Projection method, system and computer readable storage medium

Abstract

The application discloses a projection method, a projection system and a computer readable storage medium. The projection method comprises the following steps: controlling at least two projection devices to project corresponding reference images on a projection surface respectively, wherein the reference images projected by any two of the at least two projection devices are different; in response to a first instruction, using at least one projection device adjacent to a target projection device to acquire image information of the reference image projected by the target projection device respectively; and based on at least one image information corresponding to the at least two projection devices respectively, adjusting the poses of the at least two projection devices so that the projection images of the at least two projection devices are spliced into one projection image. In the above manner, the utilization rate of the projection device can be improved, and the waste of resources can be reduced.

Description

Technical Field

[0001] This application relates to the field of control technology, and in particular to projection methods, systems and computer-readable storage media. Background Technology

[0002] In existing technologies, multiple projection devices in a projection system are typically used to simultaneously project portions of a complete image, so that the projected images from each projection device are stitched together to form a single projected image. This allows the projection system to project a larger and / or higher resolution image than a single projection device at the same focal length. Summary of the Invention

[0003] The main technical problem addressed in this application is how to improve the utilization rate of projection equipment in order to reduce resource waste.

[0004] To address the aforementioned technical problems, the first technical solution adopted in this application is: a projection method applied to a projection system, the projection system comprising: at least two projection devices; the projection method comprising: controlling at least two projection devices to project corresponding reference images onto a projection surface, wherein the reference images projected by any two of the at least two projection devices are different; responding to a first instruction, using at least one projection device adjacent to a target projection device to acquire image information of the reference image projected by the target projection device, wherein the target projection device is one of the at least two projection devices; and adjusting the pose of the at least two projection devices based on at least one image information corresponding to each of the at least two projection devices, so that the projected images of the at least two projection devices are stitched together into a single projected image.

[0005] To address the aforementioned technical problems, the second technical solution adopted in this application is: a projection system, comprising: at least two projection devices; a projection module for controlling the at least two projection devices to project corresponding reference images onto a projection surface, wherein the reference images projected by any two of the at least two projection devices are different; an image acquisition module for acquiring image information of the reference images projected by the target projection device using at least one projection device adjacent to the target projection device, wherein the target projection device is one of the at least two projection devices; and a pose adjustment module for adjusting the pose of the at least two projection devices based on at least one image information corresponding to each of the at least two projection devices, so that the projected images of the at least two projection devices are stitched together into a single projected image.

[0006] To solve the above-mentioned technical problems, the third technical solution adopted in this application is: a computer-readable storage medium storing program instructions, which implement the above-mentioned method when executed by a processor.

[0007] The beneficial effects of this application are as follows: Unlike the prior art, this application controls each projection device in the projection system to project its own reference image onto the projection surface. Upon receiving the first instruction, it acquires the image information of the reference image projected by each projection device using the corresponding adjacent projection devices. Based on the image information corresponding to each projection device, it adjusts the pose of each projection device so that the projected images of each projection device can be stitched together into a single projected image. This allows the acquisition of image information to be completed by each projection device alone, and the pose adjustment of each projection device to be completed based on the image information, thereby improving the utilization rate of the projection devices and reducing the waste of resources. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0009] Figure 1 This is a flowchart illustrating the first embodiment of the projection method of this application;

[0010] Figure 2 This is a flowchart illustrating the second embodiment of the projection method of this application;

[0011] Figure 3 This is a flowchart illustrating the third embodiment of the projection method of this application;

[0012] Figure 4 This is a flowchart illustrating the fourth embodiment of the projection method of this application;

[0013] Figure 5 This is a schematic diagram of the structure of one embodiment of the projection system of this application;

[0014] Figure 6 This is a schematic diagram of one embodiment of the reference images in this application;

[0015] Figure 7 This is a schematic diagram of the projection situation according to an embodiment of the projection system of this application;

[0016] Figure 8 This is a schematic diagram of the structure of one embodiment of the projection system of this application;

[0017] Figure 9 This is a schematic diagram of an embodiment of the computer-readable storage medium of this application. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] The terms "first" and "second" in this application are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise expressly specified. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus.

[0020] The applicant discovered that a global camera is currently needed in the projection system to obtain image information of the projected images from each projection device on the projection surface, and to adjust the pose of each projection device based on this information so that the projected images from each projection device can be better blended and stitched together. In other words, the existing projection method cannot utilize the cameras set on each projection device, but a global camera must be added, resulting in low utilization of projection devices and waste of resources.

[0021] Based on this, this application first discloses a projection method, such as Figure 1 As shown, Figure 1 This is a flowchart illustrating the first embodiment of the projection method of this application. In the first embodiment, the projection method is applied to a projection system, which includes at least two projection devices.

[0022] Projection methods include:

[0023] Step S11: Control at least two projection devices to project the corresponding reference image onto the projection surface.

[0024] Among them, at least two of the projection devices project different reference images, that is, the reference image projected by each projection device is unique.

[0025] The at least two projection devices can be controlled to project onto the projection surface so that reference images corresponding to the at least two projection devices are projected onto the projection surface.

[0026] In step S11, the pose of each projection device can be initially adjusted so that the lens of each projection device faces the projection surface, and the distance between each projection device and the projection surface can be obtained. Based on this, the focal length of each projection device can be determined so as to project a clear reference image onto the projection surface.

[0027] The reference image is the image projected by the projection device during the adjustment of the projection screen. The reference image can be an alternating black and white grid pattern, or other types of reference images; this is not limited. In this embodiment, the reference image is preferably a pattern rich in speckle structured light information, that is, a speckle image. This image can be randomly generated, and each region of the image is unique, which helps to recover the original pattern shape from any small region in the speckle pattern. In some implementations, the recovery process may include: the projector or computer includes a speckle image recognition module responsible for recognizing the speckle image and deducing the actual overall speckle projection pattern. The speckle pattern contains a positioning feature, such as a specific brightness and darkness distribution within the speckle pattern. Figure 6 The 4*4 positioning feature, combined with the speckle rules preset by the projector, can be used to recover the overall speckle feature and thus deduce the original pattern shape.

[0028] Step S12: In response to the first instruction, at least one projection device adjacent to the target projection device is used to acquire image information of the reference image projected by the target projection device.

[0029] The target projection device is one of at least two projection devices.

[0030] Upon receiving the first instruction, for each projection device, image information of the reference image projected by that device can be acquired using an image acquisition device on at least one adjacent projection device. Based on this method, image information of the reference images projected by each projection device can be acquired through the adjacent projection devices. In some embodiments, the first instruction can be a decentralized automatic overlay and blending operation logic, such as sequentially capturing the projection speckle pattern of each projector, where the capturing device is the capturing device of one or two adjacent projectors, obtaining the pose of each projector through the acquired N projection speckle patterns, and then adjusting the pose of each projector.

[0031] For a projection device, an adjacent projection device can acquire the aforementioned image information.

[0032] Step S13: Based on at least one image information corresponding to at least two projection devices respectively, adjust the pose of at least two projection devices so that the projected images of at least two projection devices are stitched together into one projected image.

[0033] Among them, a projection device can correspond to at least one image information, and the pose of each projection device can be adjusted based on the at least one image information corresponding to each projection device, so that the projected images of the at least two projection devices can be stitched together into a complete projection image.

[0034] Unlike existing technologies, this application controls each projection device in the projection system to project its own reference image onto the projection surface. Upon receiving a first instruction, it acquires the image information of the reference image projected by each projection device using the corresponding adjacent projection devices. Based on the image information corresponding to each projection device, it adjusts the pose of each projection device to enable the projected images of each projection device to be stitched together into a single projected image. This allows the acquisition of image information to be completed by each projection device alone, and the pose adjustment of each projection device to be completed based on the image information, thereby improving the utilization rate of the projection devices and reducing resource waste.

[0035] It should be noted that although the steps mentioned in the above embodiments have been explained through steps S11-S13, the execution order of each step can be adjusted provided that the logic is feasible.

[0036] For example, step S12 can be executed first to allow each projection device to continuously acquire the corresponding image information, then step S11 can be executed to allow each projection device to project the corresponding reference image onto the projection surface, so that each projection device can acquire the image information of the corresponding reference image, and finally step S13 can be executed.

[0037] This application also proposes a projection method, such as Figure 2 As shown, Figure 2 This is a flowchart illustrating a second embodiment of the projection method of this application. In the second embodiment, the projection method is applied to a projection system, which includes at least two projection devices.

[0038] Projection methods include:

[0039] Step S21: Control at least two projection devices to project the corresponding reference image onto the projection surface.

[0040] Step S22: In response to the first instruction, at least one projection device adjacent to the target projection device is used to acquire image information of the reference image projected by the target projection device.

[0041] Steps S21-S22 in the second embodiment correspond to steps S11-S12 in the first embodiment, and will not be repeated here.

[0042] Step S23: Determine the position information of the reference image projected by the target projection device based on at least one image information corresponding to the target projection device.

[0043] The target projection device is one of at least two projection devices.

[0044] For each projection device, the position information of the reference image projected can be determined based on at least one corresponding image information. This position information can be information related to the position of the reference image on the projection surface, and is not limited here.

[0045] Step S24: Based on the position information of the reference images projected by at least two projection devices respectively, adjust the pose of at least two projection devices so that the projected images of at least two projection devices are stitched together into one projected image.

[0046] Specifically, the pose of each projection device can be adjusted according to the position information of the reference image corresponding to each projection device, thereby adjusting the position of the reference image of each projection device so that the reference images can be better stitched into a complete projection image.

[0047] Based on the above method, the position information of the reference image projected by each projection device can be obtained from the adjacent projection devices. Then, the pose of each projection device can be adjusted according to the position information, which improves the utilization rate of the projection devices and reduces the waste of resources.

[0048] It should be noted that although the steps mentioned in the above embodiments have been explained through steps S21-S24, the execution order of each step can be adjusted provided that the logic is feasible.

[0049] For example, step S22 can be executed first to allow each projection device to continuously acquire the corresponding image information, then step S21 can be executed to allow each projection device to project the corresponding reference image onto the projection surface, so that each projection device can acquire the image information of the corresponding reference image, and finally steps S23 and S24 can be executed.

[0050] Optionally, step S24 may specifically include:

[0051] The current pose of at least two projection devices is determined based on the position information of reference images projected by at least two projection devices respectively.

[0052] Based on the current poses of at least two projection devices, adjust the poses of at least two projection devices.

[0053] Specifically, after obtaining the position information of the reference image projected by each projection device, the current pose of the corresponding projection device can be determined according to the position information, and each projection device can be rotated and / or translated according to the current pose to adjust its position and orientation, thereby stitching the projected images of at least two projection devices into one projected image.

[0054] Based on the above method, the pose of the projection device can be adjusted by combining the current pose of each projection device and the position information of the reference image, which improves the accuracy of the pose adjustment and the projection effect.

[0055] Optionally, step S22, which involves using at least one projection device adjacent to the target projection device to acquire image information of the reference image projected by the target projection device, may specifically include:

[0056] At least one projection device adjacent to the target projection device is used to acquire local image information of the reference image projected by the target projection device.

[0057] Based on at least one local image information corresponding to the target projection device, all image information of the corresponding reference image is reconstructed.

[0058] Step S23 may specifically include:

[0059] Based on at least one complete image information corresponding to the target projection device, determine the position information of the reference image projected by the target projection device.

[0060] Specifically, in step S22, for each projection device, local image information of the reference image projected by the adjacent projection device can be obtained. The local image information can be any image information containing some features of the reference image, and there is no limitation here.

[0061] Based on the local image information and the reference image set, all image information corresponding to each local image information can be determined. This total image information can be any image information containing all features of the reference image; no limitation is made here. The reference image set includes all reference images projected by the at least two projection devices.

[0062] In step S23, for each projection device, the position information of the reference image to be projected can be determined based on at least one of its corresponding complete image information. The position information can be information related to the position of the reference image on the projection surface, which is not limited here.

[0063] Based on the above method, even when the projection device can only obtain local image information of the reference images projected by adjacent projection devices, all image information can be restored based on the local image information, and the position information of each reference image can be further determined for subsequent pose adjustment of each projection device, thereby improving the reliability of the projection method.

[0064] Unlike existing technologies, this application controls each projection device in the projection system to project its own reference image onto the projection surface. Upon receiving a first instruction, it acquires the image information of the reference image projected by each projection device using the corresponding adjacent projection devices. Based on the image information corresponding to each projection device, it adjusts the pose of each projection device to enable the projected images of each projection device to be stitched together into a single projected image. This allows the acquisition of image information to be completed by each projection device alone, and the pose adjustment of each projection device to be completed based on the image information, thereby improving the utilization rate of the projection devices and reducing resource waste.

[0065] This application also discloses a projection method, such as Figure 3 As shown, Figure 3 This is a flowchart illustrating the third embodiment of the projection method of this application. In the third embodiment, the projection method is applied to a projection system, which includes at least two projection devices and a global image acquisition device.

[0066] Projection methods include:

[0067] Step S31: Control at least two projection devices to project the corresponding reference image onto the projection surface.

[0068] After step S31, if a first instruction is received, steps S32-S33 are executed; if a second instruction is received, steps S34-S35 are executed.

[0069] Step S32: In response to the first instruction, at least one projection device adjacent to the target projection device is used to acquire image information of the reference image projected by the target projection device.

[0070] Step S33: Based on at least one image information corresponding to at least two projection devices respectively, adjust the pose of at least two projection devices so that the projected images of at least two projection devices are stitched together into one projected image.

[0071] Steps S31-S33 in the third embodiment correspond to steps S11-S13 in the first embodiment, and will not be repeated here.

[0072] Step S34: In response to the second instruction, use a global image acquisition device to acquire image information of reference images projected by at least two projection devices.

[0073] Step S35: Based on the image information of the reference images projected by at least two projection devices, adjust the pose of at least two projection devices so that the projected images of at least two projection devices are stitched together into one projected image.

[0074] Specifically, upon receiving the second instruction, a global image acquisition device can acquire image information of all reference images projected by the at least two projection devices, and adjust the pose of the at least two projection devices based on the image information, so that the projected images from the at least two projection devices are stitched together into a complete projected image. In some embodiments, the second instruction can be a globally centralized fast automatic overlay and fusion calculation logic.

[0075] Based on the above method, when different instructions are received, the pose can be adjusted based on the information obtained by the projection device itself or the information obtained by the global image acquisition device, so that the projected images of the at least two projection devices can be stitched together into a complete projected image, thereby enabling the projection system to adapt to more application scenarios and improving the applicability of the projection method.

[0076] It should be noted that although the steps mentioned in the above embodiments have been explained through steps S11-S13, the execution order of each step can be adjusted provided that the logic is feasible.

[0077] For example, in response to the first or second instruction, step S32 or S34 can be executed to enable each projection device to continuously acquire the corresponding image information or to enable the global image acquisition device to continuously acquire the corresponding image information. Then, step S31 can be executed to enable each projection device to project the corresponding reference image onto the projection surface, so that each projection device or the global image acquisition device can acquire the image information of the corresponding reference image. Finally, step S33 or S35 can be executed.

[0078] Furthermore, there is no fixed order between steps S32-S33 and steps S34-S35; their execution order may depend on the received instructions.

[0079] Optionally, step S35 may specifically include:

[0080] Based on the image information of the reference images projected by at least two projection devices, determine the position information of the reference images projected by at least two projection devices respectively.

[0081] The pose of at least two projection devices is adjusted based on the position information of reference images projected by at least two projection devices respectively.

[0082] Specifically, based on the image information of all the aforementioned reference images acquired by the global image acquisition device, the position information of the reference image projected by each projection device can be determined, so as to adjust the pose of each projection device based on the position information.

[0083] Based on the above methods, the targeting of pose adjustment can be improved, and the projection effect can be enhanced.

[0084] Unlike existing technologies, this application controls each projection device in the projection system to project its own reference image onto the projection surface. Upon receiving a first instruction, it acquires the image information of the reference image projected by each projection device using the corresponding adjacent projection devices. Based on the image information corresponding to each projection device, it adjusts the pose of each projection device to enable the projected images of each projection device to be stitched together into a single projected image. This allows the acquisition of image information to be completed by each projection device alone, and the pose adjustment of each projection device to be completed based on the image information, thereby improving the utilization rate of the projection devices and reducing resource waste.

[0085] This application also discloses a projection method, such as Figure 4 As shown, Figure 4 This is a flowchart illustrating the fourth embodiment of the projection method of this application. In the fourth embodiment, the projection method is applied to a projection system, which includes at least two projection devices and a global image acquisition device.

[0086] Projection methods include:

[0087] Step S41: Control at least two projection devices to project the corresponding reference image onto the projection surface.

[0088] Step S42: In response to the first instruction, at least one projection device adjacent to the target projection device is used to acquire image information of the reference image projected by the target projection device.

[0089] Step S43: Based on at least one image information corresponding to at least two projection devices respectively, adjust the pose of at least two projection devices so that the projected images of at least two projection devices are stitched together into one projected image.

[0090] Steps S41-S43 in the third embodiment correspond to steps S11-S13 in the first embodiment, and will not be repeated here.

[0091] It should be noted that although the steps mentioned in the above embodiments have been explained through steps S41-S44, the execution order of each step can be adjusted provided that the logic is feasible.

[0092] For example, step S42 can be executed first to allow each projection device to continuously acquire the corresponding image information, then step S41 can be executed to allow each projection device to project the corresponding reference image onto the projection surface, so that each projection device can acquire the image information of the corresponding reference image, and finally step S43 can be executed.

[0093] Optionally, step S41 may specifically include:

[0094] Control at least two projection devices to project corresponding reference images onto the projection surface so that there is an overlap between adjacent reference images.

[0095] Specifically, the overlap between adjacent reference images ensures that the reference images projected by each projection device can be seamlessly stitched together without being too far apart, thus preventing adjacent projection devices from being unable to obtain the image information of the reference images and improving the reliability of the projection method.

[0096] Optionally, step S43 may specifically include:

[0097] Based on at least one image information corresponding to at least two projection devices respectively, the pose of at least two projection devices is adjusted, and at least two projection devices are controlled to perform color correction processing and / or edge blending processing on the spliced ​​projection image, so that the projection images of at least two projection devices are spliced ​​into one projection image.

[0098] Specifically, color correction can be performed on each projection device to unify the color standard of the projected images of at least two projection devices, and / or edge blending processing can be performed at the splicing points of reference images projected by adjacent projection devices.

[0099] Based on the above methods, the effect of the spliced ​​projection image can be improved.

[0100] Unlike existing technologies, this application controls each projection device in the projection system to project its own reference image onto the projection surface. Upon receiving a first instruction, it acquires the image information of the reference image projected by each projection device using the corresponding adjacent projection devices. Based on the image information corresponding to each projection device, it adjusts the pose of each projection device to enable the projected images of each projection device to be stitched together into a single projected image. This allows the acquisition of image information to be completed by each projection device alone, and the pose adjustment of each projection device to be completed based on the image information, thereby improving the utilization rate of the projection devices and reducing resource waste.

[0101] In an application scenario, such as Figure 5 As shown, Figure 5 This is a schematic diagram of the structure of one embodiment of the projection system of this application, as shown below. Figure 5 The projection system shown in (D) includes at least two projection systems as follows: Figure 5 (A) the projection device, at least two such Figure 5 (B) shows the rotating platform and as Figure 5 (C). A projection device is mounted on a rotating platform, which is mounted on a moving platform. Both the rotating platform and the moving platform are communicatively connected to each projection device. The projection device can be rotated or translated by controlling the projection system to achieve the technical effect of adjusting the position and orientation of the projection device.

[0102] Taking a target projection device as an example, the target projection device is controlled to project a corresponding reference image, and then the projection devices adjacent to the target projection device can be controlled to acquire such an image. Figure 6 Local image information of the reference image shown in (E), and based on, as Figure 6 (F) shows the local image information. The image region enclosed by the white box is used to determine the original reference image in order to reconstruct the image as shown in the figure. Figure 6 (G) shows all the image information of the reference image.

[0103] Based on the above method, at least two projection devices are used as target projection devices in sequence to obtain at least one complete image information corresponding to each projection device. Then, the pose of each projection device can be adjusted based on this information so that the projection images can be stitched together into a complete projection image.

[0104] Specifically, the projection system includes, for example: Figure 5 (A) shows the projection device 51, such as Figure 5 (B) shows the support 52 and the rotating carrier 53 of the rotating platform, as follows: Figure 5 (C) shows the guide rail 54 and the mobile vehicle 55 of the mobile platform.

[0105] For example, such as Figure 5 As shown in (D), the projection device 51 can be mounted on the bracket 52, and the bracket 52 can be mounted on the rotating carrier 53. When the rotating carrier 53 rotates, it can drive the bracket 52 and the projection device 51 to rotate in the horizontal direction.

[0106] The rotating platform, which is composed of the bracket 52 and the rotating carrier 53, can be set on the moving carrier 55 of the moving platform. The rotating carrier 53 can rotate relative to the moving carrier 55. The moving carrier 55 can be set on the guide rail 54 and can move on the guide rail 54, thereby driving the projection device 51 to move along the guide rail.

[0107] It should be noted that the above-described projection system is merely an example. The projection device 51 can be any device with projection function. The rotating platform and the moving platform can be the structure described above, or they can be an integrated structure, or they can be other types of devices with the function of adjusting the position and orientation of the projection device 51. No limitation is made here.

[0108] For example, such as Figure 7 As shown, Figure 7 This is a schematic diagram illustrating the projection process of an embodiment of the projection system of this application. Four projection devices are arranged in a row. The first projection device can acquire the aforementioned local image information based on the second projection device. The second projection device can acquire the aforementioned local image information based on the first and third projection devices. The third projection device can acquire the aforementioned local image information based on the second and fourth projection devices. The fourth projection device can acquire the aforementioned local image information based on the third projection device. Figure 7 (H) shows a schematic diagram of the splicing of the projected images from the four projectors before pose adjustment, as follows: Figure 7 (I) shows a schematic diagram of the splicing of the projected images of the four projectors after the pose adjustment. It can be seen that after the pose adjustment, the projected images of the projectors can be better spliced ​​into a single projected image.

[0109] It should be noted that, as Figure 7 The projection system shown only includes projection devices arranged in a single row. In practice, however, it can also include projection devices arranged in multiple rows, such as in... Figure 7 Based on the projection system shown, multiple columns of projection devices are added above the four projection devices to form a planar projection device arrangement. In this case, the projection devices adjacent to the target projection device may include at least one projection device that exists above, below, to the left, or to the right, depending on the actual layout, which is not limited here.

[0110] This application also proposes a projection system, such as Figure 8 As shown, Figure 8 This is a schematic diagram of the structure of an embodiment of the projection system of this application. The projection system 80 includes: at least two projection devices 81, a projection module 82, an image acquisition module 83, and a pose adjustment module 84.

[0111] The projection module 82 is used to control the at least two projection devices 81 to project corresponding reference images onto the projection surface, wherein the reference images projected by any two of the at least two projection devices 81 are different.

[0112] The image acquisition module 83 is used to acquire image information of the reference image projected by the target projection device using at least one projection device adjacent to the target projection device, wherein the target projection device is one of the at least two projection devices 81.

[0113] The pose adjustment module 84 is used to adjust the pose of the at least two projection devices 81 based on at least one image information corresponding to each of the at least two projection devices 81, so that the projected images of the at least two projection devices 81 are stitched together into one projected image.

[0114] It should be noted that the projection device 81 may include, but is not limited to: laser projectors, LED projectors, CRT projectors, LCD projectors, DLP projectors, LCOS projectors, traditional light source projectors, and other types of devices with projection functions, which are not limited here.

[0115] The projection module 82 can be located near or far from the projection device 81, and is not limited here. The projection module 82 may include, but is not limited to: wireless remote control devices (such as infrared remote control devices, Bluetooth remote control devices, etc.), control consoles, gateways, and other types of devices with control functions, and is not limited here.

[0116] The image acquisition module 83 can be located near or far from the projection device 81, and is not limited here. The image acquisition module 83 may specifically include, but is not limited to, cameras, webcams, imagers, scanners, and other types of devices with image acquisition functions, and is not limited here.

[0117] The pose adjustment module 84 may include, but is not limited to, pose adjustment platforms, three-dimensional moving platforms and other types of devices with pose adjustment functions, which are not limited here.

[0118] Unlike existing technologies, this application controls each projection device in the projection system to project its own reference image onto the projection surface. Upon receiving a first instruction, it acquires the image information of the reference image projected by each projection device using the corresponding adjacent projection devices. Based on the image information corresponding to each projection device, it adjusts the pose of each projection device to enable the projected images of each projection device to be stitched together into a single projected image. This allows the acquisition of image information to be completed by each projection device alone, and the pose adjustment of each projection device to be completed based on the image information, thereby improving the utilization rate of the projection devices and reducing resource waste.

[0119] This application also proposes a computer-readable storage medium, such as Figure 9 As shown, Figure 9 This is a schematic diagram of the structure of an embodiment of the computer-readable storage medium of this application. The computer-readable storage medium 90 stores program instructions 91 thereon. When the program instructions 91 are executed by a processor (not shown), they implement the projection method in the above embodiment.

[0120] In this embodiment, the computer-readable storage medium 90 may be, but is not limited to, a USB flash drive, SD card, PD optical drive, portable hard drive, high-capacity floppy drive, flash memory, multimedia memory card, storage unit in a server, FPGA, or ASIC, etc.

[0121] Unlike existing technologies, this application controls each projection device in the projection system to project its own reference image onto the projection surface. Upon receiving a first instruction, it acquires the image information of the reference image projected by each projection device using the corresponding adjacent projection devices. Based on the image information corresponding to each projection device, it adjusts the pose of each projection device to enable the projected images of each projection device to be stitched together into a single projected image. This allows the acquisition of image information to be completed by each projection device alone, and the pose adjustment of each projection device to be completed based on the image information, thereby improving the utilization rate of the projection devices and reducing resource waste.

[0122] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A projection method, characterized in that, Applied to a projection system, the projection system comprising: at least two projection devices; The projection method includes: The at least two projection devices are controlled to project corresponding reference images onto the projection surface, wherein any two of the at least two projection devices project different reference images. In response to the first instruction, at least one projection device adjacent to the target projection device is used to acquire local image information of the reference image projected by the target projection device. Based on at least one of the local image information corresponding to the target projection device and the reference image projected by the target projection device, all image information of the reference image corresponding to each of the local image information is determined, wherein the target projection device is one of the at least two projection devices; Based on at least one of the complete image information corresponding to the target projection device, determine the position information of the reference image projected by the target projection device; Based on the position information of the reference images projected by the at least two projection devices respectively, determine the current pose of the at least two projection devices; Based on the current pose of the at least two projection devices, the pose of the at least two projection devices is adjusted so that the projected images of the at least two projection devices are stitched together into one projected image.

2. The projection method according to claim 1, characterized in that, The reference image is a speckle image.

3. The projection method according to claim 1 or 2, characterized in that, The projection system also includes: a global image acquisition device; After controlling the at least two projection devices to project corresponding reference images onto the projection surface, the method further includes: In response to the second instruction, the global image acquisition device is used to acquire image information of the reference images projected by the at least two projection devices; Based on the image information of the reference images projected by the at least two projection devices, the pose of the at least two projection devices is adjusted so that the projected images of the at least two projection devices are stitched together into a single projected image.

4. The projection method according to claim 3, characterized in that, The pose adjustment of the at least two projection devices based on the image information of the reference images projected by the at least two projection devices includes: Based on the image information of the reference images projected by the at least two projection devices, determine the position information of the reference images projected by the at least two projection devices respectively; Based on the position information of the reference images projected by the at least two projection devices respectively, the pose of the at least two projection devices is adjusted.

5. The projection method according to claim 1 or 2, characterized in that, The control of the at least two projection devices to project corresponding reference images onto the projection surface includes: The at least two projection devices are controlled to project corresponding reference images onto the projection surface, so that there is an overlap between adjacent reference images.

6. The projection method according to claim 1 or 2, characterized in that, The step of adjusting the pose of the at least two projection devices based on their current poses, so as to stitch the projected images of the at least two projection devices into a single projected image, includes: Based on the current pose of the at least two projection devices, the pose of the at least two projection devices is adjusted, and the at least two projection devices are controlled to perform color correction processing and / or edge blending processing on the spliced ​​projection image, so that the projection images of the at least two projection devices are spliced ​​into a single projection image.

7. A projection system, characterized in that, include: At least two projection devices; A projection module is used to control the at least two projection devices to project corresponding reference images onto the projection surface, wherein any two of the at least two projection devices project different reference images. An image acquisition module is configured to acquire local image information of a reference image projected by the target projection device using at least one projection device adjacent to the target projection device; and determine all image information of the reference image corresponding to each local image information based on at least one of the local image information corresponding to the target projection device and the reference image projected by the target projection device, wherein the target projection device is one of the at least two projection devices. The pose adjustment module is used to determine the position information of the reference image projected by the target projection device based on at least one of the total image information corresponding to the target projection device; determine the current pose of the at least two projection devices based on the position information of the reference images projected by the at least two projection devices respectively; and adjust the pose of the at least two projection devices based on the current pose of the at least two projection devices so that the projected images of the at least two projection devices are stitched together into a single projected image.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores program instructions that, when executed by a processor, implement the method as described in any one of claims 1 to 6.

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