Adaptive Projection Method, Device, Medium and Equipment Based on Projection Equipment

Abstract

The present disclosure relates to an adaptive projection method, apparatus, medium, and device based on a projection device. The method includes: determining a projection area image from a pre-projection scene image that overlaps with the center of the pre-projection scene image and has a projection area range smaller than a preset recognition size range; identifying first position information occupied by an obstacle in the pre-projection scene image; if it is determined that there is a first target projection area without an obstacle in the pre-projection scene image according to the first position information and the projection area range, controlling the projection device to rotate so that after the rotation is completed, the projection area of the projection device overlaps with the first target projection area; if it is determined that there is no target projection area without an obstacle in the preset projection scene image according to the first position information and the projection area range, controlling the projection device to rotate so that after the rotation is completed, the projection area of the projection device overlaps with a second target projection area. Thus, adaptive projection adjustment of the projection device is achieved.

Description

Technical Field

[0001] The present disclosure relates to the field of projection technology, and in particular, to an adaptive projection method, device, medium and equipment based on a projection device. Background Art

[0002] A projector, also known as a projection machine, is a device that can project images or videos onto a screen and can be connected to a computer, VCD, DVD, BD, game console, DV, etc. through different interfaces to play corresponding video signals. According to different working methods, it is divided into different types such as CRT, LCD, DLP, etc. The performance indicators of a projector are the signs to distinguish the levels of projectors, such as light output, horizontal scanning frequency, vertical scanning frequency, etc., and it is widely used in families, offices, schools and entertainment venues. The projection angle of existing projectors basically needs to be manually adjusted based on the obstacles in the projection area, which is very troublesome and affects the user experience. Summary of the Invention

[0003] To overcome the problems existing in the related art, the present disclosure provides a scientific research project talent recommendation method, device, medium and equipment based on big data.

[0004] According to a first aspect of an embodiment of the present disclosure, there is provided an adaptive projection method based on a projection device, the method including:

[0005] Collecting an image within a preset recognition size range centered on the pre-projection direction in a projection scene corresponding to the projection device by a front camera device to generate a pre-projection scene image corresponding to the projection scene;

[0006] Determining, according to a preset projection ratio of the projection device, a projection area image that overlaps with the center of the pre-projection scene image and has a projection area range smaller than the preset recognition size range from the pre-projection scene image;

[0007] Identifying whether there is an obstacle in the projection area image, and when it is determined that there is an obstacle and the image area occupied by the obstacle in the projection area image is greater than a set threshold, identifying first position information occupied by the obstacle in the pre-projection scene image;

[0008] If it is determined that there is a first target projection area without obstacles in the pre-projected scene image according to the first position information and the projection area range, obtain the second position information of the first target projection area in the pre-projected scene image, and determine the first relative position relationship between the center corresponding to the first target projection area and the center corresponding to the projection area image according to the relative position between the second position information and the center. Control the projection device to rotate according to the first relative position relationship so that after the rotation is completed, the projection area of the projection device overlaps with the first target projection area;

[0009] If it is determined that there is no target projection area without obstacles in the preset projected scene image according to the first position information and the projection area range, determine a second target projection area in the pre-projected scene image where the area occupied by the obstacles in the projection area is the smallest and all the obstacles are on the edge of the projection area. Obtain the second position information of the second target projection area in the pre-projected scene image, and determine the second relative position relationship between the center corresponding to the second target projection area and the center corresponding to the projection area image according to the relative position between the second position information and the center. Control the projection device to rotate according to the second relative position relationship so that after the rotation is completed, the projection area of the projection device overlaps with the second target projection area.

[0010] Optionally, the determining that there is a first target projection area without obstacles in the pre-projected scene image according to the first position information and the projection area range includes:

[0011] Perform grid division on the pre-projected scene image through a preset grid with multiple square grids to generate a grid image corresponding to the pre-projected scene image;

[0012] Determine a grid selection frame that matches the preset projection ratio from the grid image, and perform multiple selections on the grids corresponding to the grid image based on the grid selection frame to generate multiple frames of selected grid images corresponding to the projection area;

[0013] If it is determined that the pixel means of the corresponding grids in the target selected grid image exist and are the same in the multiple frames of selected grid images, it is determined that there is the first target projection area in the pre-projected image.

[0014] Optionally, the performing multiple selections on the grids corresponding to the grid image based on the grid selection frame to generate multiple frames of selected grid images corresponding to the projection area includes:

[0015] According to the first position information, with the center as the reference point, determine the selection direction away from the obstacles in the pre-projected scene image;

[0016] Perform multiple selections on the grid image according to the selected area direction and unit selection step size, and calculate the pixel mean values of the corresponding grids in the selected grid image generated after each selection. If the corresponding pixel mean values of the selected grid images are the same, stop the selection and generate the multiple-frame selected grid images.

[0017] Optionally, the recognition of whether there are obstacles in the projection area image includes:

[0018] Determine the RGB values corresponding to each pixel point in the projection area image, and convert the projection area image into a projection grayscale image by merging the RGB color channel information;

[0019] Use an image frame with a preset size to select the projection grayscale image according to a set selection path until the image frame traverses the projection grayscale image to generate multiple-frame selected images;

[0020] Calculate the multiple pixel mean values corresponding to the multiple-frame selected images one by one, and multiply the target pixel mean value corresponding to the multiple pixel mean values by a set offset coefficient as the binarization threshold of the projection grayscale image;

[0021] Perform binarization processing on the pixel points in the projection grayscale image according to the binarization threshold, set the pixel points greater than or equal to the binarization threshold to white, and set the pixel points less than the binarization threshold to black to generate a binarized image corresponding to the projection grayscale image;

[0022] Based on the contour detection algorithm, detect each connected region in the binarized image and calculate the area of the region enclosed by the connected region;

[0023] If the area of the region is greater than the set area threshold, it is determined that there are obstacles in the projection area image; if the area of the region is less than the set area threshold, it is determined that there are no obstacles in the projection area image.

[0024] Optionally, the determination of the second target projection area in which the obstacles in the pre-projection scene image occupy the least area and the obstacles are all on the edge of the projection area includes:

[0025] Taking the center as the center of the rectangular coordinate system, construct a plane rectangular coordinate system, and based on the plane rectangular coordinate system, determine the vertex coordinates of each obstacle vertex in the pre-projection scene image;

[0026] According to the vertex coordinates and the preset projection ratio, determine the largest blank area without obstacles in the pre-projection scene image, and determine the center coordinates of the center corresponding to the largest blank area;

[0027] Taking the central coordinates as a reference, construct a plurality of center points within a set square range as a plurality of pre-projection centers corresponding to the projection area, and based on the plurality of pre-projection centers and the preset projection ratio, intercept multiple frames of pre-projection area images from the pre-projection scene image;

[0028] Determine a target pre-projection area image with the least obstacle area from the multiple frames of pre-projection area images, and determine the second target projection area according to the position of the target pre-projection area image in the pre-projection scene image.

[0029] Optionally, the intercepting multiple frames of pre-projection area images from the pre-projection scene image based on the plurality of pre-projection centers and the preset projection ratio includes:

[0030] According to the rectangular coordinate system, determine a plurality of coordinate information corresponding to the plurality of pre-projection centers one by one;

[0031] According to the preset projection ratio and the plurality of coordinate information, determine a plurality of pre-projection ranges;

[0032] According to the pre-projection ranges, intercept multiple frames of images from the pre-projection scene image as the multiple frames of pre-projection area images.

[0033] Optionally, the identifying the first position information occupied by the obstacle in the pre-projection scene image includes:

[0034] Rotate the pan-tilt of the projection device based on a set rotation angle to adjust the pre-projection direction; if it is determined that there is an obstacle in the adjusted projection area image and the image area occupied by the obstacle in the projection area image is greater than the set threshold; then rotate the pan-tilt again based on the set rotation angle;

[0035] When the number of rotations of the pan-tilt reaches the set threshold and there is an obstacle in the adjusted projection area image, identify the first position information occupied by the obstacle in the adjusted pre-projection scene image.

[0036] According to the second aspect of the embodiments of the present disclosure, there is provided an adaptive projection device based on a projection device, the device includes:

[0037] A generating module, configured to collect an image within a preset recognition size range centered on the pre-projection direction in the projection scene corresponding to the projection device by a front camera device, and generate a pre-projection scene image corresponding to the projection scene;

[0038] A determination module, configured to determine, according to a preset projection ratio of the projection device, a projection area image from the pre-projection scene image that overlaps with the center of the pre-projection scene image and has a projection area range smaller than the preset recognition size range;

[0039] An identification module, configured to identify whether there is an obstacle in the projection area image, and when it is determined that there is an obstacle and the image area occupied by the obstacle in the projection area image is greater than a set threshold, identify the first position information occupied by the obstacle in the pre-projection scene image;

[0040] A first determination module, configured to, if it is determined according to the first position information and the projection area range that there is a first target projection area without an obstacle in the pre-projection scene image, obtain the second position information of the first target projection area in the pre-projection scene image, determine a first relative position relationship between the center corresponding to the first target projection area and the center corresponding to the projection area image according to the relative position between the second position information and the center, and control the projection device to rotate according to the first relative position relationship so that after the rotation is completed, the projection area of the projection device overlaps with the first target projection area;

[0041] A second determination module, configured to, if it is determined according to the first position information and the projection area range that there is no target projection area without an obstacle in the preset projection scene image, determine a second target projection area from the pre-projection scene image where the area occupied by the obstacle in the projection area is the smallest and all the obstacles are on the edge of the projection area, obtain the second position information of the second target projection area in the pre-projection scene image, determine a second relative position relationship between the center corresponding to the second target projection area and the center corresponding to the projection area image according to the relative position between the second position information and the center, and control the projection device to rotate according to the second relative position relationship so that after the rotation is completed, the projection area of the projection device overlaps with the second target projection area.

[0042] According to a third aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the method according to any one of the first aspects of the present disclosure are implemented.

[0043] According to a fourth aspect of the embodiments of the present disclosure, there is provided an electronic device, including:

[0044] A processor;

[0045] A memory for storing instructions executable by the processor;

[0046] Wherein, the processor is configured to execute executable instructions in the memory to implement the method described in any one of the first aspects of the present disclosure.

[0047] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

[0048] In the above manner, based on the front camera device, in the projection scene corresponding to the pre-projection direction of the projection device, an image within a preset recognition size range centered on the pre-projection direction is collected to generate a pre-projection scene image corresponding to the projection scene. According to the preset projection ratio of the projection device, a projection area image that overlaps with the center of the pre-projection scene image and has a projection area range smaller than the preset recognition size range is determined from the pre-projection scene image. Whether there are obstacles in the projection area image is recognized. And when it is determined that there are obstacles and the image area occupied by the obstacles in the projection area image is greater than a set threshold, the first position information occupied by the obstacles in the pre-projection scene image is recognized. If it is determined that there is a first target projection area without obstacles in the pre-projection scene image according to the first position information and the projection area range, the second position information of the first target projection area in the pre-projection scene image is obtained. According to the relative position between the second position information and the center, the first relative position relationship between the center corresponding to the first target projection area and the center corresponding to the projection area image is determined. According to the first relative position relationship, the projection device is controlled to rotate so that after the rotation is completed, the projection area of the projection device overlaps with the first target projection area. If it is determined that there is no target projection area without obstacles in the preset projection scene image according to the first position information and the projection area range, a second target projection area with the least area occupied by the obstacles in the projection area and all the obstacles on the edge of the projection area is determined from the pre-projection scene image. The second position information of the second target projection area in the pre-projection scene image is obtained. According to the relative position between the second position information and the center, the second relative position relationship between the center corresponding to the second target projection area and the center corresponding to the projection area image is determined. According to the second relative position relationship, the projection device is controlled to rotate so that after the rotation is completed, the projection area of the projection device overlaps with the second target projection area. Thus, the adaptive projection adjustment of the projection device is realized, and an area without obstacles or with the fewest obstacles is found for adaptive projection, improving the user's projection experience.

[0049] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0051] Figure 1 It is a flowchart of an adaptive projection method based on a projection device shown according to an exemplary embodiment.

[0052] Figure 2 It is a schematic diagram of a projection obstacle shown according to an exemplary embodiment.

[0053] Figure 3 It is a block diagram of an adaptive projection device based on a projection device shown according to an exemplary embodiment. Detailed implementation manners

[0054] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0055] It should be noted that all actions of obtaining signals, information, or data in this application are carried out on the premise of complying with the corresponding data protection regulations and policies of the country where it is located and obtaining the authorization given by the owner of the corresponding device.

[0056] Figure 1 It is a flowchart of an adaptive projection method based on a projection device shown according to an exemplary embodiment. Refer to Figure 1 As shown, the method includes:

[0057] In step S11, based on the front camera device, in the projection scene corresponding to the pre-projection direction of the projection device, an image within a preset recognition size range centered on the pre-projection direction is collected to generate a pre-projection scene image corresponding to the projection scene.

[0058] Exemplarily, applied to a projection device, the projection device is configured with a projection device for realizing projection based on a projection camera, and a front camera device for capturing scene parameters in the pre-projection scene to realize subsequent adaptive conditions for the projection angle. Optionally, the projection device may further include a pan-tilt head, and the projection device and the front camera device are mounted on the pan-tilt head. The pan-tilt head can realize 360° horizontal rotation, and 180° rotation of the projection device and the front camera device in the vertical direction, so as to realize multi-directional and multi-angle projection of the projection device. The user can manually adjust the pan-tilt head to adjust the projection angle of the projection device. At the same time, the rotation angle and tilt angle of the pan-tilt head can also be remotely controlled and adjusted by means of an infrared remote control, so that the projection screen of the projection device is projected at the best position where the user wants to project.

[0059] In this embodiment, there is no projection canvas. After the user turns on the projection device, the projection device projects the projection image onto the corresponding real scene. For example, the projection device projects the image onto a vertical wall, onto the ceiling, onto the floor, etc. When projecting an image without a projection canvas, there may be other obstacles in the initially set projection scene, blocking the projection image. Therefore, it is necessary to adaptively adjust the initially set projection angle of the user to move the projection image to an area without obstacles, improving the user's viewing experience.

[0060] After the user adjusts the planar angle and vertical angle of the projection device through the above-mentioned pan-tilt angle adjustment method, the front camera device of the projection device is used to collect images of the projection scene in the corresponding pre-projection direction of the projection device. The pre-projection direction is the direction perpendicular to the surface of the front camera device's lens to the projection scene, and the projection scene is the scene where the projection device will project. The front camera device collects images of the projection scene to generate a pre-projection scene image. It should be noted that in this embodiment, the image size of the pre-projection scene image is larger than the image size of the projection image during the final projection. For example, the image size of the pre-projection scene image can be set to 2-4 times the projection image enlarged in proportion. That is, after the user determines the pre-projection direction by adjusting the angle of the projection device, the front camera device collects a pre-projection scene image enlarged in proportion, and then determines the final projection area to be projected from this pre-projection scene image. The projection angle of the projection device is finely adjusted through this projection area to achieve projection on this projection area by the projection device.

[0061] In step S12, according to the preset projection ratio of the projection device, a projection area image that overlaps with the center of the pre-projection scene image and has a projection area range smaller than the preset recognition size range is determined from the pre-projection scene image.

[0062] For example, in this embodiment, the aspect ratio of the length and width of the pre-projection scene image is the same as that of the projection area. Under the initial conditions, the pre-projection direction is the direction that the user initially sets and most wants the projection device to perform the projection action. Therefore, the center of the projection area of the projection device is set to overlap with the center of the pre-projection scene image, and the projection area range is smaller than the preset recognition size range. And the projection area of the pre-projection scene image is intercepted according to this setting method to generate a projection area image corresponding to the scene of the projection area in the initial state. In this embodiment, the projection area image is first recognized to determine whether there are obstacles. If there are no obstacles, there is no need to adjust the projection angle, and the projection image is directly projected onto this pre-projection scene. If an obstacle is detected in the projection area image, it is necessary to find a blank position without obstacles in the pre-projection scene image as the projection area.

[0063] In step S13, it is determined whether there is an obstacle in the projected area image. When it is determined that there is an obstacle and the image area occupied by the obstacle in the projected area image is greater than a set threshold, the first position information occupied by the obstacle in the pre-projected scene image is identified.

[0064] Exemplarily, in this embodiment, after obtaining the projected area image through the above steps, it is determined whether there is an obstacle in the projected area image. When it is determined that there is an obstacle in the image, the image area occupied by the obstacle in the image is identified. When there is an obstacle in the projected area image and the image area occupied by the obstacle in the projected area image is greater than the set threshold, the first position information of the obstacle in the above pre-projected scene image is determined. It should be noted that in this embodiment, the method for determining whether there is an obstacle in the image and the method for determining the area occupied by the obstacle in the image when there is an obstacle are not limited. For example, since the types of obstacles corresponding to the projection in the pre-projected scene are relatively single, and when the user adjusts the above pre-projected direction, most of the obstacles with larger defects have been preliminarily screened and avoided, a trained deep learning model can be used to identify the obstacles in the pre-projected scene, detect whether there is an obstacle, and the image area information occupied by the obstacle. Exemplarily, image processing can also be performed on the pre-projected scene image, and the obstacles in the image can be identified and detected based on the obstacle recognition algorithm. This is not limited in this embodiment.

[0065] It should be noted that in this embodiment, if it is determined that there is no obstacle in the projected area image, there is no need to adjust the projection angle, and the projection is directly performed based on the pre-projected direction. If it is determined that there is an obstacle in the projected area image and the total image area occupied by the obstacle in the image is less than the set threshold, that is, there is a projection obstacle in the projected area image, but this obstacle will not affect the visual perception of the projection screen, this obstacle can be ignored and the projection can be directly performed based on this projected area. When there is an obstacle in the projected area image and the image area occupied by the obstacle in the projected area image is greater than the set threshold, it means that this obstacle will affect the final projection effect. At this time, the projected area needs to be adjusted to avoid the obstacle affecting the projection effect of the projection screen in the projected area.

[0066] In this embodiment, when it is determined that there is an obstacle and the area of the obstacle is greater than the set threshold, the first position information occupied by the obstacle in the pre-projected scene image is identified. Figure 2 It is a schematic diagram of a projection obstacle shown according to an exemplary embodiment. As Figure 2As shown in the figure, in this embodiment, a contour recognition algorithm can be used to frame the position occupied by the obstacle in the pre-projected scene image, and the relative position relationship is used to record the first position information of each obstacle in the pre-projected scene image. For example, usually, the pre-projected scene image can be set as a regular rectangle, a plane rectangular coordinate system is constructed based on the center of the rectangle, and based on the relative position of the corresponding contour of the obstacle relative to the center, a set of coordinate points corresponding to the contour is determined, and this set of coordinate points is used to represent the first position information.

[0067] Optionally, in some embodiments, the above step of "identifying the first position information occupied by the obstacle in the pre-projected scene image" includes:

[0068] Rotate the pan-tilt of the projection device based on the set rotation angle to adjust the pre-projection direction; if it is determined that there is an obstacle in the adjusted projection area image and the image area occupied by the obstacle in the projection area image is greater than the set threshold; then rotate the pan-tilt again based on the set rotation angle;

[0069] When the number of rotations of the pan-tilt reaches the set threshold and there is an obstacle in the adjusted projection area image, identify the first position information occupied by the obstacle in the adjusted pre-projected scene image.

[0070] For example, in this embodiment, to avoid that the pan-tilt still cannot find a suitable projection position after multiple actions, a rotation threshold is set for the pan-tilt rotation. After automatically rotating the pan-tilt of the projection device based on the set rotation angle to adjust the pre-projection direction, if it is determined that there is an obstacle in the adjusted projection area image and the image area occupied by the obstacle in the projection area image is greater than the set threshold, then the pan-tilt is adjusted again based on the set rotation angle to adjust the projection angle of the projection device again. After the number of rotations of the pan-tilt reaches the set threshold, if there is still an obstacle in the projection area image, then the position of the projection screen of the projection device in the pre-projected scene image is adjusted.

[0071] Optionally, in some embodiments, the above step S13 includes:

[0072] Determine the RGB values corresponding to each pixel point in the projection area image, and convert the projection area image into a projection grayscale image by merging the RGB color channel information;

[0073] Use an image frame with a preset size to frame the projection grayscale image according to the set framing path until the image frame traverses the projection grayscale image to generate multiple framed images;

[0074] Calculate the multiple pixel means corresponding to the multiple framed images one by one, and multiply the target pixel mean corresponding to the multiple pixel means by the set offset coefficient as the binarization threshold of the projection grayscale image;

[0075] Binarize the pixel points in the projected grayscale image according to the binarization threshold, set the pixel points greater than or equal to the binarization threshold to white, and set the pixel points less than the binarization threshold to black to generate a binarized image corresponding to the projected grayscale image;

[0076] Based on the contour detection algorithm, detect each connected region in the binarized image and calculate the area of the region enclosed by the connected region;

[0077] If the area of the region is greater than the set area threshold, it is determined that there is an obstacle in the projected area image; if the area of the region is less than the set area threshold, it is determined that there is no obstacle in the projected area image.

[0078] Exemplarily, in this embodiment, a binarization algorithm is used to identify whether there is an obstacle in the projected area image. Determine the RGB values corresponding to each pixel point in the projected area image, convert the projected area image into a projected grayscale image by merging the RGB color channel information, and frame the projected grayscale image according to the set framing path with an image frame of a preset size until the image frame traverses the projected grayscale image to generate multiple framed images. Calculate the multiple pixel means corresponding to the multiple framed images one by one, and multiply the target pixel mean corresponding to the multiple pixel means by the set offset coefficient as the binarization threshold of the projected grayscale image. In this embodiment, there is a large difference between the pixel values of the blank area and the obstacle area after grayscale processing. After determining the pixel mean, multiply the pixel mean by the set offset coefficient to obtain the binarization threshold of the projected grayscale image.

[0079] Binarize the pixel points in the projected grayscale image according to the binarization threshold, set the pixel points greater than or equal to the binarization threshold to white, and set the pixel points less than the binarization threshold to black to generate a binarized image corresponding to the projected grayscale image; Based on the contour detection algorithm, detect each connected region in the binarized image and calculate the area of the region enclosed by the connected region; If the area of the region is greater than the set area threshold, it is determined that there is an obstacle in the projected area image; if the area of the region is less than the set area threshold, it is determined that there is no obstacle in the projected area image.

[0080] In step S14, if it is determined that there is a first target projection area without obstacles in the pre-projected scene image according to the first position information and the projected area range, obtain the second position information of the first target projection area in the pre-projected scene image, and determine the first relative position relationship between the center corresponding to the first target projection area and the center corresponding to the projected area image according to the relative position between the second position information and the center. According to the first relative position relationship, control the projection device to rotate so that the projection area of the projection device overlaps with the first target projection area after the rotation is completed.

[0081] Exemplarily, when there is an obstacle within the projection area range in the initial projection state in this embodiment, it is necessary to select a first target projection area without obstacles from the pre-projection scene image based on the first position information and the projection area range. According to the relative position between the second position information of the first target projection area in the pre-projection scene image and the center, determine the first relative position relationship between the center corresponding to the first target projection area and the center corresponding to the projection area image, and control the projection device to rotate according to this first relative position relationship, so that after the rotation is completed, the projection area of the projection device overlaps with the first target projection area. In this embodiment, when adjusting the projection screen of the projection device, the horizontal rotation angle and the vertical rotation angle of the pan-tilt can be determined according to the first relative position relationship, and the projection screen of the projection device can be adjusted based on the horizontal rotation angle and the vertical rotation angle.

[0082] Optionally, in some embodiments, the above step S14 includes:

[0083] Divide the pre-projection scene image into grids through a preset grid with multiple square grids to generate a grid image corresponding to the pre-projection scene image;

[0084] Determine a grid selection frame that matches the preset projection ratio from the grid image, and perform multiple selections on the grids corresponding to the grid image based on the grid selection frame to generate multiple frame selection grid images corresponding to the projection area;

[0085] If it is determined that the pixel means of the corresponding grids in the target frame selection grid image exist and are the same in multiple frame selection grid images, it is determined that there is a first target projection area in the pre-projection image.

[0086] Exemplarily, in this embodiment, the pre-projection scene image is divided into grids through a regular preset grid to generate a grid image corresponding to the pre-projection scene image. Then, a grid selection frame that matches the preset projection ratio is determined from the grid image. The size of the grid selection frame is the same as the size of the above projection area image, and multiple selections are performed on the grids corresponding to the grid image based on the grid selection frame to generate multiple frame selection grid images corresponding to the projection area.

[0087] In this embodiment, the pixel value method is used to determine whether there is an obstacle in the multi-frame selected grid images, so as to determine the first target projection area in the pre-projected image. It should be noted that during the process of selecting the pre-projected image based on the grid selection box, the grid selection box traverses the pre-projected image according to the selection rule and the selection step length, and performs pixel value detection on the selected grid image obtained after each selection. Generally, the pixel mean values corresponding to each pixel point in the blank area are the same. Therefore, in this embodiment, based on this feature, the pixel mean values in each grid of the selected grid image are calculated. When it is determined that the pixel mean values are all the same, it is determined that the area corresponding to the current selected grid image is the blank area, and correspondingly, it is determined that this area is the first target projection area.

[0088] Optionally, in some embodiments, the above step of "performing multiple selections on the corresponding grids of the grid image based on the grid selection box to generate multiple-frame selected grid images corresponding to the projection area" includes:

[0089] According to the first position information, with the center as the reference point, determine the selection direction away from the obstacle in the pre-projected scene image;

[0090] Perform multiple selections on the grid image according to the selection direction and the unit selection step length, and calculate the pixel mean value of the corresponding grid in the selected grid image generated after each selection. If there is a selected grid image with all corresponding pixel mean values being the same, stop the selection and generate multiple-frame selected grid images.

[0091] Exemplarily, in this embodiment, the selection method of the grid selection box in the pre-projected scene image is further limited. According to the first position information, with the center point as the reference point, determine the selection direction away from the obstacle in the pre-projected scene image. The grid selection box starts from this center point, moves in this selection direction, and moves the grid selection box according to the unit selection step length. Calculate the pixel mean value of the corresponding grid in the selected grid image generated after each selection. If the pixel mean values are different, then move the grid selection box again based on the unit selection step length and the moving direction until it moves to a situation where all the corresponding pixel mean values of the selected grid image are the same, stop the selection, and determine the first target projection area without obstacles in the pre-projected scene image based on the position of the currently selected grid image in the pre-projected scene image.

[0092] In step S15, if it is determined that there is no target projection area without obstacles in the preset projection scene image according to the first position information and the projection area range, then determine, from the pre-projection scene image, a second target projection area where the obstacles occupy the least area in the projection area and all the obstacles are on the edge of the projection area, obtain the second position information of the second target projection area in the pre-projection scene image, determine the second relative position relationship between the center corresponding to the second target projection area and the center corresponding to the projection area image according to the relative position between the second position information and the center, and control the projection device to rotate according to the second relative position relationship so that the projection area of the projection device overlaps with the second target projection area after the rotation is completed.

[0093] Exemplarily, in this embodiment, when it is determined that there is no target projection area without obstacles in the pre-projection scene image, determine, from the pre-projection scene image, a second target projection area where the obstacles occupy the least area in the projection area and all the obstacles are on the edge of the projection area as the target projection area to be projected, and based on the position of the second target projection area in the pre-projection scene image, adjust the projection device to rotate so that the projection area of the projection device overlaps with the second target projection area after the rotation is completed. After determining the target projection area in this embodiment, the adjustment method of the projection angle of the projection device is the same as that in the above embodiment, which can be referred to the above embodiment and will not be elaborated here.

[0094] Optionally, in some embodiments, the above step S15 includes:

[0095] Construct a plane rectangular coordinate system with the center as the center of the rectangular coordinate system, and based on the plane rectangular coordinate system, determine the vertex coordinates of each obstacle vertex in the pre-projection scene image;

[0096] According to the vertex coordinates and the preset projection ratio, determine the largest blank area without obstacles from the pre-projection scene image, and determine the center coordinates of the center corresponding to the largest blank area;

[0097] Taking the center coordinates as a reference, construct multiple center points within a preset radius range as multiple pre-projection centers corresponding to the projection area, and based on the multiple pre-projection centers and the preset projection ratio, intercept multiple frames of pre-projection area images from the pre-projection scene image;

[0098] Determine the target pre-projection area image with the least obstacle area from the multiple frames of pre-projection area images, and determine the second target projection area according to the position of the target pre-projection area image in the pre-projection scene image.

[0099] Exemplarily, in this embodiment, a plane rectangular coordinate system is established with the center as the center of the rectangular coordinate system. Based on the above-described obstacle detection method, the vertex coordinates corresponding to the vertices of each obstacle in the pre-projection scene image are determined. According to the vertex coordinates and the projection size of the projection area, the largest blank area without obstacles is determined from the pre-projection scene image. For example, in the above Figure 2 the vertical boundary line drawn with the right vertex of obstacle 1 parallel to the left and right boundary lines of the pre-projection scene image is used as the left boundary line of the largest blank area, and the boundary line drawn with the upper vertex of the triangular obstacle parallel to the upper and lower boundaries of the pre-projection scene image is used as the lower boundary line of the largest blank area. Then, based on the left boundary line and the lower boundary line, the area enclosed in the pre-projection scene image is the largest blank area. Based on the center of the largest blank area, multiple center points within a set radius range are constructed as the multiple pre-projection centers corresponding to the projection area. Based on the multiple pre-projection centers and the preset projection ratio, multiple frames of pre-projection area images are intercepted from the pre-projection scene image. The obstacle areas in the multiple frames of pre-projection area images are detected, the target pre-projection area image with the least obstacle area is determined from the multiple frames of pre-projection area images, and the second target projection area is determined according to the position of the target pre-projection area image in the pre-projection scene image.

[0100] Optionally, in some embodiments, the above step "Based on the multiple pre-projection centers and the preset projection ratio, intercept multiple frames of pre-projection area images from the pre-projection scene image" includes:

[0101] According to the rectangular coordinate system, determine the multiple coordinate information corresponding to the multiple pre-projection centers;

[0102] According to the preset projection ratio and the multiple coordinate information, determine multiple pre-projection ranges;

[0103] According to the pre-projection ranges, intercept multiple frames of images from the pre-projection scene image as the multiple frames of pre-projection area images.

[0104] Exemplarily, in this embodiment, according to the rectangular coordinate system, the multiple coordinate information of the multiple pre-projection centers is determined. According to the projection size of the projection area and the multiple coordinate information, multiple pre-projection ranges are determined from the pre-projection scene image. According to the pre-projection ranges, multiple frames of images are intercepted from the pre-projection scene image as the multiple frames of pre-projection area images.

[0105] In the above manner, based on the front camera device, in the projection scene corresponding to the pre-projection direction of the projection device, images within a preset recognition size range centered on the pre-projection direction are collected to generate a pre-projection scene image corresponding to the projection scene. According to the preset projection ratio of the projection device, a projection area image that overlaps with the center of the pre-projection scene image and has a projection area range smaller than the preset recognition size range is determined from the pre-projection scene image. Whether there are obstacles in the projection area image is identified. And when it is determined that there are obstacles and the image area occupied by the obstacles in the projection area image is greater than the set threshold, the first position information occupied by the obstacles in the pre-projection scene image is identified. If according to the first position information and the projection area range, it is determined that there is a first target projection area without obstacles in the pre-projection scene image, then the second position information of the first target projection area in the pre-projection scene image is obtained. According to the relative position between the second position information and the center, the first relative position relationship between the center corresponding to the first target projection area and the center corresponding to the projection area image is determined. According to the first relative position relationship, the projection device is controlled to rotate so that after the rotation is completed, the projection area of the projection device overlaps with the first target projection area. If according to the first position information and the projection area range, it is determined that there is no target projection area without obstacles in the preset projection scene image, then the second target projection area with the least area occupied by the obstacles in the projection area and all the obstacles on the edge of the projection area is determined from the pre-projection scene image. The second position information of the second target projection area in the pre-projection scene image is obtained. According to the relative position between the second position information and the center, the second relative position relationship between the center corresponding to the second target projection area and the center corresponding to the projection area image is determined. According to the second relative position relationship, the projection device is controlled to rotate so that after the rotation is completed, the projection area of the projection device overlaps with the second target projection area. Thus, the adaptive projection adjustment of the projection device is realized, and the area without obstacles or with the fewest obstacles is found for adaptive projection, improving the projection experience of users.

[0106] Figure 3 is a block diagram of an adaptive projection device based on a projection device shown according to an exemplary embodiment. As Figure 3 shown, the device includes:

[0107] A generation module 110, configured to collect images within a preset recognition size range centered on the pre-projection direction in the projection scene corresponding to the pre-projection direction of the projection device based on the front camera device, and generate a pre-projection scene image corresponding to the projection scene;

[0108] A determination module 120, configured to determine, according to the preset projection ratio of the projection device, a projection area image that overlaps with the center of the pre-projection scene image and has a projection area range smaller than the preset recognition size range from the pre-projection scene image;

[0109] The recognition module 130 is used to recognize whether there are obstacles in the projected area image, and when it is determined that there are obstacles and the image area occupied by the obstacles in the projected area image is greater than a set threshold, recognize the first position information occupied by the obstacles in the pre-projected scene image;

[0110] The first determination module 140 is used to, if it is determined according to the first position information and the projected area range that there is a first target projected area without obstacles in the pre-projected scene image, obtain the second position information of the first target projected area in the pre-projected scene image, determine the first relative position relationship between the center corresponding to the first target projected area and the center corresponding to the projected area image according to the relative position between the second position information and the center, and control the projection device to rotate according to the first relative position relationship so that after the rotation is completed, the projected area of the projection device overlaps with the first target projected area;

[0111] The second determination module 150 is used to, if it is determined according to the first position information and the projected area range that there is no target projected area without obstacles in the preset projected scene image, determine the second target projected area with the least area occupied by the obstacles in the projected area and all the obstacles on the edge of the projected area from the pre-projected scene image, obtain the second position information of the second target projected area in the pre-projected scene image, determine the second relative position relationship between the center corresponding to the second target projected area and the center corresponding to the projected area image according to the relative position between the second position information and the center, and control the projection device to rotate according to the second relative position relationship so that after the rotation is completed, the projected area of the projection device overlaps with the second target projected area.

[0112] Optionally, the generation module 110 includes:

[0113] The first generation sub-module is used to perform grid division on the pre-projected scene image through a preset grid with multiple square grids to generate a grid image corresponding to the pre-projected scene image;

[0114] The second generation sub-module is used to determine a grid selection frame matching the preset projection ratio from the grid image, and perform multiple selections on the grids corresponding to the grid image based on the grid selection frame to generate multiple frame-selected grid images corresponding to the projected area;

[0115] The first determination sub-module is used to, if it is determined that the pixel means corresponding to the grids in the target frame-selected grid image are the same in multiple frame-selected grid images, determine that there is a first target projected area in the pre-projected image.

[0116] Optionally, the second generation sub-module is used for:

[0117] According to the first position information, with the center as the reference point, determine the cropping direction away from the obstacle in the pre-projected scene image;

[0118] Perform multiple croppings on the grid image according to the cropping direction and the unit cropping step length, and calculate the pixel mean value of the corresponding grid in the cropped grid image generated after each cropping. If the pixel mean values corresponding to the cropped grid images are the same, stop cropping and generate multiple frames of cropped grid images.

[0119] Optionally, the recognition module 130 is used for:

[0120] Determine the RGB values corresponding to each pixel point in the projected area image, and convert the projected area image into a projected grayscale image by combining the RGB color channel information;

[0121] Crop the projected grayscale image with an image frame of a preset size along a set cropping path until the image frame traverses the projected grayscale image to generate multiple frames of cropped images;

[0122] Calculate the multiple pixel mean values corresponding to the multiple frames of cropped images one by one, and multiply the target pixel mean value corresponding to the multiple pixel mean values by a set offset coefficient as the binarization threshold of the projected grayscale image;

[0123] Perform binarization processing on the pixel points in the projected grayscale image according to the binarization threshold, set the pixel points greater than or equal to the binarization threshold to white, and set the pixel points less than the binarization threshold to black to generate a binarized image corresponding to the projected grayscale image;

[0124] Based on the contour detection algorithm, detect each connected region in the binarized image and calculate the area of the region enclosed by the connected region;

[0125] If the area of the region is greater than the set area threshold, it is determined that there is an obstacle in the projected area image; if the area of the region is less than the set area threshold, it is determined that there is no obstacle in the projected area image.

[0126] Optionally, the second determination module 150 includes:

[0127] The second determination sub-module is used to construct a plane rectangular coordinate system with the center as the center of the rectangular coordinate system, and based on the plane rectangular coordinate system, determine the vertex coordinates of each obstacle vertex in the pre-projected scene image;

[0128] The third determination sub-module is used to determine the largest blank area without obstacles in the pre-projected scene image according to the vertex coordinates and the preset projection ratio, and determine the center coordinates of the center corresponding to the largest blank area;

[0129] An intercepting sub-module, configured to construct a plurality of center points within a set square range with the center coordinates as a reference as a plurality of pre-projection centers corresponding to the projection area, and intercept a plurality of pre-projection area images from the pre-projection scene image based on the plurality of pre-projection centers and a preset projection ratio;

[0130] A fourth determining sub-module, configured to determine a target pre-projection area image with the least obstacle area from the plurality of pre-projection area images, and determine a second target projection area according to the position of the target pre-projection area image in the pre-projection scene image.

[0131] Optionally, the intercepting sub-module is configured to:

[0132] Determine a plurality of coordinate information corresponding to the plurality of pre-projection centers according to a rectangular coordinate system;

[0133] Determine a plurality of pre-projection ranges according to the preset projection ratio and the plurality of coordinate information;

[0134] Intercept a plurality of images from the pre-projection scene image as the plurality of pre-projection area images according to the plurality of pre-projection ranges.

[0135] Optionally, the recognition module 130 is configured to:

[0136] Rotate the pan-tilt of the projection device based on a set rotation angle to adjust the pre-projection direction; if it is determined that there is an obstacle in the adjusted projection area image and the image area occupied by the obstacle in the projection area image is greater than a set threshold; then rotate the pan-tilt again based on the set rotation angle;

[0137] When the number of rotations of the pan-tilt reaches a set threshold and there is an obstacle in the adjusted projection area image, recognize the first position information occupied by the obstacle in the adjusted pre-projection scene image.

[0138] In the above manner, based on the front camera device, in the projection scene corresponding to the projection device in the pre-projection direction, an image within a preset recognition size range centered on the pre-projection direction is collected to generate a pre-projection scene image corresponding to the projection scene. According to the preset projection ratio of the projection device, a projection area image that overlaps with the center of the pre-projection scene image and has a projection area range smaller than the preset recognition size range is determined from the pre-projection scene image. Whether there are obstacles in the projection area image is recognized. When it is determined that there are obstacles and the image area occupied by the obstacles in the projection area image is greater than a set threshold, the first position information occupied by the obstacles in the pre-projection scene image is recognized. If it is determined that there is a first target projection area without obstacles in the pre-projection scene image according to the first position information and the projection area range, the second position information of the first target projection area in the pre-projection scene image is obtained. According to the relative position between the second position information and the center, the first relative position relationship between the center corresponding to the first target projection area and the center corresponding to the projection area image is determined. According to the first relative position relationship, the projection device is controlled to rotate so that after the rotation is completed, the projection area of the projection device overlaps with the first target projection area. If it is determined that there is no target projection area without obstacles in the preset projection scene image according to the first position information and the projection area range, the second target projection area with the least area occupied by the obstacles in the projection area and all the obstacles on the edge of the projection area is determined from the pre-projection scene image. The second position information of the second target projection area in the pre-projection scene image is obtained. According to the relative position between the second position information and the center, the second relative position relationship between the center corresponding to the second target projection area and the center corresponding to the projection area image is determined. According to the second relative position relationship, the projection device is controlled to rotate so that after the rotation is completed, the projection area of the projection device overlaps with the second target projection area. Thus, the adaptive projection adjustment of the projection device is realized, and the area without obstacles or with the least obstacles is found for adaptive projection, improving the projection experience of users.

[0139] The embodiments of the present disclosure also provide a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the method described in any one of the foregoing embodiments are implemented.

[0140] The embodiments of the present disclosure also provide an electronic device, including:

[0141] A processor;

[0142] A memory for storing executable instructions of the processor;

[0143] Wherein, the processor is configured to execute the executable instructions in the memory to implement the method described in any one of the foregoing embodiments.

[0144] Other embodiments of the present disclosure will be readily apparent to those skilled in the art upon consideration of the specification and practice of the present disclosure. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include known common general knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and examples are only illustrative, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0145] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. An adaptive projection method based on a projection device, characterized in that, The method includes: Based on the front camera device, in the projection scene in the corresponding pre - projection direction of the projection device, images within a preset recognition size range centered on the pre - projection direction are collected to generate a pre - projection scene image corresponding to the projection scene; According to the preset projection ratio of the projection device, a projection area image that overlaps with the center of the pre - projection scene image and has a projection area range smaller than the preset recognition size range is determined from the pre - projection scene image; Identify whether there are obstacles in the projection area image, and when it is determined that there are obstacles and the image area occupied by the obstacles in the projection area image is greater than a set threshold, identify the first position information occupied by the obstacles in the pre - projection scene image; If it is determined that there is a first target projection area without obstacles in the pre - projection scene image according to the first position information and the projection area range, obtain the second position information of the first target projection area in the pre - projection scene image, determine the first relative position relationship between the center corresponding to the first target projection area and the center corresponding to the projection area image according to the relative position between the second position information and the center, and control the projection device to rotate according to the first relative position relationship so that after rotation, the projection area of the projection device overlaps with the first target projection area; If it is determined that there is no target projection area without obstacles in the pre - projection scene image according to the first position information and the projection area range, determine a second target projection area in the pre - projection scene image where the area occupied by the obstacles in the projection area is the smallest and all the obstacles are on the edge of the projection area, obtain the second position information of the second target projection area in the pre - projection scene image, determine the second relative position relationship between the center corresponding to the second target projection area and the center corresponding to the projection area image according to the relative position between the second position information and the center, and control the projection device to rotate according to the second relative position relationship so that after rotation, the projection area of the projection device overlaps with the second target projection area.

2. The adaptive projection method based on a projection device according to claim 1, wherein The determining that there is a first target projection area without obstacles in the pre - projection scene image according to the first position information and the projection area range includes: The pre - projection scene image is divided into grids by a preset grid with multiple square grids to generate a grid image corresponding to the pre - projection scene image; Determine a grid selection frame that matches the ratio of the pre - projection scene image from the grid image, and based on the grid selection frame, perform multiple selections on the grids corresponding to the grid image to generate multiple frames of selected grid images corresponding to the projection area; If it is determined that the pixel means of the corresponding grids in the target selected grid images in the multiple frames of selected grid images are the same, it is determined that there is the first target projection area in the pre - projection scene image.

3. The adaptive projection method based on a projection device according to claim 2, wherein Performing multiple selections on the corresponding grids of the grid image based on the grid selection box, generating multiple frames of selected grid images corresponding to the projection area, includes: According to the first position information, using the center as a reference point, determining the selection direction away from the obstacle in the pre-projection scene image; Performing multiple selections on the grid image according to the selection direction and the unit selection step length, and calculating the pixel mean value of the corresponding grid in the selected grid image generated after each selection. If the pixel mean values corresponding to the selected grid images are the same, stop the selection and generate the multiple frames of selected grid images.

4. The adaptive projection method based on a projection device according to claim 1, wherein Identifying whether there is an obstacle in the projection area image, includes: Determining the RGB values corresponding to each pixel point in the projection area image, and converting the projection area image into a projection grayscale image by combining the RGB color channel information; Selecting the projection grayscale image through an image frame with a preset size according to a set selection path until the image frame traverses the projection grayscale image, generating multiple frames of selected images; Calculating the multiple pixel mean values corresponding to the multiple frames of selected images one by one, and multiplying the target pixel mean value corresponding to the multiple pixel mean values by a set offset coefficient as the binary threshold of the projection grayscale image; Performing binary processing on the pixel points in the projection grayscale image according to the binary threshold, setting the pixel points greater than or equal to the binary threshold to white, and setting the pixel points less than the binary threshold to black to generate the binary image corresponding to the projection grayscale image; Based on the contour detection algorithm, detecting each connected area in the binary image and calculating the area of the area enclosed by the connected area; If the area is greater than the set area threshold, it is determined that there is an obstacle in the projection area image; if the area is less than the set area threshold, it is determined that there is no obstacle in the projection area image.

5. The adaptive projection method based on a projection device according to claim 1, wherein Determining the second target projection area in the pre-projection scene image where the obstacle occupies the least area in the projection area and the obstacle is on the edge of the projection area, includes: Taking the center as the center of the rectangular coordinate system, constructing a plane rectangular coordinate system, and based on the plane rectangular coordinate system, determining the vertex coordinates of each obstacle vertex in the pre-projection scene image; According to the vertex coordinates and the preset projection ratio, determining the largest blank area without obstacles in the pre-projection scene image and determining the center coordinates of the center corresponding to the largest blank area; Taking the center coordinates as a reference, constructing multiple center points within a set radius range as multiple pre-projection centers corresponding to the projection area, and intercepting multiple frames of pre-projection area images from the pre-projection scene image based on the multiple pre-projection centers and the preset projection ratio; Determining the target pre-projection area image with the least obstacle area from the multiple frames of pre-projection area images, and determining the second target projection area according to the position of the target pre-projection area image in the pre-projection scene image.

6. The adaptive projection method based on a projection device according to claim 5, wherein Intercepting multiple frames of pre-projection area images from the pre-projection scene image based on the multiple pre-projection centers and the preset projection ratio includes: Determining multiple coordinate information corresponding to the multiple pre-projection centers according to the rectangular coordinate system; Determining multiple pre-projection ranges according to the preset projection ratio and the multiple coordinate information; Intercepting multiple frames of images from the pre-projection scene image as the multiple frames of pre-projection area images according to the multiple pre-projection ranges.

7. The adaptive projection method based on a projection device according to any one of claims 1-6, characterized in that Identifying the first position information occupied by the obstacle in the pre-projection scene image includes: Rotating the pan-tilt of the projection device based on a set rotation angle to adjust the pre-projection direction; if it is determined that there is an obstacle in the adjusted projection area image and the image area occupied by the obstacle in the projection area image is greater than the set threshold; then rotating the pan-tilt again based on the set rotation angle; When the number of rotations of the pan-tilt reaches the set threshold and there is an obstacle in the adjusted projection area image, identifying the first position information occupied by the obstacle in the adjusted pre-projection scene image.

8. An adaptive projection device based on a projection device, characterized in that, The device includes: A generation module for collecting an image within a preset recognition size range centered on the pre-projection direction in the projection scene corresponding to the projection device by the front camera device to generate a pre-projection scene image corresponding to the projection scene; A determination module for determining a projection area image that overlaps with the center of the pre-projection scene image and has a projection area range smaller than the preset recognition size range from the pre-projection scene image according to the preset projection ratio of the projection device; An identification module for identifying whether there is an obstacle in the projection area image, and when it is determined that there is an obstacle and the image area occupied by the obstacle in the projection area image is greater than the set threshold, identifying the first position information occupied by the obstacle in the pre-projection scene image; A first determination module for, if it is determined that there is a first target projection area without an obstacle in the pre-projection scene image according to the first position information and the projection area range, obtaining the second position information of the first target projection area in the pre-projection scene image, determining the first relative position relationship between the center corresponding to the first target projection area and the center corresponding to the projection area image according to the relative position between the second position information and the center, and controlling the projection device to rotate according to the first relative position relationship so that the projection area of the projection device overlaps with the first target projection area after the rotation is completed; A second determination module, configured to, if it is determined that there is no target projection area without obstacles in the pre-projected scene image according to the first position information and the projection area range, determine, from the pre-projected scene image, a second target projection area where the obstacles occupy the least area in the projection area and all the obstacles are on the edge of the projection area, obtain second position information of the second target projection area in the pre-projected scene image, determine a second relative position relationship between the center corresponding to the second target projection area and the center corresponding to the projection area image according to the relative position between the second position information and the center, and control the projection device to rotate according to the second relative position relationship so that after the rotation is completed, the projection area of the projection device overlaps with the second target projection area.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by a processor, it implements the steps of the method according to any one of claims 1-7.

10. An electronic device, characterized in that, Comprising: A processor; A memory for storing executable instructions executable by the processor; Wherein, the processor is configured to execute the executable instructions in the memory to implement the method according to any one of claims 1-7.

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