Projection equipment motion control method, storage medium and projection equipment

Abstract

The invention relates to a projection equipment motion control method. The method comprises the following steps: acquiring a movement instruction of interaction equipment; determining movement information according to the movement instruction, wherein the movement information comprises one or more of a movement direction, a movement speed, a movement amount and a target projection position; and outputting a driving signal according to the movement information to drive the projection equipment to rotate, so that the projection image moves in the space based on the movement information. The invention further relates to a storage medium and projection equipment.

Description

Technical Field

[0001] The present disclosure relates to a projection device motion control method, a storage medium and a projection device. Background Art

[0002] Projection equipment displays projection images to users by projecting them onto different media (e.g., projection cloth, wall). With the increase in application scenarios (e.g., home entertainment, business presentations, education and teaching), there is a need to move the projection position of the projection image. However, traditional moving methods have the disadvantages of insufficient flexibility, complex operation, low movement accuracy, and poor scene adaptability. Summary of the invention

[0003] The present disclosure discloses a projection device motion control method, a storage medium and a projection device, which are highly flexible, easy to operate, have high movement accuracy and can adapt to a variety of projection scenes.

[0004] A first aspect of the present disclosure relates to a method for motion control of a projection device, comprising: obtaining a movement instruction of an interactive device; determining movement information according to the movement instruction, wherein the movement information includes one or more of a movement direction, a movement speed, a movement amount, and a target projection position; and outputting a driving signal according to the movement information to drive the projection device to rotate, so that the projection image moves in space based on the movement information.

[0005] Optionally, the movement instruction is a key instruction; the step of determining the movement information according to the movement instruction includes: determining the movement information according to one or any combination of key type, key duration, key frequency.

[0006] Optionally, the step of determining the movement information based on one or any combination of key type, key duration, key frequency, includes: determining the movement direction of the projection image based on the key type; and / or determining the movement amount of the projection image based on the key duration; and / or determining the movement speed of the projection image based on the key frequency.

[0007] Optionally, the movement instruction is a posture instruction; the step of determining the movement information according to the movement instruction includes: determining the movement information according to the dynamic posture of the interactive device.

[0008] Optionally, the step of determining the movement information according to the dynamic posture of the interactive device includes: determining the movement information according to one or any combination of a moving direction, a moving amount, and a moving speed of the interactive device during the movement process.

[0009] Optionally, the step of determining the movement information according to one or any combination of the moving direction, the moving amount, the moving speed of the interactive device during the movement process includes: determining the moving direction of the projection image according to the moving direction of the interactive device during the movement process; and / or determining the moving amount of the projection image according to the moving amount of the interactive device during the movement process; and / or determining the moving speed of the projection image according to the moving speed of the interactive device during the movement process; the step of causing the projection image to move in space based on the movement information includes: causing the projection image to move in space following the dynamic posture of the interactive device based on one or any combination of the moving direction, the moving amount, the moving speed.

[0010] Optionally, the movement instruction is a voice instruction; the step of determining the movement information according to the movement instruction includes: determining the movement information according to one or any combination of the movement direction, movement amount, movement speed, and target projection position in the voice instruction.

[0011] Optionally, the step of causing the projection image to move in space based on the movement information includes: causing the projection image to move in space based on the movement information until a stop condition is reached.

[0012] Optionally, the stop condition is stopping receiving the movement instruction; or receiving a stop movement instruction from the interactive device; or after the step of obtaining the movement instruction of the interactive device, it also includes determining the target projection position according to the movement instruction, and the stop condition is that the projection image reaches the target projection position.

[0013] Optionally, when the stop condition is that the projection image reaches the target projection position, before the step of causing the projection image to move in space based on the movement information, it also includes: obtaining the current projection position of the projection image, and planning a movement path according to the current projection position and the target projection position; the step of causing the projection image to move in space based on the movement information includes: causing the projection image to move in space along the movement path to the target projection position.

[0014] Optionally, the step of moving the projection image in space along the moving path to the target projection position includes: acquiring the current projection position of the projection image in real time; and adjusting the moving path in real time according to the difference between the current projection position and the target projection position until the projection image reaches the target projection position.

[0015] Optionally, the step of moving the projection image in space along the moving path to the target projection position includes: acquiring the current projection position of the projection image in real time; and adjusting the moving speed of the projection image in real time according to the difference between the current projection position and the target projection position.

[0016] A second aspect of the present disclosure relates to a storage medium storing a computer program, wherein the computer program can implement the steps of the above-mentioned projection device motion control method when read by a processor.

[0017] A third aspect of the present disclosure relates to a projection device, comprising: a pan-tilt head; and a projection unit, movably connected to the pan-tilt head, the projection unit comprising: a projection component, used to emit a projection image; and a controller, respectively connected to the pan-tilt head and the projection component, used to drive the projection component to emit the projection image, the controller comprising a memory and a processor, the memory storing a computer program, and the processor executing the steps of the above-mentioned projection device motion control method when reading the computer program, so that the pan-tilt head drives the projection unit to rotate.

[0018] The above-mentioned projection device motion control method, storage medium and projection device obtain the user's movement instruction through the interactive device, determine the movement information according to the movement instruction, and the movement information includes one or more of the movement direction, movement speed, movement amount and target projection position, so that the projection image can be driven to continuously move in the space in a preset manner based on the above-mentioned movement information. The above-mentioned projection device motion control method, storage medium and projection device are particularly suitable for human-computer interaction scenarios such as interactive games and document presentations that focus on the movement process of the projection image. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the projection device and the interactive device of the first embodiment of the present disclosure.

[0020] Figure 2 This is a flow chart of a projection device movement control method according to Embodiment 1 of the present disclosure.

[0021] Figure 3 The figure is a schematic diagram of the movement process of the projection device in the large-range movement mode according to the first embodiment of the present disclosure.

[0022] Figure 4 It is a structural schematic diagram of the projection device of the second embodiment of the present disclosure rotating horizontally under the control of the interactive device.

[0023] Figure 5 It is a structural schematic diagram of the projection device of the second embodiment of the present disclosure rotating vertically under the control of the interactive device.

[0024] Figure 6The present invention is a schematic diagram of a module structure of a projection device in at least one modified embodiment of the present invention.

[0025] Main component symbols

[0026] Projection equipment 1, 200

[0027] Projection unit 10, 210

[0028] Housing 11

[0029] Projection component 12

[0030] Controller 13

[0031] PTZ 20

[0032] The first motor 21

[0033] Second motor 22

[0034] Interactive Device 2

[0035] Key 201

[0036] Posture sensor 202

[0037] First axis L1

[0038] Second axis L2

[0039] Steps S1, S2, S3

[0040] Imaging media 3, 301, 302, SC

[0041] Light source unit 211

[0042] Optical modulator 212

[0043] Optical System 213

[0044] Display panel 215

[0045] Driving unit 220

[0046] Light source driving unit 221

[0047] Optical modulator driving unit 222

[0048] Operation unit 231

[0049] Signal receiving unit 233

[0050] Input interface 235

[0051] Storage unit 237

[0052] Data interface 241

[0053] Interface unit 242

[0054] Frame memory 243

[0055] Image processing unit 245

[0056] Control unit 250

[0057] Memory 251

[0058] Processor 253

[0059] Internal bus 270

[0060] Other electronic equipment 300

[0061] Control device 5

[0062] Image Light PLA

[0063] The following specific implementation methods will further illustrate the present application in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0064] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0065] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0066] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0067] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0068] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0069] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0070] Embodiment 1

[0071] A first embodiment of the present disclosure provides a projection device, which rotates after receiving a movement instruction from an external interactive device to move a projected image based on the movement instruction, thereby achieving flexible, convenient, and high-precision adjustment of the position of the projected image and being adaptable to a variety of projection scenarios.

[0072] See also Figure 1 The projection device 1 of the first embodiment includes a projection unit 10 and a pan-tilt head 20. The projection unit 10 includes a housing 11, a projection assembly 12 and a controller 13. The projection assembly 12 and the controller 13 are located in the housing 11. The projection unit 10 is movably connected to the pan-tilt head 20. The pan-tilt head 20 includes a first motor 21 and a second motor 22.

[0073] The controller 13 is electrically connected to the projection assembly 12, the first motor 21 and the second motor 22. Figure 1 and Figure 3 The controller 13 is used to drive the projection assembly 12 to generate and emit a projection image, and is also used to output a driving signal to the first motor 21 and the second motor 22, so that the first motor 21 drives the projection unit 10 to rotate around the first axis L1 as a whole, and / or the second motor 22 drives the projection unit 10 to rotate around the second axis L2 as a whole. The first axis L1 and the second axis have a non-zero angle. In this embodiment, the first axis L1 is perpendicular to the second axis L2. Figure 1 In the illustrated position, the first axis L1 is in the vertical direction, and the second axis L2 is in the direction perpendicular to the paper. The pan / tilt 20 drives the projection unit 10 to rotate, so as to control the movement of the projected image.

[0074] Please refer to Figure 1 The projection device 1 is wirelessly connected to the external interactive device 2, and is used to receive movement instructions from the interactive device 2, and is used to output a driving signal to the first motor 21 and the second motor 22 in the pan / tilt 20 according to the movement instructions, so as to drive the projection unit 10 to rotate. In this embodiment, the interactive device 2 is a remote controller, and the user inputs movement instructions through the interactive device 2 to remotely control the rotation of the projection device 1, thereby controlling the movement of the projected image. In other embodiments of the present application, the interactive device 2 may also be a smart terminal (such as a mobile phone), etc.

[0075] Embodiment 1 further provides a projection device motion control method, which is applied to the controller 13 of the projection device 1 .

[0076] See also Figure 2 , the projection device motion control method of this embodiment includes:

[0077] Step S1, obtaining a movement instruction of an interactive device;

[0078] Step S2, determining movement information according to the movement instruction, wherein the movement information includes one or more of a movement direction, a movement speed, a movement amount, and a target projection position;

[0079] Step S3: outputting a driving signal according to the movement information to drive the projection device to rotate, so that the projection image moves in space based on the movement information.

[0080] Please also read Figure 1 and Figure 2 In step S1, the user can hold the interactive device 2 and input a movement instruction through the interactive device 2. The interactive device 2 transmits the movement instruction to the controller 13 in the form of a wireless signal (such as an infrared, Bluetooth or Wi-Fi signal).

[0081] In this embodiment, the movement instruction is a key instruction. That is, the interactive device 2 is provided with a plurality of keys 201 with different functions, and the user inputs the movement instruction by pressing the corresponding keys 201. For example, the interactive device 2 is provided with four keys 201, namely "up", "down", "left" and "right", for controlling the movement direction. When the user presses the "up" key 201, it is equivalent to inputting the movement instruction of "move up".

[0082] In step S2, the controller 13 determines movement information according to the movement instruction transmitted by the interactive device 2, and the movement information is used to indicate how to move the projection unit 10 (that is, how to move the projection image). The movement information may include one or more of the movement direction, movement speed, movement amount and target projection position.

[0083] In this embodiment, the controller 13 determines the above-mentioned movement information by key pressing. Among them, the controller 13 determines the movement direction based on the key type. For example, when the "up" key 201 is pressed, the movement direction is determined to be upward. The controller 13 determines the movement speed based on the key pressing frequency. The higher the key pressing frequency, the faster the movement speed, and vice versa. The specific correspondence between the frequency value and the speed value can be preset. In this embodiment, the movement speed includes two dimensions: the current real-time speed and the acceleration. The controller 13 determines the movement amount based on the key pressing duration. The longer the key pressing duration, the greater the movement amount in the corresponding direction, and vice versa. The specific correspondence between the value of the duration and the value of the movement amount can be preset.

[0084] In this embodiment, the interactive device 2 may also be provided with a button for adjusting the sensitivity, so that the user can manually adjust the sensing sensitivity of the interactive device 2 according to different projection scenes, thereby accurately controlling the movement of the projected image. For example, the sensitivity of the interactive device 2 is preset to several gears, and the sensitivity gears can be switched by pressing the button. In addition, the above sensitivity includes two adjustment dimensions: position sensitivity and speed sensitivity. By adjusting the sensitivity setting, the pan-tilt head 20 responds to the sensitivity changes of the user's hand displacement to adapt to the different needs of fine adjustment and large-scale adjustment. Adjusting the sensitivity of the pan-tilt head 20 to the change in hand acceleration allows the user to switch freely between fast switching and smooth movement, thereby improving the operating experience. In other embodiments of the present disclosure, when the type of movement instruction is different, the method of adjusting the sensitivity may also be different (for example, the sensitivity may also be adjusted by sensing the posture of the interactive device, receiving voice, etc.).

[0085] In step S3, the controller 13 outputs a driving signal to the first motor 21 and / or the second motor 22 in the pan / tilt head 20 based on the aforementioned determined movement information (including one or more of the movement direction, movement speed, and movement amount), driving the projection unit 10 to rotate as a whole, so that the projected image continues to move in space based on the movement information.

[0086] Please also read Figure 1 and Figure 3 In this embodiment, the projection unit 10 can rotate in two directions around the first axis L1 and the second axis L2. In at least one embodiment, when it is confirmed based on the above movement information that only one direction needs to be rotated, the controller 13 outputs a driving signal to one of the first motor 21 and the second motor 22. In at least one embodiment, when it is confirmed based on the above movement information that rotation in two directions is required, the controller 13 simultaneously outputs a driving signal to the first motor 21 and the second motor 22, so that the projection unit 10 is driven to rotate in two directions at the same time. In addition, controlling the projection unit 10 to rotate synchronously in two directions at the same time includes starting to rotate at the same time and stopping to rotate at the same time. Controlling the projection unit 10 to start rotating at the same time is conducive to avoiding image tilt or uneven movement, while controlling the projection unit 10 to stop rotating at the same time is conducive to ensuring the smoothness of the adjustment of the projected image and avoiding image offset or jitter.

[0087] In this embodiment, the process of the first motor 21 driving the projection unit 10 to rotate around the first axis L1 is defined as horizontal rotation, and the process of the second motor 22 driving the projection unit 10 to rotate around the second axis L2 is defined as vertical rotation. The rotatable angle range of the horizontal rotation of the projection unit 10 is 360°, and the rotatable angle range of the vertical rotation is 160°.

[0088] In this embodiment, step S3 includes: causing the projection image to move in space based on the movement information until the movement stops when a stop condition is reached.

[0089] In at least one embodiment of the present disclosure, the stop condition is to stop receiving the movement instruction. For example, the user presses the "up" button and keeps pressing it. When the user releases the button 201, the interactive device 2 stops outputting the movement instruction, that is, the controller 13 stops receiving the movement instruction. At this time, the controller 13 stops outputting the driving signal to the pan / tilt head 20, and the projection unit 10 and the projected image stop moving.

[0090] In at least one embodiment of the present disclosure, the stop condition is receiving a stop movement instruction. For example, a "stop" button is provided on the interactive device 2. When the user presses the "stop" button, the interactive device 2 outputs a stop movement instruction to the controller 13. At this time, the controller 13 stops outputting a driving signal to the pan / tilt head 20, and the projection unit 10 and the projected image stop moving.

[0091] In at least one embodiment of the present disclosure, the above-mentioned stop condition is that the projected image reaches the target projection position. In this embodiment, the movement information obtained in step S2 includes the target projection position of the projected image, and the projection unit 10 also includes a positioning sensor (not shown in the figure, such as a laser rangefinder, an acceleration sensor, a gyroscope, etc.) for real-time detection of the current position state of the projection unit 10. The controller 13 is electrically connected to the positioning sensor, and is used to receive the position state of the projection unit 10 returned by the positioning sensor, so as to know the current projection position of the projected image.

[0092] When the controller 13 determines that the current projection position of the projected image is consistent with the target projection position, that is, when the projected image reaches the target projection position, the controller 13 stops outputting the driving signal to the pan / tilt 20, and the projection unit 10 and the projected image stop moving. In this embodiment, "the current projection position is consistent with the target projection position" does not require that the current projection position is exactly the same as the target projection position, and a small error may be allowed. As long as the error is within a preset range, it can be considered that the current projection position is consistent with the target projection position.

[0093] In an embodiment in which the stopping condition is that the projection image reaches the target projection position, before step S3, it also includes: obtaining the current projection position of the projection image, and planning a moving path according to the current projection position and the target projection position; step S3 includes: moving the projection image in space along the moving path to the target projection position.

[0094] In this embodiment, the controller 13 can plan a better moving path according to the current projection position and the target projection position of the projection image, so as to ensure that the projection image can move to the target projection position along a smoother and more optimized path. The path planning may take into account environmental factors (such as obstacles, the shape of the imaging medium) and the mechanical limitations of the projection device 1 (such as the maximum rotation angle of the pan / tilt head 20).

[0095] In step S3 of this embodiment, the controller 13 obtains the current projection position of the projected image in real time, and adjusts the moving path in real time according to the difference between the current projection position and the target projection position until the projected image reaches the target projection position. This is helpful to avoid the movement path of the projected image from being offset, or to timely call back when the movement path is offset, so as to ensure that the projected image can be accurately and stably moved to the target projection position.

[0096] In step S3 of this embodiment, the controller 13 is also used to adjust the moving speed of the projected image in real time according to the difference between the current projection position and the target projection position. The controller 13 pre-stores a speed curve, and the projected image can be driven to move based on the speed curve. Specifically, the speed curve is set to have a lower speed in the time period of starting and stopping the movement, and a higher speed in the middle period. That is, the speed curve is set to start and stop slowly and move quickly. In this way, the moving process of the projected image can be smooth, avoiding the picture jitter caused by the sudden start or stop of the projected image.

[0097] In this embodiment, the speed curve may be an S-shaped, T-shaped or polynomial-shaped curve type, which is conducive to improving the comfort of operation. In this embodiment, the controller 13 may pre-store a plurality of different speed curves. The controller 13 may dynamically switch the speed curve according to different operation scenarios. For example, when fine adjustment is required, a more moderate speed curve is used, and when a fast movement scenario is required, a steeper speed curve is used to accelerate the response.

[0098] The following is an exemplary introduction to two application scenarios of the projection device 1 in this embodiment:

[0099] (1) Projection image small range following mode

[0100] When the user wants to precisely adjust the position and angle of the projected image to obtain a better viewing experience, the user can slowly move the interactive device 2, and the controller 13 will detect that the acceleration of the interactive device 2 is small, and enter the small-range following mode. The projection device 1 fine-tunes the projected image so that it closely follows the displacement and angle changes of the interactive device 2 within a small range, helping the user to accurately locate the area to be displayed. This mode is more suitable for use when details need to be emphasized or enlarged during a meeting presentation.

[0101] (2) Projection image large-scale movement mode

[0102] See also Figure 3In a family viewing scenario, there may be imaging media in multiple directions, for example, there are imaging media 301 and 302. Imaging medium 301 is the front wall of the living room, and imaging medium 302 is the side wall. When the user wants to switch the projected image from imaging medium 301 to imaging medium 302, he only needs to input a movement instruction to the remote handheld interactive device 2. The projection device 1 will automatically move the projected image to the imaging medium 302 according to the movement instruction. The imaging medium 301 is almost perpendicular to the surface of the imaging medium 302 displaying the projection image. In this scenario, the projection device 1 needs to move along the imaging medium 301. Figure 3 The paths in Figures (a), (b), and (c) are rotated over a large angle range of 90°.

[0103] The projection device 1 and the projection device motion control method provided in the first embodiment of the present disclosure obtain the user's movement instruction through the interactive device 2, determine the movement information according to the movement instruction, and the movement information includes one or more of the movement direction, movement speed, movement amount and target projection position, so that the controller 13 can drive the projected image to continuously move in the space in a preset manner based on the above movement information. The above-mentioned projection device 1 and the projection device motion control method are particularly suitable for human-computer interaction scenarios such as interactive games and document presentations that focus on the movement process of the projected image.

[0104] In this embodiment, the movement instruction obtained by the interactive device 2 is a key instruction, which is simple and intuitive for users to operate, conforms to user operating habits, has high acceptance, is suitable for operation scenarios with more demanding requirements, and users can quickly adjust the projected image.

[0105] The adjustment of the projected image position of the projection device in a ratio mainly relies on manual adjustment or fixed-angle lens adjustment. Common adjustment methods include changing the installation position of the projector through a bracket or changing the projection direction of the projected image by manually adjusting the lens direction.

[0106] On the one hand, the above-mentioned comparative example can only switch between several preset positions due to manual adjustment or fixed angle adjustment, which limits the position change of the projected image and makes it difficult for users to quickly adjust the position of the projected image as needed. For example, in a home theater environment, users may want to project the projected image onto different walls, but this comparative example cannot provide a quick and convenient solution. Therefore, the projection device 1 and the projection device motion control method of the first embodiment of the present disclosure have higher adjustment flexibility than the above-mentioned comparative example.

[0107] On the other hand, the above-mentioned comparison ratio adopts manual adjustment, which requires the user to frequently operate the relevant components of the projection device (such as brackets, lenses) until the projection device is located, especially when the projection angle or position needs to be adjusted multiple times, the operation is cumbersome and time-consuming. In addition, in some cases, manual adjustment may require the cooperation of multiple people, which increases the inconvenience of use. Therefore, the projection device 1 and the projection device motion control method of the first embodiment of the present disclosure are more convenient to operate than the above-mentioned comparison ratio.

[0108] Thirdly, the manual adjustment method in the above comparative example is difficult to achieve precise control of the projected image position, especially when making subtle adjustments, and multiple attempts may be required to achieve the desired projection effect, which not only affects the user experience, but also may cause wear and tear on the device. Therefore, the projection device 1 and the projection device motion control method of the first embodiment of the present disclosure can achieve more precise adjustment and help to increase the service life of the device compared to the above comparative example.

[0109] Fourthly, the manual adjustment method in the above comparative example is difficult to adapt to complex usage scenarios, such as irregular room layouts or changing viewing needs, which limits the projection effect and makes it impossible to give full play to the use value of the projection device. Therefore, the projection device 1 and the projection device motion control method of the first embodiment of the present disclosure are applicable to a wider range of usage scenarios compared to the above comparative example.

[0110] Embodiment 2

[0111] Embodiment 2 of the present disclosure provides a projection device and a method for controlling the motion of the projection device. The difference between the projection device and the method for controlling the motion of the projection device in this embodiment and that in Embodiment 1 is mainly that the movement instruction acquired by the controller 13 in step S1 is a posture instruction. The following will mainly describe the difference, and the rest is basically the same as the embodiment.

[0112] See also Figure 4 In this embodiment, the interactive device 2 further includes a posture sensor 202 for sensing the posture change of the interactive device 2. The posture sensor 202 includes, for example, an acceleration sensor and a gyroscope. The user holds the interactive device 2 and waves the interactive device 2 in a preset manner, so that the posture of the interactive device 2 changes. This process is to input a movement instruction through the interactive device 2.

[0113] In step S2, the controller 13 determines the above-mentioned movement information through the dynamic posture of the interactive device 2. In this embodiment, the controller 13 determines the moving direction of the projected image according to the moving direction of the interactive device 2 during the movement, so that the moving direction of the projected image is consistent with the moving direction of the interactive device 2. The controller 13 determines the movement amount of the projected image according to the movement amount of the interactive device 2 during the movement, so that the moving angle of the projected image is consistent with or proportional to the moving angle of the interactive device 2, and / or the moving distance of the projected image is consistent with or proportional to the moving distance of the interactive device 2. The controller 13 also determines the moving speed of the projected image according to the moving speed of the interactive device 2 during the movement, so that the moving speed of the projected image is consistent with or proportional to the moving speed of the interactive device 2.

[0114] In this way, by continuously acquiring the dynamic position and posture of the interactive device 2 , the projected image can be made to continuously move as the interactive device 2 moves.

[0115] For example Figure 4 The interactive device 2 is shown as being waved left and right in the horizontal direction. At this time, the controller 13 outputs a driving signal according to the dynamic posture of the interactive device 2 to drive the pan / tilt 20 to drive the projection unit 10 to rotate horizontally, so that the projected image is translated left and right on the surface of the imaging medium 3. The specific movement speed of the projected image when it is translated left and right is determined according to the speed of the interactive device 2 being waved left and right, and the specific movement amount of the projected image when it is translated left and right is determined according to the amplitude of the waved left and right of the interactive device 2.

[0116] For example Figure 5 The interactive device 2 is shown as being waved up and down in the vertical direction. At this time, the controller 13 outputs a driving signal according to the dynamic posture of the interactive device 2 to drive the pan / tilt 20 to drive the projection unit 10 to rotate vertically, so that the projected image is translated up and down on the surface of the imaging medium 3. The specific movement speed of the projected image when it is translated up and down is determined according to the up and down waving speed of the interactive device 2, and the specific movement amount of the projected image when it is translated up and down is determined according to the up and down waving amplitude of the interactive device 2.

[0117] For example, the user may also wave the interactive device 2 diagonally. In this case, the controller 13 outputs a driving signal according to the dynamic posture of the interactive device 2 to drive the pan / tilt 20 to drive the projection unit 10 to rotate horizontally and vertically at the same time, so that the projected image is translated left and right and up and down at the same time, that is, the projected image is also synchronously moved diagonally. The "diagonal movement" referred to in this disclosure is not limited to movement along a straight line, but may also include movement along a curve. As long as the projected image has both horizontal and vertical displacements, it can be regarded as the "diagonal movement" referred to in this disclosure.

[0118] The projection device and the projection device motion control method provided in the second embodiment of the present disclosure can achieve the beneficial effects of driving the projected image to continuously move in the space in a preset manner based on the movement information as described in the first embodiment, with strong flexibility, convenient operation, high movement accuracy and adaptability to a variety of projection scenes.

[0119] On this basis, this embodiment is based on the interactive device 2 equipped with an ultra-wideband (UWB) chip, and controls the projection image to move along with the movement of the interactive device 2 through precise position and posture detection between the interactive device 2 and the projection device 1. The movement of the projection image is more accurate and the user operation is more natural, especially used in the projection scene of somatosensory games to achieve human-computer interaction.

[0120] Embodiment 3

[0121] Embodiment 3 of the present disclosure provides a projection device and a method for controlling the motion of the projection device. The difference between the projection device and the method for controlling the motion of the projection device in this embodiment and that in Embodiment 1 is mainly that the movement instruction acquired by the controller 13 in step S1 is a voice instruction. The following will mainly describe the difference, and the rest is basically the same as the embodiment.

[0122] In this embodiment, the interactive device 2 can also receive the user's voice command by configuring a microphone (not shown). The user can remotely control the movement of the projected image by speaking a voice command within the range (the specific range is related to the hardware parameters) of the interactive device 2 that can receive voice. In at least one modified embodiment of this embodiment, the projection device 1 can also have a voice receiving component for directly receiving voice commands without using any physical interactive device.

[0123] In step S2 of this embodiment, the controller 13 confirms the movement information based on the keywords in the voice command from the interactive device 2. The controller 13 may pre-store multiple keywords representing one or any combination of the movement direction, movement speed, movement amount, and target projection position, that is, pre-store one or any combination of multiple direction keywords, multiple speed keywords, multiple movement amount keywords, and multiple target projection position keywords.

[0124] The controller 13 receives the voice command, compares the voice command with the above-mentioned keywords, and outputs a driving signal to the pan / tilt platform 20 according to at least one keyword matching the voice command.

[0125] For example, the user inputs the voice command "move up", and the direction keyword "up" is pre-stored in the controller 13. The controller 13 then determines that the voice command "move up" matches the direction keyword, and outputs a drive signal to the second motor 22 to drive the projection part to rotate upward, and the projected image moves upward.

[0126] For example, the user inputs the voice command "move to the TV wall", and the controller 13 pre-stores the keyword "TV wall" of the target projection position. The controller 13 then determines that the voice command "move to the TV wall" matches the keyword of the target projection position, and outputs a driving signal to the pan / tilt head 20 to drive the projection unit 10 to rotate, so that the projected image moves to the position of the TV wall. In this scenario, the user adjusts the projection unit 10 to the position of the TV wall in advance, and records the position state of the projection unit 10 at this time as the TV wall. In the subsequent use of the projection device 1, it is only necessary to input a voice command including the keyword "TV wall" to trigger the pan / tilt head 20 to drive the projection unit 10 to the above-mentioned pre-recorded position state. By adopting the same method, the user can pre-record multiple position states corresponding to different projection positions.

[0127] For example, the user inputs a voice command "move upward slowly", and the direction keyword "up" and the speed keyword "slow" are pre-stored in the controller 13. The controller 13 then determines that the voice command "move upward slowly" matches the direction keyword, and the voice command "move upward slowly" also matches the speed keyword "slow", and then outputs a drive signal to the second motor 22 to drive the projection unit 10 to rotate upward at the speed value corresponding to the speed keyword "slow", and the projected image slowly translates upward.

[0128] The projection device and the projection device motion control method provided in the third embodiment of the present disclosure can achieve the beneficial effects as described in the first embodiment of the present invention of driving the projection image to continuously move in the space in a preset manner based on the above-mentioned movement information, with strong flexibility, convenient operation, high movement accuracy and adaptability to a variety of projection scenes.

[0129] On this basis, the projection device and the projection device motion control method in this embodiment can completely free the hands, provide an extremely convenient operation method, and are particularly suitable for multi-tasking environments or users with limited mobility. In addition, voice control is more natural and intuitive, reducing the user's learning cost.

[0130] Figure 6 Schematic diagram of the module structure of the projection device 200 in at least one modified embodiment of the present disclosure.

[0131] The projection device 200 includes a projection unit 210 and a driving unit 220 driving the projection unit 210. The projection unit 210 may form an optical image and project the optical image onto an imaging medium SC.

[0132] The projection unit 210 includes a light source unit 211 , a light modulator 212 , and an optical system 213 . The driving unit 220 includes a light source driving unit 221 and a light modulator driving unit 222 .

[0133] The light source unit 211 may include a solid light source such as a light emitting diode (LED), a laser, a pump lamp, etc. The light source unit 211 may include optical elements such as a lens and a polarizing plate for improving the optical characteristics of the projected light, and a dimming element for adjusting the light flux.

[0134] The light source driving unit 221 can control the light source in the light source unit 211 to operate, including lighting and extinguishing, according to the instruction of the control unit 250 .

[0135] The light modulator 212 includes a display panel 215 , which may be a transmissive liquid crystal display (LCD) panel, a reflective liquid crystal on silicon (LCOS) panel, or a digital micromirror device (DMD).

[0136] The light modulator 212 is driven by a light modulator driving unit 222 , and the light modulator driving unit 222 is connected to the image processing unit 245 .

[0137] The image processing unit 245 inputs image data to the light modulator driving unit 222. The light modulator driving unit 222 converts the input image data into a data signal suitable for the operation of the display panel 215. The light modulator driving unit 222 applies a voltage to each pixel of each display panel 215 according to the converted data signal, and draws an image on the display panel 215.

[0138] The optical system 213 includes a lens or a reflector for forming an image of the incident image light PLA on the imaging medium SC. The optical system 213 may also include a zoom mechanism for magnifying or reducing the image projected on the imaging medium SC and a focus adjustment mechanism for adjusting the focus.

[0139] The projection device 200 further includes an operation unit 231, a signal receiving unit 233, an input interface 235, a storage unit 237, a data interface 241, an interface unit 242, a frame memory 243, an image processing unit 245, and a control unit 250. The input interface 235, the storage unit 237, the data interface 241, the interface unit 242, the image processing unit 245, and the control unit 250 can communicate data with each other via an internal bus 270.

[0140] The operation unit 231 can generate corresponding operation signals according to the operations of various buttons and switches on the housing surface of the projection device 200, and output them to the input interface 235. The input interface 235 includes a circuit that outputs the operation signals input from the operation unit 231 to the control unit 250.

[0141] After receiving a signal (such as an infrared signal or a Bluetooth signal) sent from the control device 5 (such as a remote controller), the signal receiving unit 233 can decode the received signal to generate a corresponding operation signal. The signal receiving unit 233 outputs the generated operation signal to the input interface 235. The input interface 235 outputs the received operation signal to the control unit 250.

[0142] The storage unit 237 may be a magnetic recording device such as a hard disk drive (HDD) or a storage device using a semiconductor storage element such as a flash memory. The storage unit 237 stores programs executed by the control unit 250, data processed by the control unit 250, image data, and the like.

[0143] The data interface 241 includes a connector and an interface circuit, and can be wired to other electronic devices 300. The data interface 241 can be a communication interface for performing communication with other electronic devices 300. The data interface 241 receives image data, sound data, etc. from other electronic devices 300. In this embodiment, the image data can be a content image.

[0144] The interface unit 242 is a communication interface for communicating with other electronic devices 300 according to the Ethernet standard. The interface unit 242 includes a connector and an interface circuit for processing a signal sent by the connector. The interface unit 242 is an interface substrate including a connector and an interface circuit and is connected to the main substrate of the control unit 250, which is a substrate on which a processor 253 and other components are mounted. The connector and the interface circuit constituting the interface unit 242 are mounted on the main substrate of the control unit 250. The interface unit 242 can receive setting information or instruction information sent by other electronic devices 300.

[0145] The control unit 250 includes a memory 251 and a processor 253 .

[0146] The memory 251 is a storage device that stores programs and data executed by the processor 253 in a non-volatile manner. The memory 251 is composed of a semiconductor storage element such as a magnetic storage device, a flash read-only memory (ROM), or other types of non-volatile storage devices. The memory 251 may also include a random access memory (RAM) that constitutes a work area of ​​the processor 253. The memory 251 stores data processed by the control unit 250 and a control program executed by the processor 253.

[0147] The processor 253 may be composed of a single processor or a combination of multiple processing groups. The processor 253 executes a control program to control various parts of the projection device 200. For example, the processor 253 performs corresponding image processing according to the operation signal generated by the operation unit 231, and outputs the parameters used in the image processing (such as parameters for performing trapezoidal correction on the image) to the image processing unit 245. In addition, the processor 253 can control the light source in the light source unit 211 to light up, turn off, or adjust the brightness by controlling the light source driving unit 221.

[0148] The image processing unit 245 and the frame memory 243 may be composed of integrated circuits. Integrated circuits include large-scale integrated circuits (LSI), application-specific integrated circuits (ASIC), and programmable logic devices (PLD), wherein the PLD may include a field-programmable gate array (FPGA). Among them, the integrated circuit may also include a portion of an analog circuit, or a combination of a processor and an integrated circuit. The combination of a processor and an integrated circuit is called a microcontroller unit (MCU), a system on chip (SoC), a system LSI, a chipset, etc.

[0149] The image processing unit 245 may store the image data received from the data interface 241 in the frame memory 243. The frame memory 243 includes a plurality of memory banks, each of which includes a storage capacity that can write image data of one frame. The frame memory 243 may be composed of a synchronous dynamic random access memory (SDRAM) or a dynamic random access memory (DRAM).

[0150] The image processing unit 245 may perform image processing on the image data stored in the frame memory 243 , including resolution conversion, size adjustment, distortion correction, shape correction, digital zoom, image tone adjustment, image brightness adjustment, and the like.

[0151] The image processing unit 245 can also convert the input frame frequency of the vertical synchronization signal into a drawing frequency and generate a vertical synchronization signal having the drawing frequency. The generated vertical synchronization signal is called an output synchronization signal. The image processing unit 245 then outputs the output synchronization signal to the optical modulator driving unit 222.

[0152] In some embodiments of the present disclosure, a computer-readable storage medium is provided, which stores a computer program, and the computer program is loaded by a processor, so that the processor executes the steps of any of the above-mentioned projection device movement control methods. Here, the steps of the image parameter determination method can be any of the above-mentioned steps.

[0153] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0154] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0155] Although the subject matter has been described in the language of specific method logic actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims. Regarding the device in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

Claims

1. A method for controlling the motion of a projection device, characterized in that: include: Obtain movement instructions of interactive devices; Determine movement information according to the movement instruction, wherein the movement information includes one or more of a movement direction, a movement speed, a movement amount, and a target projection position; as well as A driving signal is output according to the movement information to drive the projection device to rotate, so that the projection image moves in space based on the movement information.

2. The projection device motion control method according to claim 1, characterized in that: The movement instruction is a key instruction; The step of determining the movement information according to the movement instruction comprises: The movement information is determined according to one or any combination of key type, key duration, and key frequency.

3. The projection device motion control method according to claim 2, characterized in that: The step of determining the movement information according to one or any combination of key type, key duration, and key frequency includes: Determining a moving direction of the projection image according to the button type; and / or Determining the movement amount of the projection image according to the key pressing duration; and / or The moving speed of the projection image is determined according to the key pressing frequency.

4. The projection device motion control method according to claim 1, characterized in that: The movement instruction is a posture instruction; The step of determining the movement information according to the movement instruction comprises: The movement information is determined according to the dynamic posture of the interactive device.

5. The projection device motion control method according to claim 4, characterized in that: The step of determining the movement information according to the dynamic posture of the interactive device comprises: The movement information is determined according to one or any combination of a moving direction, a moving amount, and a moving speed of the interactive device during the movement process.

6. The projection device motion control method according to claim 5, characterized in that: The step of determining the movement information according to one or any combination of a moving direction, a moving amount, and a moving speed of the interactive device during the movement process includes: Determining the moving direction of the projection image according to the moving direction of the interactive device during the moving process; and / or Determining the movement amount of the projection image according to the movement amount of the interactive device during the movement process; and / or Determining a moving speed of the projection image according to a moving speed of the interactive device during the moving process; The step of moving the projection image in space based on the movement information comprises: The projection image is made to move in space following the dynamic posture of the interactive device based on one of the moving direction, the moving amount, and the moving speed, or any combination thereof.

7. The projection device motion control method according to claim 1, characterized in that: The movement instruction is a voice instruction; The step of determining the movement information according to the movement instruction comprises: The movement information is determined according to one or any combination of the movement direction, the movement amount, the movement speed, and the target projection position in the voice command.

8. The projection device motion control method according to claim 1, characterized in that: The step of moving the projection image in space based on the movement information comprises: The projection image is moved in space based on the movement information until a stop condition is reached.

9. The projection device motion control method according to claim 8, characterized in that: The stopping condition is stopping receiving the moving instruction; or Receiving a stop movement instruction from an interactive device; or After the step of obtaining the movement instruction of the interactive device, the method further includes determining a target projection position according to the movement instruction, and the stop condition is that the projection image reaches the target projection position.

10. The projection device motion control method according to claim 9, characterized in that: When the stop condition is that the projection image reaches the target projection position, before the step of moving the projection image in space based on the movement information, the method further includes: Acquire a current projection position of the projection image, and plan a moving path according to the current projection position and the target projection position; The step of moving the projection image in space based on the movement information comprises: The projection image is moved in space along the moving path to the target projection position.

11. The projection device motion control method according to claim 10, characterized in that: The step of moving the projection image along the moving path in space to the target projection position comprises: Acquire the current projection position of the projection image in real time; The moving path is adjusted in real time according to the difference between the current projection position and the target projection position until the projection image reaches the target projection position.

12. The projection device motion control method according to claim 10, characterized in that: The step of moving the projection image along the moving path in space to the target projection position comprises: Acquire the current projection position of the projection image in real time; The moving speed of the projection image is adjusted in real time according to the difference between the current projection position and the target projection position.

13. A storage medium, characterized in that: A computer program is stored, and when the computer program is read by a processor, the steps of the projection device motion control method according to any one of claims 1 to 12 can be implemented.

14. A projection device, characterized in that: include: PTZ; as well as A projection unit is movably connected to the pan / tilt head, and the projection unit includes: A projection component, for emitting a projection image; as well as A controller is respectively connected to the pan-tilt head and the projection component, and is used to drive the projection component to emit the projection image. The controller includes a memory and a processor. The memory stores a computer program. When the processor reads the computer program, the steps of the projection device motion control method described in any one of claims 1 to 12 are executed to enable the pan-tilt head to drive the projection part to rotate.

Images