Method, device and equipment for enabling projection content to be adaptive to deflection angle of projection head

Abstract

The invention provides a method, device and equipment for enabling projection content to be adaptive to the deflection angle of a projection head, and the method comprises the steps: determining the current deflection angle of the projection head, and determining the current center angle of the projection head according to the current deflection angle of the projection head and the overall field angle of an image to be projected; according to the current center angle and the field angle of the projection head, determining the projection coverage range of the projection head, and according to the horizontal and vertical resolution and the overall field angle of the to-be-projected image, the field angle of the projection head and the current deflection angle, determining the projection coverage range of the projection head; determining a pixel range of the to-be-projected image corresponding to the projection coverage range and a center pixel position of the to-be-projected image corresponding to the current center angle; and according to the central pixel position and the pixel range of the to-be-projected image, determining projection content and projecting the projection content to a projection plane. According to the invention, the projection content of the projection head can be adaptive to the deflection angle of the projection head, the adaptive adjustment efficiency can be greatly improved, and the overall applicability of the projection system is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of projection, and in particular to a technology in which projection content adapts to the deflection angle of a projection head. Background Art

[0002] When it is necessary to project a high-definition image (or video) with a relatively large pixel size on a plane, but a single projection head (or emission head) or other projection devices cannot meet the clarity requirements, multiple projection heads can be used in cooperation to achieve this.

[0003] Existing implementation methods usually need to first determine the pixel range of the image corresponding to the projection coverage range of each projection head according to the installation position of each projection head, the horizontal and vertical angles of projection, and perform corresponding image distortion correction processing. After each projection head works synchronously in cooperation, a complete high-definition image with a relatively large size can be projected on the projection plane. However, when the size of the image changes, or the installation position or projection angle of a projection head changes, each projection head cannot adaptively adjust the projection content, but needs to reallocate each projection head to adjust its projection content in order to ensure that a complete high-definition image with an adjusted size is projected on the projection plane. Each adaptation adjustment has low efficiency and poor applicability. Summary of the Invention

[0004] The purpose of the present invention is to provide a method, device and equipment for adapting projection content to the deflection angle of a projection head, so as to at least partially solve the technical problems of low efficiency and poor applicability in the adaptation adjustment of projection heads in the prior art.

[0005] According to one aspect of the present invention, a method for adapting projection content to the deflection angle of a projection head is provided, wherein the method includes:

[0006] Determine the current deflection angle of the projection head, and determine the current central angle of the projection head according to the current deflection angle of the projection head and the overall field of view angle of the image to be projected;

[0007] Determine the projection coverage range of the projection head according to the current central angle and the field of view angle of the projection head, and determine the pixel range of the projection coverage range corresponding to the image to be projected and the central pixel position of the current central angle corresponding to the image to be projected according to the horizontal and vertical resolutions and the overall field of view angle of the image to be projected, the field of view angle of the projection head, and the current deflection angle;

[0008] Determine the projection content according to the central pixel position and the pixel range of the image to be projected, and project the projection content onto the projection plane.

[0009] Optionally, wherein the determining the current deflection angle of the projection head includes:

[0010] Determine the current deflection angle of the projection head based on the acquired gyroscope sensor data in the projection head.

[0011] Optionally, the method for adapting projection content to the deflection angle of the projection head further includes:

[0012] Coordinately adjust the current deflection angles of a plurality of projection heads so that the combination of the projection content projected by each projection head onto the projection plane constitutes the whole of the image to be projected.

[0013] Optionally, wherein determining the pixel range of the projection coverage corresponding to the image to be projected according to the horizontal and vertical resolutions and the overall field of view of the image to be projected, the field of view of the projection head, and the current deflection angle includes:

[0014] Determine the number of pixels corresponding to a unit angle according to the horizontal and vertical resolutions and the overall field of view of the image to be projected;

[0015] Determine the pixel range of the projection coverage corresponding to the image to be projected according to the number of pixels, the field of view of the projection head, and the current deflection angle.

[0016] Optionally, wherein before projecting the projection content onto the projection plane, the method further includes:

[0017] Perform trapezoidal distortion correction according to the current deflection angle of the projection head.

[0018] According to another aspect of the present invention, there is provided a device for adapting projection content to the deflection angle of a projection head, wherein the device includes:

[0019] A first module, configured to determine the current deflection angle of the projection head, and determine the current central angle of the projection head according to the current deflection angle of the projection head and the overall field of view of the image to be projected;

[0020] A second module, configured to determine the projection coverage of the projection head according to the current central angle and the field of view of the projection head, and determine the pixel range of the projection coverage corresponding to the image to be projected and the central pixel position of the current central angle corresponding to the image to be projected according to the horizontal and vertical resolutions and the overall field of view of the image to be projected, the field of view of the projection head, and the current deflection angle;

[0021] A third module, configured to determine the projection content according to the central pixel position and the pixel range of the image to be projected, and project the projection content onto the projection plane.

[0022] Optionally, the device further includes:

[0023] The fourth module is used to coordinately adjust the current deflection angles of a plurality of projection heads so that the projection contents projected onto the projection plane by each projection head are combined to form the whole of the image to be projected.

[0024] Compared with the prior art, the present invention provides a method, an apparatus and a device for adapting projection content to the deflection angle of a projection head. The method includes: determining the current deflection angle of the projection head, and determining the current central angle of the projection head according to the current deflection angle of the projection head and the overall field of view angle of the image to be projected; determining the projection coverage range of the projection head according to the current central angle and the field of view angle of the projection head, and determining the pixel range of the projection coverage range corresponding to the image to be projected and the central pixel position of the current central angle corresponding to the image to be projected according to the horizontal and vertical resolutions and the overall field of view angle of the image to be projected, the field of view angle of the projection head and the current deflection angle; determining the projection content according to the central pixel position and the pixel range of the image to be projected, and projecting the projection content onto the projection plane. Further, before projecting the projection content onto the projection plane, trapezoidal distortion correction is performed according to the current deflection angle of the projection head. Through the present invention, the projection content of the projection head can be adapted to the deflection angle of the projection head, without manual adaptation and adjustment, which can greatly improve the efficiency of adaptation and adjustment, and without investing in adaptation and adjustment resources, greatly enhancing the overall applicability of the projection system. Further, real-time trapezoidal distortion correction can also be performed on the projection content according to the deflection angle of the projection head to eliminate the distortion of the projected content displayed on the projection plane. Description of the Drawings

[0025] Other features, objects and advantages of the present invention will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0026] Figure 1 A schematic flowchart of a method for adapting projection content to the deflection angle of a projection head according to an aspect of the present invention is shown;

[0027] Figure 2 A schematic diagram of an apparatus for adapting projection content to the deflection angle of a projection head according to another aspect of the present invention is shown;

[0028] The same or similar reference numerals in the drawings represent the same or similar components. Detailed Embodiments

[0029] The present invention will be further described in detail below with reference to the accompanying drawings.

[0030] In a typical configuration of the embodiments of the present invention, the execution entity of the method, each trusted party of the system, and / or each module of the device all include one or more processors (CPUs), an input / output interface, a network interface, and a memory.

[0031] The memory may include non-permanent memory in a computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0032] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can store information by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory, or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD), or other optical storage, magnetic cassette tapes, magnetic disk storage, or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

[0033] When multiple projection heads work simultaneously to project a complete image, it is usually necessary to first determine the pixel range of the image covered by the projection range of each projection head according to the installation position of each projection head, the horizontal angle, and the vertical angle of projection, and perform corresponding image distortion correction processing. After each projection head works synchronously, a complete, large-sized, high-definition image can be projected on the projection plane. However, when the size of the image changes, or the installation position or projection angle of a projection head changes, each projection head cannot adaptively adjust the projection content, but needs to reallocate each projection head to adjust its projection content in order to ensure that a complete-sized, high-definition image is projected on the projection plane. The efficiency of each adaptation adjustment is low, and the applicability is not high.

[0034] A method for adapting projection content to the deflection angle of a projection head provided by the present invention. The content projected by the projection head will correspondingly display the local content at the corresponding position of the high-definition image to be projected. If the projection angle of the projection head deflects, the projection coverage range projected by it will also adaptively follow and deflect accordingly (the projection position of the projection head is like a window that lights up the corresponding position on the projection plane related to the content of the image. Whichever direction the projection head deflects, the corresponding content of the image can be seen). There is no need for manual adaptation and adjustment, which can greatly improve the efficiency of adaptation and adjustment, and there is no need to invest in adaptation and adjustment resources, greatly enhancing the applicability. Before projecting the projection content onto the projection plane, real-time trapezoidal distortion correction can also be performed according to the current deflection angle of the projection head to reduce or even eliminate the distortion of the projected content displayed on the projection plane.

[0035] To further elaborate on the technical means adopted by the present invention and the achieved effects, the following combines the accompanying drawings and various embodiments to clearly and completely describe the technical solutions of the present invention.

[0036] Figure 1 A schematic diagram showing a method for adapting projection content to the deflection angle of a projection head according to an aspect of the present invention. Among them, the method of one embodiment includes:

[0037] S101 Determine the current deflection angle of the projection head, and determine the current central angle of the projection head according to the current deflection angle of the projection head and the overall field of view angle of the image to be projected;

[0038] S102 Determine the projection coverage range of the projection head according to the current central angle and the field of view angle of the projection head, and determine the pixel range of the projection coverage range corresponding to the image to be projected and the central pixel position of the current central angle corresponding to the image to be projected according to the horizontal and vertical resolutions and the overall field of view angle of the image to be projected, the field of view angle of the projection head, and the current deflection angle;

[0039] S103 Determine the projection content according to the central pixel position and the pixel range of the image to be projected, and project the projection content onto the projection plane.

[0040] The method of this embodiment is implemented by a projection head control system 100 with an operation interface or in cooperation with a debugging client.

[0041] In this embodiment, in step S101, the current deflection angle of the projection head can be determined, and the current central angle of the projection head can be determined according to the current deflection angle of the projection head and the overall field of view angle of the image to be projected.

[0042] Among them, for the projection head, its field of view angle is determined, including the horizontal field of view angle and the vertical field of view angle. And for the image to be projected, its overall field of view angle is determined, including the horizontal overall field of view angle and the vertical overall field of view angle, and the horizontal and vertical resolutions of the image to be projected are also determined. When the projection head is installed and fixed, ideally, the center of the projection head should be perpendicular to the projection surface without deflection. Ideally, the central angle of the projection head should be at the center of the overall field of view of the image to be projected (the middle of the horizontal overall field of view angle and the middle of the vertical overall field of view angle). However, in actual application scenarios, the center of the projection head of the projection head will deflect, including the horizontal direction and the vertical direction. The current deflection angle of the projection head can be obtained, including the current horizontal deflection angle and the vertical deflection angle, and the current central angle of the projection head, including the current horizontal central angle and the current vertical central angle, can be determined according to the determined current deflection angle of the projection head and the overall field of view angle of the image to be projected. Exemplarily, if the horizontal field of view angle of the projection head is F x , the vertical field of view angle is F y , the horizontal overall field of view angle MF of the image to be projected x , the vertical overall field of view angle MF y , let the current horizontal deflection angle of the projection head be r, and the current horizontal deflection angle be r y , the current horizontal central angle of the projection head is C x , the current vertical central angle is C y , then it can be determined according to the following formulas (1) and (2) respectively,

[0043] C x = MF x / 2 + r x (1)

[0044] C y = MF y / 2 + r y (2)

[0045] Optionally, in step S101, the determining the current deflection angle of the projection head includes:

[0046] Based on the gyroscope sensor data obtained in the projection head, determine the current deflection angle of the projection head.

[0047] Among them, the current deflection angle of the projection head can be determined by obtaining the current data collected by the gyroscope sensor integrated in the projection head.

[0048] After determining the current central angle of the projection head, continuing in this embodiment, in step S102, the projection coverage range of the projection head can be determined according to the current central angle and the field of view angle of the projection head, and according to the horizontal and vertical resolutions of the image to be projected, the overall field of view angle, the field of view angle of the projection head, and the current deflection angle, the pixel range of the projection coverage range corresponding to the image to be projected and the central pixel position of the current central angle corresponding to the image to be projected can be determined.

[0049] Among them, the projection coverage range of the projection head, including the horizontal projection coverage range and the vertical projection coverage range, can be determined according to the current central angle of the projection head determined in step S101 and the field of view angle of the projection head, and according to the horizontal and vertical resolutions of the image to be projected, the overall field of view angle, the field of view angle of the projection head, and the current deflection angle, the pixel range of the projection coverage range corresponding to the image to be projected, including the horizontal pixel range and the vertical pixel range, and the central pixel position of the current central angle of the projection head corresponding to the image to be projected, including the horizontal central pixel position and the vertical central pixel position, can be determined.

[0050] Continuing with the above example, if the horizontal resolution of the image to be projected is ResX and the vertical resolution is ResY, assuming the horizontal pixel range of the corresponding image to be projected is A x , and the vertical projection pixel range is A y , then they can be determined respectively according to the following formulas (3) and (4).

[0051] A x = [C x - F x / 2, C x + F x / 2] (3)

[0052] A y = [C y - F y / 2, C y + F y / 2] (4)

[0053] Assuming the horizontal pixel range P x of the image to be projected corresponding to the projection coverage range of the projection head, the vertical pixel range P y , the horizontal central pixel position RP x of the current central angle of the projection head corresponding to the image to be projected, and the vertical central pixel position RP y , then they can be determined respectively according to the following formulas (5) to (8).

[0054]

[0055]

[0056] RP x =(ResX / MF x )C x (7)

[0057] RP y =(ResY / MF y )C y (8)

[0058] Continuing in this embodiment, in step S103, the projection content may be determined according to the central pixel position and pixel range of the image to be projected, and the projection content may be projected onto the projection plane.

[0059] Among them, according to the horizontal central pixel position, vertical central pixel position of the image to be projected determined in step S102, as well as the horizontal pixel range and vertical pixel range of the image to be projected, the content of the corresponding area of the image to be projected can be determined as the projection content to be projected by the projection head, and the projection head projects the projection content onto the projection plane.

[0060] Among them, after the projection head and the projection plane are installed and fixed, the distance from the projection head to the projection plane can be determined. The projection head projects the projection content onto the projection plane, and the projection content display area on the projection plane can also be determined. Therefore, the projection content can also be displayed in the corresponding area on the projection plane by controlling the current deflection angle of the projection head, so as to make the projection content adapt to the projection deflection angle.

[0061] In the above embodiment, with one projection head, the corresponding partial content of the image to be projected can be displayed in the corresponding area on the projection plane by controlling the current deflection angle of the projection head. In order to display the complete image to be projected on the projection plane, optionally, the method for adapting the projection content to the deflection angle of the projection head further includes:

[0062] S104 Coordinately adjust the current deflection angles of several projection heads so that the projection content projected by each projection head onto the projection plane combines to form the whole of the image to be projected.

[0063] Among them, the current deflection angles of several projection heads can be coordinately adjusted so that the corresponding partial content of the image to be projected is displayed in the corresponding area projected by each projection head onto the projection plane, and the whole forms the complete image to be projected.

[0064] Optionally, in step S102, the determining of the pixel range of the projection coverage corresponding to the image to be projected according to the horizontal and vertical resolutions, overall field of view angle of the image to be projected, the field of view angle and current deflection angle of the projection head includes:

[0065] Determine the number of pixels corresponding to a unit angle according to the horizontal and vertical resolutions and the overall field of view angle of the image to be projected.

[0066] Determine the pixel range of the projection coverage corresponding to the image to be projected according to the number of pixels, the field of view angle of the projection head, and the current deflection angle.

[0067] Among them, when determining the pixel range of the projection coverage corresponding to the image to be projected, the number of pixels corresponding to a unit field of view angle can be determined according to the horizontal and vertical resolutions of the image to be projected, its horizontal overall field of view angle, and vertical overall field of view angle, including the number of pixels corresponding to a unit horizontal field of view angle and the number of pixels corresponding to a unit vertical field of view angle. Then, according to the number of pixels corresponding to the unit field of view angle, the horizontal and vertical field of view angles of the projection head, and the determined current horizontal and vertical deflection angles, determine the horizontal pixel range and vertical pixel range of the projection coverage corresponding to the image to be projected. Continuing with the above example, assume that the number of pixels corresponding to a unit horizontal field of view angle is PP x , and the number of pixels corresponding to a unit vertical field of view angle is PP y , then they can be determined according to formulas (9) and (10) respectively.

[0068] RP x = ResX / MF x (9)

[0069] RP y = ResY / MF y (10)

[0070] To ensure the projection quality and minimize or eliminate the distortion of the projected content displayed on the projection plane, optionally, in step S103, before projecting the projection content onto the projection plane, the method further includes:

[0071] Perform trapezoidal distortion correction according to the current deflection angle of the projection head.

[0072] Among them, when the projection head is not centered directly opposite the projection plane and there is a deflection angle, the projection content displayed on the projection plane will have trapezoidal distortion, and the projected image on the projection plane may show the situation of being smaller near and larger far away, affecting the projection effect and user experience. Therefore, it is necessary to correct the gradient distortion of the projection content before projection in combination with the current deflection angle of the projection head, and the image distortion can be calculated and compensated in real time to reduce or even eliminate the trapezoidal distortion of the projection content projected onto the projection plane. Continuing with the above example, the method for correcting the gradient distortion of the projection content of the current projection head is as follows: Assume that the distance from the projection head to the projection plane is D. The ideal projection center and the position of the projection coverage range on the projection plane in the case of no offset angle of the projection head (or ideal situation) can be determined (which can be determined according to the field of view angle of the projection head and D), and the position of the projection coverage range of the image to be projected on the projection plane can be determined (which can be determined according to the overall field of view angle of the image to be projected and D). Assume that a plane rectangular coordinate system is constructed on the projection plane. The projection coverage range on the projection plane when the projection head has no offset angle includes a rectangle with (x 0 , y 0 ) as the upper left vertex, a horizontal length of W p , and a vertical length of H p . The projection coverage range of the image to be projected on the projection plane includes a rectangle with (0, 0) as the upper left vertex, a horizontal length of W i , and a vertical length of H i . According to the current offset angles (r x , r y ) of the projection head and the distance D from the projection head to the projection plane, the offset amount (x′, y′) between the current projection center on the projection plane corresponding to the current offset angle of the projection head and the ideal projection center on the projection plane corresponding to the case of no offset angle of the projection head can be determined, as well as the corresponding normalized offset amount. Let the normalized offset amount be (dx, dy), which can be calculated according to the following formulas (11) and (12).

[0073] dx = 2x′ / W i (11)

[0074] dy = 2y′ / H i (12)

[0075] Among them, W′ and H′ respectively represent the width and height of the size of the image to be projected, and the value range of the normalized offset amount is [-1, 1]. Among them, the offset amount x′ = Dtan(r x ), y′ = Dtan(r y ).

[0076] Introduce a preset distortion coefficient k. According to the normalized offset amount, the linear distortion coefficient di can be calculated using the following formulas (13) and (14).x and di y ,

[0077] di x di = k × dx (13)

[0078] di y di = k × dy (14)

[0079] Furthermore, based on W p , H p and di x , di y , the horizontal distortion compensation amount Δw and the vertical distortion compensation amount Δh are determined using the following formulas (15) and (16):

[0080] Δw = di x × W p / 2 (15)

[0081] Δh = di y × H p / 2 (16)

[0082] If the projection coverage range of the projection head on the projection plane without an offset angle includes a rectangle with (x 0 , y 0 ) as the upper left vertex, a horizontal length of W p , and a vertical length of H p , then the coordinates of the four vertices of this rectangle are assumed to be D lt , D rt , D rb , and D lb , and their coordinates are (x 0 , y 0 ), (x 0 + W p , y 0 ), (x 0 + W p , y 0 - H p ), and (x 0 , y 0 - H p ). The four vertices of the rectangle covered by the projection of the projection head on the projection plane with the current offset angle are assumed to be D' lt , D' rt , D' rb , and D' lb , then their corrected coordinates are (x 0 - Δh, y 0 - Δw), (x 0+W p +Δh,y 0 +Δw)、(x 0 +W p -Δh,y 0 -H p -Δw) and (x 0 +Δh,y 0 -H p +Δw). In actual implementation, the perspective transformation function provided by OpenCV can be used to implement it, where D lt , D rt , D rb and D lb Construct the source point matrix src_points, D′ lt , D′ rt , D′ rb and D′ lb Construct the target point matrix dst_points, calculate the transformation matrix M = getPerspectiveTransform (src_points, dst_points), and then apply the transformation I' = warpPerspective (I, M, size), where I is the projection content before correction, M is the transformation matrix, and size is the size of the corresponding projection content after correction, which is determined by the circumscribed rectangle of the correction vertex. The size width w and height h can be determined by the following formulas (17) and (18):

[0083] w = max(x′ i )-min(x′ i ) (17)

[0084] h = max(y′ u )-min(y′ i ) (18)

[0085] Using the above exemplary keystone correction method, the degree of correction is linearly corresponding to the projection position offset, the transformation process is smooth, there is no obvious image breakage or distortion effect, and the calculation complexity is low, which is suitable for real-time processing scenes.

[0086] During the projection process, the projection head can also obtain projection information on the projection plane through sensors, determine the compensation amount based on the obtained projection information, and use a distortion correction algorithm to perform real-time distortion correction on the projected content to obtain better projection head effects and user experience.

[0087] The above-described embodiments and / or alternative embodiments are implemented through the projection head control system 100, which can achieve the adaptation of the projected content to the deflection angle of the projection head, and can also perform trapezoidal distortion correction compensation on the projected content according to the deflection angle of the projection head, ensuring that the projected content presents a distortion-free image on the projection plane. It can also coordinate multiple projection heads to cooperate in jointly projecting the same image, and the projected content of each projection head can be adapted to its deflection angle. When a part of the image to be projected is projected through one projection head, the corresponding part of the image to be projected that can be projected onto the projection plane by the projection head can be adaptively determined according to the current deflection angle of the projection head, without manual adaptation and adjustment, which can greatly improve the efficiency of adaptation and adjustment and does not require the investment of adaptation and adjustment resources, greatly enhancing the applicability. Before the projected content adaptively determined according to the current deflection angle is projected onto the projection plane, trapezoidal distortion correction can be performed on the projected content according to the current deflection angle, so that the projected content projected onto the projection plane has no trapezoidal distortion, improving the projection effect and user experience.

[0088] Figure 2 There is shown a device for adapting projected content to the deflection angle of a projection head according to another aspect of the present invention. In one embodiment, the device includes:

[0089] A first module 210 for determining the current deflection angle of the projection head and determining the current central angle of the projection head according to the current deflection angle of the projection head and the overall field of view angle of the image to be projected;

[0090] A second module 220 for determining the projection coverage range of the projection head according to the current central angle and the field of view angle of the projection head, and determining the pixel range of the projection coverage range corresponding to the image to be projected and the central pixel position of the current central angle corresponding to the image to be projected according to the horizontal and vertical resolutions and the overall field of view angle of the image to be projected, the field of view angle of the projection head, and the current deflection angle;

[0091] A third module for determining the projected content according to the central pixel position and the pixel range of the image to be projected and projecting the projected content onto the projection plane.

[0092] The device of this embodiment is integrated in the projection head control system 100 having an operation interface or operating in cooperation with a debugging client 0.

[0093] In this embodiment, through the first module 210 of the device, the current deflection angle of the projection head can be determined, and based on the current deflection angle of the projection head and the overall field of view angle of the image to be projected, the current central angle of the projection head can be determined. For the projection head, its field of view angle is fixed, including the horizontal field of view angle and the vertical field of view angle. For the image to be projected, its overall field of view angle is fixed, including the horizontal overall field of view angle and the vertical overall field of view angle, and the horizontal and vertical resolutions of the image to be projected are also fixed. When the projection head is fixedly installed, ideally, the center of the projection head should be perpendicular to the projection plane without deflection. Ideally, the central angle of the projection head should be at the center of the overall field of view range of the image to be projected (the middle of the horizontal overall field of view angle and the middle of the vertical overall field of view angle). However, in actual application scenarios, the center of the projection head will deflect, including in the horizontal and vertical directions. The current deflection angle of the projection head can be obtained, including the current horizontal deflection angle and the vertical deflection angle, and based on the determined current deflection angle of the projection head and the overall field of view angle of the image to be projected, the current central angle of the projection head can be determined, including the current horizontal central angle and the current vertical central angle.

[0094] Continuing in this embodiment, through the second module 220 of the device, based on the current central angle of the projection head determined by the first module 210 and the field of view angle of the projection head, the projection coverage range of the projection head can be determined, including the projection horizontal coverage range and the projection vertical coverage range, and based on the horizontal and vertical resolutions, the overall field of view angle of the image to be projected, the field of view angle of the projection head, and the current deflection angle, the pixel range of the image to be projected corresponding to the projection coverage range of the projection head can be determined, including the horizontal pixel range and the vertical pixel range, as well as the central pixel position of the image to be projected corresponding to the current central angle of the projection head, including the horizontal central pixel position and the vertical central pixel position.

[0095] Continuing in this embodiment, through the third module 230 of the device, based on the horizontal central pixel position, the vertical central pixel position of the image to be projected determined by the second module 220, and the horizontal pixel range and the vertical pixel range of the image to be projected, the content of the corresponding area of the image to be projected can be determined as the projection content to be projected by the projection head, and the projection head projects the projection content onto the projection plane.

[0096] Optionally, the device for adapting projection content to the deflection angle of the projection head further includes:

[0097] A fourth module 240, configured to coordinately adjust the current deflection angles of several projection heads so that the projection contents projected onto the projection plane by each projection head combine to form the whole of the image to be projected.

[0098] In this alternative embodiment, through the fourth module 240 of the device, the current deflection angles of a plurality of projection heads can be coordinately adjusted, so that each projection head projects the corresponding content of a part of the image to be projected onto the corresponding area on the projection plane, and the complete image to be projected is formed as a whole.

[0099] In each of the above-described embodiments and / or alternative embodiments of the system, the parts not mentioned in the method steps executed by each module are the same as those in the foregoing relevant method embodiments and / or alternative embodiments, and will not be elaborated herein.

[0100] According to another aspect of the present invention, there is also provided a computer-readable medium storing computer-readable instructions that can be executed by a processor to implement part or all of the foregoing methods.

[0101] It should be noted that each method embodiment and / or alternative embodiment of the present invention can be partially or fully implemented in software and / or a combination of software and hardware. The software programs involved in the present invention can be executed by a processor to implement part or all of the steps or functions of the above-described embodiments and / or alternative embodiments. Similarly, the software programs (including related data structures) of the present invention can be stored in a computer-readable recording medium.

[0102] In addition, a part of the present invention can be applied as a computer program product. For example, computer program instructions, when executed by a computer, can call or provide part or all of the methods and / or technical solutions according to the present invention through the operation of the computer. The program instructions for calling the methods of the present invention may be stored in a fixed or removable recording medium, and / or transmitted through a data stream in a broadcast or other signal-bearing medium, and / or stored in the working memory of a computer device running according to the program instructions.

[0103] According to still another aspect of the present invention, there is also provided a device in which the projection content is adapted to the deflection angle of the projection head. The device includes: a memory storing computer program instructions and a processor for executing the program instructions. When the computer program instructions are executed by the processor, the device is triggered to execute part or all of the methods and / or technical solutions of the foregoing embodiments and / or alternative embodiments.

[0104] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments and / or alternative embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved. In addition, it is obvious that the term "comprising" does not exclude other units or steps, and the singular does not exclude the plural. The multiple units or devices stated in the apparatus claims can also be implemented by one unit or device through software and / or hardware. The words such as "first" and "second" are used to denote names and do not denote any particular order.

Claims

1. A method for adaptively adjusting projection content to a projection head deflection angle, characterized in that: The method comprises: Determine a current deflection angle of the projection head, and determine a current center angle of the projection head according to the current deflection angle of the projection head and the overall field angle of the image to be projected; Determine the projection coverage of the projection head according to the current center angle and the field of view of the projection head, and determine the pixel range of the image to be projected corresponding to the projection coverage and the center pixel position of the image to be projected corresponding to the current center angle according to the horizontal and vertical resolutions and the overall field of view of the image to be projected, the field of view of the projection head and the current deflection angle; According to the central pixel position and pixel range of the image to be projected, the projection content is determined and the projection content is projected onto a projection plane.

2. The method according to claim 1, characterized in that Determining the current deflection angle of the projection head includes: Based on the acquired gyro sensor data in the projection head, a current deflection angle of the projection head is determined.

3. The method according to claim 2, characterized in that The method further comprises: The current deflection angles of the plurality of projection heads are adjusted in a coordinated manner so that the combination of projection contents projected onto the projection plane by each projection head constitutes the whole of the image to be projected.

4. The method according to claim 1, characterized in that: The step of determining, according to the horizontal and vertical resolutions and the overall field of view of the image to be projected, the field of view of the projection head and the current deflection angle, that the projection coverage corresponds to a pixel range of the image to be projected comprises: Determining the number of pixels corresponding to a unit angle according to the horizontal and vertical resolutions and the overall field of view of the image to be projected; The pixel range of the image to be projected corresponding to the projection coverage range is determined according to the number of pixels, the field of view angle of the projection head, and the current deflection angle.

5. The method according to claim 1, characterized in that Before projecting the projection content onto the projection plane, the method further includes: Keystone distortion correction is performed according to the current deflection angle of the projection head.

6. A device for adapting projection content to the deflection angle of a projection head, characterized in that: The device comprises: The first module is used to determine the current deflection angle of the projection head, and determine the current center angle of the projection head according to the current deflection angle of the projection head and the overall field angle of the image to be projected; The second module is used to determine the projection coverage of the projection head according to the current center angle and the field of view of the projection head, and determine the pixel range of the image to be projected corresponding to the projection coverage and the center pixel position of the image to be projected corresponding to the current center angle according to the horizontal and vertical resolutions and the overall field of view of the image to be projected, the field of view of the projection head and the current deflection angle; The third module is used to determine the projection content according to the central pixel position and pixel range of the image to be projected and project the projection content onto the projection plane.

7. The device according to claim 6, characterized in that The device also includes: The fourth module is used to coordinate and adjust the current deflection angles of the plurality of projection heads so that the combination of projection contents projected onto the projection plane by each projection head constitutes the whole of the image to be projected.

8. A computer-readable medium, characterized in that Computer-readable instructions are stored thereon, and the computer-readable instructions are executed by a processor to implement part or all of the method according to any one of claims 1 to 5.

9. A device in which projection content is adaptive to the deflection angle of a projection head, characterized in that: The device comprises: one or more processors; and A memory storing computer readable instructions, wherein when the computer readable instructions are executed, the processor performs part or all of the operations of the method according to any one of claims 1 to 5.

Images