A projector and a projection control method

Abstract

Embodiments of the present application provide a projector and a projection control method. The projector comprises a gravity acceleration sensor, a projection component and a measurement component. The projector is configured to: emit projection light through the projection component, the projection light being used to form a projection pattern on a target projection surface; acquire gravity sensing information of the projector through the gravity acceleration sensor; acquire relative position information between the projection component and the target projection surface through the measurement component; when a pose of the target projection surface changes, adjust a projection parameter of the projection light according to the gravity sensing information and the relative position information, so that an imaging range of the projection pattern remains rectangular or square, the projection parameter comprising a projection imaging angle and a projection focal length. The embodiments achieve that when the target projection surface, for example a screen, for displaying a projection picture is in a moving state, the projector can keep imaging the projection pattern on the target projection surface. The embodiments also ensure that the imaging range of the projection pattern is regular, and the picture of the projection pattern is clear.

Description

Technical Field

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

[0002] A projector consists of a projection component. Based on the user's selected screen content, the projector emits projection light through the projection component, displaying the user's screen content on a target projection surface for viewing. However, in actual use, the orientation of the projector and the target projection surface is critical. Ideally, both the projector and the target projection surface should be as stationary as possible. Otherwise, changes in orientation due to movement will degrade the quality of the image projected onto the target projection surface, affecting the user's viewing experience, and may even prevent the image from being properly projected. For example, changes in the relative position of the projector and the target projection surface can cause defocusing, resulting in a blurry image; or changes in the relative angle between them can alter the shape of the image border, leading to aspect ratio distortion. This effect is particularly pronounced in applications where the projector or target projection surface undergoes frequent changes in orientation.

[0003] Currently, most existing technologies focus on improving image quality when the projector's pose changes. However, they do not consider how to improve image quality when the target projection surface undergoes significant pose changes, or even when the target projection surface frequently changes pose. Summary of the Invention

[0004] This application provides a projector and a projection control method that improves the quality of the projected image while the target projection surface moves.

[0005] To achieve the above objectives, the embodiments of this application adopt the following technical solutions:

[0006] In a first aspect, a projector is provided, comprising a gravity acceleration sensor, a projection component, and a measurement component. The projector is used to: emit projection light through the projection component to form a projection pattern on a target projection surface; acquire gravity sensing information of the projector through the gravity acceleration sensor; acquire relative position information between the projection component and the target projection surface through the measurement component; and adjust the projection parameters of the projection light according to the gravity sensing information and the relative position information if the pose of the target projection surface changes, so that the imaging range of the projection pattern remains rectangular or square, wherein the projection parameters include a projection imaging angle and a projection focal length.

[0007] In this embodiment, the relative position information between the projection component and the target projection surface is calculated by a measurement component. Based on this relative position information, the coordinate position of the target projection surface in the projector coordinate system of the projection component can be calculated. When the projector is static or in a state of slight movement, the coordinate position of the projector in the gravity coordinate system can be determined based on the gravity sensing information from the gravity acceleration sensor. Based on the coordinates of the projector in the gravity coordinate system and the coordinates of the target projection surface in the projector coordinate system, the coordinates of the target projection surface in the gravity coordinate system can be calculated. Based on the coordinates of the target projection surface in the gravity coordinate system, the projector can adjust the emission parameters when the projection component emits projection light. For example, by adjusting the projection imaging angle, the imaging range of the projected pattern displayed on the target projection surface can include a regular rectangle or square. By adjusting the projection focal length, the projected pattern can always maintain high clarity.

[0008] In one possible implementation, the projection assembly includes a projection lens group and an angle adjustment component. The projection lens group emits projection light, and the angle adjustment component adjusts the projection emission angle of the projection lens group. The aforementioned adjustment of the projection parameters of the projection light based on gravity sensing information and relative position information includes: controlling the angle adjustment component to adjust the projection emission angle of the projection lens group based on the gravity sensing information and relative position information, thereby adjusting the projection imaging angle of the projection light. In this embodiment, the emission range of the projection light emitted by the projection lens group within the projection assembly can be adjusted by the angle adjustment component, so that the projection light can form an image on the moved target projection surface.

[0009] In one possible implementation, the projector further includes a housing and a rotating shaft. The projection components are partially or entirely housed within the housing, and the rotating shaft is used to adjust the orientation angle of the housing. The aforementioned adjustment of the projection parameters of the projection light based on gravity sensing information and relative position information includes: controlling the rotating shaft to adjust the orientation angle of the housing based on the gravity sensing information and relative position information, thereby adjusting the projection angle of the projection light. In this embodiment, by providing a rotating shaft on the projector's housing and adjusting the orientation of the housing based on the rotating shaft, the projection light emission range of the projection components on the housing can be adjusted, ensuring that the projection light emission range continues to cover the moved target projection surface.

[0010] In one possible implementation, the measurement component is a depth information measurement component. The aforementioned acquisition of the relative position information between the projection component and the target projection surface via the measurement component includes: detecting the depth information corresponding to multiple marker points on the target projection surface using the depth information measurement component; and determining the relative position information based on the depth information corresponding to the multiple marker points. In this embodiment, the depth information of the target projection surface can be detected based on the depth information measurement component. Specifically, some marker points can be set on the target projection surface, and the depth information of the marker points can be measured using the depth information measurement component to achieve the detection of the depth information of the target projection surface. The depth information is used to indicate the distance information between the marker points on the target projection surface and the projector. Based on the depth information, the relative position information can be obtained through corresponding calculations.

[0011] In some examples, the depth measurement component can be a time-of-flight (TOF) sensor. In some examples, the depth measurement component can be a stereo camera. In some examples, the depth measurement component can be a structured light component. In some examples, the depth measurement component can be a monocular camera, which can work in conjunction with a projection component to measure depth information.

[0012] In one possible implementation, the target projection surface can be either a plane or a curved surface.

[0013] In some examples, the target projection surface is a plane. Relative position information includes the coordinates of the target projection surface in the projector coordinate system. The determination of relative position information based on the depth information corresponding to multiple marker points includes: determining the coordinates of multiple marker points in the projector coordinate system based on the depth information corresponding to the multiple marker points; determining the plane normal vector of the target projection surface relative to the projector coordinate system based on the coordinates of the multiple marker points in the projector coordinate system; and determining the relative position information based on the plane normal vector. In this embodiment, multiple marker points can be fitted to obtain a fitted plane. A projector coordinate system is constructed with the projector as the origin. Based on the coordinates of multiple marker points in the projector coordinate system, the plane normal vector of the fitted plane can be calculated. For example, based on the coordinates of three or more marker points D, the plane equation of the fitted plane can be obtained, and then the plane normal vector equation can be obtained based on the plane equation of the fitted plane. The normal vector of the fitted plane can indicate the relative pose information between the projector and the target projection surface.

[0014] In one possible implementation, adjusting the projection parameters of the projection light based on gravity sensing information and relative position information includes: determining the updated projection position of the target projection surface based on the gravity sensing information and relative position information; and adjusting the projection parameters of the projection light based on the updated projection position. In this embodiment, the absolute attitude of the target projection surface, i.e., the pose relative to the gravity coordinate system, is calculated using gravity sensing information and relative position information. The projection parameters of the projection light are adjusted based on the updated projection position after the target projection surface moves, so that the projection pattern remains displayed on the target projection surface even when the target projection surface moves, and the imaging range of the projection pattern is regular and the image is clear.

[0015] In one possible implementation, determining the updated projection position of the target projection surface based on gravity sensing information and relative position information includes: determining the coordinate position of the projector relative to the gravity coordinate system based on gravity sensing information; determining the coordinate position of the target projection surface in the gravity coordinate system based on the transformation relationship between the gravity coordinate system and the projector coordinate system, and the relative position information; and determining the updated projection position based on the coordinate position of the target projection surface in the gravity coordinate system. In this embodiment, the updated coordinate position of the target projection surface can be calculated based on gravity sensing information and relative position information. For example, the pose of the projector in the gravity coordinate system can be determined based on gravity sensing information, and the pose of the target projection surface in the projector coordinate system can be determined based on relative position information, thereby calculating the pose of the target projection surface in the gravity coordinate system. The projection parameters are then adjusted based on the pose of the target projection surface in the gravity coordinate system.

[0016] In some examples, the projector also includes a controller. The controller is electrically connected to the projection assembly, the gravity acceleration sensor, and the measurement assembly. The controller controls the projection assembly to emit projection light, acquires gravity sensing information from the gravity acceleration sensor, and acquires measurement information from the measurement assembly. The controller determines the projector's coordinates in the gravity coordinate system based on the gravity acceleration sensor, determines the relative pose information between the projector and the target projection surface based on the information acquired from the measurement assembly, and calculates the coordinates of the target projection surface in the gravity coordinate system. Based on the coordinates of the target projection surface in the gravity coordinate system, the controller adjusts the emission parameters of the projection light emitted by the projector to ensure that the projection light remains on the target projection surface, displaying a projected pattern with a regular imaging range and a clear image.

[0017] In some examples, the projector also includes a gyroscope. Exemplarily, the gravity acceleration sensor and the gyroscope can be two separate sensor devices. Exemplarily, the gravity acceleration sensor and the gyroscope can also be integrated into a single sensor device, such as an inertial measurement unit (IMU) sensor, which can also be referred to as a six-axis sensor.

[0018] In some examples, the projector also includes a magnetometer. Exemplarily, the gravity acceleration sensor, gyroscope, and magnetometer can be configured as two or three separate sensor devices. Exemplarily, the gravity acceleration sensor, gyroscope, and magnetometer can also be integrated into a single sensor device, such as a nine-axis sensor.

[0019] In the above embodiments, the projector's pose can be calculated when the projector is stationary or in a state of slight displacement, based on the gravity acceleration sensor. However, when the projector is in a dynamic state, at least a gravity acceleration sensor combined with a gyroscope is required to calculate the projector's pose.

[0020] Secondly, embodiments of this application also provide a projection control method applied to a projector, which includes a gravity acceleration sensor, a projection component, and a measurement component. The projection control method includes: controlling the projection component to emit projection light, the projection light being used to form a projection pattern on a target projection surface; acquiring gravity sensing information of the projector through the gravity acceleration sensor; acquiring relative position information between the projection component and the target projection surface through the measurement component; and adjusting the projection parameters of the projection light according to the gravity sensing information and the relative position information if the pose of the target projection surface changes, so that the imaging range of the projection pattern remains rectangular or square, the projection parameters including the projection imaging angle and the projection focal length.

[0021] In one possible implementation, the measurement component is a depth information measurement component. The aforementioned acquisition of the relative position information between the projection component and the target projection surface via the measurement component includes: detecting the depth information corresponding to multiple marker points on the target projection surface using the depth information measurement component; and determining the relative position information based on the depth information corresponding to the multiple marker points.

[0022] In one possible implementation, the target projection surface is a plane. The relative position information includes the coordinates of the target projection surface in the projector coordinate system. The determination of the relative position information based on the depth information corresponding to multiple marker points includes: determining the coordinates of the multiple marker points in the projector coordinate system based on the depth information corresponding to the multiple marker points; determining the plane normal vector of the target projection surface relative to the projector coordinate system based on the coordinates of the multiple marker points in the projector coordinate system; and determining the relative position information based on the plane normal vector.

[0023] In one possible implementation, adjusting the projection parameters of the projection light based on gravity sensing information and relative position information includes: determining the updated projection position of the target projection surface based on gravity sensing information and relative position information; and adjusting the projection parameters of the projection light based on the updated projection position.

[0024] In one possible implementation, determining the updated projection position of the target projection surface based on gravity sensing information and relative position information includes: determining the coordinate position of the projector relative to the gravity coordinate system based on gravity sensing information; determining the coordinate position of the target projection surface in the gravity coordinate system based on the transformation relationship between the gravity coordinate system and the projector coordinate system, and the relative position information; and determining the updated projection position based on the coordinate position of the target projection surface in the gravity coordinate system.

[0025] Thirdly, embodiments of this application also provide a computer-readable storage medium including instructions that, when executed on a controller, cause the controller to perform the projection control method as described in the second aspect above.

[0026] The technical principles and effects described in the second and third aspects above can be referred to the relevant description in the first aspect above, and will not be repeated here. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of a projector provided in an embodiment of this application;

[0028] Figure 2 This is a schematic diagram of the structure of a first projector provided in an embodiment of this application;

[0029] Figure 3 This is a schematic diagram of the structure of a second projector provided in an embodiment of this application;

[0030] Figure 4 A schematic diagram of the structure of a third projector provided in this application embodiment. Figure 1 ;

[0031] Figure 5A schematic diagram of the structure of a third projector provided in this application embodiment. Figure 2 ;

[0032] Figure 6 A schematic diagram of the structure of a third projector provided in this application embodiment. Figure 3 ;

[0033] Figure 7 A schematic diagram of the structure of a third projector provided in this application embodiment. Figure 4 ;

[0034] Figure 8 A schematic diagram of the structure of a third projector provided in this application embodiment. Figure 5 ;

[0035] Figure 9 A flowchart illustrating a projection control method provided in this application embodiment. Figure 1 ;

[0036] Figure 10 A flowchart illustrating a projection control method provided in this application embodiment. Figure 2 ;

[0037] Figure 11 A schematic diagram illustrating depth information detection based on marker points, provided as an embodiment of this application;

[0038] Figure 12 A flowchart illustrating a projection control method provided in this application embodiment. Figure 3 ;

[0039] Figure 13 A schematic diagram illustrating the calculation of the normal vector of a fitting plane, provided as an embodiment of this application;

[0040] Figure 14 A flowchart illustrating a projection control method provided in this application embodiment. Figure 4 ;

[0041] Figure 15 A flowchart illustrating a projection control method provided in this application embodiment. Figure 5 . Detailed Implementation

[0042] It should be noted that the terms "first" and "second" used in the embodiments of this application are only used to distinguish features of the same type and should not be construed as indicating relative importance, quantity, order, etc.

[0043] The terms "exemplary" or "for example" used in the embodiments of this application are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0044] The terms "coupling" and "connection" used in the embodiments of this application should be interpreted broadly. For example, they can refer to a physical direct connection or an indirect connection achieved through electronic devices, such as a connection achieved through resistors, inductors, capacitors or other electronic devices.

[0045] With the development of imaging technology, projectors are being used in more and more life and work scenarios.

[0046] Figure 1 An exemplary projector 1000 is provided, comprising a projection component 100. The projector 1000 is used to: acquire data information of user-selected screen content; and generate and emit projection light based on the user screen content data. The projection light is emitted onto a target projection surface T to display the user screen content on the target projection surface T. In practical applications, the emission parameters of the projection light affect the image quality of the user screen content. For example, depending on the relative distance between the projector 1000 and the target projection surface T, the projection focal length of the emitted projection light needs to be adjusted to adjust the sharpness of the projected user screen content. Depending on the relative distance and relative angle between the projector 1000 and the target projection surface T, the projection imaging angle of the emitted projection light needs to be adjusted to adjust the shape of the image border of the projected user screen content, for example, from a distorted trapezoidal border to a regular rectangular or square border. Therefore, changes in the pose of the projector 1000 affect the image quality of the projection. To ensure the quality of the projected image, the projector should typically be kept as still as possible.

[0047] When the projector 1000 or the target projection surface T changes its orientation due to movement, the quality of the user image projected onto the target projection surface T will decrease, affecting the user's viewing experience. For example, a change in the relative position between the projector 1000 and the target projection surface may cause the projection to go out of focus, resulting in a blurry image; or a change in the relative angle between the projector 1000 and the target projection surface T may cause a change in the shape of the projection image's borders, resulting in a distorted image ratio. This effect is particularly pronounced in application scenarios where the projector's orientation changes frequently. Furthermore, if the relative angle between the projector 1000 and the target projection surface T shifts too much, the projector 1000 may be unable to project light onto the target projection surface T, resulting in an inability to display an image on the target projection surface T.

[0048] Most related technologies focus on how to improve image quality when the pose of the projector 1000 changes. The following description uses a first projector and a second projector as examples to illustrate how to adjust relevant emission parameters based on changes in the projector's pose:

[0049] Figure 2 An exemplary first projector 1000A is provided. The first projector 1000A includes a first projection component 100A and a first accelerometer 200A. The first projector 1000A emits projection light onto a target projection surface T based on the first projection component 100A. The projection light is used to display user content on the target projection surface T. The first projector 1000A can be upright or inverted during projection. As the placement of the first projector 1000A switches between upright and inverted positions, the user content displayed by the projection light also switches between upright and inverted positions. For example, if the placement of the first projector 1000A changes from upright to inverted, the user content displayed by the projection light will also change from upright to inverted, thus affecting the user's normal viewing experience. To solve this problem, the first projector 1000A acquires gravity acceleration sensing information based on the gravity acceleration sensor 200A. When the first projector 1000A switches between upright and inverted states, the gravity acceleration sensing information acquired by the first gravity acceleration sensor 200A can be used to determine and control the projection light emitted by the first projection component 100A to invert the previously displayed image, so that the user can view the upright playback image.

[0050] But Figure 2In the illustrated embodiment, the first gravity acceleration sensor 200A can only assist in determining the switching of the placement state of the first projector 1000A, and cannot determine whether the target projection surface T has moved. It can only simply assist in switching the displayed image between forward and inverted orientations during the movement of the first projector 1000A, and cannot determine the movement posture of the target projection surface T or assist in projection during its movement.

[0051] Figure 3 An exemplary second projector 1000B is provided. The second projector 1000B includes a second projection component 100B and a pose sensor group 200B. The pose sensor group 200B includes at least an accelerometer and a gyroscope. Typically, the accelerometer is used to detect the pose state of the projector in a static state. When the projector is in a dynamic state, at least an accelerometer combined with a gyroscope is required to confirm the dynamic pose of the projector. Figure 3 In the illustrated embodiment, the second projector 1000B emits projection light onto the target projection surface T based on the second projection component 100B. The projection light is used to display user screen content on the target projection surface T. When the second projector 1000B is in dynamic movement, the user screen content displayed on the target projection surface T will also change, for example, changing from a rectangular image to a distorted trapezoidal image. At this time, the movement and pose of the second projector 1000B can be detected based on the gravity acceleration sensor and gyroscope within the pose sensor group 200B. Based on the pose and movement of the second projector 1000B, the emission parameters of the second projection component 100B of the second projector 1000B are adjusted to control the second projector 1000B to re-image a rectangular image on the target projection surface T.

[0052] But Figure 3 In the illustrated embodiment, the pose sensor group, including a gravity acceleration sensor and a gyroscope, can only identify the pose changes of the second projector 1000B itself, thereby enabling the adjustment of the emission parameters of the second projection component 100B when the second projector 1000B moves. This method still cannot adjust the emission parameters of the projection light emitted by the second projection component 100B when the target projection surface T changes pose, or when both the target projector T and the second projector 1000B change pose simultaneously. Therefore, it cannot achieve the goal of displaying a neat rectangular image on the target projection surface T even when the target projection surface T changes pose, or even further achieve dynamically maintaining a neat and clear image.

[0053] To ensure that the projector can maintain a clear and well-defined display of the user's image on the target projection surface T even when the target projection surface T moves, embodiments of this application also provide a third projector, such as... Figure 4 As shown, the third projector 1000C includes a second gravity acceleration sensor 200C, a third projection component 100C, and a measurement component 300C. The third projector 1000C is used to: emit projection light through the third projection component 100C, which forms a projection pattern on a target projection surface T; acquire gravity sensing information from the third projector 1000C through the second gravity acceleration sensor 200C; and acquire the relative position information between the third projection component 100C and the target projection surface T through the measurement component 300C. If the pose of the target projection surface T changes, the projection parameters of the projection light are adjusted according to the gravity sensing information and the relative position information to maintain the imaging range of the projection pattern as rectangular or square. The projection parameters include the projection imaging angle and the projection focal length.

[0054] In this application, Figure 4 In the illustrated embodiment, the relative position information between the third projection component 100C and the target projection surface T is calculated by the measuring component 300C. Based on this relative position information, the coordinate position of the target projection surface T in the projector coordinate system of the third projection component 100C can be calculated. When the third projector 1000C is in a static or slightly moving state, its coordinate position in the gravity coordinate system can be determined based on the gravity sensing information from the second gravity acceleration sensor 200C. Based on the coordinates of the third projector 1000C in the gravity coordinate system and the coordinates of the target projection surface T in the projector coordinate system of the third projector 1000C, the coordinates of the target projection surface T in the gravity coordinate system can be calculated. Based on the coordinates of the target projection surface T in the gravity coordinate system, the third projector 1000C can adjust the emission parameters when emitting projection light. For example, by adjusting the projection imaging angle, the imaging range of the projected pattern displayed on the target projection surface T can include a regular rectangle or square. By adjusting the projection focal length, the projected image can always maintain a high level of clarity.

[0055] In some possible implementations, such as Figure 5As shown, the third projector 1000C also includes a controller 400C. The controller 400C is electrically connected to the third projection component 100C, the second gravity acceleration sensor 200C, and the measurement component 300C. The controller 400C controls the third projection component 100C to emit projection light, acquires gravity sensing information collected by the second gravity acceleration sensor 200C, and acquires measurement information from the measurement component 300C. The controller 400C determines the coordinates of the third projector 1000C in the gravity coordinate system based on the information obtained from the second gravity acceleration sensor 200C, determines the relative pose information between the third projector 1000C and the target projection surface T based on the information obtained from the measurement component 300C, and calculates the coordinates of the target projection surface T in the gravity coordinate system. The controller 400C adjusts the emission parameters of the projection light emitted by the third projector 1000C according to the coordinates of the target projection surface T in the gravity coordinate system, so as to control the projection light to keep the projection light on the target projection surface T to display a projection pattern with a regular imaging range and a clear image.

[0056] In some possible implementations, such as Figure 6 As shown, the third projector 1000C also includes a gyroscope 500C. The gyroscope 500C is used to collect the rotation rate information of the third projector 1000C. The controller 400C can calculate the coordinates of the third projector 1000C in the gravity coordinate system based on the gravity sensing information collected by the second gravity acceleration sensor 200C and the rotation rate information collected by the gyroscope 500C. In this embodiment, when both the third projector 1000C and the target projection surface T are in a moving state, the second gravity acceleration sensor 200C alone cannot obtain the accurate pose change of the ground projector 1000C in the moving state. Based on the information collected by the second gravity acceleration sensor 200C in combination with the gyroscope 500C, the controller 400C can accurately obtain the coordinate change of the third projector 1000C in the gravity coordinate system even when the third projector 1000C is in motion.

[0057] For example, the second gravity acceleration sensor 200C and the gyroscope 500C can be two separate sensor devices. For example, the second gravity acceleration sensor 200C and the gyroscope 500C can also be integrated into a single sensor device, such as an inertial measurement unit (IMU) sensor, which can also be referred to as a six-axis sensor.

[0058] In some possible implementations, such as Figure 6As shown, the third projector 1000C may also include a magnetometer 600C. When the third projector 1000C is in motion, the pose information of the third projector 1000C during the movement can be obtained through the second gravity acceleration sensor 200C and the gyroscope 500C. If combined with the magnetometer 600C, more accurate pose information can be obtained.

[0059] In some possible implementations, when the target projection surface T does not move beyond the projection light emission range of the third projector 1000C, the third projector 1000C can control the projection light of the third projection component 100C in the digital image domain so that the projection light displays a regular and clear image on the target projection surface T.

[0060] In some possible implementations, when the target projection surface T moves beyond the projection light emission range of the third projector 1000C, it is necessary to adjust the projection range of the projection light emitted by the third projector 1000C.

[0061] In some examples, a relevant projection range adjustment device can be set in the third projection component 100C of the third projector 1000C. For example, Figure 7 As shown, the third projection component 100C includes a projection lens group 110C and an angle adjustment component 120C; the projection lens group 110C is used to emit projection light, and the angle adjustment component 120C is used to adjust the projection emission angle of the projection lens group 110C. The aforementioned adjustment of the projection parameters of the projection light based on gravity sensing information and relative position information includes: controlling the angle adjustment component 120C to adjust the projection emission angle of the projection lens group 110C based on gravity sensing information and relative position information, thereby adjusting the projection imaging angle of the projection light. Figure 7 In the embodiment shown, the emission range of the projection light emitted by the projection light mirror group 110C in the third projection component 100C can be adjusted by the angle adjustment component 120C provided in the third projection component 100C, so that the projection light can be imaged on the target projection surface T after the movement.

[0062] In some examples, the relevant projection range adjustment device can be set in the third projector 1000C, such as... Figure 8 As shown, the third projector 1000C also includes a housing 700C and a rotating shaft 800C. The third projection assembly 100C is partially or entirely housed within the housing 700C. The rotating shaft 800C is used to adjust the orientation angle of the housing 700C. The aforementioned adjustment of the projection parameters of the projection light based on gravity sensing information and relative position information includes: controlling the rotating shaft 800C to adjust the orientation angle of the housing 700C based on gravity sensing information and relative position information, thereby adjusting the projection angle of the projection light. Figure 8In the embodiment shown, a rotation axis 800C can be provided on the device housing 700C of the third projector 1000C, and the pose of the device housing 700C can be adjusted based on the rotation axis 800C to adjust the projection light emission range of the third projection component 100C on the device housing 700C, so that the projection light emission range can maintain coverage of the target projection surface T after the movement.

[0063] In some possible implementations, the measurement component 300C is a depth information measurement component. The depth information measurement component is used to measure the depth information of the projected pattern displayed by the projection light on the target projection surface T, or to measure the depth information of the target projection surface T. In some examples, the measurement component 300C can be a time-of-flight (TOF) sensor. In some examples, the measurement component 300C can be a binocular camera. In some examples, the measurement component 300C can be a structured light component. In some examples, the measurement component 300C can be a monocular camera, which can cooperate with the third projection component 100C to measure the depth information.

[0064] Based on the third projector 1000C described in the above embodiments, the following can be performed: Figure 9 The diagram includes sub-operations of steps S100-S300:

[0065] S100, projected light is emitted through the third projection component 100C.

[0066] In this embodiment of the application, the controller 400C of the third projector 1000C controls the third projection component 100C to emit projection light, which is used to form a projection pattern on the target projection surface T.

[0067] For example, the projected light can display a calibration pattern on the target projection surface T for depth information calculation, or it can display the user-selected screen content on the target projection surface T.

[0068] S200A acquires gravity sensing information from the third projector 1000C via the second gravity acceleration sensor 200C.

[0069] In this embodiment, the controller 400C can acquire gravity sensing information transmitted by the second gravity acceleration sensor 200C.

[0070] In some examples, the rotation rate information of the third projector 1000C can also be acquired via gyroscope 500C. Controller 400C acquires the rotation rate information acquired by gyroscope 500C.

[0071] In some examples, magnetic sensing information about the third projector 1000C can also be acquired via magnetometer 600C. Controller 400C obtains the relevant magnetic sensing information from magnetometer 600C.

[0072] S200B: The relative position information between the third projection component 100C and the target projection surface T is obtained through the measurement component 300C.

[0073] For example, step S200B may include the following Figure 10 The sub-operations shown in steps S210B-S220B are:

[0074] S210B: The depth information corresponding to multiple marker points D on the target projection surface T is detected by the depth information measurement component.

[0075] In this embodiment of the application, depth information of the target projection surface T can be detected based on a depth information measurement component. For example... Figure 11 As shown, the specific detection method is as follows: some marker points D can be set on the target projection surface T, and the depth information of the marker points D can be measured by the depth information measurement component to realize the detection of the depth information of the target projection surface T.

[0076] In some examples, when the depth information measurement component is a TOF sensor, depth information can be detected based on the detection principle of the TOF sensor, using multiple marker points D on the target projection plane T.

[0077] In some examples, when the depth information measurement component is a stereo camera, the target projection surface T can be photographed based on the stereo camera, and the information of the marker point D in the photograph taken by the stereo camera can be used for stereo visual matching, thereby realizing the detection of the depth information of the marker point D.

[0078] In some examples, when the depth information measurement component is a structured light detection component, the structured light pattern including the marker point D can be projected based on the structured light detection component, and the structured light pattern can be captured by the camera to realize the detection of depth information of multiple marker points D.

[0079] In some examples, when the depth information measurement component is a monocular camera, a related marker pattern can be projected based on the third projection component 100C. The marker pattern includes relevant information about the marker point D. The marker point D is photographed by the monocular camera, and the depth information of the marker point D is obtained by matching the data information of the marker pattern and the photographed image information of the marker pattern through the controller 400C.

[0080] In some possible implementations, the aforementioned marker point D is not limited to a dotted pattern or a dotted area; it can also be represented as marker information in patterns such as line patterns, checkerboard patterns, random speckled patterns, and playback screen patterns with information content.

[0081] S220B: Determine the relative position information based on the depth information corresponding to multiple marker points D.

[0082] In some possible implementations, the controller 400C can calculate the relative position information between the third projector 1000C and the target projection surface T based on the depth information corresponding to multiple marker points D. In this embodiment, the depth information is used to indicate the distance information between the marker points D on the target projection surface T and the third projector 1000C. Based on the depth information, the relative position information can be calculated accordingly.

[0083] In some possible implementations, the target projection surface T can be a plane or a curved surface. In some examples, when the target projection surface T is a plane, the controller 400C can fit a fitted plane based on multiple marker points D, and calculate the coordinates of the fitted plane in the projector coordinate system of the third projector 1000C using depth information. In some examples, when the target projection surface T is a curved surface, a larger number of marker points D are needed to fit a fitted curved surface, and the coordinates of the fitted curved surface in the projector coordinate system of the third projector 1000C are calculated using depth information.

[0084] In some possible implementations, taking the target projection plane T as an example, step S220B may include the following: Figure 12 The sub-operations shown in steps S221B-S223B are:

[0085] S221B. Based on the depth information corresponding to multiple marker points D, determine the coordinates of multiple marker points D in the projector coordinate system.

[0086] S222B. Based on the coordinates of multiple marker points D in the projector coordinate system, determine the plane normal vector of the target projection surface T relative to the projector coordinate system.

[0087] For example, such as Figure 13 As shown, a fitting plane is obtained by fitting multiple marker points D. A projector coordinate system is constructed with the third projector 1000C as the origin. Based on the coordinates of the multiple marker points D in the projector coordinate system, the controller 400C can calculate the plane normal vector of the fitting plane.

[0088] For example, based on the coordinates of three or more marker points D, the plane equation of the fitted plane can be obtained, and then the plane normal vector equation can be obtained from the plane equation of the fitted plane.

[0089] S223B, Determine relative position information based on the plane normal vector.

[0090] For example, the controller 400C can determine the relative position information between the target projection surface and the third projector 1000C based on the plane normal vector.

[0091] The above Figure 12 The illustrated embodiment uses the target projection surface T as a plane for example. However, when the target projection surface T is a curved surface, the coordinates of the target projection surface T can also be calculated based on the calculation equations related to the curved surface. The calculation complexity of a curved surface is higher than that of a plane.

[0092] S300. If the pose of the target projection surface T changes, adjust the projection parameters of the projection light according to the gravity sensing information and the relative position information.

[0093] In this embodiment, when the pose of the target projection surface T changes, the coordinates of the target projection surface T in the gravity coordinate system can be calculated based on gravity sensing information and relative position information. The projection parameters of the projection light are adjusted based on the coordinates of the target projection surface T in the gravity coordinate system to maintain the imaging range of the projected pattern as rectangular or square. The projection parameters include the projection imaging angle and the projection focal length.

[0094] For example, by adjusting the projection imaging angle, the imaging range of the projected pattern can be kept rectangular or square. Typically, the control 400C, based on data signals, can control the display data information of the third projection component 100C, causing a corresponding change in the angle of the projected image, thereby adjusting the projection imaging angle. For example, the pose angle of the third projection component 100C or the third projector 1000C can be adjusted mechanically, thereby adjusting the projection angle of the projection light and thus the projection imaging angle.

[0095] In some possible implementations, step S300 may include the following: Figure 14 The sub-operations shown in steps S310-S320 are as follows:

[0096] S310. Based on the gravity sensing information and relative position information, determine the updated projection position of the target projection surface T.

[0097] In some possible implementations, step S310 may include the following: Figure 15 The sub-operations shown in steps S311-S313 are as follows:

[0098] S311. Determine the coordinate position of the third projector 1000C relative to the gravity coordinate system based on the gravity sensor information.

[0099] In this embodiment of the application, the roll and pitch angles of the projector pose of the third projector 1000C can be detected by gravity sensing information when the third projector 1000C is in a static state.

[0100] For example, when the third projector 1000C is in a dynamic state, it is necessary to combine the second gravity accelerometer 200C and the gyroscope 500C to detect the roll and pitch angles of the third projector 1000C, as well as the yaw angle. To maintain accurate detection of these three angles for an extended period and avoid yaw deviation, a magnetometer based on a nine-axis sensor is needed to improve detection accuracy. However, in the projector adjustment scenario of this solution, the three-axis second gravity accelerometer 200C is sufficient for detecting and adjusting the moving target projection surface T when the projector is static, while a six-axis sensor (including the second gravity accelerometer 200C and the gyroscope 500C) is sufficient for dynamic applications.

[0101] S312. Based on the transformation relationship between the gravity coordinate system and the projector coordinate system, as well as the relative position information, determine the coordinate position of the target projection surface T in the gravity coordinate system.

[0102] In this embodiment, a transformation relationship matrix can be generated based on matrix conversion. This matrix records the transformation relationship between any angular position in the gravity coordinate system and the projector coordinate system. The transformation relationship matrix can express the transformation relationship between the two coordinate systems based on sine and cosine functions. The angles recorded in the sine and cosine functions are the pitch, roll, and yaw angles determined by the second gravity acceleration sensor 200C, or the pitch, roll, and yaw angles determined by the second gravity acceleration sensor 200C and a gyroscope, etc. In practical applications, after obtaining the features expressing the relative positional relationship based on depth information, the pitch, roll, and yaw angles are determined based on the pose transformation function. The actual values ​​of the pitch, roll, and yaw angles are then written into the transformation relationship matrix to obtain the coordinate position of the target projection surface T in the gravity coordinate system.

[0103] In some examples, the coordinates of the target projection surface's marker-fitted plane in the projector coordinate system can be determined based on depth information. The normal vector of this fitted plane in the projector coordinate system can be obtained based on its plane equation. Regardless of the coordinate system in which the fitted plane is located, the dot product of its normal vector and its gravitational component remains constant. Therefore, the dot product of the normal vector and the gravitational component in the projector coordinate system is equal to the dot product of the normal vector and the gravitational component in the gravity coordinate system, and also equal to the Z-axis component of the fitted plane in the gravity coordinate system. After determining the Z-axis component of the fitted plane in the gravity coordinate system, based on the transformation relationship between its Y-axis and X-axis components in the gravity coordinate system, and the transformation matrix between the gravity coordinate system and the projector coordinate system, the coordinate information of the fitted plane in the gravity coordinate system, i.e., the coordinate information of the target projection surface T in the gravity coordinate system, can be obtained.

[0104] S313. Determine the updated projection position based on the coordinate position of the target projection surface T in the gravity coordinate system.

[0105] S320. Adjust the projection parameters of the projection light according to the updated projection position.

[0106] This application also provides a computer-readable storage medium including instructions that, when executed on a controller, cause the controller to perform the projection control method described in the above embodiments, for example... Figure 9 , Figure 10 , Figure 11 , Figure 12 , Figure 13 , Figure 14 and Figure 15 The projection control method shown.

[0107] The processor involved in the embodiments of this application can be a chip. For example, it can be a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on chip (SoC), a central processor unit (CPU), a network processor (NP), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or other integrated chips.

[0108] The memory involved in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory used in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0109] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0110] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0111] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and modules described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0112] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or modules may be electrical, mechanical, or other forms.

[0113] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located on one device or distributed across multiple devices. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0114] In addition, the functional modules in the various embodiments of this application can be integrated into one device, or each module can exist physically separately, or two or more modules can be integrated into one device.

[0115] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software programs, implementation can be, in whole or in part, in the form of a computer program product. This computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device containing one or more servers, data centers, etc., that can be integrated with the medium. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives (SSDs)).

[0116] The above description is merely a specific 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 projector, characterized in that, It includes a gravity acceleration sensor, a projection assembly, and a measurement assembly; the projector is used for: The projection component emits projection light, which is used to form a projection pattern on the target projection surface. The gravity sensing information of the projector is obtained through the gravity acceleration sensor; The relative position information between the projection component and the target projection surface is obtained through the measurement component; If the pose of the target projection surface changes, the projection parameters of the projection light are adjusted according to the gravity sensing information and the relative position information so that the imaging range of the projection pattern remains rectangular or square. The projection parameters include the projection imaging angle and the projection focal length.

2. The projector according to claim 1, characterized in that, The projection assembly includes a projection lens group and an angle adjustment component; the projection lens group is used to emit the projection light, and the angle adjustment component is used to adjust the projection emission angle of the projection lens group. Adjusting the projection parameters of the projection light based on the gravity sensing information and the relative position information includes: Based on the gravity sensing information and the relative position information, the angle adjustment component is controlled to adjust the projection emission angle of the projection light mirror group, so as to adjust the projection imaging angle of the projection light.

3. The projector according to claim 1 or 2, characterized in that, The projector also includes a device housing and a rotating shaft. The projection components are partially or entirely housed within the device housing. The rotating shaft is used to adjust the orientation angle of the device housing. Adjusting the projection parameters of the projection light based on the gravity sensing information and the relative position information includes: Based on the gravity sensing information and the relative position information, the rotation axis is controlled to adjust the orientation angle of the device housing, thereby adjusting the projection angle of the projected light.

4. The projector according to any one of claims 1-3, characterized in that, The measurement component is a depth information measurement component. Obtaining the relative position information between the projection component and the target projection surface through the measurement component includes: The depth information is detected by the depth information measurement component, which detects the depth information corresponding to multiple marker points on the target projection surface. The relative position information is determined based on the depth information corresponding to the multiple marker points.

5. The projector according to claim 4, characterized in that, The target projection surface is a plane, and the relative position information includes the coordinates of the target projection surface in the projector coordinate system of the projector; determining the relative position information based on the depth information corresponding to the plurality of marker points includes: Based on the depth information corresponding to the multiple marker points, determine the coordinates of the multiple marker points in the projector coordinate system; Based on the coordinates of the multiple marker points in the projector coordinate system, determine the plane normal vector of the target projection surface relative to the projector coordinate system; The relative position information is determined based on the plane normal vector.

6. The projector according to claim 5, characterized in that, Adjusting the projection parameters of the projection light based on the gravity sensing information and the relative position information includes: Based on the gravity sensing information and the relative position information, the updated projection position of the target projection surface is determined; Based on the updated projection position, adjust the projection parameters of the projection light.

7. The projector according to claim 6, characterized in that, Determining the updated projection position of the target projection surface based on the gravity sensing information and the relative position information includes: The coordinate position of the projector relative to the gravity coordinate system is determined based on the gravity sensing information. Based on the transformation relationship between the gravity coordinate system and the projector coordinate system, and the relative position information, the coordinate position of the target projection surface in the gravity coordinate system is determined; The updated projection position is determined based on the coordinate position of the target projection surface in the gravity coordinate system.

8. A projection control method, characterized in that, Applied to a projector, the projector includes a gravity acceleration sensor, a projection component, and a measurement component; the projection control method includes: The projection component is controlled to emit projection light, which is used to form a projection pattern on the target projection surface. The gravity sensing information of the projector is obtained through the gravity acceleration sensor; The relative position information between the projection component and the target projection surface is obtained through the measurement component; If the pose of the target projection surface changes, the projection parameters of the projection light are adjusted according to the gravity sensing information and the relative position information so that the imaging range of the projection pattern remains rectangular or square. The projection parameters include the projection imaging angle and the projection focal length.

9. The projection control method according to claim 8, characterized in that, The measurement component is a depth information measurement component. Obtaining the relative position information between the projection component and the target projection surface through the measurement component includes: The depth information is detected by the depth information measurement component, which detects the depth information corresponding to multiple marker points on the target projection surface. The relative position information is determined based on the depth information corresponding to the multiple marker points.

10. The projection control method according to claim 9, characterized in that, The target projection surface is a plane, and the relative position information includes the coordinates of the target projection surface in the projector coordinate system of the projector; determining the relative position information based on the depth information corresponding to the plurality of marker points includes: Based on the depth information corresponding to the multiple marker points, determine the coordinates of the multiple marker points in the projector coordinate system; Based on the coordinates of the multiple marker points in the projector coordinate system, determine the plane normal vector of the target projection surface relative to the projector coordinate system; The relative position information is determined based on the plane normal vector.

11. The projection control method according to claim 10, characterized in that, Adjusting the projection parameters of the projection light based on the gravity sensing information and the relative position information includes: Based on the gravity sensing information and the relative position information, the updated projection position of the target projection surface is determined; Based on the updated projection position, adjust the projection parameters of the projection light.

12. The projection control method according to claim 11, characterized in that, Determining the updated projection position of the target projection surface based on the gravity sensing information and the relative position information includes: The coordinate position of the projector relative to the gravity coordinate system is determined based on the gravity sensing information. Based on the transformation relationship between the gravity coordinate system and the projector coordinate system, and the relative position information, the coordinate position of the target projection surface in the gravity coordinate system is determined; The updated projection position is determined based on the coordinate position of the target projection surface in the gravity coordinate system.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes instructions that, when executed on a controller, cause the controller to perform the projection control method as described in any one of claims 8-12.

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