Projection image adjusting system of projection robot

Abstract

The invention discloses a projection robot projection picture adjusting system which comprises a robot used for being placed on a supporting body, the robot comprises a machine shell, the machine shell is provided with a projection device used for projecting a picture forwards to a projected body, and the projection device is provided with a camera. A driving mechanism capable of enabling the machine shell to horizontally move and rotate is arranged at the bottom of the machine shell, and at least three distance sensors are arranged on the front portion of the machine shell and include the right front distance sensor facing the right front portion, the left front distance sensor facing the left front portion and the right front distance sensor facing the right front portion. A control module which is electrically connected with the driving mechanism and all the sensors and can collect distance information and control the driving mechanism to work is further arranged in the machine shell, and the projection robot projection picture adjusting system aims at overcoming the defects in the prior art and is capable of achieving automatic adjustment and higher in applicability.

Description

TECHNICAL FIELD

[0001] The present application relates to a projection robot projection picture adjusting system. BACKGROUND

[0002] At present, projection equipment is widely used in the fields of home theater, teaching demonstration, commercial display, etc. The traditional projector usually needs to be manually adjusted in position and angle by the user to obtain the best projection effect, which is tedious and inefficient. In addition, most of the existing projection equipment does not have autonomous moving ability, and it is difficult to adapt to complex and changeable application environment.

[0003] In recent years, with the development of robot technology, part of the projection device begins to integrate a moving platform, but it still has the following problems: the projection direction cannot be automatically corrected, and it is easy to appear skew or distortion; the picture quality adjustment depends on manual intervention; it is difficult to adapt to complex projection environment.

[0004] The present application is generated based on the above-mentioned deficiencies. SUMMARY

[0005] The present application aims to overcome the deficiencies of the prior art and provide a projection robot projection picture adjusting system with automatic adjustment and stronger applicability.

[0006] The present application is achieved by the following technical solutions:

[0007] The present application provides a projection robot projection picture adjusting system, which comprises a robot for placing on a support body, wherein the robot comprises a machine shell, the machine shell is provided with a projection device for projecting a picture forward to a projection body, the bottom of the machine shell is provided with a driving mechanism capable of horizontally moving and horizontally rotating, the front part of the machine shell is provided with at least three distance sensors, which are a front distance sensor facing the front, a left front distance sensor facing the left front, and a right front distance sensor facing the right front, and the machine shell is further provided with a control module electrically connected with the driving mechanism and each sensor, which can collect distance information and control the working of the driving mechanism.

[0008] The projection robot projection picture adjusting system as described above, wherein the driving mechanism comprises two driving wheels rotatably connected to the bottom of the machine shell and correspondingly arranged, and a driving device arranged in the machine shell for separately driving the driving wheels to rotate.

[0009] The projection robot projection picture adjusting system as described above, wherein the bottom of the machine shell is further provided with a rotatable auxiliary universal wheel, the auxiliary universal wheel is located in front of the driving wheels and between the two driving wheels.

[0010] The left front distance sensor and the right front distance sensor are symmetrically arranged.

[0011] The image collecting device is arranged in the shell and faces forward and is used for collecting image information of the projected object.

[0012] The energy storage battery is arranged in the shell and is used for power supply.

[0013] The heat dissipation device is connected to the projection device and is used for heat dissipation.

[0014] The heat dissipation fan is arranged close to the heat dissipation area, and the loudspeaker is arranged close to the heat dissipation area and is used for playing sound.

[0015] The anti-skid structure is arranged on the driving wheel column surface.

[0016] The shielding plate is arranged on the front side of the shell.

[0017] Compared with the prior art, the present application has the following advantages:

[0018] 1. The full-automatic adjustment of the projection picture is realized, and the use convenience and intelligent level are improved.

[0019] 2. The structure design is compact and reasonable, and the functionality and aesthetics are considered.

[0020] 3. Adapt to multiple application scenarios, have good environmental adaptability and expansion potential, the projection robot is not only suitable for various indoor scenes such as family, education and business, but also can further expand the function boundary through algorithm upgrading and module expansion (such as adding voice interaction, SLAM navigation, AR fusion, etc.), has strong universality and expandability, and meets the diversified needs of different users. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a use state schematic diagram of the projection robot of the present application;

[0022] Figure 2 is a sectional view schematic diagram of the projection robot of the present application;

[0023] Figure 3 is an exploded schematic diagram of the projection robot of the present application Figure 1 ;

[0024] Figure 4 is an exploded schematic diagram of the projection robot of the present application Figure 2 ;

[0025] Figure 5 is an exploded schematic diagram of the projection robot of the present application Figure 3 ;

[0026] Figure 6 is a principle schematic diagram of the projection robot of the present application. DETAILED DESCRIPTION

[0027] The application will be further described below in conjunction with the drawings:

[0028] The directions described in the specification of the present application, such as "up", "down", "left", "right", "front", "back", etc. are based on the directions of the drawings, and are for the purpose of describing the relationship between the various components, and are not indicative of the unique or absolute positional relationship between the various components, and are only one of the embodiments of the application, and are not a limitation on the embodiments.

[0029] The present embodiment introduces a projection robot projection picture adjusting system, as shown in Figure 1 , which comprises a robot 1 placed on a support body A, and the robot 1 is placed on the support body A and the front side faces the projected body B. The projected body B is generally a curtain, and can also be a flat and clean wall.

[0030] As shown in Figure 2As shown, the system includes a robot 1 for placing on a support body, the robot 1 includes a machine shell 11, the machine shell 11 is provided with a projection device 12 for projecting a picture forward to a projection body. The projection device 12 is an optical device for projecting images or videos onto a curtain, wall or other plane through a light source and an optical system, which can be referred to the patent No. CN201820273153.7, named "projector and projection device".

[0031] As Figures 1 to 3 shown, the bottom of the machine shell 11 is provided with a driving mechanism 13 capable of horizontal movement and horizontal rotation. In detail, the driving mechanism 13 includes two driving wheels 131 rotatably connected to the bottom of the machine shell 11 and correspondingly arranged, and a driving device 132 arranged inside the machine shell 11 for separately driving the driving wheels 131 to rotate. Two driving devices 132 separately drive two driving wheels 131 to rotate, and then realize horizontal movement through the same direction rotation of two driving wheels 131, and realize horizontal rotation through the opposite direction rotation of two driving wheels 131, so that the robot 1 can move to any position on the support body A. The structural principle is explained as follows: the differential drive mode (i.e. double-wheel independent drive) is one of the driving structures widely used in mobile robots at present. When the speeds of two wheels are consistent, the robot moves straight forward; when the speeds of two wheels are opposite, the robot rotates around its center. This structure not only has simple structure, fast response, but also is convenient for control algorithm implementation.

[0032] The machine shell 11 is provided with at least three distance sensors 14 in the front part, which are a front distance sensor 141 facing forward, a left front distance sensor 142 facing left front, and a right front distance sensor 143 facing right front. The machine shell 11 is also provided with a control module 15 electrically connected with the driving mechanism 13 and each sensor, so as to collect distance information and control the working of the driving mechanism 13.

[0033] The working principle is as follows: Figure 6As shown, the robot 1 moves on the flat support A by rotating through two drive wheels 131 and can identify and avoid obstacles through three distance sensors 14; after reaching the front of the projected body B, the robot 1 itself horizontally rotates and identifies the projected body B, identifies the distance D1 between the projected body B and the robot 1 through the front distance sensor 141, and moves to a distance close to the front of the projected body B (such as 1-1.5 meters), rotates the robot 1 itself horizontally until the readings of the distance D2 identified by the left front distance sensor 142 and the distance D3 identified by the right front distance sensor 143 are the same, so that the robot 1 is directly opposite the projected body B, and then the robot 1 moves away from the projected body B, in the process, when the left front distance sensor 142 has a reading mutation, the robot 1 moves to the right to adjust, and when the right front distance sensor 143 has a reading mutation, the robot 1 moves to the left to adjust, until the robot 1 moves to a suitable projection distance (a pre-set suitable projection distance, such as between 1.5-3 meters), so that the robot 1 can automatically adjust to a relatively suitable projection position. A triangular sensing area is formed through the three sensor layout, the environmental sensing accuracy is improved, the functions of automatic obstacle avoidance, automatic alignment, and automatic distance adjustment are realized, manual intervention is reduced, the precise direction correction is realized through the feedback difference of the left and right distance sensors, the projection picture is ensured to be directly opposite the target surface, the projection surface of different sizes and positions can be adapted, and the environmental adaptability is strong.

[0034] As a preferred solution, the position information of the projected body B can be pre-set in the control module 15 of the robot 1, so that the robot 1 can move to the front of the projected body B. In an embodiment, the image collection device 16 for collecting the image information of the projected body B is further arranged in the front direction in the shell 11, at this time, an identifier can be arranged on the projected body B, when the robot 1 rotates, the corresponding identifier is identified to determine the position of the projected body B, at the same time, the image collection device 16 can collect the image information projected on the projected body B, and then can analyze and calculate the projected image information to adjust the focal length, correct the trapezoidal distortion, and fine-tune the boundary. The image collection device can be a camera or other imaging equipment, which can obtain the distortion condition of the projection picture in real time in combination with an image processing algorithm. For example, if the picture edge is detected to be blurred, automatic focusing is started; if trapezoidal distortion is detected, a digital correction function is enabled; if it is found that the picture does not completely cover the target area, the projection angle is adjusted or the robot position is moved.

[0035] As a preferred solution, as Figure 1As shown, the bottom of the shell 11 is also provided with a rotatable auxiliary universal wheel 133, which is located in front of the drive wheel 131 and between the two drive wheels 131, so that the robot 1 moves and rotates more smoothly. The auxiliary universal wheel plays a supporting and guiding role, reducing friction resistance during movement, especially reducing energy loss and wear caused by sliding during turning.

[0036] For easy identification and calculation, the left front distance sensor 142 and the right front distance sensor 143 are symmetrically arranged. Of course, they can also be asymmetric, and by calculating the angle of inclination, they can be corrected.

[0037] As a preferred, the shell 11 is also provided with an energy storage battery 17 for power supply.

[0038] As a preferred, the projection device 12 is connected with a heat dissipation device 18 for heat dissipation, the side wall of the shell 11 is provided with a heat dissipation area 111 for heat dissipation, a plurality of through holes 112 are formed on the heat dissipation area 111, in addition, the shell 11 is also provided with a heat dissipation fan 113 arranged against the heat dissipation area 111 and a loudspeaker 114 arranged against the heat dissipation area 111 and used for playing sound, the heat dissipation fan 113 and the loudspeaker 114 share the same through holes 112 of the heat dissipation area 111 for work, not only enhancing the compactness of the product, but also improving the overall appearance. The heat dissipation fan 113 inhales cold air and exhales hot air through the through holes 112, achieving active heat dissipation; while the loudspeaker 114 uses the same group of through holes for sound propagation, avoiding additional openings to damage the sealing performance and structural strength of the shell.

[0039] As a preferred, the drive wheel 131 is provided with an anti-skid structure 134 on the cylindrical surface. The anti-skid structure can be a rubber coating layer, a raised pattern or a groove design, which is designed to enhance the friction between the tire and the ground, prevent slipping, especially on smooth floors or slopes.

[0040] As a preferred, the front side of the shell 11 is provided with a shielding plate 115, the shielding plate 115 is provided with a projection window 116 for light output of the projection device 12 and an induction window 117 for distance sensor signal to pass through, the projection window 116 is covered with a light-transmitting projection cover plate 118, and the induction window 117 is covered with a light-transmitting induction cover plate 119. The projection cover plate 118 and the induction cover plate 119 can be made of high-strength transparent material, which can protect the internal components from dust and impact, and also does not affect the penetration of light and sensing signals.

[0041] The above-mentioned are only embodiments of the present application, and the common knowledge of specific structures and characteristics in the scheme is not described too much. It should be pointed out that for those skilled in the art, without departing from the structure of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application, which will not affect the effect and practicality of the patent. The protection scope claimed in this application should be subject to the content of its claims, and the specific implementation mode and the like recorded in the specification can be used to explain the content of the claims.

Claims

1. A projection robot projection image adjustment system, characterized in that: The utility model provides a robot (1) for placing on the support body, the robot (1) includes the machine shell (11), the machine shell (11) is equipped with the projection device (12) for projecting the picture to the forward direction on the projected body, the machine shell (11) bottom is equipped with the drive mechanism (13) can make it horizontal movement and horizontal rotation, the machine shell (11) front is equipped with at least three distance sensors, respectively, the positive front distance sensor (141) towards the positive front, the left front distance sensor (142) towards the left front, the right front distance sensor (143) towards the right front, the machine shell (11) is also equipped with with drive mechanism (13), each sensor electric connection in further can gather the distance information and can control drive mechanism (13) work control module (15).

2. The projection robot projection picture adjusting system according to claim 1, wherein: The drive mechanism (13) includes two rotationally connected machine shell (11) bottom and correspondingly arranged drive wheels (131), drive devices (132) arranged in the machine shell (11) for driving the drive wheels (131) rotation alone.

3. The projection robot projection picture adjusting system according to claim 2, wherein: The machine shell (11) bottom is also provided with a rotatable auxiliary universal wheel (133), the auxiliary universal wheel (133) is located in front of the drive wheel (131) and the auxiliary universal wheel (133) is located between the two drive wheels (131).

4. The projection robot projection picture adjusting system of claim 1, wherein: The left front distance sensor (142) and the right front distance sensor (143) are symmetrically arranged.

5. The projection robot projection angle adjustment system of any one of claims 1-4, wherein: The machine shell (11) is also provided with an image collection device (16) facing forward and used for collecting the image information of the projected body.

6. The projection robot projection angle adjustment system of any one of claims 1-4, wherein: The machine shell (11) is also provided with an energy storage battery (17) for power supply.

7. The projection robot projection angle adjustment system of any one of claims 1-4, wherein: The projection device (12) is connected with a heat dissipation device (18) for heat dissipation, the sidewall of the machine shell (11) is provided with a heat dissipation area (111) for heat dissipation, and a plurality of through holes (112) are formed in the heat dissipation area (111).

8. The projection robot projection angle adjustment system of claim 7, wherein: The machine shell (11) is also provided with a heat dissipation fan (113) arranged against the heat dissipation area (111) and a loudspeaker (114) arranged against the heat dissipation area (111) and used for playing sound.

9. The projection robot projection angle adjustment system of claim 7, wherein: The drive wheel (131) is provided with an anti-skid structure (134) on the cylindrical surface.

10. The projection robot projection angle adjustment system of claim 7, wherein: The machine shell (11) is provided with a shielding plate (115) on the front side, the shielding plate (115) is provided with a projection window (116) for light output of the projection device (12) and an induction window (117) for signal passing of the distance sensor, the projection window (116) is provided with a light-transmitting projection cover plate (118), and the induction window (117) is provided with a light-transmitting induction cover plate (119).

Images