Projection display method and projection display device

Abstract

The application relates to a projection display method and a projection display device. The method is applied to the projection display device and comprises the following steps: acquiring point cloud data in a projection direction of the projection display device, wherein the point cloud data represents three-dimensional space positions of a plurality of detection points in the projection direction; detecting a projection surface position corresponding to a target projection surface of the projection display device according to the point cloud data; identifying a target point from the plurality of detection points which is not on the target projection surface according to the projection surface position and the point cloud data; and controlling the projection display device to avoid the target point for projection display in the case that the target point is in a current projection picture range of the projection display device. The method can provide a projection display effect.

Description

Technical Field

[0001] This application relates to the field of display device technology, and in particular to a projection display method and a projection display device. Background Technology

[0002] With the continuous development of display devices, projection display devices have gradually emerged. When the distance between the projection lens and the projection display area is too far, or when the projection lens has too large an elevation angle, part of the projected image will often be displayed on obstacles, resulting in a poor projection effect, such as displaying on the ceiling.

[0003] Currently, although cameras can be used to identify the projection display area and obstacles, and based on this, the projection image can be projected onto the correct projection display area.

[0004] However, some obstacles are similar in color to the projection display area. For example, when the projection display area is a wall, the wall and ceiling are similar in color. In this case, the image captured by the camera cannot accurately distinguish between the projection display area and the obstacle. This will cause the projection display device to not accurately project the image onto the correct projection display area, affecting the projection effect. Summary of the Invention

[0005] Therefore, it is necessary to provide a projection display method and projection display device that can improve the projection display effect in response to the above-mentioned technical problems.

[0006] In a first aspect, this application provides a projection display method applied to a projection display device, the method comprising:

[0007] Acquire point cloud data along the projection direction of the projection display device, wherein the point cloud data represents the three-dimensional spatial position of multiple detection points along the projection direction;

[0008] Based on the point cloud data, detect the position of the projection surface corresponding to the target projection surface of the projection display device;

[0009] Based on the projection surface position and the point cloud data, identify target points that are not located on the target projection surface from the plurality of detection points;

[0010] When the target point is within the current projection screen range of the projection display device, the projection display device is controlled to avoid the target point and project the display.

[0011] In one embodiment, detecting the projection surface position corresponding to the target projection surface of the projection display device based on the point cloud data includes:

[0012] Multiple sampling points are determined at multiple detection points, and the three-dimensional spatial position information of the multiple sampling points is obtained from the point cloud data;

[0013] Based on the three-dimensional spatial position information of the multiple sampling points, a plane fitting is performed to obtain the projection surface position corresponding to the target projection surface of the projection display device.

[0014] In one embodiment, before controlling the projection display device to avoid the target point for projection display when the target point is within the current projection screen range of the projection display device, the method further includes:

[0015] Based on the throw ratio and aspect ratio of the projection display device, the current projection screen range of the projection display device is detected;

[0016] Determine the dot matrix position information of the target point, and based on the dot matrix position information and the projection screen range, detect whether the target point is within the current projection screen range.

[0017] In one embodiment, the projection display device includes an optical engine, which includes a projection lens and a detection device. The detection device is used to detect the point cloud data, and the projection screen range includes a first field of view of the projection display device. The step of detecting whether the target point is within the current projection screen range based on the dot matrix position information and the projection screen range includes:

[0018] Determine the viewing angle difference between the detection device and the projection lens, and determine the second field of view of the detection device in a preset direction based on the viewing angle difference and the first field of view.

[0019] Based on the dot matrix position information and the second field of view, the point field of view of the target point in the preset direction is detected;

[0020] If the field of view of the point is less than or equal to the first field of view, then the target point is determined to be within the range of the current projection screen;

[0021] If the field of view of the point is greater than the first field of view, then the target point is determined to be outside the range of the current projection screen.

[0022] In one embodiment, the projection display device includes a motion mechanism, and the projection screen range includes a first field of view of the projection display device; controlling the projection display device to avoid the target point for projection display includes:

[0023] The adjustment angle of the motion mechanism is determined based on the difference between the first field of view and the field of view corresponding to the target point.

[0024] If the adjustment angle does not exceed the adjustment angle limit of the motion mechanism, the motion mechanism is used to adjust the projection screen range of the projection display device according to the adjustment angle, so that the projection screen of the projection display device avoids the target point.

[0025] In one embodiment, where the projection display device is capable of optical zoom, the method further includes:

[0026] If the adjustment angle exceeds the adjustment angle limit of the motion mechanism, the motion mechanism is adjusted to the adjustment angle limit, and the angle difference between the adjustment angle and the adjustment angle limit is determined.

[0027] Based on the angle difference, a first adjustment range of the projection parameters of the projection display device is detected, wherein the projection parameters include at least one of the throw ratio and the aspect ratio of the projected image;

[0028] If the first adjustment range does not exceed the adjustment range limit of the projection parameters, the projection parameters of the projection display device are adjusted according to the first adjustment range so that the projected image of the projection display device avoids the target point.

[0029] If the first adjustment range exceeds the adjustment range limit of the projection parameter, the projection parameter is adjusted to the adjustment range limit, and the projection image of the projection display device is digitally scaled so that the projection image of the projection display device avoids the target point.

[0030] In one embodiment, when the projection display device cannot perform optical zoom, the method further includes:

[0031] If the adjustment angle exceeds the adjustment angle limit of the motion mechanism, the motion mechanism is adjusted to the adjustment angle limit, and the angle difference between the adjustment angle and the adjustment angle limit is determined.

[0032] Based on the angle difference, the projected image of the projection display device is digitally scaled so that the projected image of the projection display device avoids the target point.

[0033] In one embodiment, the projected image range includes a first field of view of the projection display device; controlling the projection display device to avoid the target point for projection display includes:

[0034] Based on the difference between the first field of view and the field of view corresponding to the target point, the second adjustment range of the projection parameters of the projection display device is detected, wherein the projection parameters include at least one of the projection ratio and the aspect ratio of the projected image;

[0035] If the second adjustment range does not exceed the adjustment range limit of the projection parameters, the projection parameters of the projection display device are adjusted according to the second adjustment range so that the projected image of the projection display device avoids the target point.

[0036] If the second adjustment range exceeds the adjustment range limit of the projection parameter, the projection parameter is adjusted to the adjustment range limit of the projection parameter, and the projection image of the projection display device is digitally scaled so that the projection image of the projection display device avoids the target point.

[0037] In one embodiment, digital scaling of the projected image from the projection display device includes:

[0038] Determine the first field of view of the projection display device within the projected image range, and the point field of view corresponding to the target point;

[0039] Based on the first field of view and the field of view of the point, detect the first projection parameter value required for the projected image of the projection display device to avoid the target point;

[0040] Determine the second projection parameter value after the projection parameter has been adjusted to the limit value of the adjustment range of the projection parameter;

[0041] The projected image of the projection display device is digitally scaled based on the first projection parameter value and the second projection parameter value.

[0042] Secondly, this application also provides a projection display device, including an optical engine, a memory, and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0043] The system acquires point cloud data along the projection direction of the projection display device, wherein the point cloud data represents the three-dimensional spatial position of multiple detection points along the projection direction; based on the point cloud data, it detects the position of the projection surface corresponding to the target projection surface of the projection display device; based on the projection surface position and the point cloud data, it identifies target points not located on the target projection surface from the multiple detection points; and if the target point is located within the current projection screen range of the projection display device, it controls the projection display device to avoid the target point and perform projection display.

[0044] The aforementioned projection display method and device can first acquire point cloud data along the projection direction of the projection display device. This point cloud data represents the three-dimensional spatial position of multiple detection points along the projection direction. Based on the point cloud data, the position of the target projection surface can be accurately identified. Then, based on the projection surface position and the point cloud data, a target point not on the target projection surface can be identified from among the multiple detection points. This target point can be determined as an obstacle point. Based on this, this application achieves the purpose of distinguishing the target projection surface from obstacles using point cloud data. Since the process of distinguishing the target projection surface from obstacles does not rely on visual factors such as color, even if the obstacle and the target projection surface are similar in color, the target projection surface and obstacle can be accurately distinguished. This allows for more accurate differentiation of the target projection surface and obstacle. Furthermore, when the target point is within the current projection screen range of the projection display device, the device can be controlled to avoid the target point during projection display, thus accurately controlling the projection screen to be displayed in the correct projection display area, thereby improving the projection display effect. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a schematic diagram showing the positional distribution of the projection display area and the obstacle area in one embodiment of this application;

[0047] Figure 2 This is a flowchart illustrating a projection display method in one embodiment of this application;

[0048] Figure 3 This is a schematic diagram of the process for detecting whether a target point is within the range of the current projection screen in one embodiment of this application;

[0049] Figure 4 This is a schematic diagram of the field of view of the projection lens and detection device on the optical engine in one embodiment of this application;

[0050] Figure 5 This is a structural block diagram of a projection display device in one embodiment of this application;

[0051] Figure 6 This is an internal structural diagram of a projection display device in one embodiment of this application. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0053] In this embodiment, the projection display device can be either a projection display device with a motion mechanism or a projection display device without a motion mechanism. The motion mechanism can adjust the elevation angle of the projection lens, thereby adjusting the range of the projected image. For a projection display device with a motion mechanism, if the elevation angle of the projection lens is too large, or if the distance between the projection lens and the projection display area is too far, the projected image may not be displayed correctly, i.e., some areas may be displayed on obstacles. For a projection display device without a motion mechanism, if the distance between the projection lens and the projection display area is too far, the projected image may not be displayed correctly, i.e., some areas may be displayed on obstacles.

[0054] While it's currently possible to capture images with a camera and then identify the location of obstacles, allowing the projection display device to avoid them, if the obstacle's color is similar to the correct projection area, the captured image cannot accurately identify the obstacle's location. This results in the projection display device not being able to accurately adjust the projected image to the correct projection area, thus affecting the projection display effect.

[0055] As an example, refer to Figure 1 , Figure 1 The image captured by the camera on the projection display device is shown. It can be seen that both the projection display area 102 and the obstacle (ceiling) area 104 are white in the image. Since the boundary lines between the projection display area 102 and the obstacle area 104 are relatively blurry, it is difficult to identify the exact location of the projection display area 102 and the obstacle area 104 using the captured image, and thus it is difficult to accurately distinguish between the projection display area 102 and the obstacle area 104.

[0056] In some embodiments, refer to Figure 2 A projection display method is provided, applied to a projection display device, the projection display method including:

[0057] Step 202: Obtain point cloud data in the projection direction of the projection display device, wherein the point cloud data represents the three-dimensional spatial position of multiple detection points in the projection direction.

[0058] The projection display device may include an optical engine, on which a detection device is provided. This detection device can detect the three-dimensional spatial position of multiple detection points in the projection direction, thereby forming point cloud data. The detection device may be a depth sensor, a depth camera, or a camera assembly composed of multiple cameras, or it may be an infrared lidar or a millimeter-wave radar.

[0059] No restrictions are set here.

[0060] As an example, taking the detection device as a depth sensor, the depth sensor emits infrared rays with a preset horizontal field of view and a preset vertical field of view. In this way, the returned distance can be measured through a dot matrix of a preset size of the depth sensor. Since each point in the dot matrix corresponds to a detection point, the three-dimensional spatial position information of multiple detection points can be detected. That is, the two-dimensional planar position of each point in the dot matrix plus the measured returned distance (depth information) forms three-dimensional spatial position information, and finally the output point cloud data is obtained.

[0061] As an example, the preset horizontal field of view can be 45 degrees or 50 degrees, the preset vertical field of view can be 45 degrees or 50 degrees, and the preset size of the dot matrix can be 8*8 or 10*10, etc.

[0062] Step 204: Based on the point cloud data, detect the position of the projection surface corresponding to the target projection surface of the projection display device.

[0063] As an example, step 204 includes: performing planar fitting on multiple detection points based on point cloud data to obtain multiple fitted planes; using the fitted plane that includes the most detection points as the target projection plane, and detecting the projection plane position of the target projection plane based on point cloud data.

[0064] As an example, the position of the projection plane of a target projection plane can be represented using plane equations.

[0065] As an example, based on point cloud data, detecting the position of the projection surface corresponding to the target projection surface of the projection display device includes:

[0066] Multiple sampling points are determined at multiple detection points, and the three-dimensional spatial position information of the multiple sampling points is obtained from the point cloud data; plane fitting is performed based on the three-dimensional spatial position information of the multiple sampling points to obtain the projection surface position corresponding to the target projection surface of the projection display device.

[0067] In this embodiment, the sampling method can be random sampling or uniform sampling, and there is no limitation on it.

[0068] Specifically, according to a preset sampling method, multiple sampling points are obtained from multiple detection points, and the three-dimensional spatial position information of these sampling points is acquired from the point cloud data. Plane fitting is then performed based on this three-dimensional spatial position information to minimize the statistical parameters of the distances from all sampling points to the fitted plane. The fitted plane is then used as the target projection surface of the projection display device, and the plane equation of the target projection surface is used as the position information representing the projection surface's position. Thus, in this embodiment, some sampling points are sampled from multiple detection points, and plane fitting is performed based on the three-dimensional position data of these sampling points, eliminating the need to perform plane fitting based on all detection points, thereby improving the efficiency of plane fitting.

[0069] Step 206: Based on the projection surface position and point cloud data, identify target points that are not on the target projection surface from multiple detection points.

[0070] The position of the projection surface can be represented by the projection surface equation of the target projection surface, and the point cloud data includes the three-dimensional position information of multiple detection points.

[0071] As an example, step 206 includes: for each detection point, identifying whether the three-dimensional position information of the detection point conforms to the projection surface equation of the target projection plane; if the three-dimensional position information of the detection point conforms to the projection surface equation of the target projection plane, then determining that the detection point is on the target projection plane; if the three-dimensional position information of the detection point does not conform to the projection surface equation of the target projection plane, then determining that the detection point is a target point that is not on the target projection plane.

[0072] Step 208: If the target point is within the current projection screen range of the projection display device, control the projection display device to avoid the target point and perform projection display.

[0073] As an example, step 208 includes: if the target point is within the current projection screen range of the projection display device, it means that the target point belonging to the obstacle will appear in the current projection screen of the projection display device. Therefore, by adjusting at least one of the projection parameters of the projection display device and the elevation angle of the projection lens, the projection display device can be controlled to avoid the target point for projection display.

[0074] As an example, projection parameters can include parameters such as throw ratio, aspect ratio of the projected image, and image scaling ratio.

[0075] In this embodiment, point cloud data along the projection direction of the projection display device can be acquired first. The point cloud data represents the three-dimensional spatial position of multiple detection points along the projection direction. Based on the point cloud data, the position of the projection surface corresponding to the target projection surface of the projection display device can be accurately identified. Thus, based on the projection surface position and the point cloud data, target points not on the target projection surface can be identified from among the multiple detection points. These target points can be determined as obstacle points. Based on this, this embodiment achieves the purpose of distinguishing between the target projection surface and obstacles using point cloud data. Since the process of distinguishing between the target projection surface and obstacles does not rely on visual factors such as color, even if the obstacle and the target projection surface are similar in color, the target projection surface and obstacle can be accurately distinguished. This allows for more accurate differentiation of the target projection surface and obstacles. Furthermore, when the target point is within the current projection screen range of the projection display device, the projection display device can be controlled to avoid the target point during projection display. This accurately controls the projection screen of the projection display device to be displayed in the correct projection display area, thereby improving the projection display effect.

[0076] In some embodiments, refer to Figure 3 Before controlling the projection display device to avoid the target point and project the image, when the target point is within the current projection screen area of ​​the projection display device, the projection display method also includes:

[0077] Step 302: Detect the current projection screen range of the projection display device based on the projection ratio and aspect ratio of the projection screen.

[0078] The current projection area of ​​the projection display device can be represented by the current horizontal field of view and the current vertical field of view of the projection display device.

[0079] As an example, step 302 includes: detecting the current horizontal field of view of the projection display device based on the projection ratio of the projection display device; and detecting the current vertical field of view of the projection display device based on the projection ratio of the projection display device and the aspect ratio of the projected image.

[0080] As an example, based on the throw ratio of the projection display device, the formula for calculating the current horizontal field of view of the projection display device is as follows:

[0081]

[0082] in, The current horizontal field of view. The projection ratio.

[0083] As an example, the formula for calculating the current vertical field of view of the projection display device, based on the throw ratio and aspect ratio of the projected image, is as follows:

[0084]

[0085] in, This is the current vertical field of view. The projection ratio, The aspect ratio of the projected image.

[0086] Step 304: Determine the dot matrix position information of the target point, and based on the dot matrix position information and the projection screen range, detect whether the target point is within the current projection screen range.

[0087] Among them, the dot matrix position information can be the position information of the target point in the dot matrix, such as the row number or column number.

[0088] As an example, step 304 includes: determining the first field of view of the projection lens in the optical engine in a preset direction, and the second field of view of the detection device corresponding to the point cloud data in the optical engine in a preset direction; detecting the point position field of view of the target point based on the second field of view and the point position information of the target point; and detecting whether the target point is within the range of the current projection screen based on the first field of view and the point position field of view.

[0089] It should be noted that the preset direction can be either horizontal or vertical.

[0090] As an example, a projection display device includes an optical engine, which includes a projection lens and a detection device. The detection device is used to detect point cloud data, and the projected image range includes a first field of view of the projection display device. Based on the dot matrix position information and the projected image range, it detects whether a target point is within the current projected image range, including:

[0091] The angle difference between the detection device and the projection lens is determined, and based on the angle difference and the first field of view, the second field of view of the detection device in the preset direction is determined; based on the dot matrix position information and the second field of view, the point field of view of the target point in the preset direction is detected; if the point field of view is less than or equal to the first field of view, the target point is determined to be within the range of the current projection screen; if the point field of view is greater than the first field of view, the target point is determined to be outside the range of the current projection screen.

[0092] Since the installation positions of the detection device and the projection lens can be relatively solid, there is usually a known viewing angle difference between the field of view of the detection device and the field of view of the projection lens; the first field of view can be the field of view of the projection lens in a preset direction, and the second field of view can be the field of view of the detection device in a preset direction.

[0093] Specifically, the viewing angle difference between the detection device and the projection lens is determined; the viewing angle difference is summed with the first field of view to obtain the second field of view of the detection device in the preset direction; based on the point cloud data, the point size, the point position information, and the second field of view, the point position field of view of the target point in the preset direction is detected; if the point position field of view is less than or equal to the first field of view, the target point is determined to be within the current projection screen range; if the point position field of view is greater than the first field of view, the target point is determined to be outside the current projection screen range.

[0094] As an example, since both the detection device and the projection lens are mounted on the optical engine, the detection device and the projection lens can be considered as the same point when determining the field of view. Taking the preset direction as the vertical direction as an example, the first field of view can be the angle between the projection lens's highest projection line in the vertical direction and the vertical line of the optical engine perpendicular to the target projection image. The second field of view can be the angle between the detection device's highest detection line in the vertical direction and the vertical line of the optical engine perpendicular to the target projection image. The point field of view is the angle between the line connecting the target point and the detection device and the vertical line of the optical engine perpendicular to the target projection image.

[0095] As an example, refer to Figure 4 Taking the preset direction as vertical as an example, a1 is the first field of view, a2 is the second field of view, and assuming the dot matrix size is 8*8, then the field of view range occupied by each row of target points in the dot matrix is... Where V is the total field of view of the detection device, specifically including the field of view above point 0 (the second field of view) and the field of view below point 0; thus, if the target point position information indicates that the target point is the point in the highest row in the vertical direction, then the point position field of view of the target point is a2- If the target point location information indicates that the target point is located in the second highest row in the vertical direction, then the target point's field of view is a2-2*. Based on this, by comparing the field of view of the point with the first field of view, it can be confirmed whether the target point is within the current projection screen of the projection display device.

[0096] In this embodiment, the current projection screen range of the projection display device can be detected based on the projection ratio and aspect ratio of the projection screen. Thus, after determining the dot matrix position information of the target point, it is possible to quantitatively determine whether the target point is within the current projection screen range based on the dot matrix position information and the projection screen range. Therefore, accurate determination of whether the target point is within the current projection screen range can be achieved, laying the foundation for detecting whether there are obstacles in the current projection screen of the projection display device.

[0097] In some embodiments, the projection display device includes a motion mechanism, and the projection screen range includes a first field of view of the projection display device; controlling the projection display device to avoid a target point for projection display includes:

[0098] Based on the difference between the first field of view and the field of view corresponding to the target point, the adjustment angle of the motion mechanism is determined. If the adjustment angle does not exceed the adjustment angle limit of the motion mechanism, the motion mechanism is used to adjust the projection screen range of the projection display device according to the adjustment angle, so that the projection screen of the projection display device avoids the target point.

[0099] The projection display device may include a motion mechanism, which can be used to adjust the elevation angle of the projection lens, thereby adjusting the projection position of the projected image. The adjustment angle limit of the motion mechanism can be the difference between the current angle of the motion mechanism and the limit angle. For example, assuming the current angle of the projection lens is 90 degrees and the limit angle of the projection lens can be 100 degrees, then the adjustment angle limit of the motion mechanism is 10 degrees.

[0100] Specifically, the difference between the field of view angle corresponding to the target point and the first field of view angle is calculated, and this difference is used as the adjustment angle of the motion mechanism. If the adjustment angle does not exceed the limit value of the motion mechanism's adjustment angle, the elevation angle of the projection lens (optical engine) is adjusted using the motion mechanism according to the adjustment angle, thereby causing the projected image of the projection display device to avoid the target point. This allows for accurate control of the projected image of the projection display device to avoid the target point using only the motion mechanism, thus ensuring that the projected image is accurately projected onto the correct display position.

[0101] Additionally, it should be noted that projection display devices typically have a limit when performing optical zoom, namely a maximum throw ratio. Once the projection display device reaches its maximum throw ratio, optical zoom is usually no longer possible.

[0102] As an example, if the projection device can perform optical zoom, when the adjustment angle exceeds the adjustment angle limit of the motion mechanism, the motion mechanism is first adjusted to the adjustment angle limit, and the angle difference between the adjustment angle and the adjustment angle limit is calculated. Based on the angle difference, a first adjustment range of the projection parameters of the projection display device is calculated, wherein the projection parameters include at least one of the throw ratio and the aspect ratio of the projected image. If the first adjustment range does not exceed the adjustment range limit of the projection parameters, the projection parameters of the projection display device are adjusted according to the first adjustment range to adjust the projection display position of the projected image, so that the projected image avoids the target point. Thus, in this embodiment, when the motion mechanism cannot complete the adjustment of the projected image position, the optical zoom function of the projection device can be combined to adjust the projected image of the projection display device to the accurate projection display position.

[0103] As an example, taking the adjusted projection parameter as the throw ratio, the first adjustment range of the projection parameters of the projection display device is calculated based on the angle difference as follows:

[0104]

[0105] in, To adjust the projection ratio of the projection display device before the first field of view, To adjust the angle and the angle difference between the adjustment angle limit value, The aspect ratio of the projected image. To obtain the adjusted projection ratio, the first adjustment range of the projection ratio can be obtained by calculating the difference between the adjusted projection ratio and the original projection ratio.

[0106] Furthermore, if the initial adjustment exceeds the limit of the projection parameters, the projection parameters can be adjusted to the limit first, and then the projected image on the projection display device can be digitally scaled to avoid the target point. Thus, this embodiment combines three methods—adjusting the projection lens elevation angle, optical zoom, and digitally scaling the projected image—to adjust the position of the projected image on the projection display device, ensuring that the projection display device can be accurately adjusted to the correct projection display position.

[0107] As an example, when the projection display device cannot perform optical zoom, the method also includes:

[0108] If the adjustment angle exceeds the adjustment angle limit of the motion mechanism, the motion mechanism is adjusted to the adjustment angle limit, and the angle difference between the adjustment angle and the adjustment angle limit is determined. Based on the angle difference, the projected image of the projection display device is digitally scaled so that the projected image of the projection display device avoids the target point.

[0109] Specifically, when the adjustment angle exceeds the limit value of the motion mechanism, the motion mechanism is adjusted to the limit value, and the angle difference between the adjusted angle and the limit value is calculated. Based on this angle difference, a digital scaling ratio is determined, and the projected image of the projection display device is digitally scaled to avoid the target point. Thus, this embodiment combines adjusting the projection lens elevation angle using the motion mechanism and digitally scaling the projected image to adjust the position of the projected image, ensuring that the projection display device can be accurately adjusted to the correct projection display position.

[0110] In some embodiments, the projection display device does not include a motion mechanism, and the projection screen range includes a first field of view of the projection display device; controlling the projection display device to avoid the target point for projection display includes:

[0111] Based on the difference between the first field of view and the field of view corresponding to the target point, a second adjustment range of the projection parameters of the projection display device is detected, wherein the projection parameters include at least one of the throw ratio and the aspect ratio of the projected image; if the second adjustment range does not exceed the adjustment range limit of the projection parameters, the projection parameters of the projection display device are adjusted according to the second adjustment range so that the projected image of the projection display device avoids the target point; if the second adjustment range exceeds the adjustment range limit of the projection parameters, the projection parameters are adjusted to the adjustment range limit of the projection parameters, and the projected image of the projection display device is digitally scaled so that the projected image of the projection display device avoids the target point.

[0112] Specifically, the difference between the first field of view and the field of view corresponding to the target point is calculated to obtain the target angle difference. Based on the target angle difference, a second adjustment range of the projection parameters of the projection display device is calculated. The projection parameters include at least one of the throw ratio and the aspect ratio of the projected image. If the second adjustment range does not exceed the adjustment range limit of the projection parameters, the projection parameters of the projection display device are adjusted according to the second adjustment range to avoid the target point. If the second adjustment range exceeds the adjustment range limit of the projection parameters, the projection parameters are first adjusted to the adjustment range limit. A digital scaling ratio is then determined based on the adjustment range limit, and the projected image of the projection display device is digitally scaled to avoid the target point. In this embodiment, when the projection display device cannot adjust the elevation angle of the projection lens, both optical zoom and digital scaling of the projected image can be combined to adjust the position of the projected image, ensuring that the projection display device can be accurately adjusted to the correct projection display position.

[0113] As an example, digital scaling of the projected image on a projection display device includes:

[0114] Determine the first field of view of the projection display device within the projection screen range, and the point field of view corresponding to the target point; based on the first field of view and the point field of view, detect the first projection parameter value required for the projection screen of the projection display device to avoid the target point; determine the second projection parameter value after adjusting the projection parameters to the adjustment range limit value; and digitally scale the projection screen of the projection display device based on the first projection parameter value and the second projection parameter value.

[0115] Among them, the projection parameters can be the throw ratio of the projection display device and the aspect ratio of the projected image.

[0116] Specifically, the first field of view of the projection display device within the projection screen range, and the field of view of the target point are determined; the difference between the first field of view and the target point field of view is calculated, and based on this difference, the first field of view of the projection display device, and the aspect ratio of the projection screen, the first projection ratio required for the projection screen to avoid the target point is calculated; a second projection ratio is determined after adjusting the projection parameters to their adjustment limits; the ratio between the second projection ratio and the first projection ratio is used as the digital scaling ratio; based on this digital scaling ratio, the projection screen is digitally scaled while keeping the bottom edge of the projection screen unchanged. In this embodiment, the digital scaling of the projection screen can be quantitatively controlled, ensuring that the digitally scaled projection screen can be projected and displayed at the correct projection display position.

[0117] As an example, based on this difference, the first field of view of the projection display device, and the aspect ratio of the projected image of the projection display device, the first projection ratio required for the projected image of the projection display device to avoid the target point is calculated as follows:

[0118]

[0119] in, As the first field of view, This is the difference between the first field of view and the field of view at the point. The aspect ratio of the projected image. The first projection ratio required for the projected image of the projection display device to avoid the target point.

[0120] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0121] Based on the same inventive concept, this application also provides a projection display device for implementing the projection display method described above. The solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations in one or more projection display device embodiments provided below can be found in the limitations of the projection display method described above, and will not be repeated here.

[0122] In one exemplary embodiment, such as Figure 5 As shown, a projection display device is provided, which is applied to a projection display equipment; the device includes: an acquisition module 402, a first detection module 404, an identification module 406, and a control module 408, wherein:

[0123] The acquisition module 402 is used to acquire point cloud data in the projection direction of the projection display device, wherein the point cloud data represents the three-dimensional spatial position of multiple detection points in the projection direction.

[0124] The first detection module 404 is used to detect the position of the projection surface corresponding to the target projection surface of the projection display device based on the point cloud data.

[0125] The identification module 406 is used to identify target points that are not located on the target projection surface from the plurality of detection points based on the projection surface position and the point cloud data;

[0126] The control module 408 is used to control the projection display device to avoid the target point when the target point is within the current projection screen range of the projection display device.

[0127] In one embodiment, the detection module is further configured to:

[0128] Multiple sampling points are determined at multiple detection points, and the three-dimensional spatial position information of the multiple sampling points is obtained from the point cloud data; a plane fitting is performed based on the three-dimensional spatial position information of the multiple sampling points to obtain the projection surface position corresponding to the target projection surface of the projection display device.

[0129] In one embodiment, the device further includes:

[0130] The second detection module is used to detect the current projection screen range of the projection display device based on the projection ratio and aspect ratio of the projection screen; determine the dot matrix position information of the target point; and detect whether the target point is within the current projection screen range based on the dot matrix position information and the projection screen range.

[0131] In one embodiment, the projection display device includes an optical engine, which includes a projection lens and a detection device. The detection device is used to detect the point cloud data, and the projected image range includes a first field of view of the projection display device. The second detection module is further used to:

[0132] The viewing angle difference between the detection device and the projection lens is determined, and a second field of view of the detection device in a preset direction is determined based on the viewing angle difference and the first field of view. Based on the dot matrix position information and the second field of view, the point field of view of the target point in the preset direction is detected. If the point field of view is less than or equal to the first field of view, the target point is determined to be within the range of the current projection screen. If the point field of view is greater than the first field of view, the target point is determined to be outside the range of the current projection screen.

[0133] In one embodiment, the projection display device includes a motion mechanism, and the projected image range includes a first field of view of the projection display device; the control module is further configured to:

[0134] Based on the difference between the first field of view and the field of view corresponding to the target point, the adjustment angle of the motion mechanism is determined; if the adjustment angle does not exceed the adjustment angle limit of the motion mechanism, the motion mechanism is used to adjust the projection screen range of the projection display device according to the adjustment angle, so that the projection screen of the projection display device avoids the target point.

[0135] In one embodiment, when the projection display device is capable of optical zoom, the control module is further configured to:

[0136] If the adjustment angle exceeds the adjustment angle limit of the motion mechanism, the motion mechanism is adjusted to the adjustment angle limit, and the angle difference between the adjustment angle and the adjustment angle limit is determined. Based on the angle difference, a first adjustment range of the projection parameters of the projection display device is detected, wherein the projection parameters include at least one of the throw ratio and the aspect ratio of the projected image. If the first adjustment range does not exceed the adjustment range limit of the projection parameters, the projection parameters of the projection display device are adjusted according to the first adjustment range, so that the projected image of the projection display device avoids the target point. If the first adjustment range exceeds the adjustment range limit of the projection parameters, the projection parameters are adjusted to the adjustment range limit, and the projected image of the projection display device is digitally scaled, so that the projected image of the projection display device avoids the target point.

[0137] In one embodiment, when the projection display device cannot perform optical zoom, the control module is further configured to:

[0138] If the adjustment angle exceeds the adjustment angle limit of the motion mechanism, the motion mechanism is adjusted to the adjustment angle limit, and the angle difference between the adjustment angle and the adjustment angle limit is determined; based on the angle difference, the projected image of the projection display device is digitally scaled so that the projected image of the projection display device avoids the target point.

[0139] In one embodiment, the projected image range includes a first field of view of the projection display device; the control module is further configured to:

[0140] Based on the difference between the first field of view and the field of view corresponding to the target point, a second adjustment range of the projection parameters of the projection display device is detected, wherein the projection parameters include at least one of the throw ratio and the aspect ratio of the projected image; if the second adjustment range does not exceed the adjustment range limit of the projection parameters, the projection parameters of the projection display device are adjusted according to the second adjustment range so that the projected image of the projection display device avoids the target point; if the second adjustment range exceeds the adjustment range limit of the projection parameters, the projection parameters are adjusted to the adjustment range limit of the projection parameters, and the projected image of the projection display device is digitally scaled so that the projected image of the projection display device avoids the target point.

[0141] In one embodiment, the control module is further configured to:

[0142] The process involves determining a first field of view of the projection display device within the projected image range, and a point field of view corresponding to the target point; based on the first field of view and the point field of view, detecting a first projection parameter value required for the projected image of the projection display device to avoid the target point; determining a second projection parameter value after adjusting the projection parameter to its adjustment range limit; and digitally scaling the projected image of the projection display device based on the first projection parameter value and the second projection parameter value.

[0143] Each module in the aforementioned projection display device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the projection display device in hardware form or independent of it, or they can be stored in the memory of the projection display device in software form, so that the processor can call and execute the operations corresponding to each module.

[0144] In one exemplary embodiment, a projection display device is provided, the internal structure of which can be shown in the following diagram. Figure 6 As shown, the projection display device includes an optical engine, a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. The optical engine includes a projection lens and a detection device, which detects and outputs point cloud data. The processor, memory, and input / output interface are connected via a system bus. The communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals. Wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a projection display method. The display unit of the projection display device forms a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the projection display device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the projection display device, or external keyboards, touchpads, or mice, etc.

[0145] Those skilled in the art will understand that Figure 6The 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 projection display device to which the present application is applied. A specific projection display device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0146] In one exemplary embodiment, a projection display device is provided, including an optical engine, a memory, and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0147] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above method embodiments.

[0148] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0149] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0150] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0151] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A projection display method, characterized in that, Applied to a projection display device, the method includes: Acquire point cloud data along the projection direction of the projection display device, wherein the point cloud data represents the three-dimensional spatial position of multiple detection points along the projection direction; Based on the point cloud data, detect the position of the projection surface corresponding to the target projection surface of the projection display device; Based on the projection surface position and the point cloud data, identify target points that are not located on the target projection surface from the plurality of detection points; When the target point is within the current projection screen range of the projection display device, the projection display device is controlled to avoid the target point and project the display.

2. The method according to claim 1, characterized in that, The step of detecting the projection surface position corresponding to the target projection surface of the projection display device based on the point cloud data includes: Multiple sampling points are determined at multiple detection points, and the three-dimensional spatial position information of the multiple sampling points is obtained from the point cloud data; Based on the three-dimensional spatial position information of the multiple sampling points, a plane fitting is performed to obtain the projection surface position corresponding to the target projection surface of the projection display device.

3. The method according to claim 1, characterized in that, Before controlling the projection display device to avoid the target point when the target point is within the current projection screen range of the projection display device, the method further includes: Based on the throw ratio and aspect ratio of the projection display device, the current projection screen range of the projection display device is detected; Determine the dot matrix position information of the target point, and based on the dot matrix position information and the projection screen range, detect whether the target point is within the current projection screen range.

4. The method according to claim 3, characterized in that, The projection display device includes an optical engine, which includes a projection lens and a detection device. The detection device is used to detect the point cloud data, and the projection screen range includes a first field of view of the projection display device. The step of detecting whether the target point is within the current projection screen range based on the dot matrix position information and the projection screen range includes: Determine the viewing angle difference between the detection device and the projection lens, and determine the second field of view of the detection device in a preset direction based on the viewing angle difference and the first field of view. Based on the dot matrix position information and the second field of view, the point field of view of the target point in the preset direction is detected; If the field of view of the point is less than or equal to the first field of view, then the target point is determined to be within the range of the current projection screen; If the field of view of the point is greater than the first field of view, then the target point is determined to be outside the range of the current projection screen.

5. The method according to claim 1, characterized in that, The projection display device includes a motion mechanism, and the projection screen range includes a first field of view of the projection display device; controlling the projection display device to avoid the target point for projection display includes: The adjustment angle of the motion mechanism is determined based on the difference between the first field of view and the field of view corresponding to the target point. If the adjustment angle does not exceed the adjustment angle limit of the motion mechanism, the motion mechanism is used to adjust the projection screen range of the projection display device according to the adjustment angle, so that the projection screen of the projection display device avoids the target point.

6. The method according to claim 5, characterized in that, When the projection display device is capable of optical zoom, the method further includes: If the adjustment angle exceeds the adjustment angle limit of the motion mechanism, the motion mechanism is adjusted to the adjustment angle limit, and the angle difference between the adjustment angle and the adjustment angle limit is determined. Based on the angle difference, a first adjustment range of the projection parameters of the projection display device is detected, wherein the projection parameters include at least one of the throw ratio and the aspect ratio of the projected image; If the first adjustment range does not exceed the adjustment range limit of the projection parameters, the projection parameters of the projection display device are adjusted according to the first adjustment range so that the projected image of the projection display device avoids the target point. If the first adjustment range exceeds the adjustment range limit of the projection parameter, the projection parameter is adjusted to the adjustment range limit, and the projection image of the projection display device is digitally scaled so that the projection image of the projection display device avoids the target point.

7. The method according to claim 5, characterized in that, When the projection display device cannot perform optical zoom, the method further includes: If the adjustment angle exceeds the adjustment angle limit of the motion mechanism, the motion mechanism is adjusted to the adjustment angle limit, and the angle difference between the adjustment angle and the adjustment angle limit is determined. Based on the angle difference, the projected image of the projection display device is digitally scaled so that the projected image of the projection display device avoids the target point.

8. The method according to claim 1, characterized in that, The projected image range includes the first field of view of the projection display device; controlling the projection display device to avoid the target point for projection display includes: Based on the difference between the first field of view and the field of view corresponding to the target point, the second adjustment range of the projection parameters of the projection display device is detected, wherein the projection parameters include at least one of the projection ratio and the aspect ratio of the projected image; If the second adjustment range does not exceed the adjustment range limit of the projection parameters, the projection parameters of the projection display device are adjusted according to the second adjustment range so that the projected image of the projection display device avoids the target point. If the second adjustment range exceeds the adjustment range limit of the projection parameter, the projection parameter is adjusted to the adjustment range limit of the projection parameter, and the projection image of the projection display device is digitally scaled so that the projection image of the projection display device avoids the target point.

9. The method according to claim 6 or 8, characterized in that, The digital scaling of the projected image on the projection display device includes: Determine the first field of view of the projection display device within the projected image range, and the point field of view corresponding to the target point; Based on the first field of view and the field of view of the point, detect the first projection parameter value required for the projected image of the projection display device to avoid the target point; Determine the second projection parameter value after the projection parameter has been adjusted to the limit value of the adjustment range of the projection parameter; The projected image of the projection display device is digitally scaled based on the first projection parameter value and the second projection parameter value.

10. A projection display device, characterized in that, It includes an optical engine, a memory, and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method according to any one of claims 1 to 9.

Images