Obstacle avoidance testing systems, methods, apparatuses, devices, and computer-readable storage media

Abstract

The application discloses an obstacle avoidance test system, method, device, equipment and computer readable storage medium. The obstacle avoidance test system comprises at least one obstacle, a first moving unit, a second moving unit, an image acquisition device and a control device. In the process of obstacle avoidance test, the control device generates a first moving instruction to indicate the first moving unit to control the to-be-tested projection device to move in a first plane. According to the position of the to-be-tested projection device, the position of the obstacle is determined, a second moving instruction is generated to indicate the second moving unit to move the at least one obstacle into the projection picture area corresponding to the to-be-tested projection device to simulate a scene containing the obstacle in the projection picture. After the to-be-tested projection device completes the obstacle avoidance operation, the control device can determine whether the to-be-tested projection device succeeds in obstacle avoidance according to the projection area image acquired by the image acquisition device. According to the embodiment of the application, the automatic test on the obstacle avoidance function of the projection device can be realized.

Description

Technical Field

[0001] This application pertains to equipment testing technology, and particularly relates to an obstacle avoidance testing system, method, apparatus, equipment, and computer-readable storage medium. Background Technology

[0002] After projection equipment is manufactured, it often undergoes a series of functional tests, such as keystone correction and obstacle avoidance testing. Keystone correction primarily addresses the issue of a trapezoidal effect in the projected image caused by the projector's orientation not being perpendicular to the screen. The projector's keystone correction function automatically corrects this trapezoidal image, resulting in a standard rectangular projection. Obstacle avoidance, on the other hand, addresses the issue of obstacles such as murals or greenery in the projection area during keystone correction. To avoid interfering with the user's viewing experience, the projected image automatically avoids these obstacles by correcting the projection.

[0003] Projection devices typically have keystone correction functionality, and therefore, there are existing testing methods for keystone correction functionality. However, existing projection devices generally do not have obstacle avoidance functionality, so it is impossible to test the obstacle avoidance functionality of projection devices. Summary of the Invention

[0004] This application provides an obstacle avoidance testing system, method, apparatus, device, and computer-readable storage medium, which can realize automated testing of the obstacle avoidance function of projection devices.

[0005] In a first aspect, embodiments of this application provide an obstacle avoidance testing system, which includes: at least one obstacle, a first motion unit, a second motion unit, an image acquisition device, and a control device;

[0006] The projection device under test is mounted on the first motion unit, and the first motion unit is used to control the projection device under test to move in a first plane according to a first motion command.

[0007] The projectable area corresponding to the projection device under test is located in the second plane, and the second plane is perpendicular to the first plane.

[0008] The at least one obstacle is disposed on the second motion unit, and the second motion unit is used to control the at least one obstacle to move on the second plane according to the second motion command;

[0009] The image acquisition device is used to acquire images of the projectable area to obtain an image of the projectable area;

[0010] The control device is configured to: generate a first motion command based on the device position information corresponding to the projection device under test; send the first motion command to the first motion unit; determine the obstacle position information corresponding to the at least one obstacle based on the device position information; generate a second motion command based on the obstacle position information; send the second motion command to the second motion unit to make the at least one obstacle located within the projection screen area corresponding to the projection device under test; send an obstacle avoidance operation command to the projection device under test to make the projection device under test perform an obstacle avoidance operation; after determining that the projection device under test has completed the obstacle avoidance operation, acquire the projectable area image acquired by the image acquisition device; and determine whether the projection device under test has successfully avoided the obstacle based on the projectable area image.

[0011] In some embodiments, the first motion unit includes a first sliding mechanism and a second sliding mechanism;

[0012] The first sliding mechanism is used to control the projection device under test to move in a first direction within the first plane;

[0013] The second sliding mechanism is used to control the movement of the projection device under test in a second direction within the first plane;

[0014] The first direction is perpendicular to the second direction.

[0015] In some embodiments, the second motion unit includes a third sliding mechanism and at least one fourth sliding mechanism;

[0016] The third sliding mechanism is used to control the at least one obstacle to move upward in the third part of the second plane;

[0017] The at least one fourth sliding mechanism is used to control the at least one obstacle to move in a fourth direction within the second plane, and the fourth sliding mechanism corresponds one-to-one with the obstacle;

[0018] The third direction is perpendicular to the fourth direction.

[0019] In some embodiments, the first motion unit further includes an angle adjustment mechanism;

[0020] The angle adjustment mechanism is used to control the projection angle of the projection device under test.

[0021] Secondly, embodiments of this application provide an obstacle avoidance testing method, applied to a control device in an obstacle avoidance testing system as described in any embodiment of the first aspect, the method comprising:

[0022] In response to the received obstacle avoidance test command, obtain the device location information corresponding to the projection device under test;

[0023] Based on the device location information, a first motion command is generated and sent to a first motion unit. The first motion command is used to instruct the first motion unit to control the projection device under test to move in a first plane.

[0024] Based on the device location information, determine the obstacle location information corresponding to at least one obstacle;

[0025] Based on the obstacle position information, a second motion command is generated and sent to a second motion unit. The second motion command is used to instruct the second motion unit to control the at least one obstacle to move on a second plane so that the at least one obstacle is located within the projection screen area corresponding to the projection device under test. The second plane is the projection plane corresponding to the projection device under test, and the second plane is perpendicular to the first plane.

[0026] Send an obstacle avoidance operation command to the projection device under test, the obstacle avoidance operation command being used to instruct the projection device under test to perform an obstacle avoidance operation;

[0027] After confirming that the projection device under test has completed the obstacle avoidance operation, the projectable area image acquired by the image acquisition device is obtained.

[0028] Based on the image of the projectable area, determine whether the projection device under test has successfully avoided obstacles.

[0029] In some implementations, the obstacle avoidance test command includes the size information of the test space where the projection device under test is located;

[0030] The determination of the device location information corresponding to the projection device under test includes:

[0031] Based on the size information of the test space, determine the first position range corresponding to the projection device under test;

[0032] Randomly select a position coordinate within the first position range as the device position information corresponding to the projection device under test.

[0033] In some implementations, determining the first position range corresponding to the projection device under test based on the size information of the test space includes:

[0034] Randomly select the projection angle value corresponding to the projection device under test;

[0035] Based on the projection angle value, an angle adjustment command is generated and sent to the angle adjustment mechanism. The angle adjustment command is used to instruct the angle adjustment mechanism to control the projection angle of the projection device under test.

[0036] Based on the projection angle value and the size information of the test space, the first position range corresponding to the projection device under test is determined.

[0037] In some embodiments, determining the obstacle location information corresponding to at least one obstacle based on the device location information includes:

[0038] Based on the device location information, the location range of the projection screen area corresponding to the projection device under test is determined as the second location range;

[0039] At least one location coordinate is randomly selected within the second location range as obstacle location information corresponding to the at least one obstacle.

[0040] In some implementations, determining whether the projection device under test has successfully avoided obstacles based on the image of the projectable area includes:

[0041] Based on the projectable area image, determine whether the obstacle is contained within the projected image area.

[0042] If the obstacle is found to be present, the obstacle avoidance of the projection device under test is determined to be failed.

[0043] If the obstacle is not present, the obstacle avoidance of the projection device under test is determined to be successful.

[0044] In some embodiments, after determining whether the projection device under test has successfully avoided obstacles based on the image of the projectable area, the method further includes:

[0045] If the projector fails to avoid obstacles, the image of the projectable area is saved and log information is recorded.

[0046] Thirdly, embodiments of this application provide an obstacle avoidance testing device, applied to a control device in an obstacle avoidance testing system as described in any embodiment of the first aspect, the device comprising:

[0047] The first determining module is used to obtain the device position information corresponding to the projection device under test in response to the received obstacle avoidance test command;

[0048] The first generation module is used to generate a first motion command based on the device position information and send the first motion command to the first motion unit. The first motion command is used to instruct the first motion unit to control the projection device under test to move in a first plane.

[0049] The second determining module is used to determine the obstacle location information corresponding to at least one obstacle based on the device location information;

[0050] The second generation module is used to generate a second motion command based on the obstacle position information and send the second motion command to the second motion unit. The second motion command is used to instruct the second motion unit to control the at least one obstacle to move on the second plane so that the at least one obstacle is located within the projection screen area corresponding to the projection device under test. The second plane is the projection plane corresponding to the projection device under test and is perpendicular to the first plane.

[0051] The instruction sending module is used to send an obstacle avoidance operation instruction to the projection device under test, the obstacle avoidance operation instruction being used to instruct the projection device under test to perform an obstacle avoidance operation;

[0052] The image acquisition module is used to acquire the projectable area image acquired by the image acquisition device after determining that the projection device under test has completed the obstacle avoidance operation;

[0053] The obstacle avoidance determination module is used to determine whether the projection device under test has successfully avoided obstacles based on the image of the projectable area.

[0054] In some implementations, the obstacle avoidance test command includes the size information of the test space where the projection device under test is located;

[0055] The first determining module includes:

[0056] The first determining submodule is used to determine the first position range corresponding to the projection device under test based on the size information of the test space;

[0057] The first selection submodule is used to randomly select a position coordinate within the first position range as the device position information corresponding to the projection device under test.

[0058] In some implementations, the first determining submodule includes:

[0059] An angle selection unit is used to randomly select the projection angle value corresponding to the projection device under test;

[0060] The instruction generation unit is used to generate an angle adjustment instruction based on the projection angle value, and send the angle adjustment instruction to the angle adjustment mechanism. The angle adjustment instruction is used to instruct the angle adjustment mechanism to control the projection angle of the projection device under test.

[0061] The range determination unit is used to determine the first position range corresponding to the projection device under test based on the projection angle value and the size information of the test space.

[0062] In some implementations, the second determining module includes:

[0063] The second determining submodule is used to determine the position range of the projection screen area corresponding to the projection device under test based on the device position information, as the second position range;

[0064] The second selection submodule is used to randomly select at least one position coordinate within the second position range as obstacle position information corresponding to the at least one obstacle.

[0065] In some implementations, the obstacle avoidance determination module includes:

[0066] An image recognition submodule is used to determine, based on the projectable area image, whether the obstacle is contained within the projected image area.

[0067] The third determining submodule is used to determine that the obstacle avoidance failure of the projection device under test is due to the presence of the obstacle.

[0068] The fourth determination submodule is used to determine that the projection device under test has successfully avoided obstacles if it is determined that the obstacle is not present.

[0069] In some embodiments, the apparatus further includes:

[0070] The image saving module is used to save the image of the projectable area and record log information when the projectable area fails to avoid obstacles, after determining whether the projector under test has successfully avoided obstacles based on the image of the projectable area.

[0071] Fourthly, embodiments of this application provide an electronic device, which includes: a processor and a memory storing computer program instructions;

[0072] When the processor executes the computer program instructions, it implements the steps of the obstacle avoidance testing method as described in any embodiment of the first aspect.

[0073] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the steps of the obstacle avoidance testing method as described in any embodiment of the first aspect.

[0074] The obstacle avoidance testing system, method, apparatus, device, and computer-readable storage medium in this application embodiment are configured by setting at least one obstacle, a first motion unit, a second motion unit, an image acquisition device, and a control device. The projector under test is placed on the first motion unit, enabling the first motion unit to control the movement of the projector under test within a first plane. At least one obstacle is placed on the second motion unit, enabling the second motion unit to control the movement of the at least one obstacle within a second plane containing the projectable area. An image of the projectable area is acquired by the image acquisition device. During the obstacle avoidance test, the control device generates a first motion command to instruct the first motion unit to control the movement of the projector under test. Based on the position of the projector under test, the position of the obstacle is determined, and a second motion command is generated to instruct the second motion unit to control the movement of the obstacle. The at least one obstacle is moved to the projection screen area corresponding to the projector under test to simulate an application scenario where the projection screen contains an obstacle. After the projector under test completes the obstacle avoidance operation, the control device can use the image of the projectable area acquired by the image acquisition device to determine whether the projector under test has successfully avoided the obstacle. Thus, the obstacle avoidance function of projection devices can be automatically tested through the embodiments of this application. Attached Figure Description

[0075] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0076] Figure 1 This is an architecture diagram of an embodiment of the obstacle avoidance testing system provided in this application;

[0077] Figure 2 This is a schematic diagram of an example structure of the first motion unit provided in this application;

[0078] Figure 3 This is a schematic diagram of an example structure of the second motion unit provided in this application;

[0079] Figure 4 This is a schematic diagram of another example of the first motion unit provided in this application;

[0080] Figure 5 This is a flowchart illustrating an embodiment of the obstacle avoidance testing method provided in this application;

[0081] Figure 6 This is a flowchart illustrating another embodiment of the obstacle avoidance testing method provided in this application;

[0082] Figure 7 This is a schematic diagram of an example obstacle avoidance test scenario provided in this application;

[0083] Figure 8 This is a schematic diagram of another example of the obstacle avoidance test scenario provided in this application;

[0084] Figure 9 This is a schematic diagram of the structure of an embodiment of the obstacle avoidance testing device provided in this application;

[0085] Figure 10 This is a schematic diagram of the structure of an embodiment of the electronic device provided in this application. Detailed Implementation

[0086] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0087] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0088] To address the problems of the prior art, embodiments of this application provide an obstacle avoidance testing system, method, apparatus, device, and computer-readable storage medium.

[0089] Figure 1 A schematic diagram of an embodiment of the obstacle avoidance testing system provided in this application is shown. Figure 1As shown, the obstacle avoidance testing system includes at least one obstacle 11, a first motion unit 12, a second motion unit 13, an image acquisition device 14, and a control device 15.

[0090] In this embodiment of the application, the projection device under test 16 is disposed on the first motion unit 12, and the first motion unit 12 is used to control the projection device under test 16 to move in the first plane according to the first motion command.

[0091] The projectable area 17 corresponding to the projection device 16 under test is located in the second plane, and the second plane is perpendicular to the first plane.

[0092] At least one obstacle 11 is disposed on the second motion unit 13, and the second motion unit 13 is used to control the at least one obstacle 11 to move on the second plane according to the second motion command;

[0093] Image acquisition device 14 is used to acquire images of the projectable area 17 to obtain an image of the projectable area;

[0094] The control device 15 is used to generate a first motion command based on the device position information corresponding to the projection device 16 under test, and send the first motion command to the first motion unit 12; determine the obstacle position information corresponding to at least one obstacle 11 based on the device position information; generate a second motion command based on the obstacle position information, and send the second motion command to the second motion unit 13, so that at least one obstacle 11 is located within the projection screen area 171 corresponding to the projection device 16 under test; send an obstacle avoidance operation command to the projection device 16 under test, so that the projection device 16 under test performs an obstacle avoidance operation; after determining that the projection device 16 under test has completed the obstacle avoidance operation, acquire the projectable area image acquired by the image acquisition device 14; and determine whether the projection device 16 under test has successfully avoided the obstacle based on the projectable area image.

[0095] In some embodiments, the obstacle 11 can be a pre-defined object with a certain shape, the image acquisition device 14 can be a camera, and the control device 15 can be an electronic device with communication and interaction functions, such as a computer, mobile phone, or smart tablet. The control device 15 can communicate with the first motion unit 12, the second motion unit 13, the image acquisition device 14, and the projection device under test 16 via wired or wireless networks.

[0096] In this embodiment of the application, the projection device 16 under test can be placed in a preset test space for obstacle avoidance testing. The projectable area 17 corresponding to the projection device 16 under test can be a wall in the test space.

[0097] The first motion unit 12 and the second motion unit 13 may include multiple functional modules, such as a communication module for receiving motion commands and a drive module for driving the device or object to move. The projection device 16 under test can be mounted on the first motion unit 12, so that when the first motion unit 12 receives a first motion command, it can move the projection device 16 within a first plane. Additionally, the obstacle 11 can be mounted on the second motion unit 13, so that when the second motion unit 13 receives a second motion command, it can move the obstacle 11 within a second plane.

[0098] In some examples, the second plane can be the projection surface of the projection device under test, and the second plane is perpendicular to the first plane. For example, such as... Figure 1 In the test scenario shown, the first plane can be parallel to the ground, and the second plane can be a wall perpendicular to the ground.

[0099] In this embodiment of the application, the installation position of the image acquisition device 14 is not limited. For example, it can be fixedly installed near the projector device 16 under test so that it can capture images of the entire projectable area. Of course, it can also be installed in the projector device 16 under test, that is, the image acquisition device 14 can be a camera built into the projector device 16 under test.

[0100] For example, during obstacle avoidance testing, in accordance with Figure 1After installing and setting up various devices and objects, the control device 15 can obtain the user-inputted or randomly selected position coordinates as the device position information corresponding to the projection device 16 under test. Based on this device position information, a first motion command is generated and sent to the first motion unit 12 via the network. The first motion unit 12 controls the projection device 16 under test to move within the first plane to the corresponding position coordinates. Then, based on the device position information, the control device 15 randomly selects some position coordinates within the projection screen area 171 as obstacle position information corresponding to at least one obstacle 11. Based on this obstacle position information, a second motion command is generated and sent to the second motion unit 13 via the network. The second motion unit 13 then controls the projection device 16 to move within the first plane to the corresponding position coordinates. The second motion command controls at least one obstacle 11 to move on the second plane to the corresponding position coordinates, thereby ensuring that the at least one obstacle 11 is located within the projection screen area 171 corresponding to the projection device 16 under test; then the control device 15 sends an obstacle avoidance operation command to the projection device 16 under test to make the projection device 16 under test perform an obstacle avoidance operation; after determining that the projection device 16 under test has completed the obstacle avoidance operation, the control device 15 obtains the currently acquired projectable area image from the image acquisition device 14; since the projectable area image contains the area image corresponding to the projection screen area 171, the control device 15 can identify whether the projection screen area 171 contains an obstacle 11 based on the projectable area image, and then determine whether the projection device 16 under test has successfully avoided the obstacle based on the identification result.

[0101] Therefore, by setting up at least one obstacle, a first motion unit, a second motion unit, an image acquisition device, and a control device, and placing the projection device under test on the first motion unit, the first motion unit can control the movement of the projection device under test within a first plane. At least one obstacle is placed on the second motion unit, allowing the second motion unit to control the movement of the at least one obstacle within a second plane containing the projectable area. The image acquisition device then acquires an image of the projectable area. During obstacle avoidance testing, the control device generates a first motion command instructing the first motion unit to control the movement of the projection device under test. Based on the position of the projection device under test, the position of the obstacle is determined, and a second motion command is generated instructing the second motion unit to control the movement of the obstacle, moving the at least one obstacle to the corresponding projection area of ​​the projection device under test. This simulates an application scenario where the projection screen contains obstacles. After the projection device under test completes the obstacle avoidance operation, the control device can use the image of the projectable area acquired by the image acquisition device to determine whether the obstacle avoidance was successful. Thus, this embodiment of the application enables automated testing of the obstacle avoidance function of a projection device.

[0102] In some embodiments, the first motion unit may include a first sliding mechanism and a second sliding mechanism. The first sliding mechanism controls the movement of the projection device under test in a first direction within a first plane, and the second sliding mechanism controls the movement of the projection device under test in a second direction within the first plane, wherein the first direction is perpendicular to the second direction.

[0103] Here, the first sliding mechanism and the second sliding mechanism may include a slide rail. Of course, the first sliding mechanism and the second sliding mechanism may also include other traction devices, which are not limited here.

[0104] For example, in such Figure 2 The first motion unit shown includes a first slide rail 21 and a second slide rail 22. The projection device 23 under test is fixedly mounted on the first slide rail 21, and the first slide rail 21 can control the movement of the projection device 23 in the front-back direction. In addition, both ends of the first slide rail 21 can be fixedly mounted on the second slide rail 22, and the second slide rail 22 can control the movement of the first slide rail 21 and the projection device 23 under test in the left-right direction.

[0105] Thus, since the first sliding mechanism and the second sliding mechanism can respectively drive the projected device under test to move along the first direction and the second direction, and the first direction is perpendicular to the second direction, the free movement of the projected device under test in the first plane can be controlled by the first sliding mechanism and the second sliding mechanism.

[0106] In some embodiments, the second motion unit may include a third sliding mechanism and at least one fourth sliding mechanism. The third sliding mechanism controls at least one obstacle to move upwards in a third direction within the second plane, and the at least one fourth sliding mechanism controls at least one obstacle to move in a fourth direction within the second plane. Each fourth sliding mechanism corresponds one-to-one with an obstacle, and the third sliding direction is perpendicular to the fourth direction.

[0107] Here, the third sliding mechanism may include a slide rail, and the fourth sliding mechanism may include a traction rope for pulling an obstacle and a pulley for driving the traction rope.

[0108] For example, in such Figure 3 The second motion unit shown includes a slide rail 31, a pulley 32, and a traction rope 33. The pulley 32 is fixedly mounted on the slide rail 31, allowing the obstacle 34 to move horizontally. The traction rope 33 is fixedly connected to the obstacle 34, allowing the obstacle 34 to move vertically via the pulley 32. The traction rope 33 can be made of transparent, thin, strong, and durable thread, such as fishing line, to avoid affecting the projected image and causing misjudgment.

[0109] Thus, since the third and fourth sliding mechanisms can respectively drive the obstacle to move along the third and fourth directions, and the third direction is perpendicular to the fourth direction, the free movement of the obstacle in the second plane can be controlled through the third and fourth sliding mechanisms.

[0110] In addition, in some embodiments, the first motion unit may further include an angle adjustment mechanism for controlling the projection angle of the projection device under test.

[0111] Here, the angle adjustment mechanism can be a mechanism that supports the projector under test and adjusts the projection angle of the projector under test, such as a pan-tilt unit.

[0112] In some specific examples, Figure 2 Based on this, embodiments of this application may further include, for example: Figure 4 The gimbal 24 shown is used to fix or place the projector 23 under test on the gimbal 24, and the gimbal 24 is fixedly mounted on the first slide rail 21. The projection angle and projection mode (e.g., upright or suspended) of the projector 23 under test can be controlled by the gimbal 24. The projection angle may include at least one of the left and right rotation angle and the up and down tilt angle.

[0113] In this way, by setting up an angle adjustment mechanism, the projection angle of the projector under test can be controlled, so as to realize the obstacle avoidance function test of the projector under test under various projection angle conditions and improve the comprehensiveness of the test.

[0114] Based on the above obstacle avoidance testing system, this application provides an obstacle avoidance testing method. This obstacle avoidance testing method is applicable to scenarios where the obstacle avoidance function of a projection device is tested. This obstacle avoidance testing method can be applied to the control device in the above obstacle avoidance testing system. The obstacle avoidance testing method provided by this application is described below.

[0115] Figure 5 A flowchart illustrating an embodiment of the obstacle avoidance testing method provided in this application is shown. Figure 5 As shown, the obstacle avoidance testing method may specifically include the following steps:

[0116] Step 510: In response to the received obstacle avoidance test command, obtain the device location information corresponding to the projection device under test;

[0117] Step 520: Based on the device position information, generate a first motion command and send the first motion command to the first motion unit. The first motion command is used to instruct the first motion unit to control the projection device under test to move in the first plane.

[0118] Step 530: Determine the obstacle location information corresponding to at least one obstacle based on the device location information;

[0119] Step 540: Based on the obstacle position information, generate a second motion command and send the second motion command to the second motion unit. The second motion command is used to instruct the second motion unit to control at least one obstacle to move on the second plane so that at least one obstacle is located within the projection screen area corresponding to the projection device under test; wherein, the second plane is the projection plane corresponding to the projection device under test, and the second plane is perpendicular to the first plane.

[0120] Step 550: Send an obstacle avoidance operation command to the projection device under test. The obstacle avoidance operation command is used to instruct the projection device under test to perform an obstacle avoidance operation.

[0121] Step 560: After confirming that the projection device under test has completed the obstacle avoidance operation, acquire the image of the projectable area collected by the image acquisition device;

[0122] Step 570: Determine whether the projection device under test has successfully avoided obstacles based on the image of the projectable area.

[0123] Therefore, by acquiring the device position information corresponding to the projection device under test, a first motion command is generated to control the movement of the projection device under test. Based on the device position information, the obstacle position information is determined, and a second motion command is generated to control the movement of the obstacle, thereby ensuring that the obstacle is within the projection area corresponding to the projection device under test. An obstacle avoidance operation command is sent to the projection device under test, instructing it to activate the automatic obstacle avoidance function during keystone correction and execute the obstacle avoidance operation. After the obstacle avoidance operation is completed, an image of the projectable area acquired by the image acquisition device is acquired, and then based on the image, it is determined whether the projection device under test has successfully avoided the obstacle. Thus, this embodiment of the application realizes the automatic testing of the obstacle avoidance function of the projection device by controlling and coordinating the various parts of the obstacle avoidance testing system.

[0124] Therefore, in some embodiments, in step 510 above, the device location information may specifically include the position coordinates within the first plane that the projection device under test needs to reach. The obstacle avoidance test command may be, for example, a command issued by another device to initiate the obstacle avoidance test process, or a command generated by the user clicking the start test button in the interactive interface. This interactive interface may be displayed on the display screen of the control device, or on the display screen of another device; no limitation is made here.

[0125] For example, the methods of obtaining device location information include, but are not limited to, obtaining the input location coordinates by receiving user input, that is, the user selects the location of the projection device to be tested. Of course, the control device can also randomly select some location coordinates within a preset range as device location information.

[0126] In some implementations, in step 520, after the control device generates a first motion command based on the device position information, it can send the first motion command to a first motion unit. After receiving the first motion command, the first motion unit can move the projection device under test to the position coordinates corresponding to the device position information in the first plane according to the first motion command.

[0127] In some implementations, in step 530, the obstacle location information may specifically include the location coordinates of each obstacle within a second plane that it needs to reach, wherein different obstacles correspond to different location coordinates.

[0128] For example, based on the device location information, the effective range of obstacle location distribution can be determined. Then, based on this effective range, corresponding location coordinates are randomly selected or set by the user as the obstacle location information. The effective range can be, for example, the range of the projection screen area corresponding to the current projection device under test in the second plane, so that the obstacle can be moved into the projection screen area, facilitating obstacle avoidance testing.

[0129] In some implementations, in step 540, after generating a second motion command based on the obstacle position information, the control device can send the second motion command to a second motion unit. Upon receiving the second motion command, the second motion unit can move the projection device under test to the position coordinates corresponding to the device's position information within the second plane according to the second motion command.

[0130] In some implementations, in step 550, after both the projector under test and the obstacle have reached the designated positions, the control device can send an obstacle avoidance operation command to the projector under test. Upon receiving the obstacle avoidance operation command, the projector under test can initiate a keystone correction process and activate the obstacle avoidance function during the keystone correction process, for example, by shrinking the projected image to avoid obstacles located within the current projected image area.

[0131] Of course, if the projector under test does not deviate after receiving the obstacle avoidance operation command, that is, it is in the correct projection state, and therefore there is no need to perform keystone correction, the obstacle avoidance function can be directly activated to complete the obstacle avoidance operation.

[0132] In some implementations, if obstacle avoidance completion information from the projector under test is received in step 560, it can be determined that the projector under test has completed the obstacle avoidance operation. At this time, the image of the projectable area currently acquired by the image acquisition device can be obtained. The projectable area image is an image within the projectable area of ​​the second plane acquired by the image acquisition device, such as an image of the entire wall surface where the projected image of the projector under test is located. This image displays the image corresponding to the projected image area after the obstacle avoidance operation is completed.

[0133] In some implementations, in step 570, the projected area image can be identified to determine whether the projected screen area of ​​the projector under test still contains obstacles, or more than a preset number of obstacles. If obstacles are still present, or more than a preset number of obstacles are present, the projector under test is determined to have failed obstacle avoidance; conversely, if obstacles are not present, or the number of obstacles present does not exceed a preset number, the projector under test is determined to have successfully avoided obstacles.

[0134] Based on this, in some implementations, step 570 may specifically include:

[0135] Based on the projectable area image, determine whether there are obstacles within the projected area of ​​the projectable area image;

[0136] If obstacles are identified, the projector under test is determined to have failed obstacle avoidance.

[0137] If no obstacles are found, the projector under test is deemed to have successfully avoided obstacles.

[0138] Here, in order to improve obstacle avoidance accuracy, it can be determined whether the projected device under test has successfully avoided obstacles by detecting whether there are obstacles in the area of ​​the projected image.

[0139] For example, if any obstacle is identified in the projectable area image, the obstacle avoidance of the projected image area is determined to be a failure; if no obstacle is identified in the projectable area image, the obstacle avoidance of the projected image area is determined to be a success.

[0140] In this way, by identifying whether the projected area contains obstacles based on the image of the projectable area, and then determining whether the projector under test has successfully avoided obstacles based on the identification results, the obstacle avoidance test standard of the projector under test can be improved, thereby obtaining a projector that can avoid obstacles more accurately.

[0141] In addition, in some embodiments, after step 570 above, the obstacle avoidance testing method provided in this application embodiment may further include:

[0142] If the projector fails to avoid obstacles, save the image of the projectable area and record log information.

[0143] Here, log information includes, but is not limited to, test time, obstacle location information, device location information, test results, and device parameters of the projection device under test when performing obstacle avoidance operations.

[0144] For example, in order to improve the accuracy of obstacle avoidance testing, multiple obstacle avoidance tests can be performed on the projection device under test. If the obstacle avoidance is successful in this test, the next test can be performed. If the obstacle avoidance fails in this test, the image and log are saved, and the test process is stopped, waiting for the development engineer to analyze and study it. Alternatively, the image and log are saved and the next test can be performed until the test is completed.

[0145] In this way, by saving the projectable area image and log information, development engineers can easily study and analyze the reasons for obstacle avoidance failure, and thus improve the obstacle avoidance testing function of the projection device.

[0146] Additionally, in some possible embodiments, the obstacle avoidance test instructions may include the size information of the test space where the projection device under test is located. Based on this, as... Figure 6 As shown, the determination of the device location information corresponding to the projection device under test in step 510 above may specifically include:

[0147] Step 5101: Determine the first position range corresponding to the projection device under test based on the size information of the test space;

[0148] Step 5102: Randomly select a position coordinate within the first position range as the device position information corresponding to the projection device under test.

[0149] In some implementations, in step 5101 above, the test space can be, for example, the room where the projection device under test is located during obstacle avoidance testing. To ensure that the projected image of the projection device under test does not exceed the range of the projection surface in the test space, and that the distance between the projection device under test and the projection surface in the test space does not exceed the length range of the test space, the movable range of the projection device under test needs to be limited; this movable range is also known as the first position range. The position range of the projection surface in the test space can be determined by the width and height of the test space.

[0150] In some implementations, after the first position range is determined in step 5102 above, if the entire testing process includes multiple tests, the control device can randomly select multiple position coordinates within the first position range as the position coordinates that the projection device under test needs to reach during the multiple tests. Here, one position coordinate can be selected for each test as the device position information corresponding to the projection device under test in this test.

[0151] In this way, by automatically selecting the position coordinates of the projection device under test, testing efficiency can be improved and human resources can be saved.

[0152] Based on this, in some implementations, step 5101 may specifically include:

[0153] Randomly select the projection angle value corresponding to the projection device under test;

[0154] Based on the projection angle value, an angle adjustment command is generated and sent to the angle adjustment mechanism. The angle adjustment command is used to instruct the angle adjustment mechanism to control the projection angle of the projection device under test.

[0155] Based on the projection angle value and the size information of the test space, determine the first position range corresponding to the projection device under test.

[0156] Here, the projection angle value can be the left or right offset angle value of the projection device under test in the horizontal direction. In this embodiment, the projection angle of the projection device under test can be selected and set. Specifically, an angle value can be randomly selected as the projection angle value within the correctable angle range corresponding to the keystone correction, and then a corresponding angle adjustment command can be generated based on the projection angle value to control and set it. The correctable angle range corresponding to the keystone correction can be, for example, -40° to 40°.

[0157] Based on the aforementioned projection angle value, and the length, width, and height of the test space, the first position range corresponding to the projection device under test can be determined by calculating according to the preset formula. For example, in... Figure 7 In the top view of the test space shown, assume the length of the test space is L, the width is K, and the height is H; the projection distance is CD = d; the angle of the light path projected by the projector under test is ∠ACB = 2α; the projection angle is β; AD = m, DB = n; the width of the projected image of the projector under test in the front projection condition is AB = s = m + n; the projection ratio of the projector under test is set to d:s = 1.2, that is, d = 1.2s, and the aspect ratio of the projected image is 16:9; since m = s / 2 in the front projection condition, tanα = m / d = s / 2d; after the angle of the projector under test is adjusted, that is, in the side projection condition, m = dtan(α-β), n = dtan(α+β). In addition, to prevent overexposure of the projected image, the size of the projected image area can be preset to not be smaller than a preset size, such as 40 inches, that is, the distance between the projector under test and the projection surface cannot be less than 1.1 meters. Therefore, based on the above-mentioned conditions, the range of values ​​for the position coordinates (x, y) of the projection device under test can be calculated as follows:

[0158] dtan(α-β)≤x≤K-dtan(α+β), 1.1≤y≤min[L,1.2K,4H / 2.7];

[0159] Wherein, 1.1≤d≤min[L,1.2K,4H / 2.7], 11 / 12≤s≤K, -40°≤β≤40°.

[0160] Thus, the first position range corresponding to the projection device under test, determined based on the projection angle value and the size information of the test space, is determined by the height and width of the test space. Since the projectable area is determined by the height and width of the test space, and various constraints such as the projection angle and the size of the test space are fully considered, it can be ensured that the projected image of the projection device under test placed within the first position range will not exceed the boundary of the projectable area, thereby improving the reliability of the obstacle avoidance test process.

[0161] In addition, in some implementations, the projection device under test can also be tested for obstacle avoidance under frontal projection. That is, when the projection angle value β is 0, the first position range corresponding to the projection device under test can be determined. The specific determination method is the same as above, and will not be repeated here.

[0162] It is important to note that the obstacle avoidance tests described above for the horizontal direction of the test space also apply to the vertical direction. That is, the range of values ​​for the vertical coordinates (y, z) of the projector under test can be determined using the same method. Correspondingly, the projection angle can be either the horizontal offset angle or the pitch angle, with the calculation principle remaining the same, and will not be elaborated further here. By determining the vertical position range of the projector under test, it can be ensured that the projected image of a projector placed within that range does not exceed the boundary of the projectable area, thereby further improving the reliability of the obstacle avoidance test process.

[0163] Based on this, in some implementations, step 530 may specifically include:

[0164] Based on the device location information, determine the location range of the projection screen area corresponding to the projection device under test, and use it as the second location range;

[0165] At least one location coordinate is randomly selected within the second location range as obstacle location information corresponding to at least one obstacle.

[0166] Here, in order to place the obstacle within the area corresponding to the projection screen of the projector under test, the area corresponding to the projection screen projected by the projector under test on the projection surface can be calculated based on the position coordinates of the projector under test, that is, the second position range. Then, within the second position range, a position coordinate is randomly selected for each obstacle as the position coordinate where the obstacle needs to be placed.

[0167] In some examples, such as Figure 8As shown, ABFG represents the projection area of ​​the projector under test. The projection ratio is set to 1.2, and the projection ratio is 16:9, i.e., AB:AF = 16:9. Assuming the coordinates of the projector under test are C(x,y), the coordinates of the obstacle need to be within the range of A = (x-0.6y,0,0), B = (x+0.6y,0,0), G = (x+0.6y,0,2.7y / 4), and F = (x-0.6y,0,2.7y / 4).

[0168] In this way, by randomly selecting position coordinates within the second position range as the coordinates of the obstacle, the different positions of the obstacle in the projectable area in the actual environment are simulated, and the obstacle can automatically change position. At the same time, it also ensures that the obstacle can be set in the projection screen area before the projection device under test performs obstacle avoidance operation.

[0169] Based on the same inventive concept, this application also provides an obstacle avoidance testing device. This obstacle avoidance testing device can be applied to the control equipment in the obstacle avoidance testing system as described in any embodiment of the first aspect, which will be specifically described below. Figure 9 Please provide a detailed explanation.

[0170] Figure 9 A schematic diagram of an embodiment of the obstacle avoidance testing device provided in this application is shown.

[0171] like Figure 9 As shown, the obstacle avoidance testing device 900 may include:

[0172] The first determining module 901 is used to obtain the device position information corresponding to the projection device under test in response to the received obstacle avoidance test command;

[0173] The first generation module 902 is used to generate a first motion command based on the device position information and send the first motion command to the first motion unit. The first motion command is used to instruct the first motion unit to control the projection device under test to move in the first plane.

[0174] The second determining module 903 is used to determine the obstacle position information corresponding to at least one obstacle based on the device position information;

[0175] The second generation module 904 is used to generate a second motion command based on the obstacle position information and send the second motion command to the second motion unit. The second motion command is used to instruct the second motion unit to control at least one obstacle to move on the second plane so that at least one obstacle is located within the projection screen area corresponding to the projection device under test. The second plane is the projection plane corresponding to the projection device under test and is perpendicular to the first plane.

[0176] The instruction sending module 905 is used to send obstacle avoidance operation instructions to the projection device under test. The obstacle avoidance operation instructions are used to instruct the projection device under test to perform obstacle avoidance operations.

[0177] The image acquisition module 906 is used to acquire the image of the projectable area acquired by the image acquisition device after determining that the projection device under test has completed the obstacle avoidance operation;

[0178] The obstacle avoidance determination module 907 is used to determine whether the projection device under test has successfully avoided obstacles based on the image of the projectable area.

[0179] In some implementations, the obstacle avoidance test command includes the size information of the test space where the projection device under test is located;

[0180] The aforementioned first determining module 901 includes:

[0181] The first determining submodule is used to determine the first position range corresponding to the projection device under test based on the size information of the test space;

[0182] The first selection submodule is used to randomly select a position coordinate within the first position range as the device position information corresponding to the projection device under test.

[0183] In some implementations, the first determining submodule includes:

[0184] An angle selection unit is used to randomly select the projection angle value corresponding to the projection device under test.

[0185] The instruction generation unit is used to generate an angle adjustment instruction based on the angle value to be projected, and send the angle adjustment instruction to the angle adjustment mechanism. The angle adjustment instruction is used to instruct the angle adjustment mechanism to control the projection angle of the projection device under test.

[0186] The range determination unit is used to determine the first position range corresponding to the projection device under test based on the projection angle value and the size information of the test space.

[0187] In some embodiments, the second determining module 903 includes:

[0188] The second determining submodule is used to determine the location range of the projection screen area corresponding to the projection device under test based on the device location information, as the second location range;

[0189] The second selection submodule is used to randomly select at least one position coordinate within the second position range as obstacle position information corresponding to at least one obstacle.

[0190] In some embodiments, the obstacle avoidance determination module 907 includes:

[0191] The image recognition submodule is used to determine whether there are obstacles in the projected area of ​​the projectable area image based on the projectable area image.

[0192] The third determination submodule is used to determine if the projection device under test fails to avoid obstacles when it is determined that there are obstacles.

[0193] The fourth determination submodule is used to determine if the projection device under test has successfully avoided obstacles when it is determined that there are no obstacles.

[0194] In some embodiments, the obstacle avoidance testing device 900 may further include:

[0195] The image saving module is used to save the image of the projectable area and record log information when the projectable device fails to avoid obstacles, after determining whether the projector under test has successfully avoided obstacles based on the image of the projectable area.

[0196] Therefore, by acquiring the device position information corresponding to the projection device under test, a first motion command is generated to control the movement of the projection device under test. Based on the device position information, the obstacle position information is determined, and a second motion command is generated to control the movement of the obstacle, thereby ensuring that the obstacle is within the projection area corresponding to the projection device under test. An obstacle avoidance operation command is sent to the projection device under test, instructing it to activate the automatic obstacle avoidance function during keystone correction and execute the obstacle avoidance operation. After the obstacle avoidance operation is completed, an image of the projectable area acquired by the image acquisition device is acquired, and then based on the image, it is determined whether the projection device under test has successfully avoided the obstacle. Thus, this embodiment of the application realizes the automatic testing of the obstacle avoidance function of the projection device by controlling and coordinating the various parts of the obstacle avoidance testing system.

[0197] Figure 10 A schematic diagram of the hardware structure of the electronic device provided in an embodiment of this application is shown.

[0198] The electronic device 1000 may include a processor 1001 and a memory 1002 storing computer program instructions.

[0199] Specifically, the processor 1001 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0200] Memory 1002 may include mass storage for data or instructions. For example, and not limitingly, memory 1002 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 1002 may include removable or non-removable (or fixed) media. Where appropriate, memory 1002 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 1002 is non-volatile solid-state memory.

[0201] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of this application.

[0202] The processor 1001 reads and executes computer program instructions stored in the memory 1002 to implement any of the obstacle avoidance testing methods in the above embodiments.

[0203] In some examples, the electronic device 1000 may also include a communication interface 1003 and a bus 1010. For example, Figure 10 As shown, the processor 1001, memory 1002, and communication interface 1003 are connected through bus 1010 and complete communication with each other.

[0204] The communication interface 1003 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0205] Bus 1010 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not as a limitation, bus 1010 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 1010 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0206] For example, the electronic device 1000 can be a mobile phone, tablet computer, laptop computer, handheld computer, in-vehicle electronic device, ultra-mobile personal computer (UMPC), netbook, or personal digital assistant (PDA), etc.

[0207] The electronic device 1000 can execute the obstacle avoidance test method in the embodiments of this application, thereby achieving a combination Figures 1 to 8 The obstacle avoidance testing method and apparatus are described.

[0208] Furthermore, in conjunction with the obstacle avoidance testing methods in the above embodiments, this application embodiment can provide a computer-readable storage medium for implementation. This computer-readable storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the obstacle avoidance testing methods in the above embodiments. Examples of computer-readable storage media include non-transitory computer-readable storage media, such as portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, etc.

[0209] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0210] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0211] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0212] The aspects of this application have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by dedicated hardware performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0213] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. An obstacle avoidance testing system, characterized in that, include: At least one obstacle, a first motion unit, a second motion unit, an image acquisition device, and a control device; The projection device under test is mounted on the first motion unit, and the first motion unit is used to control the projection device under test to move in a first plane according to a first motion command. The projectable area corresponding to the projection device under test is located in the second plane, and the second plane is perpendicular to the first plane. The at least one obstacle is disposed on the second motion unit, and the second motion unit is used to control the at least one obstacle to move on the second plane according to the second motion command; The image acquisition device is used to acquire images of the projectable area to obtain an image of the projectable area; The control device is configured to: generate a first motion command based on the device position information corresponding to the projection device under test; send the first motion command to the first motion unit; determine the obstacle position information corresponding to the at least one obstacle based on the device position information; generate a second motion command based on the obstacle position information; send the second motion command to the second motion unit to make the at least one obstacle located within the projection screen area corresponding to the projection device under test; send an obstacle avoidance operation command to the projection device under test to make the projection device under test perform an obstacle avoidance operation; after determining that the projection device under test has completed the obstacle avoidance operation, acquire the projectable area image acquired by the image acquisition device; and determine whether the projection device under test has successfully avoided the obstacle based on the projectable area image.

2. The system according to claim 1, characterized in that, The first motion unit includes a first sliding mechanism and a second sliding mechanism; The first sliding mechanism is used to control the projection device under test to move in a first direction within the first plane; The second sliding mechanism is used to control the movement of the projection device under test in a second direction within the first plane; The first direction is perpendicular to the second direction.

3. The system according to claim 1, characterized in that, The second motion unit includes a third sliding mechanism and at least one fourth sliding mechanism; The third sliding mechanism is used to control the at least one obstacle to move upward in the third part of the second plane; The at least one fourth sliding mechanism is used to control the at least one obstacle to move in a fourth direction within the second plane, and the fourth sliding mechanism corresponds one-to-one with the obstacle; The third direction is perpendicular to the fourth direction.

4. The system according to claim 1, characterized in that, The first motion unit also includes an angle adjustment mechanism; The angle adjustment mechanism is used to control the projection angle of the projection device under test.

5. An obstacle avoidance testing method, applied to the control device in the obstacle avoidance testing system as described in any one of claims 1-4, characterized in that, include: In response to the received obstacle avoidance test command, obtain the device location information corresponding to the projection device under test; Based on the device location information, a first motion command is generated and sent to a first motion unit. The first motion command is used to instruct the first motion unit to control the projection device under test to move in a first plane. Based on the device location information, determine the obstacle location information corresponding to at least one obstacle; Based on the obstacle position information, a second motion command is generated and sent to a second motion unit. The second motion command is used to instruct the second motion unit to control the at least one obstacle to move on a second plane so that the at least one obstacle is located within the projection screen area corresponding to the projection device under test. The second plane is the projection plane corresponding to the projection device under test, and the second plane is perpendicular to the first plane. Send an obstacle avoidance operation command to the projection device under test, the obstacle avoidance operation command being used to instruct the projection device under test to perform an obstacle avoidance operation; After confirming that the projection device under test has completed the obstacle avoidance operation, the projectable area image acquired by the image acquisition device is obtained. Based on the image of the projectable area, determine whether the projection device under test has successfully avoided obstacles.

6. The method according to claim 5, characterized in that, The obstacle avoidance test command includes the size information of the test space where the projection device under test is located; The determination of the device location information corresponding to the projection device under test includes: Based on the size information of the test space, determine the first position range corresponding to the projection device under test; Randomly select a position coordinate within the first position range as the device position information corresponding to the projection device under test.

7. The method according to claim 6, characterized in that, Determining the first position range corresponding to the projection device under test based on the size information of the test space includes: Randomly select the projection angle value corresponding to the projection device under test; Based on the projection angle value, an angle adjustment command is generated and sent to the angle adjustment mechanism. The angle adjustment command is used to instruct the angle adjustment mechanism to control the projection angle of the projection device under test. Based on the projection angle value and the size information of the test space, the first position range corresponding to the projection device under test is determined.

8. The method according to claim 5, characterized in that, The step of determining the obstacle location information corresponding to at least one obstacle based on the device location information includes: Based on the device location information, the location range of the projection screen area corresponding to the projection device under test is determined as the second location range; At least one location coordinate is randomly selected within the second location range as obstacle location information corresponding to the at least one obstacle.

9. The method according to claim 5, characterized in that, The step of determining whether the projection device under test has successfully avoided obstacles based on the image of the projectable area includes: Based on the projectable area image, determine whether the obstacle is contained within the projected image area. If the obstacle is found to be present, the obstacle avoidance of the projection device under test is determined to be failed. If the obstacle is not present, the obstacle avoidance of the projection device under test is determined to be successful.

10. The method according to claim 5, characterized in that, After determining whether the projection device under test has successfully avoided obstacles based on the image of the projectable area, the method further includes: If the projector fails to avoid obstacles, the image of the projectable area is saved and log information is recorded.

11. An obstacle avoidance testing device, applied to the control equipment in the obstacle avoidance testing system as described in any one of claims 1-4, characterized in that, include: The first determining module is used to obtain the device position information corresponding to the projection device under test in response to the received obstacle avoidance test command; The first generation module is used to generate a first motion command based on the device position information and send the first motion command to the first motion unit. The first motion command is used to instruct the first motion unit to control the projection device under test to move in a first plane. The second determining module is used to determine the obstacle location information corresponding to at least one obstacle based on the device location information; The second generation module is used to generate a second motion command based on the obstacle position information and send the second motion command to the second motion unit. The second motion command is used to instruct the second motion unit to control the at least one obstacle to move on the second plane so that the at least one obstacle is located within the projection screen area corresponding to the projection device under test. The second plane is the projection plane corresponding to the projection device under test and is perpendicular to the first plane. The instruction sending module is used to send an obstacle avoidance operation instruction to the projection device under test, the obstacle avoidance operation instruction being used to instruct the projection device under test to perform an obstacle avoidance operation; The image acquisition module is used to acquire the projectable area image acquired by the image acquisition device after determining that the projection device under test has completed the obstacle avoidance operation; The obstacle avoidance determination module is used to determine whether the projection device under test has successfully avoided obstacles based on the image of the projectable area.

12. An electronic device, characterized in that, The device includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the steps of the obstacle avoidance testing method as described in any one of claims 5-10.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement the steps of the obstacle avoidance testing method as described in any one of claims 5-10.

Images