Projector posture adjusting method, mechanism, device and product

Abstract

The invention provides a projector attitude adjusting method, mechanism, device and product, and relates to the technical field of projectors, the method comprises the following steps: monitoring a roll angle and a pitch angle of a projector in real time through a gravity sensor integrated on a projector mainboard; the roll angle and the pitch angle are adjusted through a preset first lifting driver and a preset second lifting driver; respectively measuring vertical distances from the left side and the right side of the projector lens to the projection surface through a preset first TOF sensor and a preset second TOF sensor, and recording the vertical distances as a first distance and a second distance; calculating a course angle compensation value according to a difference value between the first distance and the second distance in combination with the distance between the first TOF sensor and the second TOF sensor; and adjusting the course angle of the projector through a preset rotating motor according to the course angle compensation value. The problem that in the prior art, it is difficult to automatically adjust the three-axis posture of the projector in combination with multi-sensor feedback is solved.

Description

Technical Field

[0001] This invention relates to the field of projector technology, and in particular to a projector posture adjustment method, mechanism, device, and product. Background Technology

[0002] In the field of projection display, the projection posture of a projector directly determines the geometric accuracy of the image and the viewing experience. For example, issues such as image shift and trapezoidal distortion can seriously affect user experience. As projection technology develops towards portability and scenario-based applications, such as home mobile projection and temporary office projection, projectors are often placed on non-standard support surfaces such as desktops, stands, and the ground. Their initial posture is prone to roll, pitch, and yaw angle deviations, requiring efficient adjustment mechanisms for correction.

[0003] Existing projector attitude adjustment solutions have significant limitations: First, most adjustments rely on manual operation, requiring users to adjust parameters one by one using physical knobs or remote controls, which is cumbersome and difficult to accurately match the projection surface. Second, some automatic adjustment solutions use only a single sensor, such as a gravity sensor that only monitors pitch / roll angles, or a distance sensor that only measures projection distance, failing to simultaneously cover three-axis (roll, pitch, and yaw) attitude detection, resulting in incomplete adjustment dimensions. Third, a few multi-sensor solutions lack collaborative logic between sensor data and attitude compensation; for example, the distance difference measured by the TOF sensor is not correlated with yaw angle correction, or the actions of the lift drive and rotation drive lack linkage, making it difficult to achieve automatic closed-loop adjustment of the entire attitude. Summary of the Invention

[0004] The embodiments of the present invention provide a projector attitude adjustment method, mechanism, device and product, which aims to solve the problem that the prior art is difficult to combine multi-sensor feedback to automatically adjust the three-axis attitude of the projector.

[0005] To achieve the above objectives, in a first aspect, the present invention provides a projector posture adjustment method, comprising the following steps: The projector's roll and pitch angles are monitored in real time by a gravity sensor integrated into the projector's motherboard. The roll angle and pitch angle are adjusted by a preset first lifting driver and a second lifting driver. The first lifting driver and the second lifting driver are respectively installed on the first side and the second side of the projector chassis, and are used to adjust the roll angle and pitch angle of the projector by independently controlling the lifting height of the first side and the second side of the chassis. The first side and the second side are symmetrical about the vertical line connecting the center of the projector lens and the projection surface. The vertical distances from the left and right sides of the projector lens to the projection surface are measured by the preset first TOF sensor and second TOF sensor respectively, and are recorded as the first distance and the second distance. When the difference between the first distance and the second distance exceeds a predetermined threshold, the heading angle compensation value is calculated in combination with the spacing between the first TOF sensor and the second TOF sensor. The projector's heading angle is adjusted by a preset rotary motor according to the heading angle compensation value, and the rotation axis of the rotary motor coincides with the vertical line connecting the center of the projector lens and the projection surface.

[0006] Furthermore, the adjustment of the roll and pitch angles includes the following steps: The number of first roll angle pulse adjustments is calculated based on the roll angle using the following formula: , In the formula, Indicates the number of times the first roll angle pulse is adjusted; Indicates the roll angle; α1 The first roll angle conversion factor between the roll angle and the lifting drive motor pulse; Indicates rounding down; The first roll angle adjustment is performed by controlling the first and second lift drivers to move up and down based on the number of first roll angle pulse adjustments, including: when When ≥0, it indicates that the first side is not higher than the second side, and the first lifting driver is controlled to raise. The first pulse quantity and the second lift driver decrease The first pulse quantity; when When <0, it indicates that the first side is higher than the second side, and the first lifting driver is controlled to lower. The first pulse quantity and the second lift driver rise The first pulse quantity; where: , , After the first roll angle adjustment, the adjusted first remaining roll angle is calculated using the following formula: , In the formula, Indicates the first remaining roll angle; The number of first pitch angle pulse adjustments is calculated based on the pitch angle using the following formula: , In the formula, Indicates the number of pulse adjustments for the first pitch angle; β1 represents the pitch angle; β1 represents the first pitch angle conversion factor between the pitch angle and the lifting drive motor pulse. Based on the number of pitch angle pulse adjustments, the first and second lift drivers are controlled to simultaneously move up and down to perform the first pitch angle adjustment, including: when When ≥0, control the first and second lifting drivers to lower simultaneously. The first pulse quantity; when When <0, control the first and second lifting drivers to raise simultaneously. The first pulse quantity; After the first pitch angle adjustment, the first remaining pitch angle after adjustment is calculated using the following formula: , In the formula, Indicates the first remaining pitch angle; The number of second roll angle pulse adjustments is calculated based on the first remaining roll angle using the following formula: , In the formula, α2 represents the number of pulse adjustments for the second roll angle; α2 represents the conversion factor for the second roll angle between the first remaining roll angle and the lift drive motor pulse. The first and second lift drivers are controlled to move up and down according to the number of second roll angle pulse adjustments to perform a second roll angle adjustment, including: when When ≥0, it indicates that the first side is not higher than the second side, and the first lifting driver is controlled to raise. The second pulse quantity and the second lift driver decrease Second pulse quantity; when When <0, it indicates that the first side is higher than the second side, and the first lifting driver is controlled to lower. The second pulse quantity and the second lift driver rise The second pulse quantity; where: , , After the second roll angle adjustment, the adjusted second remaining roll angle is calculated using the following formula: , In the formula, This is the second remaining roll angle; The number of second pitch angle pulse adjustments is calculated based on the first remaining pitch angle using the following formula: , In the formula, β2 represents the number of second pitch angle pulse adjustments, and β2 represents the second pitch angle conversion factor between the first remaining pitch angle and the lifting drive motor pulse. Based on the number of second pitch angle pulse adjustments, the first and second lift drivers are controlled to simultaneously move up and down to perform a second pitch angle adjustment, including: when When ≥0, control the first and second lifting drivers to lower simultaneously. Second pulse quantity; when When <0, control the first and second lifting drivers to raise simultaneously. Second pulse quantity; After the second pitch angle adjustment, the number of remaining second pitch angle pulse adjustments is calculated using the following formula: , In the formula, Indicates the number of pulse adjustments for the second remaining pitch angle; The number of third roll angle pulse adjustments is calculated based on the second remaining roll angle using the following formula: , In the formula, α3 represents the number of pulse adjustments for the third roll angle; α3 represents the conversion factor for the third roll angle between the second remaining roll angle and the lift drive motor pulse. The first and second lift drivers are controlled to move up and down to perform the third roll angle adjustment based on the number of third roll angle pulse adjustments, including: when When ≥0, it indicates that the first side is not higher than the second side, and the first lifting driver is controlled to raise. The third pulse quantity and the second lift driver decrease The third pulse quantity; when When <0, it indicates that the first side is higher than the second side, and the first lifting driver is controlled to lower. The third pulse quantity and the second lift driver rise The third pulse quantity; where: , , After the third roll angle adjustment, the roll angle adjustment ends; The third number of pitch angle pulse adjustments is calculated based on the second remaining number of pitch angle pulse adjustments using the following formula: , In the formula, β3 represents the number of pulse adjustments for the third pitch angle, and β3 represents the conversion factor for the third pitch angle between the second remaining pitch angle and the lift drive pulse. Based on the number of third pitch angle pulse adjustments, the first and second lift drivers are controlled to simultaneously move up and down to perform a third pitch angle adjustment, including: when When ≥0, control the first and second lifting drivers to lower simultaneously. The third pulse quantity; when When <0, control the first and second lifting drivers to raise simultaneously. The third pulse quantity; After the third pitch angle adjustment, the pitch angle adjustment is completed.

[0007] Furthermore, α 1 = 0.635, α 2 = 0.335, α 3 = 0.071, β 1 = 0.398125 β 2 = 0.196875, β 3 = 0.0425.

[0008] Furthermore, the heading angle compensation value is calculated using the following formula: , In the formula, This is the heading angle compensation value; This is the first distance; L represents the second distance; L is the distance between the first TOF sensor and the second TOF sensor.

[0009] Secondly, the present invention provides a projector posture adjustment mechanism for performing the projector posture adjustment method as described above. The adjustment mechanism includes a chassis, a first lifting driver, a second lifting driver, and a rotary motor. The first lifting driver and the second lifting driver are spaced apart and supported and connected to the chassis to drive the chassis to lift. An arc-shaped rack is fixed on the chassis. The rotary motor is fixed to the projector body. The rotating shaft of the rotary motor is connected to a drive gear, and the drive gear meshes with the arc-shaped rack.

[0010] Thirdly, the present invention provides a projector posture adjustment device, including a memory and a processor, wherein the memory stores at least one program, and the at least one program is executed by the processor to implement the projector posture adjustment method as described above.

[0011] Fourthly, the present invention provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the projector posture adjustment method as described above.

[0012] The above technical solution has the following technical effects: The projector's roll and pitch angles are monitored in real time by a gravity sensor integrated into the projector's mainboard. Preset first and second lift drivers adjust the roll and pitch angles. Preset first and second Time-of-Flight (TOF) sensors measure the vertical distances from the projector to the projection surface on the first and second sides of the projector chassis, respectively, denoted as the first distance and the second distance. The heading angle compensation value is calculated based on the difference between the first and second distances and the distance between the first and second TOF sensors. A preset rotary motor adjusts the projector's heading angle according to the heading angle compensation value. This invention solves the problem in existing technologies where it is difficult to automatically adjust the three-axis attitude of a projector using multi-sensor feedback. Attached Figure Description Figure 1 This is a flowchart illustrating a projector posture adjustment method according to an embodiment of the present invention.

[0013] Figure 2 This is a schematic diagram of the projector posture adjustment mechanism in one embodiment of the present invention.

[0014] Figure 3 This is an exploded view of the projector posture adjustment mechanism in one embodiment of the present invention.

[0015] Figure 4 This is a schematic diagram of the bottom structure of a projector according to an embodiment of the present invention.

[0016] Figure 5 This is a schematic flowchart of a projector posture adjustment device according to an embodiment of the present invention. Detailed Implementation

[0017] To further illustrate the various embodiments, the present invention provides accompanying drawings. These drawings are part of the disclosure of the present invention, primarily used to illustrate the embodiments and to explain the operating principles of the embodiments in conjunction with the relevant descriptions in the specification. With reference to these drawings, those skilled in the art should be able to understand other possible implementations and the advantages of the present invention. Components in the drawings are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0018] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0019] Example 1: Figure 1 This is a flowchart illustrating a projector posture adjustment method according to an embodiment of the present invention, as shown below. Figure 1 As shown, the method of this embodiment includes the following steps: The projector's roll and pitch angles are monitored in real time by a gravity sensor integrated into the projector's motherboard. In one specific implementation, when the projector's pose changes, i.e., the roll / pitch angle is greater than the minimum adjustable angle of the driver, the roll and pitch angles are adjusted by a preset first and second lift driver. The first and second lift drivers are respectively installed on the first and second sides of the projector chassis, and are used to adjust the projector's roll and pitch angles by independently controlling the lifting height of the first and second sides of the chassis. In one specific implementation, the first and second sides are symmetrical about the vertical line connecting the center of the projector lens and the projection surface. In another specific implementation, the lifting of the first and second lift drivers is achieved by sending pulses, and the number of pulses (hexadecimal, such as 09f6, 04fb, 00ff) for each adjustment can adjust the corresponding angle.

[0020] In one specific implementation, adjusting the roll and pitch angles includes the following steps: The number of first roll angle pulse adjustments is calculated based on the roll angle using the following formula: , In the formula, Indicates the number of times the first roll angle pulse is adjusted; α1 represents the first roll angle conversion factor between the roll angle and the lifting drive motor pulse; Indicates rounding down; The first roll angle adjustment is performed by controlling the first and second lift drivers to move up and down based on the number of first roll angle pulse adjustments, including: when When ≥0, it indicates that the first side is not higher than the second side, and the first lifting driver is controlled to raise. The first pulse quantity and the second lift driver decrease The first pulse quantity; in one specific implementation, the first pulse quantity is 09f6 (hexadecimal). when When <0, it indicates that the first side is higher than the second side, and the first lifting driver is controlled to lower. The first pulse quantity and the second lift driver rise The first pulse quantity; where: , , After the first roll angle adjustment, calculate the first remaining roll angle using the following formula: , In the formula, Indicates the first remaining roll angle; The number of first pitch angle pulse adjustments is calculated based on the pitch angle using the following formula: , In the formula, Indicates the number of pulse adjustments for the first pitch angle; β1 represents the pitch angle; β1 represents the first pitch angle conversion factor between the pitch angle and the lifting drive motor pulse. Based on the number of first pitch angle pulse adjustments, the first and second lift drivers are controlled to simultaneously move up and down to perform the first pitch angle adjustment, including: when When ≥0, control the first and second lifting drivers to lower simultaneously. The first pulse quantity; when When <0, control the first and second lifting drivers to raise simultaneously. The first pulse quantity; After the first pitch angle adjustment, the first remaining pitch angle after adjustment is calculated using the following formula: , In the formula, Indicates the first remaining pitch angle; The number of second roll angle pulse adjustments is calculated based on the first remaining roll angle using the following formula: , In the formula, α2 represents the number of pulse adjustments for the second roll angle; α2 represents the conversion factor for the second roll angle between the first remaining roll angle and the lift drive motor pulse. The second roll angle adjustment is performed by controlling the first and second lift drivers to move up and down based on the number of second roll angle pulse adjustments, including: when When ≥0, it indicates that the first side is not higher than the second side, and the first lifting driver is controlled to raise. The second pulse quantity and the second lift driver decrease The second pulse quantity; in one specific implementation, the second pulse quantity is 04fb (hexadecimal). when When <0, it indicates that the first side is higher than the second side, and the first lifting driver is controlled to lower. The second pulse quantity and the second lift driver rise The second pulse quantity; where: , , After the second roll angle adjustment, the adjusted second remaining roll angle is calculated using the following formula: , In the formula, This is the second remaining roll angle; The number of pulse adjustments for the second pitch angle is calculated based on the first remaining pitch angle using the following formula: , In the formula, β2 represents the number of second pitch angle pulse adjustments, and β2 represents the second pitch angle conversion factor between the first remaining pitch angle and the lifting drive motor pulse. Based on the number of second pitch angle pulse adjustments, the first and second lift drivers are controlled to simultaneously rise and fall to perform a second pitch angle adjustment, including: when When ≥0, control the first and second lifting drivers to lower simultaneously. Second pulse quantity; when When <0, control the first and second lifting drivers to raise simultaneously. Second pulse quantity; The number of remaining pitch angle pulse adjustments after the second pitch angle adjustment is calculated using the following formula: , In the formula, Indicates the number of pulse adjustments for the second remaining pitch angle; The number of third roll angle pulse adjustments is calculated based on the second remaining roll angle using the following formula: , In the formula, α3 represents the number of pulse adjustments for the third roll angle; α3 represents the conversion factor for the third roll angle between the second remaining roll angle and the lift drive motor pulse. The third roll angle adjustment is performed by controlling the first and second lift drivers to move up and down based on the number of third roll angle pulse adjustments, including: when When ≥0, it indicates that the first side is not higher than the second side, and the first lifting driver is controlled to raise. The third pulse quantity and the second lift driver decrease The third pulse quantity; in one specific implementation, the third pulse quantity is 00ff (hexadecimal). when When <0, it indicates that the first side is higher than the second side, and the first lifting driver is controlled to lower. The third pulse quantity and the second lift driver rise The third pulse quantity; where: , , After the third roll angle adjustment, the roll angle adjustment is completed; The number of third pitch angle pulse adjustments is calculated based on the number of second remaining pitch angle pulse adjustments using the following formula: , In the formula, β3 represents the number of pulse adjustments for the third pitch angle, and β3 represents the conversion factor for the third pitch angle between the second remaining pitch angle and the lift drive pulse. Based on the number of third pitch angle pulse adjustments, the first and second lift drivers are controlled to simultaneously lift and lower to perform the third pitch angle adjustment, including: when When ≥0, control the first and second lifting drivers to lower simultaneously. The third pulse quantity; when When <0, control the first and second lifting drivers to raise simultaneously. The third pulse quantity; After the third pitch angle adjustment, the pitch angle adjustment is completed.

[0021] In this embodiment, a total of three adjustments were made. The first adjustment was a coarse adjustment to speed up the adjustment process, and the latter two adjustments were fine adjustments to improve accuracy. The adjusted roll / pitch angles were obtained, and the adjustment was stopped when the adjusted roll / pitch angles were less than α3 / β3.

[0022] In one specific implementation, α 1 = 0.635, α 2 = 0.335, α 3 = 0.071, β 1 = 0.398125 β 2 = 0.196875, β 3 = 0.0425.

[0023] The vertical distances from the left and right sides of the projector lens to the projection surface are measured by the preset first and second TOF sensors, respectively, and recorded as the first distance and the second distance. When the projector projects to the first and second sides, there will be a difference in the distances from the two sides of the projector to the projection surface, which proves that the projector has a heading angle that needs to be corrected. When the difference between the first distance and the second distance exceeds a predetermined threshold, the heading angle compensation value is calculated in combination with the spacing between the first TOF sensor and the second TOF sensor. The projector's heading angle is adjusted by a preset rotary motor according to the heading angle compensation value. In one specific implementation, the rotation axis of the rotary motor coincides with the vertical line connecting the center of the projector lens and the projection surface.

[0024] In one specific implementation, the heading angle compensation value is calculated using the following formula: , In the formula, This is the heading angle compensation value; This is the first distance; L represents the second distance; L is the distance between the first TOF sensor and the second TOF sensor.

[0025] Example 2: Reference Figures 2 to 4 As shown, this embodiment provides a projector posture adjustment mechanism, including a chassis 10, a first lifting driver 21, a second lifting driver 22, and a rotary motor 23. The first lifting driver 21 and the second lifting driver 22 are spaced apart and support the chassis 10 to drive the chassis 10 to lift. An arc-shaped rack 13 is fixed on the chassis 10. The rotary motor 23 is fixed on the projector body 100. The rotation shaft of the rotary motor 23 is connected to a drive gear 24, and the drive gear 24 meshes with the arc-shaped rack 13.

[0026] Furthermore, in practical applications, this embodiment also provides a projector, including a projector body 100 and the aforementioned projector posture adjustment mechanism; the projector body 100 is rotatably mounted on the chassis 10, the chassis 10 supports the projector body 100, and the rotary motor 23 is fixed on the projector body 100.

[0027] Preferably, the front end of the projector body 100 is the projection end, and the first lifting driver 21 and the second lifting driver 22 are located on both sides of the front end of the projector body 100, that is, the left and right sides of the front end.

[0028] When the horizontal angle is offset, the rotary motor 23 is controlled to work, that is, the rotary motor 23 drives the drive gear 24 to rotate. Since the arc rack 13 is fixed to the chassis 10 and cannot move, the rotary motor 23 and the projector body 100 can only be driven to rotate in the horizontal direction, thereby correcting the angle offset in the horizontal direction. When there is an angular deviation in the vertical direction, such as when the projected image is tilted downwards, the first lifting driver 21 and the second lifting driver 22 at the front end can be controlled to lift simultaneously, thereby raising the height of the chassis 10 and the front end of the projector body 100, and thus lifting the projected image upwards. Conversely, when the projected image is tilted upwards, the first lifting driver 21 and the second lifting driver 22 at the rear end can be controlled to lower simultaneously, thereby lowering the height of the chassis 10 and the front end of the projector body 100, and thus lowering the projected image. When one side, such as the left side, is too high, the first lifting driver 21 on the left side can be controlled to lower the chassis 10 and the projector body 100, or the second lifting driver 22 on the right side can be controlled to raise the chassis 10 and the projector body 100, in order to adjust the tilt of the projected image.

[0029] This application uses a combination of lifting actuators (referring to the first lifting actuator 21 and the second lifting actuator 22) and a rotary motor 23 to achieve the posture adjustment of the projector body. Compared with the manual operation, the lifting actuators and rotary motor 23 move more quickly and accurately, thus achieving more precise and faster adjustment.

[0030] Furthermore, the bottom of the chassis 10 is provided with at least three support pads. In this embodiment, there are three support pads: a first support pad 31, a second support pad 32, and a third support pad 33. The first lifting driver 21 connects the chassis 10 and the first support pad 31, the second lifting driver 22 connects the chassis 10 and the second support pad 32, and the third support pad 33 is directly fixed to the bottom of the chassis 10. This achieves ground support for the chassis 10. Of course, in other embodiments, the number of support pads can be more than three, as long as two of them are used to connect to the first lifting driver 21 and the second lifting driver 22.

[0031] Furthermore, both the first lifting drive 21 and the second lifting drive 22 are fixedly mounted on the chassis 10. The lifting drive shaft of the first lifting drive 21 is connected to the first support foot pad 31, and the lifting drive shaft of the second lifting drive 22 is connected to the second support foot pad 32. More specifically, both the first lifting drive 21 and the second lifting drive 22 are fixedly mounted on the upper surface of the chassis 10. In this embodiment, two sets of support columns 15 are fixed on the upper surface of the chassis 10, and the first lifting drive 21 and the second lifting drive 22 are respectively fixed on the two sets of support columns 15. The chassis 10 has a first clearance hole 11 and a second clearance hole 12 corresponding to the first lifting drive 21 and the second lifting drive 22, respectively. The lifting drive shaft of the first lifting drive 21 passes through the first clearance hole 11 and connects to the first support foot pad 31; the lifting drive shaft of the second lifting drive 22 passes through the second clearance hole 12 and connects to the second support foot pad 32. This configuration realizes the lifting drive connection between the lifting drive and the chassis 10; the structure is simple and easy to implement. Of course, other installation methods can also be used in other embodiments. For example, if there is enough space at the bottom of the chassis 10, the first lifting driver 21 and the second lifting driver 22 can be fixed to the bottom of the chassis 10.

[0032] Furthermore, both the first lifting driver 21 and the second lifting driver 22 are lifting motors, which can be purchased directly from the market. In one specific implementation, the first lifting driver 21 and / or the second lifting driver 22 can also be lifting drive devices such as electric push rods.

[0033] Furthermore, the chassis 10 has a connection hole 14, specifically located at the center of the chassis 10; the projector body 100 is rotatably mounted in the connection hole 14 of the chassis 10 via a rotating shaft, thereby realizing the rotatable assembly of the projector body 100; the center of the arc-shaped rack 13 is coaxial with the connection hole 14; thus, when the rotary motor 23 is working, it can drive the projector body 100 to rotate stably horizontally.

[0034] Furthermore, the upper surface of the chassis 10 is provided with an annular protrusion 16 centered on the connecting hole 14, and the bottom of the projector body 100 is provided with a cavity that matches the annular protrusion 16. Specifically, the cavity is a circular cavity, and its outer diameter is slightly larger than that of the annular protrusion 16, so that the annular protrusion 16 can fit well in the cavity to position and limit the projector body 100.

[0035] Example 3: Figure 5 This is a schematic diagram of the projector posture adjustment device in one embodiment of the present invention, as shown below. Figure 5As shown, the device includes a processor 501, a memory 502, a bus 503, and a computer program stored in the memory 502 and executable on the processor 501. The processor 501 includes one or more processing cores. The memory 502 is connected to the processor 501 via the bus 503. The memory 502 is used to store program instructions. When the processor executes the computer program, it implements the steps in the above-described method embodiment of Embodiment 1 of the present invention.

[0036] Furthermore, as an executable solution, the electronic device can be a computer unit, which can be a desktop computer, laptop, handheld computer, cloud server, or other computing device. The computer unit may include, but is not limited to, a processor and memory. Those skilled in the art will understand that the above-described structure of the computer unit is merely an example and does not constitute a limitation on the computer unit. It may include more or fewer components, or combine certain components, or use different components. For example, the computer unit may also include input / output devices, network access devices, buses, etc., and this embodiment of the invention does not limit this.

[0037] Furthermore, as an executable solution, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The processor is the control center of the computer unit, connecting various parts of the entire computer unit via various interfaces and lines.

[0038] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the computer unit by running or executing the computer programs and / or modules stored in the memory and by calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory and may also include non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital card (SD card), flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0039] Example 4: The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the projector posture adjustment method as described above.

[0040] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. A method for adjusting the posture of a projector, characterized in that, Includes the following steps: The projector's roll and pitch angles are monitored in real time by a gravity sensor integrated into the projector's motherboard. The roll angle and pitch angle are adjusted by a preset first lifting driver and a second lifting driver; the first lifting driver and the second lifting driver are respectively installed on the first side and the second side of the projector chassis, and are used to adjust the roll angle and pitch angle of the projector by independently controlling the lifting height of the first side and the second side of the chassis. The first side and the second side are symmetrical about the vertical line connecting the center of the projector lens and the projection surface. The vertical distances from the left and right sides of the projector lens to the projection surface are measured by the preset first TOF sensor and second TOF sensor respectively, and are recorded as the first distance and the second distance. When the difference between the first distance and the second distance exceeds a predetermined threshold, the heading angle compensation value is calculated based on the distance between the first TOF sensor and the second TOF sensor. The projector's heading angle is adjusted by a preset rotary motor according to the heading angle compensation value, and the rotation axis of the rotary motor coincides with the vertical line connecting the center of the projector lens and the projection surface.

2. The projector attitude adjustment method according to claim 1, characterized in that, The adjustment of roll and pitch angles includes the following steps: The number of first roll angle pulse adjustments is calculated based on the roll angle using the following formula: ， In the formula, Indicates the number of times the first roll angle pulse is adjusted; Indicates the roll angle; α1 The first roll angle conversion factor between the roll angle and the lifting drive motor pulse; Indicates rounding down; The first roll angle adjustment is performed by controlling the first and second lift drivers to move up and down based on the number of first roll angle pulse adjustments, including: when When ≥0, it indicates that the first side is not higher than the second side, and the first lifting driver is controlled to raise. The first pulse quantity and the second lift driver decrease The first pulse quantity; when When <0, it indicates that the first side is higher than the second side, and the first lifting driver is controlled to lower. The first pulse quantity and the second lift driver rise The first pulse quantity; where: ， ， After the first roll angle adjustment, the adjusted first remaining roll angle is calculated using the following formula: ， In the formula, Indicates the first remaining roll angle; The number of first pitch angle pulse adjustments is calculated based on the pitch angle using the following formula: ， In the formula, Indicates the number of pulse adjustments for the first pitch angle; β1 represents the pitch angle; β1 represents the first pitch angle conversion factor between the pitch angle and the lifting drive motor pulse. Based on the number of pitch angle pulse adjustments, the first and second lift drivers are controlled to simultaneously move up and down to perform the first pitch angle adjustment, including: when When ≥0, control the first and second lifting drivers to lower simultaneously. The first pulse quantity; when When <0, control the first and second lifting drivers to raise simultaneously. The first pulse quantity; After the first pitch angle adjustment, the first remaining pitch angle after adjustment is calculated using the following formula: ， In the formula, Indicates the first remaining pitch angle; The number of second roll angle pulse adjustments is calculated based on the first remaining roll angle using the following formula: ， In the formula, α2 represents the number of pulse adjustments for the second roll angle; α2 represents the conversion factor for the second roll angle between the first remaining roll angle and the lift drive motor pulse. The first and second lift drivers are controlled to move up and down according to the number of second roll angle pulse adjustments to perform a second roll angle adjustment, including: when When ≥0, it indicates that the first side is not higher than the second side, and the first lifting driver is controlled to raise. The second pulse quantity and the second lift driver decrease Second pulse quantity; when When <0, it indicates that the first side is higher than the second side, and the first lifting driver is controlled to lower. The second pulse quantity and the second lift driver rise The second pulse quantity; where: ， ， After the second roll angle adjustment, the adjusted second remaining roll angle is calculated using the following formula: ， In the formula, This is the second remaining roll angle; The number of second pitch angle pulse adjustments is calculated based on the first remaining pitch angle using the following formula: ， In the formula, β2 represents the number of second pitch angle pulse adjustments, and β2 represents the second pitch angle conversion factor between the first remaining pitch angle and the lifting drive motor pulse. Based on the number of second pitch angle pulse adjustments, the first and second lift drivers are controlled to simultaneously move up and down to perform a second pitch angle adjustment, including: when When ≥0, control the first and second lifting drivers to lower simultaneously. Second pulse quantity; when When <0, control the first and second lifting drivers to raise simultaneously. Second pulse quantity; After the second pitch angle adjustment, the number of remaining second pitch angle pulse adjustments is calculated using the following formula: ， In the formula, Indicates the number of pulse adjustments for the second remaining pitch angle; The number of third roll angle pulse adjustments is calculated based on the second remaining roll angle using the following formula: ， In the formula, α3 represents the number of pulse adjustments for the third roll angle; α3 represents the conversion factor for the third roll angle between the second remaining roll angle and the lift drive motor pulse. The first and second lift drivers are controlled to move up and down to perform the third roll angle adjustment based on the number of third roll angle pulse adjustments, including: when When ≥0, it indicates that the first side is not higher than the second side, and the first lifting driver is controlled to raise. The third pulse quantity and the second lift driver decrease The third pulse quantity; when When <0, it indicates that the first side is higher than the second side, and the first lifting driver is controlled to lower. The third pulse quantity and the second lift driver rise The third pulse quantity; where: ， ， After the third roll angle adjustment, the roll angle adjustment ends; The third number of pitch angle pulse adjustments is calculated based on the second remaining number of pitch angle pulse adjustments using the following formula: ， In the formula, This indicates the number of pulse adjustments for the third pitch angle. β3 The third pitch angle conversion factor represents the relationship between the second remaining pitch angle and the lift drive motor pulse; Based on the number of third pitch angle pulse adjustments, the first and second lift drivers are controlled to simultaneously move up and down to perform a third pitch angle adjustment, including: when When ≥0, control the first and second lifting drivers to lower simultaneously. The third pulse quantity; when When <0, control the first and second lifting drivers to raise simultaneously. The third pulse quantity; After the third pitch angle adjustment, the pitch angle adjustment is completed.

3. The projector attitude adjustment method according to claim 1, characterized in that, α 1=0.635， α 2=0.335， α 3=0.071， β 1=0.398125， β 2=0.196875， β 3=0.0425。 4. The projector posture adjustment method according to claim 1, characterized in that, The heading angle compensation value is calculated using the following formula: ， In the formula, This is the heading angle compensation value; This is the first distance; L represents the second distance; L is the distance between the first TOF sensor and the second TOF sensor.

5. A projector posture adjustment mechanism for performing a projector posture adjustment method as described in any one of claims 1 to 4, the adjustment mechanism comprising a chassis, a first lifting driver, a second lifting driver, and a rotary motor, wherein the first lifting driver and the second lifting driver are spaced apart and supported and connected to the chassis to drive the chassis to lift; an arc-shaped rack is fixed on the chassis; the rotary motor is fixed to the projector body; the rotating shaft of the rotary motor is connected to a drive gear, and the drive gear meshes with the arc-shaped rack.

6. A projector posture adjustment device, characterized in that, It includes a memory and a processor, the memory storing at least one program, the at least one program being executed by the processor to implement the projector attitude adjustment method as described in any one of claims 1 to 4.

7. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the projector attitude adjustment method as described in any one of claims 1 to 4.

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