Adjustable reflection type loading film projection system and method

Abstract

The invention provides an adjustable reflection type loading film projection system and method, and relates to the technical field of film projection. Comprising a first driving control box, a film projection lamp module, a reflector module, a motor module, a camera module, a controller and a second driving control box, a vehicle body signal end outputs a signal to the first driving control box, and the first driving control box lightens the film projection lamp module to form a projection image; light irradiated by the film projection lamp module is projected on the ground after being reflected by the reflector module, the camera module acquires a projection image projected on the ground and sends the projection image to the controller, and the controller generates control parameters for correcting the projection image by comparing the projection image with a target image based on a detection algorithm integrated in the controller. The control parameters are used for generating a control instruction for controlling the motor module through the second driving control box, and the motor module controls the angle of the reflector module based on the control instruction, so that a projection image projected by the film projection lamp module is adjusted to a target image.

Description

Technical Field

[0001] The present invention relates to the technical field of film projection, and particularly relates to an adjustable reflective vehicle-loading film projection system and method. Background Art

[0002] With the improvement of people's living standards, the requirements for vehicle personalization are getting higher and higher, including using lights for personalized decoration. Popularity of welcome lights: Vehicle-mounted projection lights, also known as ground lights, Logo welcome lights, and welcome light carpets, belong to exterior atmosphere lights and are receiving increasing attention. They not only serve the functions of vehicle searching and illuminating the road surface in front of the vehicle, but also can highlight the identity of the vehicle owner and enhance the sense of technology and ceremony. With the progress of technology, vehicle-mounted projection lights are endowed with more functions such as signal indication and information interaction, and have a huge market space.

[0003] In the prior art, film lens projection lights: relying on the principle of lens imaging, similar to a film movie projector, consist of a condenser system, a film lens, and an imaging system. The light emitted by the LED is converted into uniform parallel light by the condenser system. Through the occlusion of the film, only the light at the position containing the pattern can pass through, forming an enlarged upright pattern.

[0004] There is a patented technology that proposes to sequentially emit visible light through multiple light source components, which are respectively transmitted to the film after passing through the light collimators in the corresponding lens assemblies to project corresponding patterns, and then the patterns are projected onto the corresponding light-receiving surfaces via imaging lenses to present corresponding projection patterns, realizing multi-pattern switching display.

[0005] However, the following defects still exist in the prior art:

[0006] (1) Technical complexity: The design of the film projection system is relatively complex. It is necessary to flip and separate two lens systems for design and optimization, and then flip the entire system and use the non-sequential mode to simulate its imaging effect. Therefore, attention should be paid to the problem of pupil matching during the separate design.

[0007] (2) Difficulty in production: Compared with the film projection module, the MLA (micro-lens array) technology has advantages such as clear boundaries and high contrast, but its production process is complex, the technical barrier is high, and the production accuracy requirement is high, and the production process is complex.

[0008] (3) Manufacturing cost issue: Although the production cost of the film projection module is low, the large-scale commercialization of the MLA technology carpet lights can help the MLA technology open a new era of vehicle applications. The semiconductor-based process also enables its cost to be significantly reduced after large-scale production.

[0009] (4)Projection effect limitation: Technical difficulties may be encountered when the film projection lens stitches patterns. For example, the refraction angles of each microlens in the array from a single light source will be slightly different, resulting in a blurred image. Each microlens needs to be slightly offset from each other, and each microlens needs to be precisely shaped and positioned to reach the level of nanoscale manufacturing.

[0010] The above problems need to be solved urgently at present. Summary of the Invention

[0011] The purpose of the present invention is to overcome at least one technical problem existing in the prior art, and provide an adjustable reflective vehicle-mounted film projection system and method.

[0012] On the one hand, an embodiment of the present invention provides an adjustable reflective vehicle-mounted film projection system, which includes: a first drive control box, a film projection lamp module, a mirror module, a motor module, a camera module, a controller, and a second drive control box; the first drive control box is used to control the film projection lamp module to project a projection image based on the received vehicle lamp control signal; the mirror module is used to reflect the light projected by the film projection lamp module so that it projects on the ground to form a projection image; the motor module is used to control the reflection angle of the mirror module; the camera module is used to collect the projection image projected by the film projection lamp module and send the collected projection image to the controller; the controller is integrated with a corner detection module, a calculation transformation matrix module, and a motor control parameter generation module; the corner detection module is used to perform corner detection on the projection image and the target image respectively based on an improved corner detection algorithm, mark the corner positions in the image, and obtain the corner set C1 of the existing image and the corner set C2 of the target image; the calculation transformation matrix module is used to generate a two-dimensional affine transformation matrix based on the corner set C1 of the existing image and the corner set C2 of the target image; the motor control parameter generation module is used to generate the translation parameter and / or rotation parameter for controlling the motor based on the two-dimensional affine transformation matrix; the second drive control box is connected to the motor module and is used to generate a control instruction for the motor based on the translation parameter and / or rotation parameter sent by the controller, and control the motor module to drive the mirror module to work.

[0013] Further, the input end of the first drive control box is connected to the vehicle lamp controller, the output end of the first drive control box is connected to the film projection lamp module, the film projection lamp module cooperates with the mirror module, the control end of the mirror module is connected to the output end of the motor module, the input end of the motor module is connected to the output end of the second drive control box, the input end of the second drive control box is connected to the output end of the controller, and the input end of the controller is connected to the output end of the camera module; the number of film projection lamps included in the film projection lamp module, the number of mirrors included in the mirror module, and the number of motors included in the motor module are the same, one film projection lamp corresponds to and matches one mirror, and one mirror is controlled by one motor.

[0014] Further, the improved corner detection algorithm is to embed the image direction gray-scale change information into the corner detection algorithm based on the contour line.

[0015] Further, an edge extraction module, a contour line extraction module, and a corner decision module are integrated in the corner detection module; the edge monitoring module is used to extract single-pixel edges by using the Canny edge detection algorithm; the contour line extraction module is used to retrieve the corners lost in the edge detection; the corner decision module is used to find corners from the contour line by using the residual area as the corner measure.

[0016] Further, the contour line extraction module is used for: converting the projection image into a grayscale image and performing binarization processing on it, using the findcontours function to obtain contour information; using morphological operations to fill the small gaps around the contour and then performing erosion operations to restore the shape; according to the endpoint information of the contour, adding new points in a preset direction by calculating the direction and distance of the endpoints to extend the contour.

[0017] Further, the corner measure is expressed as removing the basic function component corresponding to a maximum value from the anisotropic directional derivative responses of the test pixel points, and then establishing the corner measure from the remaining part; a residual area calculation module, a non-maximum suppression processing module, and a threshold processing module are integrated in the corner decision module; the residual area calculation module is used for taking the area of the region formed by the closed curve in polar coordinates as the residual area according to the difference in the residuals of the step edge and the anisotropic directional derivative responses of the corners; the non-maximum suppression processing module is used for removing the corners of local non-maximum values by using the non-maximum suppression method and retaining the real corners; the threshold processing module is used for screening out the points with response values higher than the preset threshold as the final corners.

[0018] Further, the corner measure is called the residual region area, and its calculation formula is:

[0019]

[0020] R - Θ(θ) ≡ Θ(θ) - sign{Θ(β)}ξ β,ρ (θ);

[0021]

[0022] Wherein, σ is the scale factor, ρ is the anisotropy factor, β is the direction angle, θ is the rotation angle, and T1, T2 are the coefficient intensities of the basic corner functions.

[0023] Furthermore, the two-dimensional affine transformation matrix is:

[0024]

[0025] Wherein, c and f in the transformation matrix respectively correspond to the translation amounts required for the projected image in the x and y directions, that is, the translation parameters, and the rotation parameter is θ = arctan2(b, a).

[0026] Furthermore, a corner matching module is also integrated in the controller. The corner matching module is used to: generate feature descriptors for the corners in the corner set C1 of the existing image and the corner set C2 of the target image respectively using the ORB algorithm; calculate the Euclidean distances of the feature descriptors of different corners, and obtain the matching corner pairs between the corner set C1 of the existing image and the corner set C2 of the target image based on the Euclidean distances, and construct a matching corner pair set M.

[0027] In a second aspect, an adjustable reflective loading film projection method provided by an embodiment of the present invention is applied to the above adjustable reflective loading film projection system. The method includes: the first drive control box controls the film projection lamp module to project a projection image based on the received vehicle lamp control signal; the mirror module reflects the light projected by the film projection lamp module so that it is projected on the ground to form a projection image; the camera module collects the projection image projected by the film projection lamp module and sends the collected projection image to the controller; the controller respectively performs corner detection on the projection image and the target image based on an improved corner detection algorithm, marks the corner positions in the image, and obtains the corner set C1 of the existing image and the corner set C2 of the target image; the controller generates a two-dimensional affine transformation matrix based on the corner set C1 of the existing image and the corner set C2 of the target image; the controller generates translation parameters and / or rotation parameters for controlling the motor based on the two-dimensional affine transformation matrix; the second drive control box generates a control command for the motor based on the translation parameters and / or rotation parameters sent by the controller, and controls the motor module to drive the mirror module to work.

[0028] In another aspect, the present invention also provides a computer-readable storage medium, in which one or more instructions are stored, and the computer instructions are used to cause the computer to execute the above-mentioned adjustable reflective loading film projection method.

[0029] In yet another aspect, the present invention provides an electronic device, including: a memory and a processor; at least one program instruction is stored in the memory; the processor loads and executes the at least one program instruction to implement the above-mentioned adjustable reflective loading film projection method.

[0030] The beneficial effects of the present invention are as follows:

[0031] (1) The light outlet is smaller and more beautiful.

[0032] (2) The combination of a reflector and a motor is added to achieve automatic and high-precision adjustment of scene splicing.

[0033] (3) Greatly reduce the debugging and trial installation of film projection before loading, and can directly adjust on the vehicle.

[0034] (4) The camera captures the projection scene on the ground, and adjusts the pattern splicing problem through an improved corner detection algorithm, improving the corner detection performance.

[0035] (5) The reflection method of the reflector can increase the field of view angle of the projection pattern and increase the projection area compared with the direct projection method. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention will be further described below in conjunction with the drawings and embodiments.

[0037] Figure 1 FIG. is a structural diagram of an adjustable reflective loading film projection system provided by Embodiment 1 of the present invention.

[0038] Figure 2 FIG. is a projection schematic diagram of a film projection system in the prior art provided by Embodiment 1 of the present invention.

[0039] Figure 3 FIG. is a projection schematic diagram of an adjustable reflective loading film projection system provided by Embodiment 1 of the present invention.

[0040] Figure 4 FIG. is a flowchart of an improved corner detection algorithm provided by Embodiment 1 of the present invention.

[0041] Figure 5 FIG. is a schematic diagram of a projection image provided by Embodiment 1 of the present invention.

[0042] Figure 6 FIG. is a schematic diagram of a target image provided by Embodiment 1 of the present invention.

[0043] Figure 7 It is a schematic diagram of a basic corner point function image provided by Embodiment 1 of the present invention.

[0044] Figure 8 It is a flowchart of an adjustable reflective loading film projection method provided by Embodiment 2 of the present invention.

[0045] Figure 9 It is a partial block diagram of an electronic device provided by Embodiment 4 of the present invention. Detailed implementation manners

[0046] Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations as sequential processes, many of the operations can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the operations can be rearranged. The process can be terminated when its operations are completed, but it can also have additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0047] It should be understood that although the terms "first", "second", etc. may be used herein to describe various units, these units should not be limited by these terms. These terms are only used to distinguish one unit from another. For example, without departing from the scope of the exemplary embodiments, the first unit can be called the second unit, and similarly the second unit can be called the first unit. The term "and / or" used herein includes any and all combinations of one or more of the listed associated items.

[0048] Now, the present invention will be described in detail with reference to the accompanying drawings. This figure is a simplified schematic diagram, which only schematically shows the basic structure of the present invention, so it only shows the components related to the present invention.

[0049] Embodiment 1

[0050] For ease of understanding, the working principle of the present system will be described as a whole before describing the embodiments of the present invention in detail:

[0051] When in the body welcome state, the body signal terminal outputs a signal to the first drive control box, and the first drive control box lights up the film projection lamp module to form a projection image. The light irradiated by the film projection lamp module is reflected by the mirror module and then projected onto the ground. The camera module acquires the projection image projected on the ground and sends it to the controller. The controller generates control parameters for correcting the projection image by comparing the projection image and the target image based on the detection algorithm integrated inside, and generates a control instruction for controlling the motor module via the second drive control box. The motor module controls the angle of the mirror module based on this control instruction, so that the ground projection image projected by the film projection lamp module is adjusted to the target image, forming a complete pattern, and thus a closed loop is formed.

[0052] The specific implementation is as follows:

[0053] As Figure 1 shown, it is a structural diagram of an adjustable reflective film projection system for vehicle loading provided by the present invention.

[0054] As an example, the system includes: a first drive control box 1, a film projection lamp module 2, a mirror module 3, a motor module 4, a camera module 5, a controller 6, and a second drive control box 7; the first drive control box 1 is used to control the film projection lamp module 2 to project a projection image based on the received vehicle lamp control signal; the mirror module 3 is used to reflect the light projected by the film projection lamp module 2 so that it is projected on the ground to form a projection image (as Figure 5 shown); the motor module 4 is used to control the reflection angle of the mirror module 3; the camera module 5 is used to collect the projection image projected by the film projection lamp module 2 and send the collected projection image to the controller 6; the controller 6 integrates a corner detection module 600, a calculation transformation matrix module 610, and a motor control parameter generation module 620; the corner detection module 600 is used to perform corner detection on the projection image and the target image (as Figure 6 shown) respectively based on an improved corner detection algorithm, mark the corner positions in the image, and obtain the corner set C1 of the existing image and the corner set C2 of the target image; the calculation transformation matrix module 610 is used to generate a two-dimensional affine transformation matrix based on the corner set C1 of the existing image and the corner set C2 of the target image; the motor control parameter generation module 620 is used to generate translation parameters and / or rotation parameters for controlling the motor based on the two-dimensional affine transformation matrix; the second drive control box 7 is connected to the motor module 4 and is used to generate a control instruction for the motor based on the translation parameters and / or rotation parameters sent by the controller 6 to control the motor module 4 to drive the mirror module 3 to work.

[0055] In some feasible embodiments, the input end of the first drive control box 1 is connected to the vehicle lamp controller, the output end of the first drive control box 1 is connected to the film projection lamp module 2, the film projection lamp module 2 cooperates with the mirror module 3, the control end of the mirror module 3 is connected to the output end of the motor module 4, the input end of the motor module 4 is connected to the output end of the second drive control box 7, the input end of the second drive control box 7 is connected to the output end of the controller 6, and the input end of the controller 6 is connected to the output end of the camera module 5; the number of film projection lamps included in the film projection lamp module 2, the number of mirrors included in the mirror module 3, and the number of motors included in the motor module 4 are the same. One film projection lamp corresponds to and matches one mirror, and one mirror is controlled by one motor. Combined with Figure 2 and Figure 3 As shown, it can be seen that the projection area of the adjustable reflective vehicle-mounted film projection system described in this embodiment is larger than that of the film projection system described in the prior art.

[0056] In some feasible embodiments, combined with Figure 4 As shown, the improved corner detection algorithm is to embed the image direction gray change information into the corner detection algorithm based on the contour line. Preferably, an edge extraction module 6001, a contour line extraction module 6002, and a corner decision module 6003 are integrated in the corner detection module 600; the edge monitoring module 6001 is used to extract single-pixel edges using the Canny edge detection algorithm; the contour line extraction module 6002 is used to retrieve the corners lost in the edge detection; the corner decision module 6003 is used to find corners from the contour line using the residual area as the corner measure. Specifically, the contour line extraction module 6002 is used to: convert the projection image into a grayscale image and perform binaryzation processing on it, and obtain contour information using the findcontours function; use morphological operations to fill the small gaps around the contour, and then perform erosion operations to restore the shape; according to the endpoint information of the contour, add new points in a preset direction by calculating the direction and distance of the endpoints to extend the contour. More specifically, the contour line extraction module 6002 can use morphological operations such as dilation and erosion. First, perform the dilation operation to fill the small gaps around the contour, and then perform the erosion operation to restore the general shape. According to the endpoint information of the contour, add new points in a suitable direction by calculating the direction and distance, and update the contour. First, the endpoint coordinates of the contour can be obtained, and then new points can be added according to certain rules (such as the direction obtained by linear fitting), and then the contour can be updated.

[0057] In some feasible embodiments, combined with Figure 4As shown, the corner measure is expressed as removing the basic function component corresponding to a maximum value from the anisotropic directional derivative responses of the test pixel points, and then establishing the corner measure from the remaining part; the corner decision module 6003 integrates a residual area calculation module 60031, a non-maximum suppression processing module 60032, and a threshold processing module 60033; the residual area calculation module 60031 is used to take the area of the region formed by the closed curve in polar coordinates as the residual area according to the difference in the residuals of the anisotropic directional derivative responses of the step edge and the corner; the non-maximum suppression processing module 60032 is used to remove the corner points of local non-maxima by using the non-maximum suppression method and retain the true corner points; the threshold processing module 60033 is used to screen out the points with response values higher than the threshold as the final corner points.

[0058] Preferably, the corner measure is called the residual region area, and its calculation formula is:

[0059]

[0060] Where

[0061] R - Θ(θ) ≡ Θ(θ) - sign{Θ(β)}ξ β,ρ (θ);

[0062]

[0063] In the formula, σ is the scale factor, ρ is the anisotropy factor, β is the direction angle, θ is the rotation angle, and T1, T2 are the coefficient intensities of the basic corner function. As Figure 7 shown, T1, T2 are the coefficient intensities of the basic corner function, corresponding to the average gray value of the V-shaped region in the figure.

[0064] This corner measure is called the residual region area, and the residual area value is very small at the edge pixel points and large at the corner points.

[0065] The corner detection algorithm proposed in this embodiment embeds the image direction gray value change information into the corner detection algorithm based on the contour line, and combines the advantages of the corner detection algorithms based on the contour line and the gray value change information. Further, a simple and efficient corner classification algorithm is obtained by calculating the number of peak points of the anisotropic directional derivative response of a corner. For the convenience of understanding, the derivation process of the above formula is described here:

[0066] Quantitatively analyze the relationship between the corner resolution and the anisotropy factor. For the edge resolution of the anisotropic directional derivative filter, the sum of two basic function components with the same degree:

[0067]

[0068] For a given anisotropy factor, we find the angular difference Δβ = β2 - β1 that can distinguish the peak points of two basic functions. The peak of each basic function appears at θ = β i , β i + π. Whether there are two pairs of distinguishable peak points depends on the property at the midpoint . When the midpoint is the minimum point of the function, the function has two pairs of distinguishable peak points. When the midpoint is the maximum point of the function, the function has only one pair of peak points, at and points respectively. The midpoint is the stationary point of the function , where the first-order partial derivative of the function is 0, and the second-order partial derivative of the function at this point is:

[0069]

[0070] When

[0071] (ρ 4 - 1)cosΔβ < ρ 4 - 2;

[0072] when, the midpoint is the minimum point.

[0073] It can be seen from the inequality that, given the angular difference Δβ = β2 - β1 ≤ π, the anisotropy factor satisfies the following formula:

[0074]

[0075] Or given the anisotropy factor ρ 4 ≥ 2, when the angular difference Δβ satisfies the following formula:

[0076]

[0077] can two pairs of peak points related to the two basic function components be distinguished. Among them, when ρ 4 < 2, the anisotropic directional derivative filter cannot distinguish the corner types.

[0078] The anisotropic directional derivative filter with a larger anisotropy factor has a stronger corner classification ability. The constant is the corner resolution constant of the anisotropic directional derivative filter. Usually, if all the angular differences Δβ i = β i+1 - β i of the high-order corners are satisfied, the peak points of all basic function components can be found from the expression of its anisotropic directional derivative filter, and thus the corner classification can be accurately performed.

[0079] Corner detection refers to finding corners among edge pixels and ordinary pixels. When performing corner detection on an edge contour line, it means finding corners from edge pixels. Therefore, in order to find corners from edge pixels, a corner measure needs to be established based on the expression of the anisotropic directional derivative. According to the previous analysis, the anisotropic directional derivative response of a step edge pixel only includes a single basic function component, while the anisotropic directional derivative response of a corner includes at least two basic function components. The idea of the corner measure proposed in this embodiment is as follows: First, remove the basic function component corresponding to the maximum value from the anisotropic directional derivative response of the test pixel point, and then establish a corner measure from the remaining part. Since the anisotropic directional derivative response of an edge pixel or a corner is affected by the surrounding gray level changes, first normalize the anisotropic directional derivative response of the test pixel point with the maximum value of its absolute value to obtain the expression Θ(θ) of the normalized anisotropic directional derivative response:

[0080]

[0081] Θ(θ) is only related to the relative intensity and angle of the Universal Corner Model (UCM).

[0082] The expression of the anisotropic directional derivative filter of the step edge model is:

[0083]

[0084] The normalized anisotropic directional derivative expression of the step edge can be written as:

[0085]

[0086] According to the normalized anisotropic directional derivative filter expression, the possible step edge components can be removed by the following formula:

[0087]

[0088] According to the difference in the residuals of the anisotropic directional derivative responses of the step edge and the corner, the area of the region formed by the closed curve |R - Θ(θ)| in polar coordinates can be used as a measure to distinguish edges and corners, and its mathematical expression is as follows:

[0089]

[0090] This kind of corner measure is called the residual region area, and the residual area value is very small at the edge pixel points and large at the corner points.

[0091] To make its discrete form better inherit the characteristics of the continuous kernel function, it is required that the scale factor σ cannot be less than the anisotropy factor ρ, and the variances of the anisotropic Gaussian kernel functions in all directions are greater than or equal to 1. In this embodiment, we always set σ = ρ. In addition, the sampling interval of the direction angle is related to the corner resolution constant. The number of directions K should satisfy the following formula:

[0092]

[0093] This new corner measure belongs to corner detection based on edge contours, and a new corner detection algorithm is established accordingly, including edge detection, edge contour extraction, and corner detection on the edge contours using the new corner measure. Different from the existing corner detection based on contours, the corner determination decision on the contour uses the directional intensity change information around the pixel rather than the local curvature or other geometric features of the planar contour curve, and this improvement enhances the corner detection performance.

[0094] In some feasible embodiments, the two-dimensional affine transformation matrix is:

[0095]

[0096] Among them, c and f in the transformation matrix respectively correspond to the translation amounts required for the projected image in the x and y directions, that is, the translation parameters, and the rotation parameter is θ = arctan2(b, a). That is, a system of equations is established based on at least three groups of matching point pairs to solve the 6 parameters in the transformation matrix.

[0097] In some feasible embodiments, a corner matching module 630 is also integrated in the controller 6. The corner matching module is used to: generate feature descriptors for the corners in the corner set C1 of the existing image and the corner set C2 of the target image using the ORB algorithm; calculate the Euclidean distances of the feature descriptors of different corners, and obtain the pairs of matching corners in the corner set C1 of the existing image and the corner set C2 of the target image based on the Euclidean distances, and construct a set M of matching corner pairs. That is, when the calculated Euclidean distance is less than the preset distance threshold, these two corners are used as a corner pair.

[0098] In the above embodiment, the automation and high-precision adjustment of the scene stitching of the projection image projected by the film projection system are realized by adding a combination of a mirror and a motor.

[0099] It is worth mentioning that each module involved in this embodiment is a logical unit. In practical applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, to highlight the innovative part of the present invention, units that are not closely related to solving the technical problems proposed by the present invention are not introduced in this embodiment, but this does not mean that there are no other units in this embodiment.

[0100] Embodiment 2

[0101] Please refer to Figure 8 , this embodiment provides a flowchart of an adjustable reflective loading film projection method.

[0102] As an example, the method is applied to the adjustable reflective loading film projection system described in Embodiment 1, and the method includes:

[0103] S1: The first drive control box controls the film projection lamp module to project a projection image based on the received vehicle lamp control signal.

[0104] S2: The mirror module reflects the light projected by the film projection lamp module so that it is projected on the ground to form a projection image.

[0105] S3: The camera module collects the projection image projected by the film projection lamp module and sends the collected projection image to the controller.

[0106] S4: The controller respectively performs corner detection on the projection image and the target image based on an improved corner detection algorithm, marks the corner positions in the image, and obtains the corner set C1 of the existing image and the corner set C2 of the target image.

[0107] S5: The controller generates a two-dimensional affine transformation matrix based on the corner set C1 of the existing image and the corner set C2 of the target image.

[0108] S6: The controller generates translation parameters and / or rotation parameters for controlling the motor based on the two-dimensional affine transformation matrix.

[0109] S7: The second drive control box generates a control instruction for the motor based on the translation parameters and / or rotation parameters sent by the controller, and controls the motor module to drive the mirror module to work.

[0110] It is not difficult to find that this embodiment is a method embodiment corresponding to the first embodiment, and this embodiment can be implemented in cooperation with the first embodiment. The relevant technical details mentioned in the first embodiment are still valid in this embodiment. To avoid repetition, they are not elaborated here. Correspondingly, the relevant technical details mentioned in this embodiment can also be applied in the first embodiment.

[0111] Example 3

[0112] An embodiment of the present invention further provides a storage medium, on which an adjustable reflective loading film projection method is stored. When the program of the adjustable reflective loading film projection is executed by a processor, the steps of the adjustable reflective loading film projection method as described above are implemented. Since this storage medium adopts all the technical solutions of the above-mentioned all embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, and will not be elaborated herein one by one.

[0113] Example 4

[0114] Please refer to Figure 9 , an embodiment of the present invention further provides an electronic device, including: a memory and a processor; at least one program instruction is stored in the memory; the processor realizes the adjustable reflective loading film projection method provided in Embodiment 2 by loading and executing the at least one program instruction.

[0115] The memory 702 and the processor 701 are connected in a bus manner. The bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors 701 and the memory 702 together. The bus may also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and thus will not be further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver may be an element or multiple elements, such as multiple receivers and transmitters, and provides a unit for communicating with various other devices on the transmission medium. The data processed by the processor 701 is transmitted on the wireless medium through the antenna. Further, the antenna also receives data and transmits the data to the processor 701.

[0116] The processor 701 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interface, voltage regulation, power management, and other control functions. The memory 702 can be used to store the data used by the processor 701 when executing operations.

[0117] The above are only embodiments of the present invention. Specific structures and common knowledge such as characteristics that are well-known in the art are not described in detail herein. Those of ordinary skill in the art know all the common general technical knowledge in the technical field to which the invention pertains before the filing date or the priority date, are able to know all the prior art in this field, and have the ability to apply the conventional experimental means before this date. Those of ordinary skill in the art can, under the inspiration given in this application, combine their own abilities to complete and implement this solution. Some typical well-known structures or well-known methods should not become obstacles for those of ordinary skill in the art to implement this application. It should be noted that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can still be made, and these should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicality of the patent. The protection scope required by this application should be based on the content of its claims, and the specific implementation manners and the like recorded in the specification can be used to interpret the content of the claims.

Claims

1. An adjustable reflective loading film projection system, characterized in that: The system comprises: a first drive control box, a film projection lamp module, a reflector module, a motor module, a camera module, a controller and a second drive control box; The first driving control box is used to control the film projection lamp module to project a projection image based on the received vehicle lamp control signal; The reflector module is used to reflect the light projected by the film projection lamp module so that the light is projected on the ground to form a projection image; The motor module is used to control the reflection angle of the reflector module; The camera module is used to collect the projection image projected by the film projection lamp module, and send the collected projection image to the controller; The controller is integrated with a corner point detection module, a transformation matrix calculation module and a motor control parameter generation module; The corner point detection module is used to perform corner point detection on the projection image and the target image respectively based on the improved corner point detection algorithm, mark the corner point positions in the image, and obtain the corner point set C1 of the existing image and the corner point set C2 of the target image; The calculation transformation matrix module is used to generate a two-dimensional affine transformation matrix based on the corner point set C1 of the existing image and the corner point set C2 of the target image; The motor control parameter generation module is used to generate a translation parameter and / or a rotation parameter of the control motor based on the two-dimensional affine transformation matrix; The second drive control box is connected to the motor module, and is used to generate a control instruction of the motor based on the translation parameter and / or rotation parameter sent by the controller, so as to control the motor module to drive the reflector module to work.

2. The adjustable reflective loading film projection system according to claim 1, characterized in that: The input end of the first drive control box is connected to the car light controller, the output end of the first drive control box is connected to the film projection lamp module, the film projection lamp module cooperates with the reflector module, the reflector module control end is connected to the motor module output end, the motor module input end is connected to the second drive control box output end, the second drive control box input end is connected to the controller output end, and the controller input end is connected to the camera module output end; The number of film projection lamps included in the film projection lamp module, the number of reflectors included in the reflector module and the number of motors included in the motor module are the same, one film projection lamp is matched with one reflector, and one reflector is controlled by one motor.

3. The adjustable reflective loading film projection system according to claim 1, characterized in that: The improved corner detection algorithm embeds the image directional grayscale change information into the contour-based corner detection algorithm.

4. The adjustable reflective loading film projection system according to claim 3, characterized in that: The corner point detection module integrates an edge extraction module, a contour line extraction module and a corner point judgment module; The edge monitoring module is used to extract single pixel edges using the Canny edge detection algorithm; The contour extraction module is used to retrieve the corner points lost in edge detection; The corner point determination module is used to find corner points from the contour line using the residual area as a corner point measurement.

5. The adjustable reflective loading film projection system according to claim 4, characterized in that: The contour extraction module is used for: Convert the projection image into a grayscale image and perform binarization on it, and use the findcontours function to obtain the contour information; Use morphological operations to fill small gaps around the contour, and then perform erosion operations to restore the shape; According to the endpoint information of the contour, the contour is extended by adding new points in the preset direction by calculating the direction and distance of the endpoints.

6. The adjustable reflective loading film projection system according to claim 4, characterized in that: The corner point measure is expressed as removing a basic function component corresponding to a maximum value from the anisotropic directional derivative response of the test pixel point, and then establishing the corner point measure from the residual part; The corner point decision module integrates a residual area calculation module, a non-maximum suppression processing module and a threshold processing module; The residual area calculation module is used to take the area of ​​the region surrounded by the closed curve in polar coordinates as the residual area according to the difference in residuals of the anisotropic directional derivative response of the step edge and the corner point; The non-maximum suppression processing module is used to remove local non-maximum corner points by using a non-maximum suppression method, and retain the real corner points; The threshold processing module is used to filter out points with response values ​​higher than a preset threshold as final corner points.

7. The adjustable reflective loading film projection system according to claim 6, characterized in that: The corner point measurement is called the residual area, and its calculation formula is: R-Θ(θ)≡Θ(θ)-sign{Θ(β)}ξ β,ρ (i); Where σ is the scale factor, ρ is the anisotropy factor, β is the orientation angle, θ is the rotation angle, and T1 and T2 are the coefficient strengths of the basic corner point function.

8. The adjustable reflective loading film projection system according to claim 1, characterized in that: The two-dimensional affine transformation matrix is: Among them, c and f in the transformation matrix correspond to the translation amounts of the projected image in the x and y directions, respectively, which are the translation parameters, and the rotation parameter is θ=arctan2(b,a).

9. The adjustable reflective loading film projection system according to claim 1, characterized in that: The controller also integrates a corner point matching module, which is used to: Use the ORB algorithm to generate feature descriptors for the corner points in the corner point set C1 of the existing image and the corner point set C2 of the target image respectively; The Euclidean distances of feature descriptors of different corner points are calculated, and based on the Euclidean distances, mutually matching corner point pairs in the corner point set C1 of the existing image and the corner point set C2 of the target image are obtained to construct a matching corner point pair set M.

10. An adjustable reflective loading film projection method, the method being applied to the adjustable reflective loading film projection system according to any one of claims 1 to 9, characterized in that the method comprises: The first driving control box controls the film projection lamp module to project a projection image based on the received vehicle lamp control signal; The reflector module reflects the light projected by the film projection lamp module so that the light is projected onto the ground to form a projection image; The camera module collects the projection image projected by the film projection lamp module, and sends the collected projection image to the controller; The controller performs corner point detection on the projection image and the target image based on the improved corner point detection algorithm, marks the corner point positions in the image, and obtains the corner point set C1 of the existing image and the corner point set C2 of the target image; The controller generates a two-dimensional affine transformation matrix based on the corner point set C1 of the existing image and the corner point set C2 of the target image; The controller generates a translation parameter and / or a rotation parameter for controlling the motor based on the two-dimensional affine transformation matrix; The second drive control box generates a control instruction for the motor based on the translation parameter and / or rotation parameter sent by the controller, and controls the motor module to drive the reflector module to work.

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