Projection system, control apparatus, and control method

Abstract

The present disclosure relates to a projection system, a control device, and a control method capable of effectively suppressing vibration generated in an image. The method includes analyzing a first acceleration signal output from a first acceleration sensor disposed at a bottom of a vehicle, predicting vibrations to be generated in a screen fixed to a ceiling of the vehicle and a projector device, obtaining a predicted correction value based on the prediction, and correcting the vibrations according to a relative behavior of the screen and the projector device. A correction value based on the actual measurement value is obtained. A control calculation is then performed by feeding back a correction value to the predicted correction value, and a driving amount of an actuator for suppressing vibration of an image projected on a screen is obtained. The present technology can be applied, for example, to a projection system mounted on a vehicle.

Description

Technical Field

[0001] The present disclosure relates to a projection system, a control device and a control method, and more particularly, to a projection system, a control device and a control method capable of effectively suppressing vibration generated in an image. Background Art

[0002] In the past, in the case of viewing a large-screen image in the moving space of a vehicle, a structure in which a projector and a screen are attached inside the vehicle and the projector projects the large-screen image onto the screen can be adopted. In this case, the projector and the screen vibrate due to vibration caused by the running of the vehicle, and the image projected on the screen also vibrates, so there is a concern that the viewing of the image in the vehicle is adversely affected. Therefore, research has been conducted to suppress the vibration of the image projected on the screen by detecting the vibration of the vehicle and correcting the image, and to provide an image with good visibility.

[0003] For example, Patent Document 1 discloses a projector that suppresses vibration of an image projected on a projection surface, and Patent Document 2 discloses a projection display device that achieves both operability and vibration-proof control.

[0004] Citation List

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2017-146520

[0007] Patent Document 2: Japanese Patent Application Publication No. 2012-47850 Summary of the invention

[0008] Problems to be solved by the present invention

[0009] However, there is a need to suppress vibration generated in an image more effectively than before.

[0010] The present disclosure has been made in view of such circumstances, and one object of the present disclosure is to effectively suppress vibration generated in an image.

[0011] Solutions to the Problem

[0012] A projection system according to one aspect of the present disclosure includes: a prediction calculation unit that analyzes a first acceleration signal output from a first acceleration sensor arranged at the bottom of a vehicle, predicts vibrations to be generated in a screen and a projector device fixed to a ceiling of the vehicle, and obtains a prediction correction value based on the prediction; a correction value calculation unit that obtains a correction value based on an actual measurement value according to the relative behavior of the screen and the projector device; and a control calculation unit that performs control calculations by feeding back the correction value to the prediction correction value, and obtains a driving amount of an actuator for suppressing vibrations of an image projected on the screen.

[0013] According to another aspect of the present disclosure, a control device includes: a prediction calculation unit, which analyzes a first acceleration signal output from a first acceleration sensor arranged at the bottom of a vehicle, predicts vibrations to be generated in a screen and a projector device fixed to a ceiling of the vehicle, and obtains a prediction correction value based on the prediction; a correction value calculation unit, which obtains a correction value based on an actual measurement value according to the relative behavior of the screen and the projector device; and a control calculation unit, which performs control calculations by feeding back the correction value to the prediction correction value, and obtains a driving amount of an actuator for suppressing vibrations of an image projected on the screen.

[0014] According to another aspect of the present disclosure, a control method is performed by a control device, and the control method includes: analyzing a first acceleration signal output from a first acceleration sensor arranged at the bottom of a vehicle, predicting the vibration to be generated in a screen and a projector device fixed to a ceiling of the vehicle, and obtaining a predicted correction value based on the prediction; obtaining a correction value based on an actual measured value according to the relative behavior of the screen and the projector device; and performing a control calculation by feeding back the correction value to the predicted correction value, and obtaining a driving amount of an actuator for suppressing the vibration of an image projected on the screen.

[0015] In one aspect of the present disclosure, a first acceleration signal output from a first acceleration sensor disposed at the bottom of a vehicle is analyzed, vibrations to be generated in a screen and a projector device fixed to a ceiling of the vehicle are predicted, and a predicted correction value based on the prediction is obtained; a correction value based on an actual measured value is obtained according to the relative behavior of the screen and the projector device; and a control calculation is performed by feeding the correction value back to the predicted correction value, and a drive amount of an actuator for suppressing vibrations of an image projected on the screen is obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a block diagram showing a configuration example of a first embodiment of a projection system to which the present technology is applied.

[0017] Figure 2 is a diagram showing the behavior of a projector device and a screen.

[0018] Figure 3 is a diagram showing a first configuration example of a control device.

[0019] Figure 4 is a diagram showing a projection vibration reduction process performed by a control device.

[0020] Figure 5 is a diagram showing visibility of a moving image.

[0021] Figure 6is a diagram showing visibility of a still image.

[0022] Figure 7 is a diagram showing the relative displacement of the screen.

[0023] Figure 8 is a diagram showing a configuration example of a projection device having a correction function.

[0024] Fig. 9 is a diagram showing an example of a verification result.

[0025] Fig.10 : are diagrams showing various configuration examples of a projection device having a correction function.

[0026] Fig.11 is a flowchart showing the first projection vibration reduction process.

[0027] Fig.12 is a block diagram showing a configuration example of a second embodiment of a projection system to which the present technology is applied.

[0028] Fig.13 is a diagram showing a second configuration example of the control device.

[0029] Fig.14 : is a flowchart showing the second projection vibration reduction process.

[0030] Fig.15 is a block diagram showing a configuration example of a third embodiment of a projection system to which the present technology is applied.

[0031] Fig.16 is a diagram showing a third configuration example of the control device.

[0032] Fig.17 : is a flowchart showing the third projection vibration reduction process.

[0033] Fig.18 is a block diagram showing a configuration example of a fourth embodiment of a projection system to which the present technology is applied.

[0034] Fig.19 is a diagram showing a fourth configuration example of the control device.

[0035] Fig. 20 : is a flowchart showing the fourth projection vibration reduction process.

[0036] Fig.21 is a block diagram showing a configuration example of an embodiment of a computer to which the present technology is applied. DETAILED DESCRIPTION

[0037] Specific embodiments to which the present technology is applied will be described in detail below with reference to the accompanying drawings.

[0038] <First Configuration Example of Projection System>

[0039] Figure 1 is a diagram showing a configuration example of a first embodiment of a projection system to which the present technology is applied.

[0040] like Figure 1 As shown, the projection system 12 mounted on the vehicle 11 includes a projector device 21 and a screen 22. The projector device 21 is fixed to the ceiling of the vehicle 11 by a fixing member 23, and the screen 22 is fixed to the ceiling of the vehicle 11 by a fixing member 24. The projection system 12 can then suppress vibrations generated in the image projected by the projector device 21 onto the screen 22 during the driving of the vehicle 11 to the extent that the occupants of the vehicle 11 are not bothered by the vibrations.

[0041] Furthermore, the projection system 12 includes acceleration sensors 31 to 33 , a projection device 34 having a correction function, and a control device 35 .

[0042] The acceleration sensor 31 is attached to the bottom of the vehicle 11, detects the acceleration of vibration generated in the vehicle 11 when the vehicle 11 is running, and supplies a vehicle acceleration signal as a signal indicating the magnitude of the acceleration to the control device 35. For example, the acceleration sensor 31 is preferably attached to a chassis frame at a middle position between the front and rear tires of the vehicle 11, and the axles of the front and rear tires are fixed to the chassis frame.

[0043] The acceleration sensor 32 is attached near the end of the screen 22 , detects the acceleration of vibration generated in the screen 22 when the vehicle 11 is running, and supplies a screen acceleration signal, which is a signal indicating the magnitude of the acceleration, to the control device 35 .

[0044] The acceleration sensor 33 may be built in the projector device 21 , detect the acceleration of vibration generated in the projector device 21 when the vehicle 11 is traveling, and provide a projector acceleration signal, which is a signal indicating the magnitude of the acceleration, to the control device 35 .

[0045] The projection device 34 having a correction function has a correction function that corrects the image projected on the screen 22 by, for example, driving the mirror 54 with the actuator 55 according to a drive signal supplied from the control device 35, as will be described later. Figure 8 described.

[0046] The control device 35 outputs an output for instructing the actuator 55 ( ) of the projection device 34 having the correction function based on the vehicle acceleration signal provided from the acceleration sensor 31, the screen acceleration signal provided from the acceleration sensor 32, and the projector acceleration signal provided from the acceleration sensor 33. Figure 8) to suppress vibration generated in the image projected on the screen 22. Note that, in the illustrated example, a configuration in which the control device 35 is built in the projector device 21 is shown, but the control device 35 may be independently provided instead.

[0047] For example, when the vehicle 11 travels to move, the tires of the vehicle 11 vibrate in the vertical direction due to the unevenness of the road surface as shown by the hollow arrows, and the vibration is transmitted to the entire vehicle 11, causing the projector device 21 and the screen 22 to vibrate.

[0048] At this time, the projector device 21 vibrates with the fixed member 23 as a fulcrum, and the screen 22 vibrates with the fixed member 24 as a fulcrum, that is, the rotation in the pitch direction is dominant relative to the rotation in the rolling direction and the yaw direction. In addition, the projector device 21 and the screen 22 vibrate differently. For example, Figure 2 Graph A shows an example of analysis results obtained by analyzing the relative displacement between the projector device 21 and the screen 22 , the rotation angle of the projector device 21 , and the rotation angle of the screen 22 caused by the vibration of the vehicle 11 .

[0049] Incidentally, regarding the vibration transmission in the vehicle 11, the vibration is transmitted from the tires as the vibration input points of the road surface unevenness to the vehicle 11. Since the vibration arrives at a position away from the vibration input point with a delay, the projector device 21 and the screen 22 vibrate with a delay from when the vibration is input to the tires of the vehicle 11.

[0050] Here, a configuration for correcting an image projected on the screen 22 using only the acceleration sensor 33 provided for the projector device 21 and the acceleration sensor 32 provided for the screen 22 will be described.

[0051] For example, in the case where the projector device 21 and the screen 22 vibrate, it is necessary to prevent the relative relationship between the projector device 21 and the screen 22 from changing in order to prevent the image projected on the screen 22 from being affected by the vibration. As described above, since the projector device 21 and the screen 22 vibrate differently, not the vibration of the projector device 21 or the screen 22, but the vibration of both the projector device 21 and the screen 22 needs to be detected. Therefore, the relative vibration of the projector device 21 and the screen 22 is detected based on the outputs of the acceleration sensor 33 and the acceleration sensor 32.

[0052] However, after the relative vibration of the projector device 21 and the screen 22 is detected, the actuator 55 of the projection device 34 having the correction function is driven for image correction and the mirror 54 ( Figure 8 ) until the operating angle becomes the command angle corresponding to the drive. Figure 2Therefore, in a period corresponding to such a delay, vibration occurs in the image projected on the screen 22. For this reason, in a configuration using only the acceleration sensor 33 provided for the projector device 21 and the acceleration sensor 32 provided for the screen 22, it is difficult to suppress the vibration of the image projected on the screen 22 to the extent that the occupants of the vehicle 11 are not bothered by the vibration.

[0053] Therefore, the control device 35 is configured to correct the image projected on the screen 22 using the acceleration sensor 31 provided at the bottom of the vehicle 11 in addition to the acceleration sensor 33 provided for the projector device 21 and the acceleration sensor 32 provided for the screen 22 .

[0054] Figure 3 is a block diagram showing a first configuration example of the control device 35 .

[0055] like Figure 3 As shown, the control device 35 includes a prediction calculation unit 41 , a correction value calculation unit 42 , a control calculation unit 43 , and an actuator driving unit 44 .

[0056] The prediction calculation unit 41 analyzes the vehicle acceleration signal supplied from the acceleration sensor 31, predicts the vibration generated in the screen 22 and the projector device 21, and performs calculation processing for obtaining the predicted angles of the screen 22 and the projector device 21 corresponding to the predicted vibration. Then, the prediction calculation unit 41 obtains a prediction correction value based on the prediction according to the relative behavior of the predicted angle of the screen 22 and the predicted angle of the projector device 21, and supplies the prediction correction value to the control calculation unit 43 so as to correct the image projected on the screen 22 in a manner that suppresses the image vibration.

[0057] For example, the prediction calculation unit 41 may include an input signal analysis section 45 and a calculation processing section 46. The input signal analysis section 45 may analyze the frequency and amplitude of the vibration of the vehicle 11 indicated by the vehicle acceleration signal, and determine the on / off of the control according to the analysis result. The calculation processing section 46 may perform a calculation process for obtaining a prediction correction value by obtaining a predicted angle of the screen 22 and a predicted angle of the projector device 21 based on a prediction of the vibration to be transmitted through the vehicle 11.

[0058] The correction value calculation unit 42 calculates the angle (actual measurement value) of the screen 22 corresponding to the vibration generated in the screen 22 based on the screen acceleration signal supplied from the acceleration sensor 32. Furthermore, the correction value calculation unit 42 obtains the angle (actual measurement value) of the projector device 21 corresponding to the vibration generated in the projector device 21 based on the projector acceleration signal supplied from the acceleration sensor 33. The correction value calculation unit 42 then obtains a correction value based on the actual measurement value based on the relative behavior of the angle of the screen 22 and the angle of the projector device 21, and supplies the correction value to the control calculation unit 43 so as to correct the image projected on the screen 22 in a manner that suppresses the image vibration.

[0059] When the predicted correction value is supplied from the prediction calculation unit 41, the control calculation unit 43 performs control calculation based on the predicted correction value, obtains the drive amount of the actuator 55 for suppressing the vibration of the image projected on the screen 22, and supplies the drive amount to the actuator driving unit 44. Thereafter, when the correction value is supplied from the correction value calculation unit 42, the control calculation unit 43 performs control calculation by feeding back the correction value to the predicted correction value, obtains the drive amount of the actuator 55 for suppressing the vibration of the image projected on the screen 22, and supplies the drive amount to the actuator driving unit 44.

[0060] For example, the control calculation unit 43 may include an angle difference calculation unit 47 and a drive amount calculation unit 48. The angle difference calculation unit 47 can calculate the difference between the predicted correction value obtained by the prediction calculation unit 41 and the correction value obtained by the correction value calculation unit 42, and feed the correction value back to the predicted correction value. The drive amount calculation unit 48 can calculate the drive amount of the actuator 55.

[0061] The actuator driving unit 44 supplies a driving signal corresponding to the driving amount supplied from the control calculation unit 43 to the actuator 55 to drive the actuator 55 .

[0062] The control device 35 configured as described above may perform, for example, Figure 4 Feedback control shown in .

[0063] like Figure 4 As shown on the left side of , the control device 35 obtains in advance the predicted behavior of the screen 22 and the predicted behavior of the projector device 21 based on the vehicle acceleration signal. Then, correction control for eliminating the relative displacement between the screen 22 and the projector device 21 is started based on the relative predicted behavior.

[0064] Since a delay of several milliseconds actually occurs until the vibration of the lower portion of the vehicle 11 is transmitted to the screen 22 and the projector device 21, the occurrence of operation delay can be avoided by, for example, performing the operation using prediction. Then, the control device 35 can output a drive signal to the actuator 55 using the output vehicle acceleration signal as a trigger. As a result, the delay in the start of the operation of the actuator 55 can be reduced.

[0065] After several milliseconds have passed, the actual vibration is then transmitted to the screen 22 and the projector device 21, and the acceleration sensor 32 and the acceleration sensor 33 detect the vibration. Figure 4 As shown in the center of , the actual measured behavior of the screen 22 and the actual measured behavior of the projector device 21 are obtained, and their relative actual measured behavior is obtained.

[0066] As a result, the difference between the relative predicted behavior and the relative actually measured behavior can be calculated and the result of the calculation can be fed back into the corrective movement initiated based on the prediction. Figure 4 As shown on the right side of , the actuator 55 can be subjected to drive control via a drive signal to achieve correct correction behavior through correction.

[0067] Therefore, the projection system 12 can reduce the delay in the start of movement of the actuator 55 and achieve high-speed control by detecting the input vibration in advance using the time from the input of the vibration to the transmission of the vibration in the vehicle 11, taking into account the transmission delay of the vibration in the vehicle 11 and the correction start delay. That is, the projection system 12 can effectively suppress the vibration generated in the image projected on the screen 22 to the extent that the occupants of the vehicle 11 are not disturbed by the vibration by setting the acceleration sensor 31 at the bottom of the vehicle 11 where the vibration is immediately input, and detecting the vibration generated in the screen 22 and the projector device 21 in advance.

[0068] <Vibration Control Considering Human Visibility>

[0069] Will refer to Figures 5 to 9 Vibration control taking into account human visibility is described.

[0070] For example, in the case where correction control is actually performed, it is physically impossible to completely eliminate the vibration generated in the image projected on the screen 22, and it is preferable to perform vibration control in consideration of how much vibration of the image affects human visibility. Therefore, in order to provide an image with good visibility, an experiment was conducted to verify the visibility given to humans in the case where the vibration frequency and amplitude of the image were changed, and it was possible to obtain Figure 5 and 6 The results shown in .

[0071] Figure 5 is a diagram showing visibility of a moving image.

[0072] like Figure 5 As shown in A of FIG. 1 , as a result of checking the visibility of moving images for each frequency of amplitude change, it has been verified that there are many people who feel that it is unacceptable to watch moving images when the amplitude change is 0.04° or more and the frequency is 5 Hz or more. Figure 5 As shown in B, it is necessary to adjust the amplitude change to 2 mm or more and the frequency to 5 Hz or less ( Figure 5 The moving image is corrected in the shaded area in B).

[0073] Figure 6 is a diagram showing visibility of a still image.

[0074] like Figure 6 As shown in A of FIG. 1 , as a result of checking the visibility of a still image for each frequency of amplitude change, it has been verified that many people feel that it is unacceptable to watch a still image when the amplitude change is 0.04° or more and the frequency is 10 Hz or more. Figure 6 As shown in B, it is necessary to adjust the amplitude change to 2 mm or more and the frequency to 10 Hz or less ( Figure 6 The still image is corrected in the shaded area in B).

[0075] As described above, the result obtained is that as the amplitude (vibration width) increases, visibility decreases, and at a vibration frequency of 5 to 20 Hz, visibility decreases as the frequency becomes lower. In addition, the result that visibility is less likely to be affected when viewing a moving image than when viewing a still image is obtained.

[0076] Note that when control is performed in consideration of visibility, visibility is not affected when vibration input is performed in an area where visibility does not become unacceptable, and therefore, control may not be performed. For example, since vibration input changes in a time series, determination processing needs to be performed each time the input signal changes. Figure 1 The input signal analysis section 45 in the control performs such control on / off determination processing. That is, the input signal analysis section 45 can analyze the frequency and amplitude of the vibration of the vehicle 11 represented by the vehicle acceleration signal, and determine the control on / off according to the analysis result.

[0077] Will refer to Figure 7 Describe the relative displacement of the screen 22.

[0078] For example, in the rotational displacement of the projector device 21 and the screen 22, the image projected on the screen 22 is as follows: Figure 7 Note that since the projector device 21 and the screen 22 are relatively displaced, Figure 7The rotation of the screen 22 is shown with the projector device 21 being fixed.

[0079] The screen 22 is fixed to the ceiling of the vehicle 11 by the fixing member 24, so that the angular amplitude of the screen 22 is expressed so that the amplitude of the lower side of the screen 22 varies in length. In addition, the dominant vibration amplitude of the image in the case where the screen 22 is rotationally displaced is the variation of the side length of the trapezoid, and in the case where the difference increases, visibility decreases. Then, the frequency increases as the switching motion becomes faster.

[0080] Therefore, the projection device 34 having a correction function corrects the relative displacement of the screen 22 .

[0081] Reference Figure 8 A configuration example of the projection device 34 having a correction function is described.

[0082] like Figure 8 As shown, the projection device 34 with a correction function includes a light source 51, a transmissive liquid crystal panel 52, an optical system 53, a reflector 54, and an actuator 55. For example, light output from the light source 51 is converged so that an image transmitted through the transmissive liquid crystal panel 52 is formed on the screen 22 through the optical system 53, reflected by the reflector 54, and projected on the screen 22.

[0083] As shown by the dotted line, when vibration is then generated in the projector device 21 and the screen 22, the actuator 55 drives the reflector 54 in a manner to offset the change in the relative angle between the projector device 21 and the screen 22, thereby correcting the distortion caused by the vibration (pitch rotation) of the image projected on the screen 22.

[0084] Note that the projection device 34 with a correction function may use a reflective panel based on digital light processing (DLP) or liquid crystal on silicon (LCOS) instead of the transmissive liquid crystal panel 52 .

[0085] Fig. 9 An example of a verification result of an image corrected by the projection device 34 having a correction function is shown.

[0086] Fig. 9 The angle change based on the projector acceleration signal output from the acceleration sensor 33 of the projector device 21, the angle change of the reflection mirror 54 driven by the actuator 55, and the difference between these angle changes are shown. Fig. 9 The upper side of shows the result of control performed without using the output of the acceleration sensor 31 attached to the bottom of the vehicle 11, and Fig. 9 The lower side of shows the result of control performed using the output of the acceleration sensor 31 attached to the bottom of the vehicle 11 .

[0087] like Fig. 9 As shown on the upper side of , without using the output of the acceleration sensor 31, vibration whose amplitude is not sufficiently corrected appears in the difference. Fig. 9 As shown on the lower side of , in the case of using the output of the acceleration sensor 31, the difference indicates successful amplitude correction, and an effect of suppressing changes in relative displacement can be produced.

[0088] As described above, by using the output of the acceleration sensor 31 , the effect of detecting in advance the vibration to be generated in the projector device 21 and the screen 22 can be verified.

[0089] <Configuration example of a projection device with a correction function>

[0090] Reference Fig.10 Various configuration examples of the projection device 34 having a correction function are described.

[0091] Fig.10 The projection device 34a with a correction function shown in A includes a light source 51, a transmissive liquid crystal panel 52, an optical system 53, and an actuator 55, and a control lens 56 is provided as one of the multiple lenses included in the optical system 53. In the projection device 34a with a correction function, the actuator 55 then drives and displaces the control lens 56 to correct the image projected on the screen 22.

[0092] Fig.10 The projection device 34b with a correction function shown in FIG. 1 includes a light source 51, a transmissive liquid crystal panel 52, an optical system 53, an actuator 55, and a prism reflector 57. In the projection device 34b with a correction function, the image projected on the screen 22 can be corrected by rotationally driving the prism reflector 57 using the actuator 55.

[0093] Fig.10 The projection device 34c with a correction function shown in FIG. 3 includes a light source 51, a transmissive liquid crystal panel 52, and an optical system 53. In the projection device 34c with a correction function, the image projected on the screen 22 can be corrected by moving and deforming the image in the pixels of the transmissive liquid crystal panel 52.

[0094] Fig.10 The projection device 34d with a correction function shown in FIG. 3 includes a light source 51, an optical system 53, an actuator 55, and a shifted transmissive liquid crystal panel 58. In the projection device 34d with a correction function, the image projected on the screen 22 can be corrected by driving and shifting the shifted transmissive liquid crystal panel 58 using the actuator 55.

[0095] Note that the projection device 34 having a correction function may be used in addition to Figure 8 and10 Configurations other than the configuration examples shown in , configurations obtained by combining these configuration examples, and the like.

[0096] <Processing Example of Projection Vibration Reduction Processing>

[0097] Fig.11 2 is a flowchart of a projection vibration reduction process for suppressing vibration of an image projected on the screen 22. For example, when the projection system 12 is activated and the acceleration sensor 31 outputs a vehicle acceleration signal, the process starts.

[0098] In step S11 , the prediction calculation unit 41 performs calculation processing for analyzing the vehicle acceleration signal supplied from the acceleration sensor 31 , predicting vibration to be generated in the screen 22 , and obtaining a predicted angle of the screen 22 based on the predicted vibration.

[0099] In step S12 , prediction calculation unit 41 performs calculation processing for analyzing the vehicle acceleration signal supplied from acceleration sensor 31 , predicting vibration to be generated in projector device 21 , and obtaining a predicted angle of projector device 21 based on the predicted vibration.

[0100] In step S13, the prediction calculation unit 41 performs calculation for obtaining a prediction correction value based on the prediction in order to correct the image in a manner that suppresses vibration of the image projected on the screen 22, based on the relative behavior between the prediction angle of the screen 22 obtained in step S11 and the prediction angle of the projector device 21 obtained in step S12. The prediction calculation unit 41 then supplies the prediction correction value to the control calculation unit 43.

[0101] In step S14, the control calculation unit 43 performs control calculation based on the prediction correction value supplied from the prediction calculation unit 41 in step S13, obtains the driving amount of the actuator 55 for suppressing the vibration of the image projected on the screen 22, and supplies the driving amount to the actuator driving unit 44. The actuator driving unit 44 then supplies a driving signal corresponding to the driving amount supplied from the control calculation unit 43 to the actuator 55 to drive the actuator 55.

[0102] In step S15, correction value calculation unit 42 determines whether output of the screen acceleration signal supplied from acceleration sensor 32 and the projector acceleration signal supplied from acceleration sensor 33 has started. If it is determined in step S15 that the output of the screen acceleration signal and the projector acceleration signal has not started, the process returns to step S11, and similar processing is repeatedly performed thereafter.

[0103] On the other hand, if it is determined in step S15 that the output of the screen acceleration signal and the projector acceleration signal has started, the process proceeds to steps S16 and S20.

[0104] In step S16 , the correction value calculation unit 42 performs calculation for obtaining the angle (actual measurement value) of the screen 22 corresponding to the vibration generated in the screen 22 , based on the screen acceleration signal supplied from the acceleration sensor 32 .

[0105] In step S17 , correction value calculation unit 42 performs calculation for obtaining an angle (actual measurement value) of projector device 21 corresponding to vibration generated in projector device 21 , based on the projector acceleration signal supplied from acceleration sensor 33 .

[0106] In step S18 , the correction value calculation unit 42 performs calculation for obtaining a relative angle between the angle of the screen 22 obtained in step S16 and the angle of the projector device 21 obtained in step S17 .

[0107] In step S19, the correction value calculation unit 42 performs calculation for obtaining a correction value based on the actual measurement value based on the relative angle obtained in step S18 in order to correct the image in a manner that suppresses vibration of the image projected on the screen 22. The correction value calculation unit 42 then supplies the correction value to the control calculation unit 43.

[0108] Furthermore, in steps S20 to S22 , processing similar to that of steps S11 to S22 is performed in parallel with steps S16 to S19 .

[0109] In step S23, the control calculation unit 43 performs control calculation by feeding back the correction value supplied from the correction value calculation unit 42 in step S19 to the predicted correction value supplied from the prediction calculation unit 41 in step S22, obtains the driving amount of the actuator 55 for suppressing the vibration of the image projected on the screen 22, and supplies the driving amount to the actuator driving unit 44. The actuator driving unit 44 then supplies a driving signal corresponding to the driving amount supplied from the control calculation unit 43 to the actuator 55 to drive the actuator 55.

[0110] In step S24, the prediction calculation unit 41 and the correction value calculation unit 42 determine whether the supply of the vehicle acceleration signal, the screen acceleration signal, and the projector acceleration signal has stopped. If it is determined in step S24 that the supply of the vehicle acceleration signal, the screen acceleration signal, and the projector acceleration signal has not stopped, the process returns to steps S16 and S20, and similar processes are repeatedly performed thereafter.

[0111] On the other hand, if it is determined in step S24 that the supply of the vehicle acceleration signal, the screen acceleration signal, and the projector acceleration signal has stopped, the projection vibration reduction process is terminated.

[0112] By performing the above-described projection vibration reduction process, the projection system 12 can effectively suppress vibrations generated in the image projected on the screen 22 to the extent that the occupants of the vehicle 11 are not disturbed by the vibrations.

[0113] <Second Configuration Example of Projection System>

[0114] Fig.12 1 is a diagram illustrating a configuration example of a second embodiment of a projection system to which the present technology is applied. Fig.12 In the projection system 12A shown, Figure 1 Components that are the same as those of the projection system 12 in FIG. 1 are given the same reference numerals, and detailed descriptions thereof are omitted.

[0115] like Fig.12 As shown, the projection system 12A has Figure 1 The projection system 12 in FIG. 1 has a common configuration because it includes a screen 22 , a fixing member 23 , a fixing member 24 , an acceleration sensor 31 , and a projection device 34 having a correction function.

[0116] On the other hand, the projection system 12A and Figure 1 The projection system 12 in FIG. 1 is different in that the projector device 21A includes a control device 35A and a camera 36 .

[0117] The camera 36 may be installed on the projector device 21A, capture an image of the screen 22 from the projector device 21A, and output an image signal for detecting relative vibration between the projector device 21A and the screen 22. As the camera 36, ​​for example, an RGB camera, an event-based vision sensor (EVS), an infrared (IR) light projection sensing camera, etc. may be used.

[0118] Fig.13 35A is a block diagram showing a configuration example of the control device 35A. Fig.13 In the control device 35A shown, Figure 3 Components that are the same as those of the control device 35 in FIG. 1 are given the same figure marks, and detailed descriptions thereof are omitted.

[0119] like Fig.13 As shown, the control device 35A and Figure 3 The common configuration of the control device 35 is that it includes a prediction calculation unit 41, a control calculation unit 43 and an actuator driving unit 44.

[0120] Control device 35A and Figure 3 The control device 35 in FIG. 1 is different in that a correction value calculation unit 42A is provided.

[0121] The correction value calculation unit 42A calculates the value of Fig.12The image signal provided by the camera 36 is used to obtain the relative angle between the screen 22 and the projector device 21A through calculation, a correction value based on the actual measurement value is obtained, and the correction value is provided to the control calculation unit 43 so as to correct the image projected on the screen 22 in a manner that suppresses image vibration.

[0122] Fig.14 2 is a flowchart showing a projection vibration reduction process for suppressing vibration of an image projected on the screen 22. For example, when the projection system 12A is activated and the acceleration sensor 31 outputs a vehicle acceleration signal, the process starts.

[0123] From step S31 to step S35, execution is performed with Fig.11 The processing from step S11 to step S15 is similar to the processing in .

[0124] In step S36, the correction value calculation unit 42A then calculates the value of Fig.12 Calculation for obtaining the relative angle between screen 22 and projector device 21A is performed based on the image signal provided by camera 36 in FIG.

[0125] In step S37, the correction value calculation unit 42A performs calculation for obtaining a correction value based on the actual measurement value based on the relative angle obtained in step S36 in order to correct the image in a manner that suppresses vibration of the image projected on the screen 22. The correction value calculation unit 42 then supplies the correction value to the control calculation unit 43.

[0126] In steps S38 to S42, the Fig.11 The processing is similar to the processing in steps S20 to S24 in .

[0127] like Figure 1 Like the projection system 12 in FIG. 1 , the projection system 12A configured as described above can effectively suppress vibrations generated in the image projected on the screen 22 to a degree that the occupants of the vehicle 11 are not bothered by the vibrations.

[0128] <Third Configuration Example of Projection System>

[0129] Fig.15 is a diagram illustrating a configuration example of a third embodiment of a projection system to which the present technology is applied. Fig.15 In the projection system 12B shown, Figure 1 Components that are the same as those of the projection system 12 in FIG. 1 are given the same reference numerals, and detailed descriptions thereof are omitted.

[0130] like Fig.15 As shown, the projection system 12B and Figure 1The projection system 12 in the embodiment has a common configuration including a screen 22, a fixing member 23, a fixing member 24, an acceleration sensor 31, and a projection device 34 having a correction function.

[0131] On the other hand, the projection system 12B and Figure 1 The projection system 12 in FIG. 1 is configured differently in that the projector device 21B includes a control device 35B, and the vehicle 11 is provided with a camera 37 .

[0132] The camera 36 is installed on the vehicle 11 in a manner capable of capturing images of both the projector device 21B and the screen 22, captures images of both the projector device 21B and the screen 22, and outputs an image signal for detecting relative vibration of the projector device 21B and the screen 22. As the camera 37, for example, an RGB camera, an EVS, an IR light projection sensing camera, etc. may be employed. Note that two cameras 37 may be used.

[0133] Fig.16 35B is a block diagram showing a configuration example of the control device 35B. Fig.16 In the control device 35B shown, Figure 3 Components that are the same as those of the control device 35 in FIG. 1 are given the same figure marks, and detailed descriptions thereof are omitted.

[0134] like Fig.16 As shown, the control device 35B and Figure 3 The common configuration of the control device 35 is that it includes a prediction calculation unit 41 , a control calculation unit 43 and an actuator driving unit 44 .

[0135] Control device 35B and Figure 3 The control device 35 in FIG. 1 is different in that a correction value calculation unit 42B is provided.

[0136] By using Fig.15 The image signal obtained by capturing the image of the screen 22 by the camera 37 in the control unit 42 and the image signal obtained by capturing the image of the projector device 21B are supplied to the correction value calculation unit 42B. Then, the correction value calculation unit 42B obtains the relative angle between the screen 22 and the projector device 21B by calculation based on these image signals, obtains the correction value based on the actual measurement value in order to correct the image in a manner that suppresses the vibration of the image projected on the screen 22, and supplies the correction value to the control calculation unit 43.

[0137] Fig.17 2 is a flowchart showing a projection vibration reduction process for suppressing vibration of an image projected on the screen 22. For example, when the projection system 12B is activated and the acceleration sensor 31 outputs a vehicle acceleration signal, the process starts.

[0138] From step S51 to step S55, execution is performed with Fig.11 The processing from step S11 to step S15 is similar to the processing in .

[0139] In step S56, the correction value calculation unit 42B calculates the correction value according to Fig.15 Based on an image signal obtained by capturing an image of the screen 22 provided by the camera 37 in the display, calculation is performed to obtain an angle (actual measurement value) of the screen 22 corresponding to the vibration generated in the screen 22.

[0140] In step S57, the correction value calculation unit 42B calculates the correction value according to Fig.15 Based on an image signal obtained by capturing an image of projector device 21B provided by camera 37 in FIG. 3 , calculation for obtaining an angle (actual measurement value) of projector device 21B corresponding to vibration generated in projector device 21B is performed.

[0141] In steps S58 to S64, the Fig.11 The processing is similar to the processing in steps S18 to S24 in .

[0142] like Figure 1 Like the projection system 1 in FIG. 1 , the projection system 12B configured as described above can effectively suppress vibrations generated in the image projected on the screen 22 to a degree that the occupants of the vehicle 11 are not bothered by the vibrations.

[0143] <Fourth Configuration Example of Projection System>

[0144] Fig.18 is a diagram illustrating a configuration example of a fourth embodiment of a projection system to which the present technology is applied. Fig.18 In the projection system 12C shown, Figure 1 Components that are the same as those of the projection system 12 in FIG. 1 are given the same reference numerals, and detailed descriptions thereof are omitted.

[0145] like Fig.18 As shown, the projection system 12C and Figure 1 The projection system 12 in FIG. 1 has the same configuration in that it includes a screen 22 , a fixing member 23 , a fixing member 24 , an acceleration sensor 32 , an acceleration sensor 33 , and a projection device 34 having a correction function.

[0146] On the other hand, the projection system 12C and Figure 1 The projection system 12 in FIG. 1 is different in that a projector device 21C includes a control device 35C, and acceleration sensors 31 - 1 and 31 - 2 are attached to the bottom of the vehicle 11 .

[0147] The acceleration sensor 31 - 1 is disposed near the front tires of the vehicle 11 , detects acceleration of vibration generated at the front of the vehicle 11 , and supplies a vehicle front acceleration signal, which is a signal indicating the magnitude of the acceleration, to the control device 35 .

[0148] The acceleration sensor 31 - 2 is disposed near the rear tires of the vehicle 11 , detects acceleration of vibration generated in the rear of the vehicle 11 , and supplies a vehicle rear acceleration signal, which is a signal indicating the magnitude of the acceleration, to the control device 35 .

[0149] Note that the acceleration sensor 31 may be disposed, for example, in the vicinity of each of the four tires of the vehicle 11 , instead of being disposed at the front and rear of the vehicle 11 .

[0150] Fig.19 35C is a block diagram showing a configuration example of the control device 35C. Fig.19 In the control device 35C shown, Figure 3 Components that are the same as those of the control device 35 in FIG. 1 are given the same figure marks, and detailed descriptions thereof are omitted.

[0151] like Fig.19 As shown, the control device 35C and Figure 3 The common configuration of the control device 35 is that it includes a correction value calculation unit 42 , a control calculation unit 43 , and an actuator driving unit 44 .

[0152] On the other hand, the control device 35C and Figure 3 The control device 35 is different in that a prediction calculation unit 41C is included.

[0153] from Fig.18 The vehicle front acceleration signal output by the acceleration sensor 31-1 in the Fig.18 The vehicle rear acceleration signal output by the acceleration sensor 31-2 in the vehicle 11 is provided to the prediction calculation unit 41C. The prediction calculation unit 41C analyzes the vehicle front acceleration signal and the vehicle rear acceleration signal, and predicts the vibration to be generated in the screen 22 and the projector device 21C. For example, since the input vibration generated in the vehicle 11 varies depending on the forward movement or backward movement of the vehicle 11, the prediction calculation unit 41C can appropriately predict the vibration. The prediction calculation unit 41C then performs calculation processing based on the predicted vibration to obtain the predicted angles of the screen 22 and the projector device 21.

[0154] Fig. 202 is a flowchart showing a projection vibration reduction process for suppressing vibration of an image projected on the screen 22. For example, the process starts when the projection system 12C is activated and the vehicle front acceleration signal and the vehicle rear acceleration signal are output from the acceleration sensors 31-1 and 31-2.

[0155] In step S71, the prediction calculation unit 41C performs calculation processing to analyze the vehicle front acceleration signal and the vehicle rear acceleration signal provided from the acceleration sensors 31-1 and 31-2, predict the vibration that will be generated in the screen 22, and obtain the predicted angle of the screen 22 corresponding to the predicted vibration.

[0156] In step S12, prediction calculation unit 41C performs calculation processing for analyzing the vehicle front acceleration signal and the vehicle rear acceleration signal provided from acceleration sensors 31-1 and 31-2, predicting the vibration that will be generated in projector device 21C, and obtaining a predicted angle of projector device 21C corresponding to the predicted vibration.

[0157] Thereafter, in steps S73 to S84, the Fig.11 The processing is similar to the processing in steps S13 to S24 in .

[0158] The projection system 12C configured as described above can effectively suppress the vibration generated in the image projected onto the screen 22 to the extent that the occupants of the vehicle 11 are not bothered by the vibration. Figure 1 Like the projection system 1 in .

[0159] <Computer Configuration Example>

[0160] Next, the above-described series of processing (control method) can be executed by hardware or software. In the case where the series of processing is executed by software, a program configuring the software is installed on a general-purpose computer or the like.

[0161] Fig.21 : is a block diagram showing a configuration example of one embodiment of a computer on which a program for executing the above-described series of processes is installed.

[0162] In the computer, a central processing unit (CPU) 101, a read only memory (ROM) 102, a random access memory (RAM) 103, and an electrically erasable programmable read only memory (EEPROM) 104 are connected to one another via a bus 105. In addition, an input / output interface 106 is connected to the bus 105, and the input / output interface 106 is connected to the outside.

[0163] In the computer configured as described above, for example, the CPU 101 loads the program stored in the ROM 102 and the EEPROM 104 into the RAM 103 via the bus 105 and executes the program, thereby performing the above-described series of processing. In addition, the program executed by the computer (CPU 101) may be written in advance in the ROM 102, and may be installed or updated in the EEPROM 104 from the outside via the input / output interface 106.

[0164] Here, in this specification, the processing performed by the computer according to the program is not necessarily performed in time series according to the order described in the flowchart. That is, the processing performed by the computer according to the program includes processing performed in parallel or independently of each other (for example, parallel processing or object-based processing).

[0165] In addition, the program may be processed by one computer (one processor), or by a plurality of computers in a distributed manner. In addition, the program may be transmitted to a remote computer to be executed.

[0166] In addition, in this specification, a system refers to a collection of multiple components (devices, modules (components), etc.), and it does not matter whether all the components are in the same housing. Therefore, multiple devices housed in separate housings and connected to each other via a network and a device in which multiple modules are housed in one housing are both systems.

[0167] In addition, for example, a configuration described as one device (or one processing unit) may be divided and configured as a plurality of devices (or processing units). Conversely, the configuration described as a plurality of devices (or processing units) may be configured together as one device (or processing unit). Furthermore, it goes without saying that a configuration other than the above configuration may be added to the configuration of each device (or each processing unit). Furthermore, in the case where the configuration and operation as the entire system are substantially the same, a portion of the configuration of a certain device (or processing unit) may be included in the configuration of another device (or another processing unit).

[0168] Furthermore, for example, the present technology may be configured as cloud computing in which one function is shared and jointly processed by a plurality of devices via a network.

[0169] In addition, for example, the above-mentioned program can be executed by any device. In this case, the device only needs to have necessary functions (functional blocks, etc.) and obtain necessary information.

[0170] In addition, for example, each step described in the above flowchart may be performed by one device, or may be performed by multiple devices in a shared manner. In addition, in the case where multiple processes are included in one step, the multiple processes included in one step may be performed by one device, or may be performed in a shared manner by multiple devices. In other words, the multiple processes included in one step may also be performed as processes of multiple steps. Conversely, the processes described as multiple steps may also be performed together as one step.

[0171] Note that in a program to be executed by a computer, the processing in the steps describing the program may be performed in time series in the order described in this specification, or may be performed in parallel, or may be performed independently at necessary timing such as in the case of making a call. That is, the processing in each step may also be performed in an order different from the above order unless there is a contradiction. In addition, the processing in the steps describing the program may be performed in parallel with the processing of another program, or may be performed in combination with the processing of another program.

[0172] Note that, unless there is a contradiction, multiple present technologies described in this specification can be independently implemented as a single unit. Of course, multiple arbitrary present technologies can be implemented in combination. For example, part or all of the present technologies described in any embodiment can be implemented in combination with part or all of the present technologies described in other embodiments. In addition, part or all of any technology in the above-mentioned present technology can be implemented together with another technology not described above.

[0173] <Configuration combination example>

[0174] Note that the present technology may also have the following configurations.

[0175] (1) A projection system comprising:

[0176] a prediction calculation unit that analyzes a first acceleration signal output from a first acceleration sensor provided at a bottom of the vehicle, predicts vibration to be generated in a screen and a projector device fixed to a ceiling of the vehicle, and obtains a prediction correction value based on the prediction;

[0177] a correction value calculation unit that obtains a correction value based on the actual measurement value according to the relative behavior of the screen and the projector device; and

[0178] A control calculation unit performs control calculation by feeding back a correction value to the predicted correction value, and obtains a driving amount of an actuator for suppressing vibration of an image projected on a screen.

[0179] (2) The projection system according to (1), wherein

[0180] The control calculation unit performs control calculation based on the prediction correction value supplied from the prediction calculation unit until the correction value is supplied from the correction value calculation unit.

[0181] (3) The projection system according to (1) or (2), wherein

[0182] The prediction calculation unit includes an analysis section that analyzes the frequency and amplitude of the vibration of the vehicle indicated by the first acceleration signal and determines on / off of a control for suppressing the vibration of the image projected on the screen according to a result of the analysis.

[0183] (4) The projection system according to (3), wherein

[0184] The analysis component determines on / off of the control based on the visibility of the image.

[0185] (5) The projection system according to any one of (1) to (4), wherein

[0186] The correction value calculation unit obtains the correction value by using a second acceleration signal output from a second acceleration sensor provided for the screen and a third acceleration signal output from a third acceleration sensor provided for the projector device.

[0187] (6) The projection system according to any one of (1) to (4), wherein

[0188] The correction value calculation unit obtains the correction value using an image signal obtained by capturing an image of a screen from a camera provided to the projector device.

[0189] (7) The projection system according to any one of (1) to (4), wherein

[0190] The correction value calculation unit obtains the correction value by using an image signal obtained by capturing an image of the projector device and the screen using a camera provided to the vehicle.

[0191] (8) The projection system according to any one of (1) to (7), wherein

[0192] The prediction calculation unit obtains the prediction correction value by analyzing a plurality of first acceleration signals output from a plurality of first acceleration sensors provided at the bottom of the vehicle.

[0193] (9) A control device comprising:

[0194] a prediction calculation unit that analyzes a first acceleration signal output from a first acceleration sensor provided at a bottom of the vehicle, predicts vibration to be generated in a screen and a projector device fixed to a ceiling of the vehicle, and obtains a prediction correction value based on the prediction;

[0195] a correction value calculation unit that obtains a correction value based on the actual measurement value according to the relative behavior of the screen and the projector device; and

[0196] A control calculation unit performs control calculation by feeding back a correction value to the predicted correction value, and obtains a driving amount of an actuator for suppressing vibration of an image projected on a screen.

[0197] (10) A control method executed by a control device, the control method comprising:

[0198] analyzing a first acceleration signal output from a first acceleration sensor provided at a bottom of the vehicle, predicting vibration to be generated in a screen and a projector device fixed to a ceiling of the vehicle, and obtaining a prediction correction value based on the prediction;

[0199] Obtaining correction values ​​based on actual measurements according to the relative behavior of the screen and projector equipment; and

[0200] A control calculation is performed by feeding back the correction value to the predicted correction value, and a driving amount of the actuator for suppressing vibration of an image projected on a screen is obtained.

[0201] Note that the present embodiment is not limited to the above-described embodiment, and various modifications may be made without departing from the gist of the present disclosure. In addition, the effects described in this specification are merely examples and not limitations, and other effects may be produced.

[0202] Reference numerals list

[0203] 11 Vehicles

[0204] 12 Projection System

[0205] 21 Projector equipment

[0206] 22 screens

[0207] 23, 24 Fixed components

[0208] 31 to 33 Acceleration sensors

[0209] 34Projection equipment with calibration function

[0210] 35 Control Equipment

[0211] 36, 37 Camera

[0212] 41 Prediction calculation unit

[0213] 42 Correction value calculation unit

[0214] 43 Control computing unit

[0215] 44Actuator drive unit

[0216] 45 Input signal analysis unit

[0217] 46Computing Processing Units

[0218] 47 Angle difference calculation component

[0219] 48 driving quantity calculation component

[0220] 51 light sources

[0221] 52 Transmissive LCD panel

[0222] 53 Optical system

[0223] 54 Reflector

[0224] 55 Actuator

[0225] 56 Control lens

[0226] 57 Prism Reflector

[0227] 58-shift transmissive LCD panel

Claims

1. A projection system, comprising: a prediction calculation unit that analyzes a first acceleration signal output from a first acceleration sensor provided at a bottom of the vehicle, predicts vibration to be generated in a screen and a projector device fixed to a ceiling of the vehicle, and obtains a prediction correction value based on the prediction; a correction value calculation unit, which obtains a correction value based on the actual measurement value according to the relative behavior of the screen and the projector device; as well as A control calculation unit performs control calculation by feeding back a correction value to the predicted correction value, and obtains a driving amount of an actuator for suppressing vibration of an image projected on a screen.

2. The projection system according to claim 1, wherein The control calculation unit performs control calculation based on the prediction correction value supplied from the prediction calculation unit until the correction value is supplied from the correction value calculation unit.

3. The projection system according to claim 1, wherein The prediction calculation unit includes an analysis section that analyzes the frequency and amplitude of the vibration of the vehicle indicated by the first acceleration signal and determines on / off of a control for suppressing the vibration of the image projected on the screen according to a result of the analysis.

4. The projection system according to claim 3, wherein The analysis component determines on / off of the control based on the visibility of the image.

5. The projection system according to claim 1, wherein The correction value calculation unit obtains the correction value by using a second acceleration signal output from a second acceleration sensor provided for the screen and a third acceleration signal output from a third acceleration sensor provided for the projector device.

6. The projection system of claim 1, wherein The correction value calculation unit obtains the correction value using an image signal obtained by capturing an image of a screen from a camera provided to the projector device.

7. The projection system of claim 1, wherein The correction value calculation unit obtains the correction value by using an image signal obtained by capturing an image of the projector device and the screen using a camera provided to the vehicle.

8. The projection system of claim 1, wherein The prediction calculation unit obtains the prediction correction value by analyzing a plurality of first acceleration signals output from a plurality of first acceleration sensors provided at the bottom of the vehicle.

9. A control device comprising: a prediction calculation unit that analyzes a first acceleration signal output from a first acceleration sensor provided at a bottom of the vehicle, predicts vibration to be generated in a screen and a projector device fixed to a ceiling of the vehicle, and obtains a prediction correction value based on the prediction; a correction value calculation unit, which obtains a correction value based on the actual measurement value according to the relative behavior of the screen and the projector device; as well as A control calculation unit performs control calculation by feeding back a correction value to the predicted correction value, and obtains a driving amount of an actuator for suppressing vibration of an image projected on a screen.

10. A control method performed by a control device, the control method comprising: analyzing a first acceleration signal output from a first acceleration sensor provided at a bottom of the vehicle, predicting vibration to be generated in a screen and a projector device fixed to a ceiling of the vehicle, and obtaining a prediction correction value based on the prediction; Obtaining correction values ​​based on actual measurements, according to the relative behavior of the screen and projector equipment; as well as A control calculation is performed by feeding back the correction value to the predicted correction value, and a driving amount of the actuator for suppressing vibration of an image projected on a screen is obtained.

Images