a schematic diagram of a projection system according to an embodiment of the present invention;

[0008] FIG. 1B for FIG. 1A Front view of the observation device;

[0009] FIG. 2 for FIG. 1A Functional block diagram of the projection system;

[0010] FIG. 3A for FIG. 1A A schematic diagram of the observation line of the observation device and the projection line of the projection tube;

[0011] FIG. 3B To be configured in FIG. 1A A schematic diagram of the field of view as seen through the correction lens of the projection tube;

[0012] FIG. 3C for FIG. 1A A schematic diagram of the observation screen displayed in the user interface display area;

[0013] FIG. 4A for FIG. 3A A schematic diagram showing the intersection of the observation line of the observation device and the projection line of the projection tube at the calibration point;

[0014] FIG. 4B for FIG. 3B A schematic diagram showing the overlap between the projection line of the correction mirror of the projection tube and the calibration point;

[0015] FIG. 4C for FIG. 3C A schematic diagram showing the overlap between the observation line of the observation device and the calibration point;

[0016] FIG. 5 This is a flowchart of the projection calibration method according to an embodiment of the present invention;

[0017] FIG. 6A for FIG. 4A A schematic diagram showing that the projection line of the projection tube and the observation line of the observation device do not intersect at the target point;

[0018] FIG. 6B for FIG. 6A A schematic diagram showing the intersection of the projection line of the projection tube and the observation line of the observation device at the target point;

[0019] FIG. 7A for FIG. 1A The user interface displays several schematic diagrams of the deviation vectors between the projectiles and the aiming point;

[0020] FIG. 7B To correct the aiming point and FIG. 7A A schematic diagram showing the relative relationship of the aiming points;

[0021] FIG. 7C for FIG. 6B A schematic diagram showing the projection line of the projection tube moving to the corrected aiming point.

[0022] Symbol Explanation

[0023] 100: Projection System

[0024] 110: Control Module

[0025] 111: controller

[0026] 112: input / output

[0027] 113: voltage command receiver

[0028] 114: optical signal receiver

[0029] 115: user interface

[0030] 1151: display area

[0031] 1152: function key

[0032] 116: input device

[0033] 1161: motion control

[0034] 1162: function control

[0035] 120: observation module

[0036] 1211A: first observation driver

[0037] 1211B: second observation driver

[0038] 1212A: first observation drive mechanism

[0039] 1212B: second observation drive mechanism

[0040] 121: observation driver

[0041] 122: observation device

[0042] 1221: visible light camera

[0043] 1222: laser range finder

[0044] 1223: infrared camera

[0045] 123: first base

[0046] 130: aiming module

[0047] 1311A: first aiming driver

[0048] 1312A: first aiming drive mechanism

[0049] 1311B: second aiming driver

[0050] 1312B: second aiming drive mechanism

[0051] 1311C: propulsion driver

[0052] 132: projection device

[0053] 1321: correction mirror

[0054] 132A: projection tube

[0055] 132B: propulsion mechanism

[0056] 132C: base

[0057] a-b-P1, a'-P2-P1: triangle

[0058] A1: deviation angle

[0059] B1: projection

[0060] BC: center point

[0061] C1: first control command

[0062] C2: second control command

[0063] C3: third control command

[0064] C4: fourth control command

[0065] D1: calibration distance

[0066] D2: target distance

[0067] deviation vector

[0068] E1 x : horizontal deviation pixel amount

[0069] E1 y : vertical deviation pixel amount

[0070] L1: observation line of sight

[0071] L2: projection line of sight

[0072] M11, M21: swivel motion

[0073] M12, M22: pitch motion

[0074] P1: calibration point

[0075] P2: target point

[0076] P3, P4: aiming point

[0077] S1: image signal

[0078] S110, S111, S112, S120, S121, S122, S123, S130, S131, S132: steps

[0079] X: interval direction

[0080] x1: interval distance

[0081] x2: deviation distance

[0082] T1: first control instruction

[0083] T2: second control instruction

[0084] T3: third control instruction

[0085] T4: fourth control instruction

[0086] swivel rotation angle

[0087] pitch rotation angle

[0088] FOV x : horizontal observation angle

[0089] FOV y : vertical observation angle

[0090] W x : horizontal pixel amount

[0091] W y : vertical pixel amount DETAILED DESCRIPTION

[0092] Please refer to FIG. 1A , FIG. 1B , FIG. 2 , FIG. 3A - FIG. 3C and FIG. 4A - FIG. 4C , FIG. 1A a schematic diagram of a projection system 100 according to an embodiment of the present application is shown, FIG. 1B a front view of an observation device 122 of FIG. 1A is shown, FIG. 2 a functional block diagram of the projection system 100 of FIG. 1A is shown, FIG. 3A a schematic diagram of an observation line of sight L1 of the observation device 122 and a projection line of sight (or aiming line of sight) L2 of a projection tube 132A of FIG. 1A is shown, FIG. 3B a field of view schematic diagram as viewed from a collimating mirror 1321 of the projection tube 132A of FIG. 1A is shown, FIG. 3C a schematic diagram of an observation picture displayed by a display area 1151 of a user interface 115 of FIG. 1A is shown, FIG. 4A a schematic diagram of an observation picture displayed by a display area 1151 of a user interface 115 of FIG. 3AA schematic diagram showing the intersection of the observation line L1 of the observation device 122 and the projection line L2 of the projection tube 132A at calibration point P1. FIG. 4B Draw FIG. 3B A schematic diagram showing the overlap between the projection line of sight L2 of the correction mirror 1321 of the projection tube 132A and the calibration point P1. FIG. 4C Draw FIG. 3C A schematic diagram showing the overlap between the observation line of sight L1 of the observation device 122 and the calibration point P1.

[0093] The projection system 100 is, for example, capable of projecting a projectile (not shown in the figure). FIG. 1A ) to an aiming point (not shown in) FIG. 1A The projection system 100 can be, for example, a game console, a ball-throwing machine, or any other machine capable of projecting an object. Depending on the application of the projection system 100, the projected object may be, for example, a baseball or other various types of spherical objects. This embodiment of the invention does not limit the application area of ​​the projection system 100.

[0094] The projection system 100 includes a control module 110, an observation module 120, and an aiming module 130. The control module 110, observation module 120, and aiming module 130 can communicate via an Ethernet network, for example, through EtherCAT (Ethernet Control Automation Technology). Using an Ethernet control method, in addition to its anti-interference effect, can significantly reduce wiring and shrink the overall system size.

[0095] like FIG. 2 As shown, the control module 110 is used to issue a first control command C1 and a second control command C2. The observation module 120 includes an observation driver (e.g., a first observation driver 1211A and a second observation driver 1211B), an observation drive mechanism (e.g., a first observation drive mechanism 1212A and a second observation drive mechanism 1212B), and an observation device 122. The observation driver is electrically connected to the observation device 122 and is used to respond to the second control command C2, controlling the observation line of sight L1 of the observation device 122 (the observation line of sight L1 is shown in the figure). FIG. 4A Align with calibration point P1 (calibration point P1 is plotted at...) FIG. 4A The aiming module 130 includes aiming drivers (e.g., a first aiming driver 1311A and a second aiming driver 1311B), aiming drive mechanisms (e.g., a first aiming drive mechanism 1312A and a second aiming driver 1311B), and a projection device 132. The projection device 132 includes a projection tube 132A. The aiming drivers are electrically connected to the projection tube 132A and are used to respond to a first control command C1, controlling the projection line of sight L2 of the projection tube 132A (projection line of sight L2 is shown in the diagram). FIG. 4A Align with calibration point P1. In this embodiment, the projection tube 132A and the observation device 122 can move asynchronously and in a controlled manner, which can improve the accuracy of observation and aiming.

[0096] like FIG. 2 As shown, the control module 110 includes a controller 111, an input / output unit 112, a voltage command receiver 113, an optical signal receiver 114, a user interface 115, and an input device 116. The controller 111, the input / output unit 112, and the voltage command receiver 113 communicate via an Ethernet network, for example, via EtherCAT. In the Ethernet network architecture, control commands issued by the controller 111 are, for example, packets, which are transmitted to all components connected to the controller 111, such as the input / output unit 112 and the voltage command receiver 113.

[0097] like FIG. 2 As shown, the voltage command receiver 113 is electrically connected to the input device 116 to detect control signals (e.g., voltage) from the input device 116. In one embodiment, the voltage command receiver 113 is, for example, an analog-to-digital converter (ADC). The optical signal receiver 114 is used to receive the image signal S1 from the observation module 120. FIG. 3C As shown, the user interface 115 is, for example, a screen (e.g., a touch screen), which provides a display area 1151 and at least one function key 1152, wherein the function key 1152 is, for example, a virtual button. After receiving the display signal S1, the controller 111 can control the display area 1151 to display the observation screen represented by the image signal S1. The function key 1152 is used to switch control of the observation module 120 and / or the aiming module 130. For example, in response to the triggering of one of the function keys 1152, the controller 111 can switch the control object of the input device 116 to the observation module 120; in response to the triggering of the other function key 1152, the controller 111 can switch the control object of the input device 116 to the aiming module 130.

[0098] like FIG. 2As shown, the input device 116 is used to control the function of the observation device 122 and the movement of the observation device 122 and the projection tube 132A. For example, the input device 116 includes a motion control element 1161 and a function control element 1162, wherein the motion control element 1161 is electrically connected to the voltage command receiver 113, and the function control element 1162 is electrically connected to the output / input device 112, although this is not the case in this embodiment of the invention. The commands issued by the motion control element 1161 and the function control element 1162 can be output to the connected components. The motion control element 1161 is, for example, a joystick, and the function control element 1162 is, for example, a button or lever. Responding to the user's operation of the motion control element 1161, the motion control element 1161 outputs control commands (e.g., voltage changes) to the voltage command receiver 113. The controller 111 receives control commands via the voltage command receiver 113 and responds by sending control commands (e.g., packets) to the observation module 120 and the aiming module 130 to control the movement of the observation module 120 and / or the aiming module 130. The function control unit 1162 can control the laser rangefinder 1222 of the observation module 120 to perform range measurement and / or zoom in or zoom out of the image captured by the visible light camera 1221. The function control unit 1162 is electrically connected to the input / output unit 112. The input / output unit 112 can respond to user operation / triggering of the function control unit 1162, sending control commands to the controller 111. The controller 111 then sends control commands to control the laser rangefinder 1222 of the observation module 120 to perform range measurement and / or zoom in or zoom out of the image captured by the visible light camera 1221.

[0099] like FIG. 1A and FIG. 2 As shown, the first observation driver 1211A and the second observation driver 1211B of the observation module 120 communicate via an Ethernet network, for example, via EtherCAT. The first observation driver 1211A is connected to and drives the first observation drive mechanism 1212A to move, thereby driving the observation device 122 to perform a rotary motion M11 (or a horizontal rotational motion), for example, rotation about the + / - Y axis. The second observation driver 1211B is connected to and drives the second observation drive mechanism 1212B to move, thereby driving the observation device 122 to perform a pitch motion M12, for example, rotation about the + / - X axis.

[0100] like FIG. 1A and FIG. 1BAs shown, the observation module 120 further comprises a first base 123, wherein the observation device 122 is configured on the first base 123 to move with the first base 123. The first base 123 is connected to the first observation driving mechanism 1212A to be driven by the first observation driving mechanism 1212A to drive the observation device 122 to perform the revolving motion M11. The observation device 122 is connected to the second observation driving mechanism 1212B to be driven by the second observation driving mechanism 1212B to perform the pitching motion M12.

[0101] As shown in FIG. 1A and FIG. 1B , the observation device 122 comprises a visible light camera 1221, a laser range finder 1222 and an infrared camera 1223. The relative relationship among the visible light camera 1221, the range finder 1222 and the infrared camera 1223 is fixed, so that the first observation driving mechanism 1212A and / or the second observation driving mechanism 1212B drives the visible light camera 1221, the range finder 1222 and the infrared camera 1223 of the observation device 122 to perform the revolving motion M11 and / or the pitching motion M12 synchronously.

[0102] As shown in FIG. 2 , the visible light camera 1221 is electrically connected to the optical signal receiver 114. The image signal S1 extracted by the visible light camera 1221 is transmitted to the optical signal receiver 114. The laser range finder 1222 is used to emit laser light to detect the calibration distance D1 (as shown in FIG. 4A ) between the laser range finder 1222 (or the observation device 122) and the calibration point P1 (as shown in FIG. 4A ) and the target distance D2 (as shown in FIG. 6A ) between the laser range finder 1222 (or the observation device 122) and the target point P2 (as shown in FIG. 6A ). The infrared camera 1223 is electrically connected to the optical signal receiver 114, and the infrared camera 1223 can be suitable for night shooting.

[0103] As shown in FIG. 1A and FIG. 2As shown, the first aiming driver 1311A, the second aiming driver 1311B, and the propulsion driver 1311C of the aiming module 130 communicate via an Ethernet network, for example, via EtherCAT. The first aiming driver 1311A is connected to and drives the first aiming drive mechanism 1312A to move, thereby driving the projection device 132 to perform a rotary motion M21, for example, rotation about the + / - Y axis. The second aiming driver 1311B is connected to and drives the second aiming drive mechanism 1312B to move, thereby driving the projection device 132 to perform a pitch motion M22, for example, rotation about the + / - X axis.

[0104] like FIG. 1A As shown, the projection device 132 also includes a propulsion mechanism 132B and a second base 132C, wherein the projection tube 132A is disposed on the base 132C to move with the base 132C. The second base 132C is connected to a first aiming drive mechanism 1312A, and is driven by the first aiming drive mechanism 1312A to drive the projection tube 132A and the propulsion mechanism 132B to perform a rotary motion M21. The projection tube 132A is connected to the second aiming drive mechanism 1312B, and is driven by the second aiming drive mechanism 1312B to perform a pitching motion M22. The propulsion mechanism 132B is connected to the projection tube 132A to load at least one projectile (not shown) onto the projection tube 132A. The propulsion mechanism 132B is controlled by a propulsion driver 1311C. The propulsion driver 1311C can control the propulsion mechanism 132B to load the projectile into the projection tube 132A.

[0105] In conclusion, as follows: FIG. 2As shown, the controller 111, the input / output 112, the voltage command receiver 113, the first observation driver 1211A, the second observation driver 1211B, the first aiming driver 1311A, the second aiming driver 1311B and the propulsion driver 1311C can be communicated through an Ethernet network. The controller 111 responds to the control command from the input device 116 and sends a control command (e.g., a packet) to be transmitted (e.g., broadcasted) to all the drivers connected. When the drivers receive the control command, the drivers related to the control command control the connected mechanism according to the control command, and the drivers irrelevant to the control command can ignore the control command. In addition, the aforementioned driving mechanism, for example, includes a motor, at least one gear or a gear set, a driving belt (e.g., a chain, a belt wheel, etc.) and / or other driving elements, as long as it is a mechanism that can drive the connected part to perform a rotation motion and / or a pitching motion, which can be used as a component of the driving mechanism in the embodiments of the present application. In addition, at least one of the controller 111, the input / output 112, the voltage command receiver 113, the optical signal receiver 114, the first observation driver 1211A, the second observation driver 1211B, the first aiming driver 1311A, the second aiming driver 1311B and the propulsion driver 1311C can be formed by a physical circuit using a semiconductor manufacturing process.

[0106] The following is a process of the projection calibration method of the projection system 100.

[0107] Please refer to FIG. 5 , which shows a flowchart of the projection calibration method according to the embodiments of the present application. In the embodiments, the projection calibration method can include a concentric calibration (step S110), a target point aiming correction (step S120) and a zeroing calibration (step S130), which are described one by one as follows.

[0108] In step S110, the projection system 100 performs the concentric calibration step. The concentric calibration can eliminate the errors of the observation module 120 and the aiming module 130 on the mechanism, such as the errors caused by the manufacturing tolerance of the mechanism and the mechanical assembly tolerance. In an embodiment, the concentric calibration step S110 includes steps S111 and S112, but this is not used to limit the embodiments of the present application.

[0109] In step S111, as shown in FIG. 2 and FIG. 4A , in response to the first control command T1, the aiming drivers (the first aiming driver 1311A and / or the second aiming driver 1311B) control the projection line of sight L2 of the projection device 132 to be aligned with the calibration point P1. Further, for example, as shown in FIG. 3A and FIG. 3B , the projection line of sight L2 of the projection tube 132A is not aligned with the calibration point P1. As shown in FIG. 2As shown, the input device 116 responds to the user's control and outputs a first control command T1. The controller 111 responds to the first control command T1 and issues a first control command C1 (e.g., packet) to the first aiming driver 1311A and / or the second aiming driver 1311B to control the first aiming drive mechanism 1312A to perform a rotary motion M21 (the rotary motion M21 is illustrated in...). FIG. 1A ) and / or control the second aiming drive mechanism 1312B to perform pitch motion M22 (pitch motion M22 is shown in FIG. 1A ), until the projection line of sight L2 of the projection tube 132A is aligned with the calibration point P1, such as FIG. 4A and FIG. 4B As shown.

[0110] like FIG. 3B As shown, the correction mirror 1321 can be disposed in the projection tube 132A, and the center of the correction mirror 1321 (e.g., FIG. 3B The crosshairs shown are aligned with the center (projection line L2) of the projection tube 132A, so that the center of the correction mirror 1321 roughly coincides with the projection line L2 of the projection tube 132A. By observing the correction mirror 1321, the relative position of the projection line L2 of the projection tube 132A and the correction point P1 can be determined.

[0111] In step S112, as FIG. 2 and FIG. 4A As shown, in response to the second control command T2, the observation driver (first observation driver 1211A and / or second observation driver 1211B) controls the observation line of sight L1 of the observation device 122 to align with the calibration point P1. For example, as FIG. 3A and FIG. 3C As shown, the line of sight L1 of the visible light camera 1221 of the observation device 122 is not aligned with the calibration point P1. For example... FIG. 2 As shown, input device 116 responds to the user's operation and outputs a second control command T2. Control module 110 responds to the second control command T2 and sends a second control command C2 (e.g., packet) to the first observation driver 1211A and / or the second observation driver 1211B to control the first observation drive mechanism 1212A to perform a rotary motion M11 (the rotary motion M11 is shown in the figure). FIG. 1A ) and / or control the second observation drive mechanism 1212B to perform pitch motion M12 (pitch motion M12 is shown in the figure) FIG. 1A ), until the observation line L1 of the visible light camera 1221 is aligned with the calibration point P1, such as FIG. 4A and FIG. 4C As shown.

[0112] After completing the concentric calibration step, the observation line L1 of the visible light camera 1221 and the projection line L2 of the projection tube 132A intersect at calibration point P1, as shown.FIG. 4A In addition, as can be appreciated from the above, steps S111 and S112 can be performed asynchronously (i.e., independently controlled), which can improve the accuracy of the concentric calibration and / or speed up the calibration, thereby saving the calibration time.

[0113] Then, the projection system 100 can perform a target point aiming correction step S120. The target point aiming correction step can ensure the aiming consistency of the observation module 120 and the aiming module 130 at each target distance. The step S120 can include steps S121-S123.

[0114] Please refer to FIG. 6A and FIG. 6B , FIG. 6A the schematic diagram of the projection line L2 of the projection tube 132A and the observation line L1 of the observation device 122 not intersecting at the target point P2, and FIG. 4A the schematic diagram of the projection line L2 of the projection tube 132A and the observation line L1 of the observation device 122 intersecting at the target point P2. FIG. 6B FIG. 6A In step S121, the calibration distance D1 between the projection tube 132A and the calibration point P1 along the observation line is obtained (the calibration distance D1 is shown in ). In an embodiment, the position of the calibration point P1 can be determined first, and then the laser range finder 1222 is used to detect the calibration distance D1 between the projection tube 132A and the calibration point P1 along the observation line L1; in another embodiment, the calibration distance D1 can be determined first, and then the laser range finder 1222 is used to calibrate the position of the end point of the calibration distance D1, and then the calibration point P1 is arranged at the position of the end point of the calibration distance D1. In addition, the calibration point P1 is, for example, an observable physical object.

[0115] FIG. 6A In step S122, as shown in and

[0116] , the controller 111 can obtain the deviation angle A1 between the projection tube 132A (the projection device 132) and the target point P2 according to (or, calculate) the target distance D2 between the target point P2 and the projection tube 132A along the observation line L1, the calibration distance D1, and the interval distance x1 between the projection device 132 and the observation device 122 along the interval direction X (the interval distance x1 is also shown in FIG. 2 ). FIG. 6A FIG. 1B

[0117] ​​In one embodiment, the position of target point P2 can be determined first, and then the target distance D2 between the projection tube 132A and target point P2 along the observation line L1 can be detected using the laser rangefinder 1222. In another embodiment, the target distance D2 can be determined first, and then the endpoint position of the target distance D2 can be calibrated using the laser rangefinder 1222, and then the target point P2 can be positioned at the endpoint position of the target distance D2. Furthermore, the target point P2 can be, for example, an observable physical object.

[0118] like FIG. 6A As shown, the interval distance x1 and the calibration distance D1 form a triangle ab-P1, while the difference between the target distance D2 and the calibration distance D1 (D2-D1) and the deviation distance x2 form a triangle a'-P2-P1, where triangle ab-P1 is similar to triangle a'-P2-P1. These two similar triangles have the dimensional relationship of the following formula (1). The controller 111 can obtain the deviation distance x2 according to the following formula (1), and obtain the deviation angle A1 according to the following formula (2).

[0119]

[0120]

[0121] In step S123, as FIG. 2 and FIG. 6B As shown, in response to the third control command T3, the first observation driver 1211A controls the projection line of sight L2 of the projection tube 132A to rotate by a deviation angle A1. For example, as FIG. 2 As shown, input device 116 responds to the user's control and outputs a third control command T3. Controller 111 responds to the third control command T3 and issues a third control command C3 (e.g., packet) to the first aiming driver 1311A to control the first aiming drive mechanism 1312A to perform a rotary motion M21 (the rotary motion M21 is illustrated in...). FIG. 1A ), until the projection line of sight L2 of the projection tube 132A is aligned with the target point P2, such as FIG. 6B As shown.

[0122] After completing the target point aiming and correction steps, the observation line L1 of the visible light camera 1221 and the projection line L2 of the projection tube 132A intersect at the target point P2, as shown. FIG. 6B As shown. In summary, after the concentric calibration step S110 is completed, the target point P2 at different target distances D2 can be aimed at further according to the above formulas (1) and (2) without needing to perform a concentric calibration step on the target point P2 again. In addition, FIG. 6B The target point P2 can be used as the aiming point P3 for the zeroing calibration step of actual aiming and projection.

[0123] In step S130, the projection system 100 may perform a zeroing calibration step. The zeroing calibration step can eliminate the errors of the aiming module 130 on the overall projection system 100 under various environmental factors (such as wind speed, wind direction, climate, or other environmental factors that affect the accuracy of projection). Step S130 may include steps S131 to S132, but this is not intended to limit the embodiments of the present invention.

[0124] Please refer to the following at the same time FIG. 7A - FIG. 7C , FIG. 7A Draw FIG. 1A The user interface 115 displays a schematic diagram of the deviation vectors between several projectiles B1 and the aiming point P3. FIG. 7B The corrected aiming point P4 is shown. FIG. 7A The diagram shows the relative relationship of the aiming point P3, and FIG. 7C Draw FIG. 6B A schematic diagram showing the projection line of sight L2 of the projection tube 132A moving to the corrected aiming point P4.

[0125] In step S131, as FIG. 2 and FIG. 7A As shown, in response to a projection control command (not shown), projection tube 132A projects at least one projectile B1. For example, input device 116 responds to user control and outputs a projection control command (not shown). Controller 111 responds to the projection control command and issues a projection control command (not shown) (e.g., packet) to propulsion driver 1311C to control propulsion driver 1311C to load projectile B1 into projection tube 132A and project projectile B1 towards aiming point P3. However, due to various environmental factors, several projectiles B1 do not fall on aiming point P3 (the intersection of observation line of sight L1 and projection line of sight L2), therefore, there is a deviation vector between the center point BC of several projectiles B1 and aiming point P3. The controller 111 can use image analysis technology to analyze the observed images displayed in the display area 1151 (such as...). FIG. 7A (As shown), to obtain the deviation vector Horizontal deviation pixel count (number of pixels) along the horizontal direction E1 x and the vertical deviation pixel amount E1 along the vertical direction y .

[0126] In step S132, as FIG. 2 and FIG. 7C As shown, in response to the fourth control command T4, the projection tube 132A adjusts the deviation vector between the center point BC and the aiming point P3. (Drawn in) FIG. 7AThe device moves to the corrected aiming point P4. For example, the input device 116 responds to the user's operation and issues a fourth control command T4. The controller 111 responds to the fourth control command T4 and issues a fourth control command C4 (e.g., packet) to the aiming driver (first aiming driver 1311A and / or second aiming driver 1311B) and / or the observation driver (first observation driver 1211A and / or second observation driver 1211B) to control the observation device 122 and / or the projection tube 132A to perform rotational and / or pitch movements, so that the observation line L1 of the observation device 122 passes through or is aligned with the aiming point P3 and the projection line L2 of the projection tube 132A passes through or is aligned with the corrected aiming point P4. In this embodiment, the projection tube 132A can perform rotational and / or pitch movements to move the projection line L2 to the corrected aiming point P4, while the observation device 122 can remain stationary so that the observation line L1 remains aligned with or passes through the aiming point P3. In terms of control, the observation line of sight L1 of the observation device 122 and the projection line of sight L2 of the projection tube 132A can be controlled to move asynchronously. As long as the projection line of sight L2 of the projection tube 132A is corrected to the corrected aiming point P4, the embodiments of the present invention do not limit the movement mode of the observation module 120 and / or the aiming module 130, such as the direction of movement and / or the amount of movement.

[0127] Furthermore, the controller 111 can obtain the rotation angle according to the following formulas (3) and (4). and pitch and rotation angle In equations (3) and (4), The rotation angle of the projection tube 132A, The pitch angle and FOV of the projection tube 132A x The horizontal observation angle (degrees) and FOV of observation device 122 y For the vertical observation angle of observation device 122, W x W represents the horizontal (e.g., along the X direction) pixel count of the observation screen of the observation device 122. y This refers to the vertical (e.g., along the Y direction) pixel count of the observation screen of the observation device 122. This is achieved after obtaining the rotation angle. and pitch and rotation angle Then, the controller 111 can control the projection tube 132A to rotate by an angle in the horizontal direction. and the angle of rotation in the vertical direction This moves the projection line of sight L2 of the projection tube 132A to the corrected aiming point P4.

[0128]

[0129]

[0130] like FIG. 7AAs shown, the observation picture displayed by the display area 1151 of the user interface 115 represents the observation field of view of the observation device 122, which has relevant parameters such as the horizontal observation field of view FOV x , the vertical observation field of view FOV y , the horizontal observation pixel amount W x , and the vertical observation pixel amount W y , etc., wherein the horizontal observation field of view FOV x corresponds to the horizontal observation pixel amount W x , and the vertical observation field of view FOV y corresponds to the vertical observation pixel amount W y . The observation field of view is proportional to the observation pixel amount, and the ratio of the horizontal observation field of view FOV x to the vertical observation field of view FOV y is equal to the ratio of the horizontal observation pixel amount W x to the vertical observation pixel amount W y . For example, if the horizontal observation pixel amount W x is 640 and the vertical observation pixel amount W y is 480, the horizontal observation field of view FOV x is 2.4 degrees and the vertical observation field of view FOV y is 1.8 degrees.

[0131] In one embodiment, if the horizontal observation field of view FOV x is 2.4 degrees, the vertical observation field of view FOV y is 1.8 degrees, the horizontal observation pixel amount W x is 640, the vertical observation pixel amount W y is 480, the horizontal deviation pixel amount E1 x is 100, and the vertical deviation pixel amount E1 y is -120, the controller 111 obtains the roll rotation angle of 0.375 degrees and the pitch rotation angle of -0.45 degrees according to the above equations (3) and (4). Accordingly, the controller 111 controls the aiming point P3 to rotate 0.375 degrees in the horizontal direction and -0.45 degrees in the vertical direction, so as to move the projection line L2 of the projection tube 132A to the corrected aiming point P4.

[0132] Then, the projection tube 132A projects the projection object B1 toward the corrected aiming point P4, so as to make the projection object B1 approach or even hit the target point P2.

[0133] In summary, the projection system of this invention includes an aiming module and an observation module. The aiming module and observation module operate asynchronously and under controlled conditions, enabling precise observation and aiming. In one embodiment, the modules of the projection system (e.g., the control module, aiming module, and observation module) communicate using an Ethernet network (e.g., EtherCAT), which, in addition to providing anti-interference capabilities, significantly reduces wiring and shrinks the overall system size.

[0134] In summary, although the present invention has been disclosed in conjunction with the above embodiments, it is not intended to limit the invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the invention. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A projection calibration method, comprising: Perform a concentric calibration procedure, including: In response to the first control command, the aiming driver controls the projection tube to align the projection line of sight with the calibration point; and In response to the second control command, the observation driver controls the observation device to align its line of sight with the calibration point. The steps of the aiming actuator aligning the projection line of the projection tube with the calibration point and the steps of the observation actuator aligning the observation line of the observation device with the calibration point are performed asynchronously; and Perform a target point aiming correction, including: Obtain the calibration distance along the line of sight between the projection tube and the calibration point; and The deviation angle between the projection tube and the target point is obtained based on the target distance between the target point and the projection tube along the observation line, the calibration distance, and the interval distance between the projection tube and the observation device along the interval direction.

2. The projection calibration method as claimed in claim 1, wherein the aiming driver and the observation driver communicate via an Ethernet network.

3. The projection calibration method as described in claim 1, wherein the first control command and the second control command are packets.

4. The projection calibration method as described in claim 1, wherein the deviation angle is obtained according to the following formulas (1) and (2): and in, x1 is the interval, x2 is the deviation distance between the target point and the projection line of sight, D1 is the calibration distance, D2 is the target distance, and A1 is the deviation angle.

5. The projection calibration method as described in claim 1, further comprising: In response to the third control command, the aiming driver controls the projection tube to rotate by the deviation angle.

6. The projection calibration method as described in claim 1, further comprising: In response to the third control command, the aiming driver controls the projection tube so that the observation line of the observation device intersects with the aiming line of the projection tube at the aiming point; The projection tube projects at least one projectile; The projection tube moves according to the deviation vector between the center point of the at least one projectile and the aiming point.

7. The projection calibration method as described in claim 6, wherein the direction of the deviation vector is from the center point to the aiming point.

8. The projection calibration method of claim 6, wherein the step of moving the projection tube according to the deviation vector includes: The projection tube rotates back to its original rotation angle. and / or pitch angle Among them, the rotation angle and the pitch angle Obtained according to the following formulas (3) and (4); and Among them, FOV x The field of view (FOV) of this observation device is its horizontal viewing angle. y W represents the vertical observation angle of the observation device. x W represents the number of horizontal observation pixels in the observation image extracted by the observation device. y E1 represents the vertical observation pixel count of the observation image extracted by the observation device. x E1 represents the horizontal deviation pixel amount of the deviation vector along the horizontal direction. y This represents the vertical deviation pixel amount of the deviation vector along the vertical direction.

9. A projection system, comprising: The control module is used to issue the first control command and the second control command; Projection tube; The aiming driver is electrically connected to the projection tube and is used to: In response to the first control command, the projection line of the projection tube is aligned with the calibration point; Observational equipment; as well as An observation driver, electrically connected to the observation device, is used to: In response to the second control command, the observation device's line of sight is aligned with the calibration point. The projection tube and the observation device move asynchronously and in a controlled manner. The observation device is further used to: obtain the calibration distance between the projection tube and the calibration point along the observation line; the control module is further used to: obtain the deviation angle between the projection tube and the target point based on the target distance between the target point and the projection tube along the observation line, the calibration distance, and the interval distance between the projection tube and the observation device along the interval direction.

10. The projection system of claim 9, wherein the aiming driver and the observation driver communicate via an Ethernet network.

11. The projection system of claim 9, wherein the first control command and the second control command are packets.

12. The projection system of claim 9, wherein the control module is further configured to: obtain the deviation angle according to the following formulas (1) and (2); and in, x1 is the interval, x2 is the deviation distance between the target point and the projection line of sight, D1 is the calibration distance, D2 is the target distance, and A1 is the deviation angle.

13. The projection system of claim 9, wherein the aiming driver is further configured to: respond to a third control command to control the projection tube to rotate the deviation angle.

14. The projection system of claim 9, wherein the control module is further configured to: In response to the third control command, the aiming driver controls the projection tube so that the observation line of the observation device intersects with the aiming line of the projection tube at the aiming point; Control the projection tube to project at least one projectile; and The projection tube is controlled to move according to the deviation vector between the center point of the at least one projectile and the aiming point.

15. The projection system of claim 14, wherein the direction of the deviation vector is from the center point to the aiming point.

16. The projection system of claim 14, wherein the control module is further configured to: Control the rotation angle of the projection tube. and / or pitch angle in, The rotation angle and the pitch angle Obtained according to the following formulas (3) and (4); and Among them, FOV x The field of view (FOV) of this observation device is its horizontal viewing angle. y W represents the vertical observation angle of the observation device. x W represents the number of horizontal observation pixels in the observation image extracted by the observation device. y E1 represents the vertical observation pixel count of the observation image extracted by the observation device. x E1 represents the horizontal deviation pixel amount of the deviation vector along the horizontal direction. y This represents the vertical deviation pixel amount of the deviation vector along the vertical direction.

Images