Projection method, system, projection device and storage medium

Abstract

The embodiment of the present disclosure provides a projection method, a projection system, a projection device and a storage medium. The method determines a target projection area and a wall type of the target projection area in space, obtains a projection picture, the content of the projection picture is adapted to the wall type of the target projection area, and finally, the corresponding projection picture is projected and displayed in the target projection area, so that the automatic projection is realized. Since the corresponding projection picture is adapted to the target projection area, the projection picture has a better projection effect, the user's viewing experience is improved, meanwhile, the projection process does not need the user's operation, and the projection intelligence degree and the projection efficiency are greatly improved.

Description

Technical Field

[0001] This disclosure relates to the field of projection display technology, specifically to a projection method, system, projection device, and storage medium. Background Technology

[0002] With the development of technology, projection equipment has been widely used in various scenarios of people's lives, studies, and work, such as conference projection, learning projection, and motion projection. However, in indoor environments, projection is usually carried out in a fixed projection area, which has certain limitations for use in different scenarios; or the projection equipment is moved manually and the projection area is selected, which increases the cumbersomeness of user operation to a certain extent, and the manually selected projection area is difficult to guarantee the projection effect, lacks intelligence, and affects the projection effect. Summary of the Invention

[0003] This disclosure provides a projection method, system, projection device, and storage medium to solve the technical problem of poor projection effect caused by mismatch between projection content and projection area.

[0004] On the one hand, this disclosure provides a projection method applied to a projection device, including:

[0005] Determine the target projection area in space, and the wall type of the target projection area;

[0006] Acquire a projected image, the content of which is adapted to the wall type of the target projection area;

[0007] The corresponding projected image is displayed in the target projection area.

[0008] Optionally, after the step of projecting and displaying the corresponding projected image in the target projection area, the method further includes:

[0009] Based on the current pose of the projection device and the position information of the target projection area, the oblique projection angle of the projected image is determined;

[0010] Based on the oblique projection angle, a first adjustment angle is determined, and the projected image is adjusted according to the first adjustment angle.

[0011] Optionally, after the step of projecting and displaying the corresponding projected image in the target projection area, the method further includes:

[0012] Obtain the three-dimensional coordinate data of the human eye;

[0013] The second adjustment angle is determined based on the three-dimensional coordinate data of the human eye and the position information of the target projection area;

[0014] The projected image is adjusted according to the second adjustment angle.

[0015] Optionally, before the step of determining the target projection area from space and the wall type of the target projection area, the method further includes:

[0016] Acquire point cloud information in space;

[0017] Clustering calculations are performed on the point cloud information to obtain the plane of the space;

[0018] The plane is filtered to obtain multiple projectable regions, and the target projection region is one of the projectable regions.

[0019] Optionally, after the step of filtering the plane to obtain multiple projectable regions, the method further includes:

[0020] The location information of each projectable region in the space is determined based on the point cloud information;

[0021] Based on the location information, the projection parameters corresponding to each projectable area are determined.

[0022] Optionally, after the step of filtering the plane to obtain multiple projectable regions, the method further includes:

[0023] Projecting is performed on multiple projectable areas respectively, and the projection parameters and wall type corresponding to each projectable area are recorded.

[0024] Optionally, the step of determining the target projection area from space includes:

[0025] Obtain the content to be projected, and determine the corresponding wall type based on the content to be projected;

[0026] Based on the wall type, the target projection area is selected from a plurality of projectable areas.

[0027] Optionally, the step of determining the target projection area from space includes:

[0028] The target projection area is selected based on the received instructions;

[0029] The acquisition of the projected image includes:

[0030] Select the corresponding projection image based on the wall type of the target projection area.

[0031] On one hand, this disclosure provides a projection system for use in projection devices, comprising:

[0032] A determination module is used to determine the target projection area from space, and the wall type of the target projection area;

[0033] An acquisition module is used to acquire a projected image, the content of which is adapted to the wall type of the target projection area;

[0034] The projection module is used to project and display the corresponding image in the target projection area.

[0035] On one hand, this disclosure provides a projection device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps in the projection method described above.

[0036] On one hand, this disclosure provides a computer-readable medium storing a computer program that, when executed by a processor, implements the steps in the projection method described above.

[0037] This disclosure provides a projection method, system, projection device, and storage medium. The method includes: determining a target projection area and the wall type of the target projection area from space; acquiring a projection image; ensuring the content of the projection image matches the wall type of the target projection area; and finally, projecting the corresponding projection image onto the target projection area. This achieves automated projection. Because the corresponding projection image is adapted to the target projection area, the projection image has a better projection effect, improving the user viewing experience. Furthermore, the projection process requires no user intervention, greatly improving the intelligence and efficiency of the projection. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] in:

[0040] Figure 1 Here is a flowchart of a projection method in one embodiment;

[0041] Figure 2 A flowchart of the projection method in another embodiment;

[0042] Figure 3 This is a structural block diagram of a projection system in one embodiment;

[0043] Figure 4This is a structural block diagram of a projection device in one embodiment. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] Please see Figure 1 , Figure 1 This is a flowchart of a projection method provided in an embodiment of this disclosure. Figure 1 As shown, in one embodiment, a projection method is provided, which is applied to a projection device. The projection method specifically includes the following steps:

[0046] Step 102: Determine the target projection area and the wall type of the target projection area from the space.

[0047] In this embodiment, the projection device is rotatable or can be rotated via other external devices (such as a pan-tilt unit). The target projection area refers to a planar area selected from space for projection, such as a kitchen wall, a bedroom wall, or a rectangular wall. The wall type is defined based on the function and size of the wall containing the target projection area. For example, a bedroom wall with an aspect ratio exceeding 3:1 and a narrow side distance of less than 60 centimeters can be defined as a music function wall, and a ceiling wall can be defined as a viewing function wall. Specifically, based on the received instructions, the identifier of the planar area corresponding to the target projection area can be obtained. From a planar area in space, such as an indoor space (e.g., ceiling, wall, tabletop, etc.), the target projection area and the wall type of the target projection area can be determined based on the identifier.

[0048] Step 104: Obtain the projected image. The content of the projected image should be compatible with the wall type of the target projection area.

[0049] In this context, the projected image refers to the image output after being projected through a projection device. The content of this projected image must be compatible with the type of wall in the target projection area; that is, the projected image must match the target projection area, meaning it will have a better projection effect in that area. Specifically, a corresponding projected image can be selected based on the type of wall in the target projection area to ensure the content matches the wall type, thereby improving the projection effect. This compatibility includes: the size of the projected image matching the size of the wall in the target projection area; and the content of the projected image matching the function of the wall in the target projection area (for example, if the wall in the target projection area is a kitchen wall, the content of the projected image could be a recipe, etc.).

[0050] Step 106: Project the corresponding image onto the target projection area.

[0051] Specifically, the projection device projects and displays the corresponding image on the target projection area. Since the corresponding image is adapted to the target projection area, the projection image has a better projection effect, which improves the user's viewing experience. At the same time, the projection process does not require user intervention, which greatly improves the intelligence and efficiency of the projection.

[0052] The above projection method determines the target projection area and the wall type of the target projection area in space, obtains the projection image, and ensures that the content of the projection image is adapted to the wall type of the target projection area. Finally, the corresponding projection image is projected and displayed in the target projection area. This method enables the size of the projection image to be adapted to the size of the target projection area, and the content of the projection image to be adapted to the function of the target projection area. It realizes intelligent projection of different content in different areas. Because the corresponding projection image is adapted to the target projection area, the projection image has a better projection effect, improving the user viewing experience. At the same time, this projection process does not require user intervention, greatly improving the intelligence and efficiency of projection.

[0053] Please see Figure 2 , Figure 2 This is a flowchart of another projection method provided in an embodiment of this disclosure. For example... Figure 2 As shown, in one embodiment, after the step of projecting and displaying the corresponding projected image in the target projection area, the method further includes:

[0054] Step 108: Determine the oblique projection angle of the projected image based on the current pose of the projection device and the position information of the target projection area.

[0055] Step 110: Based on the oblique projection angle, determine the first adjustment angle, and adjust the projected image according to the first adjustment angle.

[0056] In this context, pose refers to the position and attitude information of the projection device in space. For example, the current pose is the center position of the projection device facing the target projection area. Specifically, the position of the projection device is represented by its three-dimensional coordinates in space; the attitude information of the projection device is represented by its yaw angle, pitch angle, and roll angle. The position information of the target projection area refers to its three-dimensional coordinate position in space. This position information can be the center point (centroid) of the point cloud information of the target projection area, which can be calculated by averaging the point cloud coordinates corresponding to all point cloud information of the target projection area; it can also be determined by the median coordinates of all point cloud coordinates corresponding to all point cloud information of the target projection area; or it can be the center point of the bounding box of all point cloud information of the target projection area, i.e., the coordinate point composed of the average of the maximum and minimum values ​​in the three dimensions (x-dimensional, y-dimensional, z-dimensional). It should be noted that the current pose and position information are determined in space based on the same coordinate system, that is, the three-dimensional coordinates of the projection device in space and the three-dimensional coordinates of the target projection area in space are in the same coordinate system.

[0057] Specifically, when the optical axis of the light projected by the projection device is not perpendicular to the target projection area, it is considered that the projection device is projecting at an angle. When the angle of projection is large (the smaller the angle between the optical axis of the projection device and the target projection area, the larger the angle of projection), the end of the projected image farthest from the projection device will often appear out of focus, resulting in a blurry image. Therefore, when the angle of projection is large, the angle of projection can be adjusted or reduced appropriately.

[0058] Based on the location information of the target projection area and the current pose of the projection device, the relative positional relationship between the projection device and the target projection area can be determined, and thus the oblique projection angle of the projected image can be determined.

[0059] In one embodiment, the yaw angle of the projection device can be used as the oblique projection angle. When the oblique projection angle is greater than a first threshold, it is determined that a backtracking is needed, and then a first adjustment angle is determined based on the oblique projection angle. For example, if the first threshold is 45°, when the yaw angle of the projection device is greater than 45°, it is determined that a backtracking is needed, and the first adjustment angle is taken as 1 / 4 of the oblique projection angle. Then, based on the first adjustment angle, the projection device is controlled to rotate, reducing the yaw angle, thereby adjusting the projected image and improving the quality of the projected image. Furthermore, in this embodiment, adjusting the projected image by oblique projection angle avoids the problem of defocusing of the adjusted projected image compared to the traditional keystone correction adjustment method, further improving the quality of the projected image.

[0060] In one specific implementation, a three-dimensional coordinate system is established with the position coordinates of the projection device as the origin (0, 0, 0), and the coordinates of the center point of the target projection area are (x, y, z). Then the oblique projection angle... Tilting angle of the projection device The pitch angle is used to determine the angle of the projection device on the z-axis, that is, the angle at which the projection device is raised.

[0061] like Figure 2 As shown, in one embodiment, after the step of projecting and displaying the corresponding projected image in the target projection area, the method further includes:

[0062] Step 112: Obtain the three-dimensional coordinate data of the human eye;

[0063] Step 114: Determine the second adjustment angle based on the three-dimensional coordinate data of the human eye and the position information of the target projection area;

[0064] Step 116: Adjust the projected image according to the second adjustment angle.

[0065] The three-dimensional coordinate data of the human eye refers to the spatial coordinates of the user's eyes as they view the projected image. More specifically, this data refers to the spatial coordinates of the user's eye height. Because users' viewing postures and heights vary, the projected image is adjusted based on the user's eye height to improve the viewing experience. Specifically, a depth camera is installed in the projection device. It can identify the user by rotating the device to take a picture. Then, by using the rotation angle of the projection device and the depth of the user relative to the projection device obtained by the depth camera, the user's position relative to the projection device is obtained, thus determining the user's three-dimensional coordinates in space. Finally, the user's eye height is obtained to arrive at the three-dimensional coordinate data of the human eye. The eye height can be preset, for example, to 1.5m, or it can be directly identified based on a human eye recognition model or a human body recognition model. Then, the distance from the human eye to the target projection area can be determined using the three-dimensional coordinate data of the human eye and the position information of the projected image. Based on the distance from the human eye to the target projection area and the three-dimensional coordinate data of the human eye, the second adjustment angle is calculated using the formula h = e + arctanα * z, where h is the second adjustment angle, e is the three-dimensional coordinate data of the human eye, z is the distance between the human eye and the target projection area, and α is the upward viewing angle that conforms to human eye viewing, such as α = 30°. By controlling the rotation of the projection device according to the second adjustment angle, the projected image can be adjusted so that the projected image is within the user's upward viewing range, allowing the user to comfortably view the projected image and improving the user's viewing experience.

[0066] like Figure 2 As shown, in one embodiment, prior to the steps of determining the target projection area from space and the wall type of the target projection area, the method further includes:

[0067] Step 118: Obtain point cloud information in space;

[0068] Step 120: Perform clustering calculations on the point cloud information to obtain the spatial plane;

[0069] Step 122: Filter the plane to obtain multiple projectable regions, and the target projection region is one of the projectable regions.

[0070] The projectable area refers to a planar area in space that can be projected, such as a ceiling, screen, wall, or tabletop. Point cloud information refers to a set of vectors in a three-dimensional coordinate system. In addition to geometric position, point cloud information sometimes also includes color information, which can be acquired by a 3D scanner or depth camera. In this disclosure, an RGB-D (RGB+Depth Map, a depth camera with color) camera and a projection device are set on a pan-tilt unit. The pan-tilt unit is controlled to rotate, scan, and reconstruct the point cloud information in space. The specific process is as follows: a single-frame image and point cloud information are acquired through an RGB-D camera (the RGB camera and depth camera are frame-synchronized); based on the characteristics of the acquired color image and point cloud information, odometry tracking is performed by combining IMU (Inertial Measurement Unit) sensor fusion to estimate the pose of the RGB-D camera; the pan-tilt unit is controlled to rotate one revolution, and the newly acquired color image and point cloud information of each frame are fused into the global textured point cloud information constructed from the single-frame image; after the pan-tilt unit has rotated, a loop closure detection algorithm is added to close the point cloud information after one revolution, thus obtaining complete point cloud information. Then, based on the color information in the point cloud, a spatial plane is extracted using a region clustering method based on color differences. Multiple projectable regions are then selected from these planes. Planes can be filtered according to preset rules, such as removing those that are too small, too far from the projection device's optical engine, have an excessively large angle between the line connecting the wall center and the optical engine and the wall normal (excessive oblique projection angle), or have uneven walls. The target projection area in step 102 is one of these projectable regions, thus ensuring the quality of the target projection area.

[0071] like Figure 2 As shown, in one embodiment, after the step of filtering the plane to obtain multiple projectable regions, the method further includes:

[0072] Step 124: Determine the spatial location information of each projectable region based on the point cloud information;

[0073] Step 126: Determine the projection parameters corresponding to each projectable area based on the location information.

[0074] Specifically, the position information of each projectable area in space is determined using a 3D reconstruction model based on point cloud information. Based on the position information of each projectable area in space, the corresponding projection center point of each projection area is determined. Based on the corresponding projection center point, after obtaining the current pose of the projection device, the projection parameters when the projection device projects onto each projectable area can be obtained, including obstacle avoidance, keystone correction, and dewarping adjustment algorithms.

[0075] In this embodiment, by using the location information of the projectable area in space, the corresponding projection parameters can be obtained and the projection image adjustment result can be output simply by acquiring the location of the projection device in space, regardless of the location of the projection device. This eliminates the need for the projection device to collect the projectable area information, improving the real-time performance of the projection image adjustment. Users do not need to spend time waiting for the projection image to adjust, thus improving the user experience.

[0076] In one embodiment, after filtering the plane to obtain multiple projectable areas, the method further includes: projecting the multiple projectable areas separately and recording the projection parameters and wall type corresponding to each projectable area.

[0077] Specifically, projection is performed on each projectable area to obtain the projection parameters and wall type corresponding to each projectable area. The projection parameters and wall type corresponding to each projectable area are recorded so that when the projection device is restarted or used again, a suitable projectable area can be automatically selected or projection can be automatically performed based on the projection parameters and wall type, thereby improving projection efficiency.

[0078] In one embodiment, the step of determining a target projection area from space includes: acquiring content to be projected, determining the corresponding wall type based on the content to be projected, and filtering the target projection area from multiple projectable areas based on the wall type.

[0079] The content to be projected refers to the content that needs to be projected. Specifically, the content to be projected can be determined based on the opened app (application), for example, a fitness app can be used to determine that the content to be projected is sports. Then, the corresponding wall type is determined based on the content to be projected. For example, for sports content, the corresponding wall type is a living room wall. Based on the wall type, a projectable area matching the wall type is selected from multiple projectable areas, which is the target projection area. In one specific implementation, for example, for narrow strip walls (such as those with an aspect ratio greater than 3:1 and a narrow side distance of less than 60 cm), when selecting this type of wall for projection, lyrics sequences are projected; for ceiling walls (such as those with the largest horizontal plane area and continuous flatness, where 80% of the wall points are less than 5 cm from the fitted plane), when selecting this type of wall for projection, starry skies, natural scenery, and dynamic images are projected; for large walls in the living room or bedroom (such as those with the largest vertical plane area and continuous flatness), when selecting this type of wall for projection, videos are projected. Furthermore, the system can identify more specific projectable areas within the space, such as projectable areas in the kitchen, linking them to kitchen walls for projecting recipe tutorials, etc. Even further, users can add new projectable areas and corresponding wall types based on their actual needs, further enhancing the intelligence of the projection system.

[0080] In one embodiment, the step of determining a target projection area from space includes: selecting a target projection area based on a received instruction; and obtaining a projection image includes: selecting a corresponding projection image according to the wall type of the target projection area.

[0081] The command refers to the instruction sent by the user to perform projection. Specifically, the user can send the command via voice or by clicking a button, or by opening the projection app and entering the target projection area. After determining the target projection area, the corresponding projection screen is selected according to the wall type of the projection area, so that the content of the projection screen is adapted to the target projection area. This not only improves the quality of the projection screen, but also realizes automated projection and improves projection efficiency.

[0082] Please see Figure 3 , Figure 3 This is a structural block diagram of a projection system provided in an embodiment of this disclosure. For example... Figure 3 As shown, in one embodiment, a projection system 30 is provided for use in a projection device, comprising:

[0083] The determining module 302 is used to determine the target projection area from space, and the wall type of the target projection area;

[0084] The acquisition module 304 is used to acquire the projected image, the content of which is adapted to the wall type of the target projection area;

[0085] The projection module 306 is used to project and display the corresponding projection image in the target projection area.

[0086] In one embodiment, the projection system further includes:

[0087] The first determining module 308 is used to determine the oblique projection angle of the projected image based on the current pose of the projection device and the position information of the target projection area.

[0088] The first adjustment module 310 is used to determine a first adjustment angle based on the oblique projection angle, and to adjust the projected image according to the first adjustment angle.

[0089] In one embodiment, the projection system further includes:

[0090] The first acquisition module 312 is used to acquire the three-dimensional coordinate data of the human eye;

[0091] The second determining module 314 is used to determine the second adjustment angle based on the three-dimensional coordinate data of the human eye and the position information of the target projection area;

[0092] The second adjustment module 316 is used to adjust the projected image according to the second adjustment angle.

[0093] In one embodiment, the projection system further includes:

[0094] The second acquisition module 318 is used to acquire point cloud information in space;

[0095] Clustering module 320 is used to perform clustering calculations on the point cloud information to obtain the plane of the space;

[0096] The filtering module 322 is used to filter the plane to obtain multiple projectable areas, and the target projection area is one of the projectable areas.

[0097] In one embodiment, the projection system further includes:

[0098] The third determining module 324 is used to determine the position information of each of the projectable regions in the space based on the point cloud information;

[0099] The fourth determining module 326 is used to determine the projection parameters corresponding to each of the projectable areas based on the location information.

[0100] In one embodiment, the projection system further includes:

[0101] The projection module is used to project onto multiple projectable areas respectively, and record the projection parameters and wall type corresponding to each projectable area.

[0102] In one embodiment, the acquisition module includes:

[0103] An acquisition unit is used to acquire the content to be projected and determine the corresponding wall type based on the content to be projected.

[0104] A filtering unit is used to filter the target projection area from a plurality of projectable areas according to the wall type.

[0105] In one embodiment, the acquisition module includes:

[0106] The first selection unit is used to select the target projection area based on the received instructions;

[0107] The projection module includes:

[0108] The second selection unit is used to select the corresponding projection image according to the wall type of the target projection area.

[0109] Figure 4 An internal structural diagram of a projection device in one embodiment is shown. Specifically, the projection device may be a server, including but not limited to high-performance computers and high-performance computer clusters. Figure 4 As shown, the projection device includes a processor, a memory, and a network interface connected via a system bus. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and may also store a computer program. When executed by the processor, this computer program enables the processor to implement the projection method. The internal memory may also store a computer program, which, when executed by the processor, enables the processor to implement the projection method. Those skilled in the art will understand that... Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present disclosure and does not constitute a limitation on the projection device to which the present disclosure is applied. A specific projection device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0110] In one embodiment, the projection method provided in this disclosure can be implemented as a computer program, which can be implemented in the form of, for example, Figure 4 The system operates on the projection device shown. The projection device's memory can store the various program templates that make up the projection system. For example, the determination module 302, the acquisition module 304, and the projection module 306.

[0111] A projection device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the projection method described above.

[0112] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps in the projection method described above.

[0113] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this disclosure can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0114] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0115] The embodiments described above are merely illustrative of several implementations of this disclosure, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent disclosure. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this disclosure, and these all fall within the protection scope of this disclosure. Therefore, the protection scope of this patent disclosure should be determined by the appended claims.

Claims

1. A projection method applied to a projection device, characterized in that, The projection method includes: Determine the target projection area in space, and the wall type of the target projection area; A projection image is acquired, the content of which is adapted to the wall type of the target projection area; wherein, the content of the projection image includes the content to be projected; the wall type is determined based on the function and size of the wall where the target projection area is located; different target projection areas project different content; The corresponding projected image is displayed in the target projection area; After the step of projecting and displaying the corresponding projected image in the target projection area, the method further includes: Based on the current pose of the projection device and the position information of the target projection area, the oblique projection angle of the projected image is determined; Based on the oblique projection angle, a first adjustment angle is determined, and the projected image is adjusted according to the first adjustment angle.

2. The projection method as described in claim 1, characterized in that, After the step of projecting and displaying the corresponding projected image in the target projection area, the method further includes: Obtain the three-dimensional coordinate data of the human eye; The second adjustment angle is determined based on the three-dimensional coordinate data of the human eye and the position information of the target projection area; The projected image is adjusted according to the second adjustment angle.

3. The projection method as described in claim 1, characterized in that, Prior to the steps of determining the target projection area from space and the wall type of the target projection area, the method further includes: Acquire point cloud information in space; Clustering calculations are performed on the point cloud information to obtain the plane of the space; The plane is filtered to obtain multiple projectable regions, and the target projection region is one of the projectable regions.

4. The projection method as described in claim 3, characterized in that, After the step of filtering the plane to obtain multiple projectable regions, the method further includes: The location information of each projectable region in the space is determined based on the point cloud information; Based on the location information, the projection parameters corresponding to each projectable area are determined.

5. The projection method as described in claim 4, characterized in that, After the step of filtering the plane to obtain multiple projectable regions, the method further includes: Projecting is performed on multiple projectable areas respectively, and the projection parameters and wall type corresponding to each projectable area are recorded.

6. The projection method as described in claim 3, characterized in that, The step of determining the target projection area from space includes: Obtain the content to be projected, and determine the corresponding wall type based on the content to be projected; Based on the wall type, the target projection area is selected from a plurality of projectable areas.

7. The projection method as described in claim 1, characterized in that, The step of determining the target projection area from space includes: The target projection area is selected based on the received instructions; The acquisition of the projected image includes: Select the corresponding projection image based on the wall type of the target projection area.

8. A projection system applied to a projection device, characterized in that, The projection system includes: A determination module is used to determine the target projection area from space, and the wall type of the target projection area; An acquisition module is used to acquire a projected image, the content of which is adapted to the wall type of the target projection area; wherein, the content of the projected image includes the content to be projected; the wall type is determined based on the function and size of the wall where the target projection area is located; different target projection areas project different content; The projection module is used to project and display the corresponding projected image in the target projection area; The projection system also includes: The first determining module is used to determine the oblique projection angle of the projected image based on the current pose of the projection device and the position information of the target projection area. The first adjustment module is used to determine a first adjustment angle based on the oblique projection angle, and to adjust the projected image according to the first adjustment angle.

9. A projection device, the projection device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the projection method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the projection method as described in any one of claims 1 to 7.

Images