Projection robot and projection method thereof

Abstract

The invention discloses a projection robot and a projection method thereof. In the projection robot, the controller detects whether the environment where the projection robot is located comprises the target user or not after obtaining the environment data through the collection part, further obtains the user information of the target user if the environment where the projection robot is located comprises the target user, determines the target projection area according to the user information, and sends the target projection area to the projection robot according to the determined target projection area. After the driving part is controlled to drive the projection assembly to be adjusted to the projection direction facing the target projection area, the target image is projected to the target projection area through the projection assembly, compared with the prior art, the target projection area is associated with the user information, and the user information comprises at least one of the user posture and the user identity; different projection areas are determined according to different user information, so that the projection areas can be changed according to different watching habits and different user individuals, and the projection flexibility is improved.

Description

Technical Field

[0001] Some embodiments of this application relate to electronic technology, including but not limited to a projection robot and its projection method. Background Technology

[0002] With the development of the robotics industry, the demand for robots in various industries is increasing. Robots with projection learning and usage scenarios are widely used for home care of the elderly and children. The projection robot is installed on a freely moving robot. The robot's free movement function is used to take the projection robot to the required location, and the projection robot projects video images and plays corresponding audio information on the wall to achieve the effect of companionship and learning.

[0003] However, the projection angle of traditional projection robots is relatively fixed, which makes it difficult to change the projection area according to different viewing habits and individual users, thus limiting the application range of projection robots. Summary of the Invention

[0004] In view of this, the projection robot and projection method provided in some embodiments of this application can change the projection area according to different viewing habits and different individual users, thereby improving projection flexibility.

[0005] In a first aspect, some embodiments of this application provide a projection robot, including:

[0006] The acquisition unit is configured to obtain environmental data of the environment in which the projection robot is located;

[0007] The projection component is configured to project an image;

[0008] The drive unit is configured to adjust the projection direction of the projection component;

[0009] A controller electrically connected to the acquisition unit, the projection assembly, and the driving unit respectively, the controller being configured to:

[0010] The environmental data is obtained, and the environment in which the projection robot is located is detected based on the environmental data to determine whether the target user is present.

[0011] When the environment in which the projection robot is located includes the target user, the user information of the target user is obtained, and the user information includes at least one of user posture and user identity;

[0012] Based on the user information, determine the target projection area;

[0013] The drive unit controls the projection assembly to adjust to a projection direction facing the target projection area;

[0014] The target image is projected onto the target projection area using the projection component;

[0015] If the target user is not located in the environment where the projection robot is located, the step of obtaining the user information of the target user will not be performed.

[0016] In the aforementioned projection robot, after the controller obtains environmental data through the acquisition unit, it detects whether the environment in which the projection robot is located includes a target user. If it does, it further obtains the user information of the target user, which includes at least one of the user's posture and user identity. Based on the user information, it determines the target projection area. After the control drive unit drives the projection component to adjust to the projection direction facing the target projection area, the target image is projected onto the target projection area through the projection component. Compared with related technologies, this application associates the target projection area with user information, which includes at least one of the user's posture and user identity. Different projection areas are determined based on different user information, thereby enabling the projection area to be changed according to different viewing habits and different individual users, improving projection flexibility.

[0017] In some embodiments, the user information includes user posture, and the controller is configured to determine a target projection area based on the user information, including:

[0018] The controller determines the target projection surface based on a first correspondence between a preset posture and a projection surface and the user posture. The target projection surface includes at least one projection area.

[0019] Determine a target projection area from the target projection surface whose distance from the target user is less than or equal to a preset distance threshold.

[0020] Understandably, different projection surfaces are distinguished based on different user postures. After determining the target projection surface based on the target user's posture, a target projection area within a preset distance threshold range from the target user is determined from the target projection surface. This allows the projection area to be changed according to the user's current posture, thereby improving the adaptation to different users' viewing habits.

[0021] In some embodiments, the user information includes user identity, and the controller is configured to determine a target projection area based on the user information, including:

[0022] The controller obtains the target user's historical usage information based on the user's identity, and the historical usage information includes information about the projection area of ​​the projection robot in the past.

[0023] Based on the historical usage information, the target projection area is determined, and the target projection area is the projection area in the historical usage information where the number of projections is greater than a preset threshold.

[0024] Understandably, by identifying the target projection area from the target user's historical usage information that has been projected more than a preset threshold, it is possible to change the projection area according to the historical viewing habits of different users, thereby improving the adaptation to the viewing habits of different users.

[0025] In some embodiments, the controller is configured to determine a target projection area based on the user information, including:

[0026] The controller determines the initial projection area based on the user information;

[0027] The controller acquires target environmental data, including the initial projection area, through the acquisition unit;

[0028] The controller determines whether the initial projection area meets the projection conditions based on the target environment data.

[0029] If the initial projection area meets the projection conditions, the controller determines the initial projection area as the target projection area.

[0030] It is understandable that after determining the initial projection area based on user information, the projection robot can further improve its projection effect by judging whether the initial projection area meets the projection conditions based on the target environment data and only performing projection when the initial projection area meets the projection conditions.

[0031] In some embodiments, the controller is configured to determine a target projection area based on the user information, including:

[0032] If the initial projection area does not meet the projection conditions, the controller determines another projection area from the projection plane to which the target projection area belongs as the target projection area; or,

[0033] If the initial projection area does not meet the projection conditions, the controller determines one of the projection areas from another projection surface that is different from the projection surface to which the target projection area belongs as the target projection area.

[0034] It is understandable that when the initial projection area does not meet the projection conditions, another projection area can be selected from the current projection surface as the target projection area, or a projection area from a different projection surface can be selected as the target projection area, thereby achieving automatic switching of the projection area.

[0035] In some embodiments, the controller determines whether the initial projection area meets the projection conditions based on the target environment data, including:

[0036] The controller determines whether the initial projection area is a plane based on the target data;

[0037] If the initial projection area is not a plane, it is determined that the initial projection area does not satisfy the projection condition;

[0038] If the initial projection area is planar, then the initial projection area is determined to satisfy the projection condition.

[0039] It is understandable that by determining whether the initial projection region is a plane, and if the initial projection region is a plane, it can be determined that the initial projection region meets the projection conditions, thus ensuring that the initial projection region can present the target image.

[0040] In some embodiments, the drive unit includes a drive wheel and a pitch motor, and the controller controls the drive unit to drive the projection assembly to adjust to a projection direction toward the target projection area, including:

[0041] The controller controls the drive wheels to move the projection robot to the target position, and the target position is determined according to the position of the target projection area;

[0042] The controller controls the pitch motor to adjust the pitch angle of the projection component until the projection direction of the projection component is toward the target projection area.

[0043] It is understandable that by controlling the drive wheels to move the projection robot to the target position, the pitch motor is then controlled to adjust the pitch angle of the projection component, thereby adjusting the projection component to face the target projection area and completing the adjustment of the projection direction of the projection component.

[0044] In some embodiments, the controller controls the drive wheels to move the projection robot to a target position, including:

[0045] The controller obtains a first distance between the target user and the target projection area based on the environmental data;

[0046] The controller determines a second distance between the projection robot and the target projection area based on the first distance, wherein the first distance and the second distance are positively correlated.

[0047] The controller controls the drive wheel to drive the projection robot to move to the target position, and the distance between the target position and the target projection area is the second distance.

[0048] Understandably, by determining the second distance between the projection robot and the target projection area based on the first distance between the target user and the target projection area, and then moving the projection robot to the target position corresponding to the second distance, the position of the projection robot can be adjusted to complete the projection onto the target projection area.

[0049] In some embodiments, the controller determines a second distance between the projection robot and the target projection area based on the first distance, including:

[0050] The controller determines the target projection parameters based on a second correspondence between a preset distance and projection parameters, and the first distance. The projection parameters include the projection size.

[0051] The controller determines the second distance based on the target projection parameters and the field of view corresponding to the projection component.

[0052] It is understandable that the target projection parameters can be determined through the second correspondence and the first distance, so that the controller can determine the second distance based on the target projection parameters and the field of view corresponding to the projection component.

[0053] Secondly, some embodiments of this application provide a projection method based on a projection robot, including:

[0054] The projection robot obtains environmental data through its acquisition unit and detects whether the environment in which the projection robot is located includes the target user based on the environmental data. The environmental data is used to indicate the distance between the projection robot and surrounding objects.

[0055] When the environment in which the projection robot is located includes the target user, the user information of the target user is obtained, and the user information includes at least one of user posture and user identity;

[0056] Based on the user information, determine the target projection area;

[0057] The control drive unit drives the projection assembly to adjust to a projection direction facing the target projection area;

[0058] The target image is projected onto the target projection area using the projection component.

[0059] It should be understood that the second aspect of some embodiments of this application is consistent with the technical solution of the first aspect of some embodiments of this application, and the beneficial effects obtained by each aspect and the corresponding feasible implementation are similar, and will not be described again. Attached Figure Description

[0060] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

[0061] Figure 1 One of the example diagrams showing a projection robot performing projection according to some embodiments of this application;

[0062] Figure 2 This is a schematic diagram of the structure of a projection robot provided in some embodiments of this application;

[0063] Figure 3 Example diagrams of scenarios for determining the target projection area based on the user's facial orientation, provided for some embodiments of this application;

[0064] Figure 4 Example scene diagrams provided for determining the target projection area based on ambient light intensity in some embodiments of this application;

[0065] Figure 5 Example diagrams of scenarios for adjusting the target projection area based on distance, provided for some embodiments of this application;

[0066] Figure 6 This is a schematic diagram illustrating the adjustment of the projected image according to parallel relationships provided for some embodiments of this application;

[0067] Figure 7A Example diagram of a projection robot performing projection in some embodiments of this application (Figure 2);

[0068] Figure 7B The third example diagram shows a scenario where a projection robot performs projection, as provided in some embodiments of this application.

[0069] Figure 8 A flowchart illustrating a control method based on a projection robot provided in some embodiments of this application;

[0070] Figure 9 This application provides schematic diagrams of the structure of a control device based on a projection robot, as shown in some embodiments.

[0071] Figure 10 The diagram shows the structure of a robot provided in some embodiments of this application. Detailed Implementation

[0072] To make the objectives, technical solutions, and advantages of some embodiments of this application clearer, the specific technical solutions of this application will be further described in detail below with reference to the accompanying drawings of some embodiments of this application. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application.

[0073] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing some embodiments of this application only and is not intended to limit this application.

[0074] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0075] It should be noted that the terms "first, second, third" used in some embodiments of this application are used to distinguish similar or different objects and do not represent a specific order of objects. It is understood that "first, second, third" can be interchanged in a specific order or sequence where permitted, so that some embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0076] Because projection robots have a fixed projection angle, they can only project onto a fixed area. In the process of projecting a target image onto the desired projection area, the user needs to confirm this area before sending it to the robot. The robot then controls its drive wheels to project the image onto this area. Control methods for the drive wheels include manually applying external force to rotate them, or triggering control commands to steer them. Therefore, although the projection process can be automated without much user intervention, the user still needs to confirm the target projection area. The projection robot cannot autonomously determine which area meets the projection requirements and the user's viewing needs; it cannot independently determine the target projection area. This limits the robot's ability to adapt the projection area to different viewing habits and individual user preferences, thus restricting its application scope.

[0077] In view of this, some embodiments of this application provide a projection robot. The controller of the projection robot can obtain environmental data through the acquisition unit, detect whether the environment in which the projection robot is located includes a target user. If it does, it further obtains the user information of the target user, which includes at least one of the user's posture and user identity. Based on the user information, it determines the target projection area. After the control drive unit drives the projection component to adjust to the projection direction facing the target projection area, the target image is projected onto the target projection area through the projection component. Compared with related technologies, this application associates the target projection area with user information, which includes at least one of the user's posture and user identity. Different projection areas are determined based on different user information, thereby enabling the projection area to be changed according to different viewing habits and different individual users, improving the projection flexibility.

[0078] Figure 1 This is a schematic diagram illustrating a projection robot 10 projecting data, as provided in some embodiments of this application. Figure 1 As shown, this scenario includes a projection robot 10 and a target user 20. When the projection robot 10 receives a projection command triggered by the user, or when the robot triggers a projection operation at a specific time according to a preset work plan, the projection robot 10 needs to travel to the location of the target user 20 to perform the projection. However, in practical applications, the areas where the projection robot 10 and the target user 20 are located may not be the same. For example, the projection robot 10 may be in room A, while the target user 20 may be in room B. Therefore, the projection robot 10 is a considerable distance away from the target user 20. In this scenario, the projection robot 10 needs to move to the vicinity of the target user 20 by detecting the target user 20 in real time, or the projection command triggered by the user includes the room where the target user 20 is located. After the projection robot 10 reaches a certain position near the target user 20, it rotates a certain angle in place (or not in place) and obtains the environmental data of the current environment through the acquisition unit. Based on the environmental data, it detects whether the current environment includes the target user 20. If it does, after obtaining the user information of the target user 20, it determines the target projection area based on the user information; and then completes the projection operation within the target projection area.

[0079] The projection robot 10 includes at least a data acquisition unit 102, which is used to acquire environmental data of the environment in which the projection robot is located. The data acquisition unit 102 can be a device such as an ultrasonic sensor, a lidar, or a camera that can indicate the location of objects within a certain range of the robot. The specific configuration can be made by those skilled in the art according to the actual situation, and this application does not impose any restrictions.

[0080] In some embodiments, the projection robot 10 includes at least a projection component 104 for projecting images. The projection component may include a light source and a lens. The light source emits a light beam containing target image information; the light beam may contain only visible light, or it may contain both visible and ultraviolet light. The lens amplifies the received light beam and illuminates a corresponding projection area, thereby projecting the target image.

[0081] In some embodiments, the projection robot 10 includes at least a drive unit 101, which is used to adjust the projection direction of the projection component 104. The drive unit 101 may include a horizontal displacement device and a vertical displacement device. The horizontal displacement device is used to adjust the horizontal displacement of the projection component 104, and the vertical displacement device is used to adjust the vertical displacement of the projection component 104. The horizontal displacement device may include wheels or tracks, and the vertical displacement device may include a pitch motor. The specific configuration can be determined by those skilled in the art based on actual needs and appearance; this application does not impose any limitations.

[0082] In some embodiments, the projection robot 10 includes at least a controller 103, which is electrically connected to the acquisition unit 102, the projection component 104, and the drive unit 101, respectively, wherein:

[0083] The controller 103 is used to acquire environmental data and detect whether the environment in which the projection robot is located includes the target user based on the environmental data; if the environment in which the projection robot is located includes the target user, it acquires the user information of the target user, the user information including at least one of the user posture and the user identity; based on the user information, it determines the target projection area; the control drive unit 101 drives the projection component 104 to adjust to the projection direction facing the target projection area; and the projection component 104 projects the target image onto the target projection area.

[0084] It should be noted that the components of the projection robot 10 described above can be freely combined to form a structure of the projection robot 10 having some or all of the following components: the acquisition unit 102, the projection assembly 104, the drive unit 101, and the controller 103, such as... Figure 2 As shown, the specific settings can be made by those skilled in the art according to the actual situation, and this application does not impose any restrictions.

[0085] In some embodiments, the way the driving unit 101 adjusts the projection direction of the projection component 104 may include adjusting the displacement of the projection component 104 in the horizontal direction and adjusting the displacement of the projection component 104 in the vertical direction. After the horizontal displacement adjustment and the vertical displacement adjustment are completed, the adjustment of the projection direction of the projection component 104 can be regarded as completed.

[0086] When detecting the presence of a target user based on environmental data collected by the data acquisition unit, one or a combination of the following methods can be used:

[0087] Method 1 involves user identification of environmental data, and obtaining the corresponding user information after identifying the target user.

[0088] If the acquisition unit 102 includes a camera, the environmental data includes environmental images acquired by the camera. The controller 103 can then perform object recognition on the environmental images to determine whether the target user is included in the environmental images.

[0089] Accordingly, methods for obtaining user information of a target user through a camera may include: determining the image region corresponding to the target user from an environmental image; performing feature recognition on the image region to obtain user information.

[0090] If the acquisition unit 102 includes a lidar, the environmental data includes point cloud data acquired by the lidar. The controller 103 can then perform contour recognition on the point cloud data to determine whether the point cloud data includes a target point cloud, which includes the contour corresponding to the target user.

[0091] Accordingly, the methods for obtaining user information of target users through lidar may include: determining the target point cloud of the corresponding target user from point cloud data; and performing feature recognition on the target point cloud to obtain user information.

[0092] It should be understood that when performing feature recognition on a target point cloud or image region, features such as the area, shape, and size of the region can be identified. When these features match the characteristics of the target user, these features can be used as the target region, and user information can then be extracted from the target region.

[0093] It should be noted that the above-mentioned feature extraction and recognition process can employ commonly used techniques in this field, which will not be elaborated upon here.

[0094] Method 2 involves comparing environmental data with preset standard data. If a data area exists in the environmental data that matches the standard data, that data area is identified as the data corresponding to the target user, and the user information is extracted. The standard data includes the target user's identity data.

[0095] During implementation, after the projection robot acquires environmental data, the data is divided into multiple data regions. The similarity between each data region and preset standard data is assessed. If the similarity between the target data region and the preset standard data is less than a preset threshold, the target data region is identified as the data corresponding to the target user, and user information is extracted. Standard data may include environmental data of the user's face, upper body, or hands, etc.

[0096] The aforementioned environmental data can be environmental images captured by a camera or point cloud data captured by a lidar sensor.

[0097] It should be understood that after identifying the target user, obtaining the corresponding user information can avoid the increased resource consumption caused by the projection robot identifying every object in the environment.

[0098] In some embodiments, the way to trigger the projection robot to obtain the above-mentioned environmental data may be by receiving a control command triggered by the user. The control command may be a voice command issued by the user or a command issued by the user through an electronic device. The specific settings are determined by those skilled in the art according to the actual situation, and this embodiment does not impose any restrictions.

[0099] When users use the projection robot, different users have different viewing habits. For example, some users like to sit while watching the screen, while others prefer to lie down. Therefore, when performing the projection operation, the target projection area can be determined based on the user's current posture, or it can be determined based on the user's historical projection information. This allows the projection area to be changed according to different viewing habits and individual users, thus improving the flexibility of projection.

[0100] In some embodiments, if the user information includes user posture, the process of the controller 103 being configured to determine the target projection area based on the user information may include:

[0101] The controller 103 determines the target projection surface based on the first correspondence between the preset posture and the projection surface and the user posture. The target projection surface includes at least one projection area.

[0102] Determine the target projection area from the target projection surface whose distance from the target user is less than or equal to a preset distance threshold.

[0103] It should be understood that when a user is in different postures, the projection robot needs to face different projection areas because the user's face is facing different directions. Therefore, it can select the target projection surface corresponding to the user's current posture from the plane the user is facing. For example, when the user is lying on their back, their face is facing the ceiling, so the target projection area of ​​the projection robot can be an area on the ceiling; when the user is sitting, their face is facing the wall, so the target projection area of ​​the projection robot can be an area on the wall; and when the user is lying face down, their face is facing the ground, so the target projection area of ​​the projection robot can be an area on the ground.

[0104] The projection surface can be a building surface, such as a ceiling, wall, or floor, or it can be a plane set by the user, such as a partition, half wall, cabinet, or door. The size of the plane should meet the size requirements of the projection area. The specific setting can be made by those skilled in the art according to the actual situation, and this application does not impose any restrictions.

[0105] When determining the projection surface, the projection robot 10 can obtain all the planes in the room from the environmental data and use them as selectable projection surfaces. Alternatively, it can receive control commands triggered by the user and select a portion of the planes obtained from the environmental data as projection surfaces. The specific settings can be made by those skilled in the art according to the actual situation, and this application does not impose any restrictions.

[0106] In cases where there are at least two target projection areas whose distance from the target user is less than or equal to a preset distance threshold, one of the target projection areas can be selected from the at least two target projection areas according to adaptation conditions. The adaptation conditions can be based on the target user's face orientation or the ambient light intensity of the at least two target projection areas.

[0107] For example, such as Figure 3 As shown, a first projection area and a second projection area on the wall are selected based on the distance between the target user and the target user's posture. The first projection area is located in the direction the target user's face is facing, while the second projection area is offset from the target user's face. Therefore, the first projection area can be ultimately selected as the target projection area from the first and second projection areas, so that the target user can view the image projected by the projection robot without adjusting their face orientation.

[0108] For example, such as Figure 4 As shown, the third and fourth projection areas on the wall are selected based on the distance between the projection area and the target user and the target user's posture. Since the different areas are located in different positions, the third projection area is located in a bright area, that is, a position with strong ambient light intensity, while the fourth projection area is located in a dark area, that is, a position with weak ambient light intensity. Therefore, the fourth projection area is ultimately selected as the target projection area from the third and fourth projection areas so that the image projected by the projection robot will not have a reduced display effect due to the ambient light intensity.

[0109] Understandably, different projection surfaces are distinguished based on different user postures. After determining the target projection surface based on the target user's posture, a target projection area within a preset distance threshold range from the target user is determined from the target projection surface. This allows the projection area to be changed according to the user's current posture, thereby improving the adaptation to different users' viewing habits.

[0110] In some embodiments, the user information includes user identity, and the controller 103 is configured to determine the target projection area based on the user information, including:

[0111] The controller 103 obtains the target user's historical usage information based on the user's identity. The historical usage information includes information about the historical projection area of ​​the projection robot.

[0112] Based on historical usage information, the target projection area is determined. The target projection area is the projection area in the historical usage information where the number of projections exceeds a preset threshold.

[0113] It should be understood that different users have different viewing habits. For example, user A prefers to view the projected image on area A of the ceiling, user B prefers to view the projected image on area B of the wall, and user C prefers to view the projected image on area C of the floor. Therefore, the projection robot can perform targeted projection based on different user habits. That is, for user A, the target projection area is selected as area A of the ceiling; for user B, the target projection area is selected as area B of the wall; and for user C, the target projection area is selected as area C of the floor.

[0114] In cases where at least two projection areas have been projected more than a preset threshold in historical usage information, one of the target projection areas can be selected from these two target projection areas based on adaptation criteria. These criteria can include the target user's facial orientation or the ambient light intensity of the at least two target projection areas, etc. For details, please refer to [reference needed]. Figure 3 and Figure 4 The scene shown.

[0115] Understandably, by identifying the target projection area from the target user's historical usage information that has been projected more than a preset threshold, it is possible to change the projection area according to the historical viewing habits of different users, thereby improving the adaptation to the viewing habits of different users.

[0116] In some embodiments, the controller 103 is configured to determine the target projection area based on user information, including:

[0117] The controller 103 determines the initial projection area based on the user information;

[0118] Controller 103 acquires target environment data including the initial projection area;

[0119] The controller 103 determines whether the initial projection area meets the projection conditions based on the target environment data.

[0120] If the initial projection area meets the projection conditions, the controller 103 determines the initial projection area as the target projection area.

[0121] The method for determining the initial projection area can refer to the process of determining the target projection area based on the user's identity, or the process of determining the target projection area based on the user's posture, which will not be repeated here.

[0122] It should be understood that because the target user will be active in the environment and the ambient light of the environment will change, the initial projection area may not be suitable for projecting the image at a certain moment. Therefore, when the initial projection area is not suitable for projecting the image, another projection area can be determined as the target projection area.

[0123] The specific conditions for the projection mentioned above may include one or a combination of the following:

[0124] Condition 1: There are no obstacles in the initial projection area. Accordingly, the process of determining whether the initial projection area meets the projection conditions based on the target environment data may include:

[0125] The controller 103 determines whether the initial projection area is a plane based on the target data;

[0126] If the initial projection area is not a plane, it is determined that the initial projection area does not meet the projection conditions.

[0127] If the initial projection area is a plane, determine whether the initial projection area satisfies the projection conditions.

[0128] It should be understood that when the initial projection area is not a flat plane, that is, when there are obstacles on the surface of the initial projection area, the viewing experience of the target user will be affected when projecting onto the initial projection area. Therefore, after determining the initial projection area, the projection robot can judge whether the initial projection area is flat, and if the initial projection area is flat, the initial projection area will be used as the target projection area.

[0129] One method to determine whether the initial projection area is a plane is to obtain the difference between two adjacent data in the environmental data corresponding to the initial projection area. If all the differences in the environmental data corresponding to the initial projection area are less than or equal to the difference threshold, then the initial projection area is determined to be a plane. If some of the differences in the environmental data corresponding to the initial projection area are greater than the difference threshold, then the initial projection area is determined not to be a plane.

[0130] It is understandable that by determining whether the initial projection area is a plane, and if the initial projection area is a plane, it can be determined that the initial projection area meets the projection conditions, thus ensuring that the initial projection area can present the target image and thus guaranteeing the presentation effect of the target image.

[0131] Condition 2: The ambient light intensity at the initial projection area is within a preset intensity threshold range. Accordingly, the process of determining whether the initial projection area meets the projection conditions based on the target environment data may include:

[0132] The controller 103 obtains the ambient light intensity at the initial projection area and determines whether the target light intensity at the initial projection area is within the preset intensity threshold range.

[0133] When the target light intensity is within the preset intensity threshold range, the initial projection area is determined to meet the projection conditions.

[0134] If the target light intensity is not within the preset intensity threshold range, the initial projection area is determined to not meet the projection conditions.

[0135] It should be understood that when the ambient light intensity at the initial projection area is not within the preset intensity threshold range, it can be considered that the ambient light intensity at the initial projection area is relatively strong. The image projected by the projection robot will be affected by the ambient light, reducing the display effect. Therefore, in order to reduce the impact of ambient light intensity on the projected image, after determining the initial projection area, the projection robot can determine whether the initial projection area meets the projection conditions based on the current ambient light intensity at the initial projection area. When the initial projection area meets the projection conditions, the controller 103 will then use the initial projection area as the target projection area to perform projection.

[0136] The method for determining whether the ambient light intensity at the initial projection area is within the preset intensity threshold range can be as follows: the controller 103 obtains the ambient light intensity at the initial projection area through the ambient light detector of the projection robot; and determines whether the ambient light intensity at the initial projection area is within the preset intensity threshold range.

[0137] It is understandable that after determining the initial projection area based on user information, the projection robot can further improve its projection effect by judging whether the initial projection area meets the projection conditions based on the target environment data and only performing projection when the initial projection area meets the projection conditions.

[0138] In some embodiments, the controller 103 is configured to determine the target projection area based on user information, and may further include:

[0139] If the initial projection area does not meet the projection conditions, the controller 103 determines another projection area from the projection plane to which the target projection area belongs as the target projection area; or,

[0140] If the initial projection area does not meet the projection conditions, the controller 103 determines one of the projection areas from another projection surface that is different from the projection surface to which the target projection area belongs as the target projection area.

[0141] It should be understood that if the initial projection area does not meet the projection conditions, the controller 103 may select another projection area as the target projection area. The other projection area may be an area belonging to the same projection plane as the initial projection area, or it may be an area belonging to a different projection plane than the initial projection area. The specific settings shall be made by those skilled in the art according to the actual situation, and this application does not impose any restrictions.

[0142] In some embodiments, the other projection area determined from the projection plane to which the target projection area belongs may be randomly selected from the target projection plane or selected based on user information. The specific settings shall be made by those skilled in the art according to the actual situation, and this application does not impose any restrictions.

[0143] For example, when user information includes user posture, the projection robot determines the first and second regions on the ground based on the user posture and the distance between the robot and the target user that is less than or equal to a preset distance threshold. However, the robot ultimately chooses the second region as the initial projection region. If it is further determined that the second region does not meet the projection conditions, the robot can choose the first region on the ground as the target projection region.

[0144] The other projection surface mentioned above can be another projection surface adjacent to the projection surface to which the target projection area belongs, or it can be a randomly selected projection surface. The specific setting is determined by those skilled in the art based on the actual situation, and this application does not impose any restrictions.

[0145] In determining another projection surface adjacent to the projection surface to which the target projection area belongs, it can be determined according to the height of the target user. For example, if the height of the target user is higher than a preset threshold, the projection surface adjacent to the projection surface to which the target projection area belongs in the direction in which the target user looks up can be used as another projection surface; if the height of the target user is lower than the preset threshold, the projection surface adjacent to the projection surface to which the target projection area belongs in the direction in which the target user looks down can be used as another projection surface.

[0146] It is understandable that when the initial projection area does not meet the projection conditions, another projection area can be selected from the current projection surface as the target projection area, or a projection area from a different projection surface can be selected as the target projection area, thereby achieving automatic switching of the projection area.

[0147] In some embodiments, the drive unit 101 includes a drive wheel and a pitch motor, and the controller 103 controls the drive unit 101 to drive the projection assembly 104 to adjust to a projection direction toward the target projection area, including:

[0148] Controller 103 controls the drive wheels to move the projection robot to the target position, which is determined based on the target projection area.

[0149] The controller 103 controls the pitch motor to adjust the pitch angle of the projection component 104 until the projection direction of the projection component 104 is toward the target projection area.

[0150] It should be understood that since the adjustment of the target projection direction includes both horizontal and vertical adjustments, by combining the horizontal and vertical adjustments, the projection robot can adjust the projection orientation of the projection component 104 to any angle, thereby achieving accurate adjustment of the target projection area.

[0151] The horizontal adjustment can be achieved by controlling the drive wheel to move the projection robot to the target position, and the vertical adjustment can be achieved by controlling the pitch motor to adjust the pitch angle of the projection component 104.

[0152] In some embodiments, the drive unit 101 may further include a position sensor, which may be located inside the projection robot and is electrically connected to the controller 103. The position sensor can be used to detect the horizontal position of the projection robot after movement and send a position signal to the control component. This allows the control component to obtain the current position of the projection host and control the drive wheels to stop moving, thus preventing the projection robot from moving too much.

[0153] In some embodiments, the drive unit 101 may further include a height sensor, which may be located on the projection assembly 104 and is electrically connected to the controller 103. The height sensor can be used to detect the height of the projection assembly 104 after the pitch angle is adjusted and send a height signal to the control assembly. This allows the control assembly to obtain the current height of the projection assembly 104 above the ground and control the pitch motor to stop rotating, thus preventing the rotation angle of the projection assembly 104 from being too large.

[0154] It is understandable that by controlling the drive wheel to drive the projection robot to the target position, the pitch motor is then controlled to adjust the pitch angle of the projection component 104, thereby adjusting the projection component 104 to face the target projection area and completing the adjustment of the projection direction of the projection component 104.

[0155] The method for determining the target location may include one or a combination of the following:

[0156] Method 1:

[0157] The controller 103 determines the target position based on the field of view of the projection component and the target projection area.

[0158] It should be understood that after determining the target projection area, because the projection robot has a fixed field of view, the projection robot can determine the target position based on the target projection area and the field of view. When projecting at the target position, the area of ​​the projected target image is the target projection area.

[0159] In some embodiments, when the projection robot projects at the target location, if there is a deviation between the target projection area and the target image, the projection robot can correct the projection position of the target image according to the deviation, so that the projected target image completely covers the target projection area.

[0160] Method 2:

[0161] The controller 103 obtains the first distance between the target user and the target projection area based on environmental data;

[0162] The controller 103 determines a second distance between the projection robot and the target projection area based on the first distance, and the first distance and the second distance are positively correlated;

[0163] The controller 103 controls the drive wheels to drive the projection robot to move to the target position, and the distance between the target position and the target projection area is the second distance.

[0164] It should be understood that because the projection component 104 of the projection robot has a fixed projection angle, the final target image display size is limited. Therefore, the position of the projection robot needs to be determined first based on the position of the target user. Furthermore, since the projection image is related to the position and angle of the projection robot relative to the target projection area in the projection imaging principle, in order to make the projection image meet the viewing needs of the target user, the position of the projection robot needs to be determined based on the first distance between the user and the target projection area.

[0165] The relative relationship between the first distance and the second distance can be a preset ratio between the first distance and the second distance, or it can be that no matter how far the first distance is, the second distance is always a value within a fixed range of the first distance. The specific setting can be made by those skilled in the art according to the actual situation, and this application does not impose any restrictions.

[0166] In some embodiments, if the second distance is a value within a fixed range of the first distance, that is, the target location can be any location within a range centered on the target user and with the target distance as the radius, the target distance is one of the values ​​within a range that is greater than the difference between the first distance and the preset distance threshold, and less than the sum of the first distance and the preset distance threshold.

[0167] After determining the first distance, to ensure the user's viewing requirements, the projection robot needs to project the image around the target user. This means the distance between the projection robot and the target user must be less than a preset distance threshold to ensure the target user's line of sight covers the target projection area. Therefore, the target location can be within a radius of the preset distance threshold centered on the target user's location. The second distance can be any value within a range greater than the difference between the first distance and the preset distance threshold, but less than the sum of the first distance and the preset distance threshold, specifically determined by the projection robot's projection angle.

[0168] For example, when the projection robot has a small projection angle, the target position needs to be set closer to the target projection area than the target user, that is, the second distance is the difference between the first distance and the preset distance threshold, and is less than or equal to the first distance; when the projection robot has a large projection angle, the target position needs to be set farther from the target projection area than the target user, that is, the second distance is greater than or equal to the first distance, and is less than the sum of the first distance and the preset distance threshold.

[0169] Understandably, by determining the second distance between the projection robot and the target projection area based on the first distance between the target user and the target projection area, and then moving the projection robot to the target position corresponding to the second distance, the position of the projection robot can be adjusted to complete the projection onto the target projection area.

[0170] In some embodiments, the process of determining a second distance between the projection robot and the target projection area based on a first distance may include:

[0171] The controller 103 determines the target projection parameters, including the projection size, based on the second correspondence between the preset distance and the projection parameters and the first distance.

[0172] The controller 103 determines the second distance based on the target projection parameters and the field of view corresponding to the projection component 104.

[0173] It should be understood that, such as Figure 5 As shown, the projection component 104 has a maximum projection size and a fixed field of view α. When the user is at different distances from the target projection area, the projection component 104 can adaptively set the current projection size. For example, the maximum projection size is 80 inches, but the target user is closer to the target projection area, so the projection size needs to be set to 40 inches. That is, when projecting the target image, the size of the image presented is 40 inches. Therefore, it is necessary to set the correspondence between different projection sizes and different distances to meet the user's projection size requirements at different distances.

[0174] For example, the second correspondence indicates that when the projection size is 80 inches, the distance between the target user and the target projection area is 5 meters, and when the projection size is 40 inches, the distance between the target user and the target projection area is 2.5 meters. Therefore, when the first distance is determined to be 2.5 meters, the current target projection size can be determined to be 40 inches, and then the target image can be projected onto the 40-inch screen.

[0175] It is understandable that the target projection parameters can be determined through the second correspondence and the first distance, so that the controller 103 can determine the second distance based on the target projection parameters and the field of view corresponding to the projection component 104.

[0176] In some embodiments, when the projection surface where the target projection area is located is tilted, it is necessary to adjust the projected image projected onto the target projection area. The specific process may include:

[0177] Obtain the target outline of the projection plane containing the target projection area;

[0178] If the projected image and the target outline are not parallel, adjust the non-parallel edges of the projected image and the target outline to achieve trapezoidal correction.

[0179] Adjust the projected image to the position of the target projection area based on the distance between the four sides of the projected image and the four sides of the target projection area.

[0180] The target contour can be obtained by: detecting the position parameters of the four corners of the projection plane where the target projection area is located based on environmental data, and obtaining the target contour based on the position parameters of the four corners.

[0181] The methods for determining whether the projected image and the target outline are parallel can include:

[0182] Obtain the reference edge, which includes a first edge of the target contour and a second edge in the projected image corresponding to the first edge;

[0183] Based on the position parameters of the first and second sides, determine whether the projected image and the target outline are parallel.

[0184] It should be understood that when two sides are parallel, the ratio between the coordinates of any two points on the first side is equal to the ratio between the coordinates of any two points on the second side; when two sides are not parallel, the ratio between the coordinates of any two points on the first side is not equal to the ratio between the coordinates of any two points on the second side, and so on. After determining the corresponding reference sides for each of the four sides, if all four sides of the target contour are parallel to the four sides of the projected image, it can be determined that the projected image and the target contour are parallel.

[0185] For example, such as Figure 6 As shown, the projected image is A, and the target projection area is B. It can be seen that the projected image and the target projection area are not parallel. Therefore, it is necessary to first perform trapezoidal correction on the projected image to correct it to an angle parallel to the target projection area, and then adjust the position of the projected image to be within the target projection area, thereby completing the adjustment of the projected image.

[0186] The following describes an exemplary application of some embodiments of this application in a practical application scenario.

[0187] The user issues a voice command to inform the projection robot of the projection scene to be projected, such as the living room or bedroom. After receiving the voice command, the projection robot obtains the projection scene information in the voice command and moves to the corresponding scene according to the projection scene information.

[0188] Taking a living room as an example of projection scene information, after the projection robot moves to the living room, it begins to acquire environmental images of the surrounding environment through a camera. After identifying the target user based on the environmental images, it further determines the target user's current posture. If the target user is currently sitting, the target projection surface is determined to be the wall. Then, projection areas A and B, which are known from the wall and whose distance from the target user is less than or equal to a preset distance, are determined. Figure 7A As shown.

[0189] Further, projection areas with ambient light intensity less than a preset intensity threshold are determined from projection areas A and B. For example, projection area A is used as the initial projection area. The projection robot further detects whether there are obstacles in projection area A. When it is determined that there are no obstacles in projection area A, projection area A is used as the target projection area.

[0190] Based on environmental data, a first distance is obtained between the target user and the target projection area; based on a second correspondence between the preset distance and projection parameters and the first distance, the target projection size is determined; based on the target projection parameters and the field of view corresponding to the projection component 104, a second distance is determined.

[0191] Then, the controller 103 of the projection robot controls the drive wheels to move the projection robot to the target position. The distance between the target position and the target projection area is the second distance, such as... Figure 7B As shown.

[0192] Finally, the target image is projected onto the target projection area through the projection component 104.

[0193] Figure 8 This is a schematic diagram illustrating the overall flow of a projection method based on a projection robot, provided for some embodiments of this application. For example... Figure 8As shown, the method includes the following steps:

[0194] Step S1001: Obtain environmental data through the acquisition unit of the projection robot, and detect whether the environment in which the projection robot is located includes the target user based on the environmental data. The environmental data is used to indicate the distance between the projection robot and surrounding objects.

[0195] Step S1002: If the environment in which the projection robot is located includes the target user, obtain the user information of the target user. The user information includes at least one of the user posture and the user identity.

[0196] Step S1003: Determine the target projection area based on user information;

[0197] Step S1004: Control the drive unit to drive the projection component to adjust to the projection direction facing the target projection area;

[0198] Step S1005: Project the target image onto the target projection area using the projection component.

[0199] In some embodiments, user information includes user gestures, and step S1003 may specifically include:

[0200] The controller determines the target projection surface based on the preset correspondence between the posture and the projection surface, as well as the user's posture.

[0201] Determine the target projection area from the target projection surface whose distance from the target user is less than or equal to a preset distance threshold.

[0202] In some embodiments, user information includes user identity, and step S1003 above may specifically include:

[0203] The controller obtains the target user's historical usage information based on the user's identity. The historical usage information includes information about the historical projection area.

[0204] Based on historical usage information, the target projection area is determined. The target projection area is the projection area in the historical usage information where the number of projections exceeds a preset threshold.

[0205] In some embodiments, step S1003 may specifically include:

[0206] The controller determines the initial projection area based on user information;

[0207] The controller acquires target environment data, including the initial projection area;

[0208] The controller determines whether the initial projection area meets the projection conditions based on the target environment data.

[0209] If the initial projection area meets the projection conditions, the controller determines the initial projection area as the target projection area.

[0210] In some embodiments, the controller is configured to determine the target projection area based on user information, including:

[0211] If the initial projection area does not meet the projection conditions, the controller determines another projection area from the projection plane to which the target projection area belongs as the target projection area; or,

[0212] If the initial projection area does not meet the projection conditions, the controller determines one of the projection areas from another projection surface that is different from the projection surface to which the target projection area belongs as the target projection area.

[0213] In some embodiments, the controller determines whether the initial projection area meets the projection conditions based on the target environment data, including:

[0214] The controller determines whether the initial projection area is a plane based on the target data;

[0215] If the initial projection area is not a plane, it is determined that the initial projection area does not meet the projection conditions.

[0216] If the initial projection area is a plane, determine whether the initial projection area satisfies the projection conditions.

[0217] In some embodiments, the drive unit includes a drive wheel and a pitch motor, and step S1004 above may include:

[0218] The controller controls the drive wheels to move the projection robot to the target position, which is determined based on the target projection area.

[0219] The controller controls the pitch motor to adjust the pitch angle of the projection component until the projection direction of the projection component is towards the target projection area.

[0220] In some embodiments, the controller controls the drive wheels to move the projection robot to the target position, including:

[0221] The controller obtains the first distance between the target user and the target projection area based on environmental data;

[0222] The controller determines a second distance between the projection robot and the target projection area based on the first distance, and the first distance and the second distance are positively correlated.

[0223] The controller controls the drive wheels to move the projection robot to the target position, and the distance between the target position and the target projection area is the second distance.

[0224] In some embodiments, determining the second distance between the projection robot and the target projection area based on the first distance includes:

[0225] The controller determines the target projection parameters, including the projection size, based on a second correspondence between the preset distance and projection parameters and the first distance.

[0226] The controller determines the second distance based on the target projection parameters and the field of view corresponding to the projection component.

[0227] It should be understood that, although Figure 8 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 8 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0228] Based on the foregoing embodiments, some embodiments of this application provide a projection device based on a projection robot. The device includes various modules and units included in each module, which can be implemented by a processor; of course, it can also be implemented by specific logic circuits. In the implementation process, the processor can be a central processing unit (CPU), microprocessor (MPU), digital signal processor (DSP), or field programmable gate array (FPGA), etc.

[0229] Figure 9 This is a schematic diagram of the structure of a projection device based on a projection robot provided in some embodiments of this application, such as... Figure 9 As shown, the device may include:

[0230] The user detection module 1101 is used to obtain environmental data and detect whether the environment in which the projection robot is located includes the target user based on the environmental data collected by the acquisition unit.

[0231] The information acquisition module 1102 is used to acquire user information of the target user when the environment in which the projection robot is located includes the target user. The user information includes at least one of the user posture and the user identity.

[0232] The region determination module 1103 is used to determine the target projection region based on user information;

[0233] The orientation determination module 1104 is used to control the drive unit to drive the projection component to adjust to the projection direction toward the target projection area;

[0234] The projection control module 1105 is used to project a target image onto a target projection area via a projection component.

[0235] In some embodiments, user information includes user posture, and the aforementioned region determination module 1103 can be specifically used for:

[0236] The controller determines the target projection surface based on the preset correspondence between the posture and the projection surface, as well as the user's posture.

[0237] Determine the target projection area from the target projection surface whose distance from the target user is less than or equal to a preset distance threshold.

[0238] In some embodiments, user information includes user identity, and the aforementioned region determination module 1103 can be specifically used for:

[0239] The controller obtains the target user's historical usage information based on the user's identity. The historical usage information includes information about the historical projection area.

[0240] Based on historical usage information, the target projection area is determined. The target projection area is the projection area in the historical usage information where the number of projections exceeds a preset threshold.

[0241] In some embodiments, the region determination module 1103 described above may be specifically used for:

[0242] The controller determines the initial projection area based on user information;

[0243] The controller acquires target environment data, including the initial projection area;

[0244] The controller determines whether the initial projection area meets the projection conditions based on the target environment data.

[0245] If the initial projection area meets the projection conditions, the controller determines the initial projection area as the target projection area.

[0246] In some embodiments, the region determination module 1103 described above may be specifically used for:

[0247] If the initial projection area does not meet the projection conditions, the controller determines another projection area from the projection plane to which the target projection area belongs as the target projection area; or,

[0248] If the initial projection area does not meet the projection conditions, the controller determines one of the projection areas from another projection surface that is different from the projection surface to which the target projection area belongs as the target projection area.

[0249] In some embodiments, the region determination module 1103 described above may be specifically used for:

[0250] The controller determines whether the initial projection area is a plane based on the target data;

[0251] If the initial projection area is not a plane, it is determined that the initial projection area does not meet the projection conditions.

[0252] If the initial projection area is a plane, determine whether the initial projection area satisfies the projection conditions.

[0253] In some embodiments, the drive unit includes a drive wheel and a pitch motor, and the aforementioned direction determination module 1104 can be specifically used for:

[0254] The controller controls the drive wheels to move the projection robot to the target position, which is determined based on the target projection area.

[0255] The controller controls the pitch motor to adjust the pitch angle of the projection component until the projection direction of the projection component is towards the target projection area.

[0256] In some embodiments, the direction determination module 1104 described above may be specifically used for:

[0257] The controller obtains the first distance between the target user and the target projection area based on environmental data;

[0258] The controller determines a second distance between the projection robot and the target projection area based on the first distance, and the first distance and the second distance are positively correlated.

[0259] The controller controls the drive wheels to move the projection robot to the target position, and the distance between the target position and the target projection area is the second distance.

[0260] In some embodiments, the direction determination module 1104 described above may be specifically used for:

[0261] The controller determines the target projection parameters, including the projection size, based on a second correspondence between the preset distance and projection parameters and the first distance.

[0262] The controller determines the second distance based on the target projection parameters and the field of view corresponding to the projection component.

[0263] The descriptions of the above device embodiments are similar to those of the above method embodiments, and have similar beneficial effects. For technical details not disclosed in the device embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0264] It should be noted that in some embodiments of this application Figure 9The module division of the projection device based on the projection robot shown is illustrative and only represents one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, exist as separate physical units, or be integrated into one unit by two or more units. The integrated units can be implemented in hardware, as software functional units, or a combination of both.

[0265] It should be noted that in some embodiments of this application, if the above-described methods are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of some embodiments of this application, essentially or in other words, the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, some embodiments of this application are not limited to any specific hardware and software combination.

[0266] Some embodiments of this application provide a robot, the internal structure of which can be shown in the following diagram. Figure 10 As shown, the robot includes a processor, memory, and network interface connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores data. The network interface communicates with external terminals via a network connection. When the computer program is executed by the processor, it implements a projection method based on a projection robot.

[0267] Some embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the methods provided in the above embodiments.

[0268] Some embodiments of this application provide a computer program product containing instructions that, when run on a computer, cause the computer to perform the steps in the method provided in the above-described method embodiments.

[0269] Those skilled in the art will understand that Figure 10The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the robot to which the present application is applied. A specific robot may include more or fewer parts than shown in the figure, or combine certain parts, or have different part arrangements.

[0270] In one embodiment, the projection device based on a projection robot provided in this application can be implemented as a computer program, and the computer program can be implemented in the form of, for example, Figure 10 The robot shown operates on the platform. The robot's memory can store the various program modules that make up the robot. The computer program comprised of these program modules causes the processor to execute the steps in the projection methods of the projection robot based on the various embodiments of this application described in this specification.

[0271] In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps of the projection method based on the projection robot described above.

[0272] It should be noted that the descriptions of the storage medium and device embodiments above are similar to the descriptions of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the storage medium, storage medium, and device embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0273] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0274] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0275] The features disclosed in the several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0276] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A projection robot, characterized in that, The method comprises: acquiring environmental data of an environment in which the projection robot is located, the environmental data being used to indicate a distance between the projection robot and a surrounding object; projecting an image by a projection component; adjusting a projection direction of the projection component by a driving unit; a controller electrically connected to the acquisition unit, the projection component and the driving unit, the controller being configured to: obtain the environmental data and detect whether the environment in which the projection robot is located includes a target user according to the environmental data; if the environment in which the projection robot is located includes the target user, obtain user information of the target user, the user information including at least one of a user posture and a user identity; determine a target projection area according to the user information; control the driving unit to drive the projection component to adjust to a projection direction towards the target projection area; project a target image to the target projection area by the projection component; and if the environment in which the projection robot is located does not include the target user, not perform the step of obtaining the user information of the target user.

2. The projection robot according to claim 1, characterized in that, The user information includes a user posture, and the controller is configured to determine a target projection area according to the user information, including: the controller determines a target projection surface according to a first correspondence relationship between a preset posture and a projection surface and the user posture, the target projection surface including at least one projection area; the controller determines a target projection area from the target projection surface, the target projection area having a distance to the target user less than or equal to a preset distance threshold.

3. The projection robot of claim 1, wherein, The user information includes a user identity, and the controller is configured to determine a target projection area according to the user information, including: the controller obtains historical use information of the target user according to the user identity, the historical use information including information of a historical projection area; the controller determines the target projection area according to the historical use information, the target projection area being a projection area in the historical use information having a projection frequency greater than a preset frequency threshold.

4. The projection robot of claim 1, wherein, The controller is configured to determine a target projection area according to the user information, including: the controller determines an initial projection area according to the user information; the controller obtains target environmental data including the initial projection area; the controller determines whether the initial projection area satisfies a projection condition according to the target environmental data; if the initial projection area satisfies the projection condition, the controller determines the initial projection area as the target projection area.

5. The projection robot according to claim 4, characterized in that The controller is configured to determine a target projection area according to the user information, including: if the initial projection area does not satisfy the projection condition, the controller determines another projection area from a projection surface to which the target projection area belongs as the target projection area; or if the initial projection area does not satisfy the projection condition, the controller determines one of the projection areas from another projection surface different from the projection surface to which the target projection area belongs as the target projection area.

6. The projection robot of claim 4, wherein, The controller determines whether the initial projection region satisfies a projection condition according to the target environment data, including: The controller determines whether the initial projection region is a plane according to the target data; In a case where the initial projection region is not a plane, it is determined that the initial projection region does not satisfy the projection condition; In a case where the initial projection region is a plane, it is determined that the initial projection region satisfies the projection condition.

7. The projection robot according to any of claims 1-6, characterized in that The driving part includes a driving wheel and a pitch motor, and the controller controls the driving part to drive the projection assembly to adjust to a projection direction towards the target projection region, including: The controller controls the driving wheel to drive the projection robot to move to a target position, and the target position is determined according to the target projection region; The controller controls the pitch motor to adjust the pitch angle of the projection assembly until the projection direction of the projection assembly is towards the target projection region.

8. The projection robot of claim 7, wherein, The controller controls the driving wheel to drive the projection robot to move to a target position, including: The controller obtains a first distance between the target user and the target projection region according to the environment data; The controller determines a second distance between the projection robot and the target projection region according to the first distance, and the first distance is positively correlated with the second distance; The controller controls the driving wheel to drive the projection robot to move to the target position, and the distance between the target position and the target projection region is the second distance.

9. The projection robot of claim 8, wherein, The controller determines a second distance between the projection robot and the target projection region according to the first distance, including: The controller determines a target projection parameter according to a second corresponding relationship between a preset distance and a projection parameter and the first distance, and the projection parameter includes a projection size; The controller determines the second distance according to the target projection parameter and a corresponding field of view angle of the projection assembly.

10. A projection method based on a projection robot, characterized in that, The method includes: Obtaining environment data by a collection part of the projection robot, and detecting whether an environment where the projection robot is located includes a target user according to the environment data, the environment data being used to indicate a distance between the projection robot and surrounding objects; In a case where the environment where the projection robot is located includes the target user, obtaining user information of the target user, the user information including at least one of a user posture and a user identity; Determining a target projection region according to the user information; Controlling a driving part to drive a projection assembly to adjust to a projection direction towards the target projection region; Projecting a target image to the target projection region by the projection assembly; In a case where the environment where the projection robot is located does not include the target user, the step of obtaining the user information of the target user is not performed.

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