Projection device and projection system

Abstract

The application relates to the projection field and discloses a projection device and a projection system. In the projection device, a shift lens module and a TOF camera module are fixed to a main support. The shift lens module comprises a lens main body, a displacement adjusting mechanism and a displacement sensor. The displacement adjusting mechanism is used for driving the lens main body to move on a plane determined by a first direction and a second direction relative to the main support. The displacement sensor is used for detecting the displacement amount of the lens main body. The TOF camera module comprises an angle adjusting mechanism, a TOF sensor and a camera, and the TOF sensor and the camera are both fixed to the angle adjusting mechanism. The angle adjusting mechanism is in signal connection with the displacement sensor and is used for driving the TOF sensor and the camera to synchronously rotate around the first direction and / or around the second direction according to the displacement amount detected by the displacement sensor, so that the collection range of the TOF sensor completely covers the projection picture of the lens main body, and the collection range of the camera completely covers the projection picture of the lens main body.

Description

Technical Field

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

[0002] In practical applications, the projection image from the projection lens is not always in the optimal position due to limitations in the device's placement. Therefore, a tilt-shift function is added to the projection lens, creating a tilt-shift lens. A tilt-shift lens moves the projection lens horizontally or vertically along the optical axis without significantly altering the image quality. Tilt-shift lenses allow the projected image to be moved to the best viewing position without moving the projection device itself.

[0003] However, when tilt-shift lenses are used in projection devices, the tilting and shifting operations of the tilt-shift lens cause changes in the position of the camera's optical axis and the infrared optical axis of the Time of Flight (TOF) sensor relative to the lens's optical axis. As a result, the camera and TOF sensor cannot cover the projected image after tilt-shifting, causing traditional fixed calibration to fail. Utility Model Content

[0004] This application discloses a projection device and projection system for realizing dynamic adjustment of a tilt-shift lens and synchronous calibration of a TOF sensor and a camera.

[0005] To achieve the above objectives, this application provides the following technical solution:

[0006] In a first aspect, embodiments of this application provide a projection device, including:

[0007] Main support;

[0008] A tilt-shift lens module is fixed to the main support; the tilt-shift lens module includes:

[0009] Main subject of the lens;

[0010] A displacement adjustment mechanism, drivenly connected to the lens body, is used to drive the lens body to move relative to the main support in a first direction and / or a second direction; the first direction and the second direction are perpendicular; and

[0011] A displacement sensor is used to detect the amount of displacement of the lens body; and

[0012] A TOF camera module is fixed to the main bracket; the TOF camera module includes:

[0013] An angle adjustment mechanism is fixed to the main support; the angle adjustment mechanism is signal-connected to the displacement sensor.

[0014] A TOF sensor is fixed to the angle adjustment mechanism; and

[0015] The camera is fixed to the angle adjustment mechanism;

[0016] The angle adjustment mechanism is used to drive the TOF sensor and the camera to rotate synchronously around the first direction and / or around the second direction according to the displacement of the lens body detected by the displacement sensor.

[0017] The projection device provided in this application includes a main support, a tilt-shift lens module, and a TOF camera module, both of which are fixed to the main support. The tilt-shift lens module includes a lens body, a displacement adjustment mechanism, and a displacement sensor. The displacement adjustment mechanism outputs movement in a first direction and / or a second direction, where the first and second directions are perpendicular and can define a plane. The lens body is connected to the output end of the displacement adjustment mechanism and can move relative to the main support on the plane defined by the first and second directions under the drive of the displacement adjustment mechanism. The displacement sensor detects the amount of displacement of the lens body on the plane defined by the first and second directions. The TOF camera module includes an angle adjustment mechanism, a TOF sensor, and a camera, both of which are fixed to the angle adjustment mechanism. The angle adjustment mechanism is signal-connected to the displacement sensor and drives the TOF sensor and camera to rotate synchronously around the first direction and / or around the second direction according to the displacement detected by the displacement sensor, so that the acquisition range of the TOF sensor completely covers the projected image of the lens body, and simultaneously the acquisition range of the camera completely covers the projected image of the lens body.

[0018] By fixing the tilt-shift lens module and the TOF camera module to the main bracket, and utilizing the coordinated operation of the displacement adjustment mechanism and the angle adjustment mechanism, dynamic adjustment of the tilt-shift lens and synchronous calibration of the TOF sensor and camera can be achieved. This design solves the problem of traditional fixed calibration failure, ensuring that the acquisition range of the TOF sensor and camera always covers the projected image even when the tilt-shift lens is tilted and translated.

[0019] In some embodiments, the angle adjustment mechanism includes:

[0020] The base is fixed to the main support;

[0021] The first bracket is rotatably mounted on the base on the side opposite to the main bracket;

[0022] A first drive assembly is fixed to the base and is connected to the first bracket in a transmission manner, for driving the first bracket to rotate relative to the base about the second direction;

[0023] The second bracket is rotatably mounted on the first bracket;

[0024] The second drive assembly is fixed to the base and is connected to the second bracket in a transmission manner, and is used to drive the second bracket to rotate relative to the first bracket around the first direction;

[0025] Both the TOF sensor and the camera are fixed to the second bracket.

[0026] The angle adjustment mechanism controls the rotation of the first bracket and the second bracket respectively through the first drive component and the second drive component, thereby realizing the two-degree-of-freedom angle adjustment of the TOF sensor and the camera.

[0027] In some embodiments, the first drive component includes a first servo motor;

[0028] And / or, the second driving component includes:

[0029] Second servo motor; and

[0030] A transmission gear pair; the input end of the transmission gear pair is connected to the second servo motor, and the output end of the transmission gear pair is connected to the rotating shaft of the second bracket.

[0031] Servo motors are characterized by high precision, fast response, and high torque, which facilitates precise control of the rotation angle of TOF sensors and cameras.

[0032] In some embodiments, the second bracket is provided with a protective component; the protective component cooperates with the second bracket to form a first cavity;

[0033] Both the TOF sensor and the camera are fixed inside the first cavity;

[0034] The protective component is provided with a first light-transmitting window that cooperates with the TOF sensor and the camera.

[0035] The main function of the protective components is to provide a protected working environment for the TOF sensor and camera, preventing external environmental factors (such as dust, moisture, and contaminants) from affecting the equipment. At the same time, the design of the first light-transmitting window ensures that light signals can pass through smoothly without affecting the functionality of the TOF sensor and camera.

[0036] In some embodiments, the protection component includes:

[0037] A protective component is fixed to the second bracket; the protective component has a cutout window corresponding to the positions of the TOF sensor and the camera; and

[0038] A light-transmitting element is fitted over the perforated window to form the first light-transmitting window.

[0039] The protective component is fixed to the second bracket. Its main function is to provide mechanical protection for the TOF sensor and camera, while also providing a channel for light signal transmission through the perforated window. The light-transmitting component has good light transmittance and durability, and works with the protective component to form a sealed structure.

[0040] In some embodiments, the projection device further includes a housing, the housing including a front shell; the main support is fixed inside the housing;

[0041] A ring-shaped flexible component is provided at the position corresponding to the TOF camera module on the front shell; the ring-shaped flexible component is connected to the angle adjustment mechanism.

[0042] The housing is the basic structure of the projection device, serving to protect internal components, provide installation space, and provide support. The main bracket, fixed inside the housing, is the core support structure of the entire device. A second light-transmitting window is located on the front shell corresponding to the TOF camera module. A ring-shaped flexible component surrounds the outside of the second light-transmitting window, serving a sealing and cushioning function.

[0043] In some embodiments, a first magnetic element is provided on the annular flexible member, and a second magnetic element is provided on the angle adjustment mechanism, wherein the first magnetic element and the second magnetic element are magnetically connected.

[0044] A first magnetic component is set on the annular flexible component, and a second magnetic component is set on the angle adjustment mechanism. The two are fixed by magnetic connection to avoid the problem of difficulty in fitting with the front shell of the TOF camera module during assembly.

[0045] In some embodiments, the projection device further includes a circuit board fixed to the main support; the displacement sensor and the angle adjustment mechanism are both signal connected to the circuit board.

[0046] The circuit board receives signals from the displacement sensor in real time, looks up the mapping relationship table between the axis shift amount and the motor rotation angle stored in the circuit board to obtain the required rotation angle of the first servo motor and the second servo motor, and drives the first servo motor and the second servo motor to rotate the corresponding angle respectively, so as to realize the synchronous calibration control of the TOF sensor and the camera as the axis shift of the lens body changes.

[0047] Secondly, embodiments of this application also provide an adjustment method for a projection device, used to adjust the projection device as described in any one of the embodiments of the first aspect, the adjustment method comprising:

[0048] The displacement of the lens body is obtained; the displacement includes a first displacement value in a first direction and / or a second displacement value in a second direction;

[0049] Based on the displacement, a pre-calibrated mapping table of axis shift distance and rotation angle of the TOF sensor and the camera is consulted to obtain the corresponding rotation angle value; the rotation angle value includes a first angle value of rotation around the first direction and / or a second rotation value of rotation around the second direction;

[0050] The TOF sensor and the camera are driven to rotate synchronously based on the rotation angle value.

[0051] In some embodiments, the TOF sensor and the camera are driven to rotate synchronously according to the rotation angle value, and then the process further includes:

[0052] Simultaneously acquire point cloud data generated by the TOF sensor and image information captured by the camera;

[0053] The projected image is calibrated based on the point cloud data and the image information.

[0054] Thirdly, embodiments of this application also provide a projection system, including:

[0055] A projection device, wherein the projection device is the projection device described in any one of the first aspects;

[0056] The projection screen is located on the light-emitting side of the projection device. Attached Figure Description

[0057] Figure 1 This is a schematic diagram of the structure of a projection system provided in an embodiment of this application;

[0058] Figure 2 This is a schematic diagram of the structure of a projection device provided in an embodiment of this application;

[0059] Figure 3 A schematic diagram of a tilt-shift projection device is shown;

[0060] Figure 4 and Figure 5 A schematic diagram of the projection device before and after tilt-shifting is shown;

[0061] Figure 6 The cross-sectional dimensions of the light modulation component in the projection device are shown.

[0062] Figure 7 The positional relationship between the tilt-shift front projection image, the TOF sensor coverage area, and the camera coverage area is shown.

[0063] Figure 8 The positional relationship between the tilt-shift projected image, the TOF sensor coverage area, and the camera coverage area is shown.

[0064] Figure 9This is a schematic diagram of the structure of a projection device provided in an embodiment of this application;

[0065] Figure 10 A three-dimensional stereoscopic view of a TOF camera module in a projection device provided in this application embodiment. Figure 1 ;

[0066] Figure 11 A three-dimensional stereoscopic view of a TOF camera module in a projection device provided in this application embodiment. Figure 2 ;

[0067] Figure 12 An exploded view of a TOF camera module in a projection device provided in this application embodiment;

[0068] Figure 13 This application provides a schematic diagram of the control principle in a projection device.

[0069] Figure 14 A schematic diagram of one side structure of a TOF camera module 300 in a projection device provided in an embodiment of this application;

[0070] Figure 15 for Figure 14 Sectional view of AA;

[0071] Figure 16 This is a schematic diagram of the other side of a TOF camera module 300 in a projection device provided in an embodiment of this application;

[0072] Figure 17 for Figure 16 BB section view;

[0073] Figure 18 A schematic diagram of one side of the structure of the TOF sensor and camera rotated 10° around the first direction and 10° around the second direction;

[0074] Figure 19 for Figure 18 CC section view;

[0075] Figure 20 A schematic diagram of the other side of the structure where the TOF sensor and camera are rotated 10° around the first direction and 10° around the second direction;

[0076] Figure 21 for Figure 20 DD section view;

[0077] Figure 22 A flowchart illustrating an adjustment method for a projection device provided in this application embodiment;

[0078] Figure 23A flowchart illustrating another method for adjusting a projection device provided in this application embodiment;

[0079] Figure 24 A schematic diagram showing the lens body shifting along the second direction is shown;

[0080] Figure 25 A schematic diagram showing the lens body shifting along a first direction is shown;

[0081] Figure 26 A schematic diagram showing the lens body shifting along the first and second directions is shown;

[0082] Figure 27 This image shows the effect of the lens being in position 0 in the projection device;

[0083] Figure 28 This diagram illustrates the effect of a lens in a projection device shifting its axis along a second direction to achieve a 100% offset.

[0084] Figure 29 The diagram shows the effect of a projection device where the lens shifts 100% offset along the second direction and 100% offset along the first direction.

[0085] Icons: 1-Projection device; 2-Projection screen; 10-Laser light source device; 20-Illumination optical path; 30-Projection lens; 100-Main bracket; 200-Tilt-shift lens module; 300-TOF camera module; 400-Circuit board; 500-Front shell; 310-Angle adjustment mechanism; 320-TOF sensor; 330-Camera; 311-Base; 312-First bracket; 313-First servo motor; 314-Second bracket; 315-Second servo motor; 316-Transmission gear pair; 317-Protective component; 318-Light-transmitting component; 510-Annular flexible component; 511-Pressure ring; 512-Screw; 3111-Fixing screw; 3171-Fixing screw; 3131-Motor mounting bracket; 3132-Fixing screw; 3133-Irregular shaft; 3141-Rotating shaft. Detailed Implementation

[0086] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application. In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships, for example, A and / or B can represent: A alone, A and B at the same time, and B alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0087] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0088] Figure 1 This is a schematic diagram of the structure of a projection system provided in an embodiment of this application.

[0089] like Figure 1 As shown, the projection system includes a projection device 1 and a projection screen 2. The projection screen 2 is located on the light-emitting side of the projection device 1. The audience faces the projection screen 2. The projection device 1 emits projection light, which enters the projection screen 2 and is reflected by the projection screen 2 before entering the viewer's eyes, thus allowing the viewer to see the projected image.

[0090] In some embodiments, the projection device 1 can be an ultra-short-throw laser projection device. Ultra-short-throw laser projection devices have the characteristics of short projection distance and large projection screen, making them very suitable for home use. To achieve better brightness and display effect, they can be used in conjunction with a projection screen 2.

[0091] Figure 2 This is a schematic diagram of the structure of a projection device provided in an embodiment of this application. Figure 2As shown, the projection device 1 provided in this embodiment includes: a laser light source device 10, an illumination optical path 20, and a projection lens 30; the illumination optical path 20 is located on the light-emitting side of the laser light source device 10 and is used to modulate the light beam emitted by the laser light source device 10; the projection lens 30 is located on the light-emitting side of the illumination optical path 20 and is used to image the modulated light beam. Specifically, the illumination optical path 20 includes a light modulation component 21 for modulating the incident laser; the projection lens 30 is located on the light-emitting side of the light modulation component 21 and is used to image the modulated light.

[0092] Figure 3 A schematic diagram of a tilt-shift projection device is shown. Figure 4 and Figure 5 A schematic diagram of the projection device before and after tilt-shifting is shown; Figure 6 The cross-sectional dimensions of the light modulation component in the projection device are shown.

[0093] Currently, high-end smart projectors tend to use tilt-shift lenses, meaning the projection lens 30 is a tilt-shift lens. Tilt-shift refers to moving the projection lens, causing the projected image to shift horizontally or vertically along the optical axis without a noticeable change in image quality. Figure 3 As shown.

[0094] Due to the limited placement of the projector 1, the projected image is not in the optimal position. However, the projector 1 has a tilt-shift function, allowing the projected image to be moved to the best viewing position by adjusting the tilt-shift lens, without needing to move the projector 1 itself. Figure 4 As shown, before the tilt-shift, the optical axis of the light modulation component 21 coincides with the optical axis of the projection lens 30, as... Figure 5 As shown, after the tilt-shift, the optical axis of the light modulation component 21 is misaligned with the optical axis of the projection lens 30, and the position of the projected image changes.

[0095] like Figure 6 As shown, assuming the cross-sectional dimensions of the optical modulation component 21 perpendicular to the optical axis are X*Y, refer to... Figure 4 and Figure 5 The lens tilt-shift distance can be expressed as follows:

[0096] Lateral axis shift distance: x = A%offset * X / 2

[0097] Vertical axis shift distance: y = B%offset * Y / 2

[0098] Where A%offset and B%offset represent the lens tilt-shift percentage. This percentage is primarily affected by lens specifications, and each lens has an optically permissible tilt-shift range.

[0099] Projection device 1 with tilt-shift capability achieves lossless adjustment of the projected image position through horizontal / vertical optical axis shifting, avoiding the loss of original image brightness after keystone correction due to projection angle. Combined with Scheimpflug Principle, the lens tilt angle is adjusted to expand the depth of field, ensuring full-area clarity on complex curved surfaces or tilted projection surfaces (similar to structured light calibration in industrial inspection).

[0100] In addition, the projection device 1 can be equipped with corresponding AI algorithms, which can automatically match tilt-shift parameters through ambient light sensors and image recognition to achieve one-click image correction and color optimization.

[0101] Figure 7 The positional relationship between the tilt-shift front projection image, the TOF sensor coverage area, and the camera coverage area is shown. Figure 8 The diagram shows the positional relationship between the tilt-shift projected image, the TOF sensor coverage area, and the camera coverage area.

[0102] like Figure 7 As shown, before the tilt-shift, i.e., when the lens is at position 0, the camera coverage area Q1 completely covers the TOF sensor coverage area Q2, and the TOF sensor coverage area Q2 completely covers the projected image Q3. However, the tilt and shift operations of the tilt-shift lens cause changes in the position of the camera optical axis and the TOF sensor infrared optical axis relative to the lens optical axis. Therefore, the camera coverage area Q1 and the TOF sensor coverage area Q2 cannot completely cover the projected image Q3' after the tilt-shift, as... Figure 8 As shown, this renders traditional fixed calibration ineffective.

[0103] Furthermore, existing TOF sensor calibration solutions only function when the lens is at position 0, especially for functions like automatic correction and autofocus. Once the image shifts due to the tilt-shift lens, manual correction and refocusing are required, making it unable to adapt to multi-directional pitch angle changes in tilt-shift lenses. Manual calibration cannot meet the demands of frequent tilt-shift operations in high-end smart projector usage scenarios.

[0104] Based on this, this application provides a projection device in which the TOF sensor and camera can automatically and synchronously follow the movement of the tilt-shift lens, so that the lens can still be automatically corrected and automatically focused after tilt-shift.

[0105] Figure 9 This is a schematic diagram of the structure of a projection device provided in an embodiment of this application; Figure 10 A three-dimensional stereoscopic view of a TOF camera module in a projection device provided in this application embodiment. Figure 1 ; Figure 11A three-dimensional stereoscopic view of a TOF camera module in a projection device provided in this application embodiment. Figure 2 ; Figure 12 An exploded view of a TOF camera module in a projection device provided in an embodiment of this application.

[0106] like Figures 9 to 12 As shown in the illustration, this application provides a projection device including a main support 100, a tilt-shift lens module 200, and a TOF camera module 300. Both the tilt-shift lens module 200 and the TOF camera module 300 are fixed to the main support 100. The tilt-shift lens module 200 includes a lens body, a displacement adjustment mechanism, and a displacement sensor. The displacement adjustment mechanism outputs movement in a first direction and / or a second direction, wherein the first and second directions are perpendicular and can define a plane. The lens body is connected to the output end of the displacement adjustment mechanism and can move relative to the main support 100 on the plane defined by the first and second directions under the drive of the displacement adjustment mechanism. The displacement sensor detects the amount of displacement of the lens body on the plane defined by the first and second directions. The TOF camera module 300 includes an angle adjustment mechanism 310, a TOF sensor 320, and a camera 330. Both the TOF sensor 320 and the camera 330 are fixed to the angle adjustment mechanism 310. The angle adjustment mechanism 310 is connected to the displacement sensor signal and is used to drive the TOF sensor 320 and the camera 330 to rotate synchronously around the first direction and / or around the second direction according to the displacement detected by the displacement sensor, so that the acquisition range of the TOF sensor 320 completely covers the projected image of the lens body, and at the same time, the acquisition range of the camera 330 completely covers the projected image of the lens body.

[0107] The tilt-shift lens module 200 and the TOF camera module 300 of the above-mentioned projection equipment are both fixed to the main bracket 100. However, through the design of the displacement adjustment mechanism and the angle adjustment mechanism 310, the lens body can be translated and the TOF sensor 320 and the camera 330 can be adjusted synchronously, thereby ensuring that the acquisition range of the TOF sensor 320 and the camera 330 can cover the projected image of the lens body.

[0108] Specifically, the displacement adjustment mechanism drives the lens body to translate in a first direction and a second direction, which are perpendicular to each other and thus define a plane. Assuming the first direction is the X-axis and the second direction is the Y-axis, the X-axis and Y-axis define the XY plane. The displacement adjustment mechanism needs to possess high precision and stability to ensure that the lens body does not experience shaking or positioning errors during movement. In practice, the displacement adjustment mechanism can employ a stepper motor, servo motor, or other high-precision drive components, combined with a lead screw or slide rail mechanism, to achieve precise displacement of the lens body.

[0109] A displacement sensor is used to detect the amount of displacement of the lens body in the XY plane in real time, providing feedback signals to the angle adjustment mechanism 310. The displacement sensor can be a linear grating, potentiometer, Hall sensor, etc. The output signal of the displacement sensor needs to be synchronized with the drive signal of the displacement adjustment mechanism to ensure the real-time performance and accuracy of the tilt-shift operation. In some embodiments, the displacement sensor is a tunnel magnetoresistive (TMR) sensor.

[0110] An angle adjustment mechanism 310 is used to drive the TOF sensor 320 and camera 330 to rotate around a first direction, such as the X-axis, or a second direction, such as the Y-axis, to adjust their optical axis orientation. The angle adjustment mechanism 310 needs to have high-precision rotation control capabilities, typically driven by a stepper motor or servo motor, combined with gears or a rotating platform to achieve angle adjustment. The range and accuracy of the rotation angle need to match the displacement range and accuracy of the tilt-shift lens to ensure that the acquisition range of the TOF sensor 320 and camera 330 can completely cover the projected image.

[0111] The optical axis directions of the TOF sensor 320 and camera 330 need to be consistent with the projected image of the tilt-shift lens. Therefore, the drive of the angle adjustment mechanism 310 needs to be strictly synchronized with the detection signal of the displacement sensor. In practice, the control system can calculate the required rotation angle of the TOF sensor 320 and camera 330 based on the displacement of the lens body detected by the displacement sensor in real time, and then perform the adjustment through the angle adjustment mechanism 310. For example, if the lens body moves ΔX in the X-axis direction, the TOF sensor 320 and camera 330 need to rotate θ around the Y-axis to compensate for the optical axis offset caused by the tilt-shift.

[0112] By fixing the tilt-shift lens module 200 and the TOF camera module 300 to the main support 100, and utilizing the coordinated operation of the displacement adjustment mechanism and the angle adjustment mechanism 310, dynamic adjustment of the tilt-shift lens and synchronous calibration of the TOF sensor 320 and the camera 330 can be achieved. This design solves the problem of traditional fixed calibration failure, ensuring that the acquisition range of the TOF sensor 320 and the camera 330 always covers the projected image during tilting and translation operations of the tilt-shift lens.

[0113] In some embodiments, such as Figure 12As shown, the angle adjustment mechanism 310 includes a base 311, a first bracket 312, a first drive assembly, a second bracket 314, and a second drive assembly. The base 311 is fixed to the main bracket 100. The first bracket 312 is rotatably mounted on the side of the base 311 opposite to the main bracket 100. The first drive assembly is fixed to the base 311 and is driveably connected to the first bracket 312, driving the first bracket 312 to rotate relative to the base 311 about a second direction. The second bracket 314 is rotatably mounted to the first bracket 312, and both the TOF sensor 320 and the camera 330 are fixed to the second bracket 314. The second drive assembly is fixed to the base 311 and is driveably connected to the second bracket 314, driving the second bracket 314 to rotate relative to the first bracket 312 about a first direction.

[0114] The angle adjustment mechanism 310 controls the rotation of the first bracket 312 and the second bracket 314 through the first drive component and the second drive component respectively, thereby realizing the dual-degree-of-freedom angle adjustment of the TOF sensor 320 and the camera 330.

[0115] Specifically, the base 311 primarily serves a fixing and supporting function. The base 311 is fixed to the main support 100, supporting the entire angle adjustment mechanism 310. The base 311 possesses sufficient rigidity to prevent deformation during rotation from affecting the accuracy of angle adjustment. In practice, the base 311 and the main support 100 are connected by threads. For example, the base 311 is fixed to the main support 100 using fixing screws 3111.

[0116] The first bracket 312 is rotatably mounted on the side of the base 311 opposite to the main bracket 100, and can rotate around a second direction, such as the Y-axis. The rotation accuracy and range of the first bracket 312 need to meet the acquisition requirements of the TOF sensor 320 and the camera 330. The rotation axis design of the first bracket 312 needs to be high-precision, typically using precision bearings or sliding bearings to reduce friction and errors during rotation.

[0117] The first drive assembly is fixed to the base 311 and is connected to the first bracket 312 via a transmission connection. In a specific implementation, the first drive assembly is connected to the first bracket 312 via a non-circular shaft 3133. This first drive assembly needs to have high-precision control capabilities, and can typically be a stepper motor, servo motor, or DC motor, depending on the rotational accuracy and speed requirements.

[0118] The second bracket 314 is rotatably mounted on the first bracket 312 and can rotate around a first direction, such as the X-axis. The TOF sensor 320 and camera 330 are fixed to the second bracket 314; therefore, the rigidity and stability of the second bracket 314 directly affect the data acquisition performance of the TOF sensor 320 and camera 330. The rotation axis design of the second bracket 314 also requires high precision and can employ a bearing design similar to that of the first bracket 312. In specific implementation, the second bracket 314 is rotatably mounted on the first bracket 312 via a rotating shaft 3141.

[0119] The second drive assembly is fixed to the base 311 and is connected to the second bracket 314 via a transmission connection. This drive assembly needs to work in conjunction with the first drive assembly to ensure that the rotation of the TOF sensor 320 and the camera 330 in both directions can precisely match the displacement of the tilt-shift lens. Similarly, the second drive assembly can be a stepper motor, a servo motor, or other drive elements.

[0120] The two drive components of the angle adjustment mechanism 310 need to work together to ensure that the TOF sensor 320 and camera 330 can accurately cover the projected image of the tilt-shift lens when rotating around the first and second directions. The control system needs to receive signals from the displacement sensor in real time, obtain the required rotation angles of the TOF sensor 320 and camera 330 around the first and second directions by looking up a pre-stored mapping table of lens tilt-shift amount and rotation angles of the two drive components, and drive the first and second drive components respectively.

[0121] For example, if the lens body moves ΔX in the X-axis direction, the TOF sensor 320 and the camera 330 need to rotate θ1 around the Y-axis; if the lens body moves ΔY in the Y-axis direction, the TOF sensor 320 and the camera 330 need to rotate θ2 around the X-axis.

[0122] In some embodiments, the first drive component includes a first servo motor 313.

[0123] And / or, the second drive assembly includes a second servo motor 315 and a transmission gear pair 316. The input end of the transmission gear pair 316 is connected to the second servo motor 315, and the output end of the transmission gear pair 316 is connected to the rotating shaft of the second bracket 314.

[0124] In one embodiment, both the first and second drive components employ miniature servo motors with a rotational resolution of less than or equal to 0.1°. Servo motors feature high precision, fast response, and high torque, facilitating precise control of the rotation angles of the TOF sensor 320 and the camera 330. In some implementations, the first servo motor 313 and the second servo motor 315 are fixed to the base 311 and secured by a motor mounting bracket 3131 and fixing screws 3132. The first servo motor 313 is connected to the first bracket 312 via a non-circular shaft 3133 and drives the first bracket 312 to rotate around a second direction, i.e., the Y-axis.

[0125] In the second drive assembly, the transmission gear pair 316 is used to transmit the output torque of the second servo motor 315 to the rotating shaft of the second bracket 314, while simultaneously achieving speed reduction and torque increase to meet the rotational accuracy and torque requirements of the second bracket 314. In some implementations, the second servo motor 315 drives the second bracket 314 to rotate around the longitudinal rotation axis via a longitudinal rotation gear. The second bracket 314 is rotatably connected to the first bracket 312 via the longitudinal rotation axis.

[0126] The first servo motor 313 and the second servo motor 315 rotate synchronously through the control system, ensuring that the rotation angles of the TOF sensor 320 and the camera 330 in both directions can accurately match the displacement of the tilt-shift lens.

[0127] For example, assuming that the translation amount x of the tilt-shift lens changes linearly with the change of the lens optical axis angle α, that is, x = kα (k is a constant), then the rotation angle of the camera and the TOF sensor 320 is the same as α, that is, the rotation angle of the motor α = k / x.

[0128] Figure 13 This application provides a schematic diagram of the control principle in a projection device. Figure 14 This application provides a schematic diagram of one side structure of a TOF camera module in a projection device. Figure 15 for Figure 14 Sectional view of AA; Figure 16 This is a schematic diagram of the other side of a TOF camera module in a projection device provided in an embodiment of this application; Figure 17 for Figure 16 BB section view; Figure 18 A schematic diagram of one side of the structure of the TOF sensor and camera rotated 10° around the first direction and 10° around the second direction;

[0129] Figure 19 for Figure 18 CC section view; Figure 20 This is a schematic diagram of the other side of the TOF sensor 320 and camera 330, which are rotated 10° around the first direction and 10° around the second direction. Figure 21 for Figure 20 DD section view.

[0130] In some embodiments, such as Figure 13 As shown, the projection device also includes a circuit board 400, which is fixed to the main support 100; the displacement sensor and the angle adjustment mechanism 310 are both connected to the circuit board 400.

[0131] The circuit board 400, fixed to the main support 100, is the core control unit of the entire device. Both the displacement sensor and the angle adjustment mechanism 310 are connected to the circuit board 400. The circuit board 400 is reliably mounted on the main support 100 to prevent loosening or damage due to vibration or impact. For example, the circuit board 400 can be fixed to the main support 100 using screws, clips, or double-sided tape. The first servo motor 313 and the second servo motor 315 in the displacement sensor and angle adjustment mechanism 310 are connected to the circuit board 400 via wires or a flexible printed circuit board (FPC).

[0132] The circuit board 400 receives signals from the displacement sensor in real time, looks up the mapping relationship table between the axis shift amount and the motor rotation angle stored in the circuit board 400 to obtain the required rotation angle of the first servo motor 313 and the second servo motor 315, and drives the first servo motor 313 and the second servo motor 315 to rotate the corresponding angle respectively.

[0133] For example, when the lens body moves ΔX in the X-axis direction, the TOF sensor 320 and the camera 330 need to rotate θ1 around the Y-axis, and the first servo motor 313 needs to rotate α1 around the Y-axis; when the lens body moves ΔY in the Y-axis direction, the TOF sensor 320 and the camera 330 need to rotate θ2 around the X-axis, and the second servo motor 315 needs to rotate α2 around the X-axis.

[0134] like Figures 14-17 As shown, before the tilt shift, neither the TOF sensor 320 nor the camera 330 rotated, and the optical axis was located at the center of the plane defined by the X and Y axes. Figures 18-21 As shown, after shifting the axis along the X direction and the Y direction, both the TOF sensor 320 and the camera 330 rotate 10° around the Y axis and 10° around the X axis.

[0135] In some embodiments, the second bracket 314 is provided with a protective component; the protective component cooperates with the second bracket 314 to form a first cavity; the TOF sensor 320 and the camera 330 are both fixed in the first cavity. The protective component is provided with a first light-transmitting window that cooperates with the TOF sensor 320 and the camera 330.

[0136] A protective component is incorporated into the second bracket 314, which, together with the second bracket, forms the first cavity for fixing the TOF sensor 320 and the camera 330, and for transmitting light signals through the first light-transmitting window. The main function of the protective component is to provide a protected working environment for the TOF sensor 320 and the camera 330, preventing external environmental factors (such as dust, moisture, and contaminants) from affecting the devices. Simultaneously, the design of the first light-transmitting window ensures that light signals can pass through smoothly without affecting the functionality of the TOF sensor 320 and the camera 330.

[0137] The first light-transmitting window needs to be designed using materials with high light transmittance, such as optical glass, quartz glass, or high-quality plastics (such as PMMA). The shape and size of the first light-transmitting window need to match the optical paths of the TOF sensor 320 and the camera 330 to ensure the integrity and accuracy of the light signal.

[0138] In some embodiments, the protective component includes a protective element 317 and a light-transmitting element 318. Specifically: the protective element 317 is fixed to the second bracket 314; the protective element 317 has a perforated window corresponding to the positions of the TOF sensor 320 and the camera 330; the light-transmitting element 318 covers the perforated window to form a first light-transmitting window.

[0139] The protective element 317 is fixed to the second bracket 314. Its main function is to provide mechanical protection for the TOF sensor 320 and camera 330, while also providing a channel for light signal transmission through the perforated window. The protective element 317 is installed on the second bracket 314 using reliable fixing methods such as screws, clips, or adhesives, ensuring that it will not loosen or fall off during rotation or vibration. For example, the protective element 317 is fixed to the second bracket 314 by fixing screws 3171. Since the second bracket 314 needs to rotate, the fixing of the protective element 317 should not affect the flexibility of rotation. The position and size of the perforated window on the protective element 317 need to be precisely matched with the optical path of the TOF sensor 320 and camera 330 to ensure that the light signal can pass through smoothly. The light-transmitting element 318 covers the perforated window of the protective element 317, forming a first light-transmitting window. The light-transmitting element 318 has good light transmittance and durability, and at the same time, it cooperates with the protective element 317 to form a sealing structure. The edges of the perforated window should be smooth to avoid scratches or stress concentration on the light-transmitting element 318. A good seal is formed between the protective element 317 and the light-transmitting element 318 to prevent external contaminants (such as dust and moisture) from entering the interior of the first cavity. The light-transmitting element 318 uses a material with high light transmittance, such as optical glass, quartz glass, or high-quality plastic. High-quality plastics include PMMA and polycarbonate.

[0140] In some embodiments, the projection device further includes a housing, which includes a front shell 500; a main support 100 is fixed inside the housing; an annular flexible member 510 is provided at the position corresponding to the TOF camera module 300 on the front shell 500; the annular flexible member 510 is connected to the angle adjustment mechanism 310.

[0141] The housing is the basic structure of the projection device, serving to protect internal components, provide installation space, and provide support. The main bracket 100 is fixed inside the housing and is the core support structure of the entire device. The main bracket 100 is installed inside the housing using reliable fixing methods such as screws, clips, or adhesives, ensuring that it will not loosen during device operation. The structure of the main bracket 100 needs to have sufficient rigidity to support the weight of the TOF camera module 300 and other components.

[0142] In one embodiment, the housing includes an annular shell, a front shell 500, and a rear shell. The annular shell serves as the fixing base for the main support 100. The main support 100 is slidably mounted to the annular shell and secured with screws. The front shell 500 and the rear shell respectively cover the front and rear openings of the annular shell. It should be noted that the front and rear ends of the annular shell are defined according to the projection direction of the entire projection device; the light-emitting side of the projection device is defined as the front end of the projection device, and the corresponding other end is the rear end of the projection device.

[0143] A second light-transmitting window is provided on the front shell 500 at the position corresponding to the TOF camera module 300. An annular flexible component 510 surrounds the outside of this second light-transmitting window, serving a sealing and cushioning function. The annular flexible component 510 needs to be made of a material with high flexibility, aging resistance, and good sealing performance, such as silicone, fluororubber, or polyurethane. The shape of the annular flexible component 510 needs to match the shape of the second light-transmitting window on the front shell 500 to ensure a tight seal. The annular flexible component 510 can be fixed to the front shell 500 by a pressure ring 511 and screws 512, and its connection to the angle adjustment mechanism 310 ensures a tight seal between it and the TOF camera module 300. Simultaneously, when the TOF sensor 320 and camera 330 rotate, the angle adjustment mechanism 310 compresses the annular flexible component 510, causing it to deform. During this process, the annular flexible component 510 also serves to conceal imperfections.

[0144] In some embodiments, a first magnetic element is provided on the annular flexible member 510, and a second magnetic element is provided on the angle adjustment mechanism 310, with the first magnetic element and the second magnetic element being magnetically connected.

[0145] A first magnetic component is provided on the annular flexible component 510, and a second magnetic component is provided on the angle adjustment mechanism 310. The two are fixed by magnetic connection to avoid the problem of difficulty in fitting the TOF camera module 300 and the front shell 500 during the assembly process.

[0146] Magnetic connections allow for quick fixing or separation without tools, facilitating assembly and maintenance. The first magnetic component can be designed as a circular or rectangular ring, with its specific shape matching the structure of the annular flexible component 510. The first magnetic component is mounted on the annular flexible component 510 using reliable fixing methods such as embedded mounting, adhesives, or mechanical fixation, preventing it from detaching due to vibration or impact. For example, the first magnetic component is bonded to the annular flexible component 510. The second magnetic component is made of high-performance magnetic materials, such as neodymium iron boron (NdFeB) magnets or samarium cobalt (SmCo) magnets. Two second magnetic components can be used, symmetrically distributed on the angle adjustment mechanism 310 to ensure uniform magnetic force distribution and prevent unstable connections due to excessively strong or weak local magnetic forces. To prevent the second magnetic components from affecting the operation of the first servo motor 313 and the second servo motor 315, the two second magnetic components are fixed to opposite sides of the first magnetic component.

[0147] Figure 22 A flowchart illustrating an adjustment method for a projection device provided in an embodiment of this application.

[0148] This application also provides a method for adjusting a projection device, used to adjust any of the projection devices described in the above embodiments. For example... Figure 22 As shown, the adjustment method includes:

[0149] S2201. Obtain the displacement of the lens body; the displacement includes a first displacement value in a first direction and / or a second displacement value in a second direction;

[0150] S2202. Based on the displacement, look up the pre-calibrated mapping table between the axis shift distance and the rotation angle of the TOF sensor and the camera to obtain the corresponding rotation angle value; the rotation angle value includes a first angle value of rotation around a first direction and / or a second rotation value of rotation around a second direction;

[0151] S2203: Drives the TOF sensor and camera to rotate synchronously based on the rotation angle value.

[0152] The adjustment method for the projection device provided in this application mainly involves acquiring the displacement of the lens body, calibrating and searching the mapping table, and synchronously driving the TOF sensor 320 and the camera 330. In S2201 above, the displacement includes a first displacement value in a first direction and a second displacement value in a second direction. This projection device supports dual-axis adjustment of the lens body, which can cover a wider range of projection angle and position adjustment needs. In S2202 above, the mapping table is used to correspond the displacement to the rotation angle of the TOF sensor 320 and the camera 330, and is the core of the adjustment method. Its calibration process needs to be completed before the device leaves the factory or during the debugging stage to ensure that the correspondence between the axis shift distance and the rotation angle is accurate. The calibration process needs to simulate actual use scenarios, test the rotation angle under different displacements, record the data, and generate a mapping table. This mapping table needs to be stored in the memory of the circuit board 400 (such as EEPROM or Flash memory) to ensure that the device can quickly search and call it during operation. In S2203 above, the synchronous rotation of the TOF sensor 320 and the camera 330 is the key to achieving precise projection adjustment. By fixing both the TOF sensor 320 and the camera 330 to the second bracket 314, the TOF sensor 320 and the camera 330 rotate synchronously when the second bracket 314 rotates.

[0153] In one implementation, the mapping table between the aforementioned tilt-shift distance and the rotation angles of the TOF sensor 320 and the camera 330 includes the correspondence between the tilt-shift amount of the lens body, the rotation angles of the TOF sensor 320 and the camera 330, and the rotation angles of the first servo motor 313 and the second servo motor 315. For example, if the lens body moves ΔX in the X-axis direction, the TOF sensor 320 and the camera 330 need to rotate θ1 around the Y-axis, and the first servo motor 313 needs to rotate α1 around the Y-axis; if the lens body moves ΔY in the Y-axis direction, the TOF sensor 320 and the camera 330 need to rotate θ2 around the X-axis, and the second servo motor 315 needs to rotate α2 around the X-axis. This mapping table includes a correspondence table for ΔX-θ1-α1 and a correspondence table for ΔY-θ2-α2.

[0154] In another implementation, the mapping table between the aforementioned tilt-shift distance and the rotation angles of the TOF sensor 320 and the camera 330 includes the correspondence between the tilt-shift amount of the lens body and the rotation angles of the first servo motor 313 and the second servo motor 315. For example, if the lens body moves ΔX in the X-axis direction, the first servo motor 313 needs to rotate α1 around the Y-axis; if the lens body moves ΔY in the Y-axis direction, the second servo motor 315 needs to rotate α2 around the X-axis. This mapping table includes a correspondence table for ΔX-α1 and a correspondence table for ΔY-α2.

[0155] Figure 23A flowchart of another method for adjusting a projection device provided in an embodiment of this application.

[0156] In other embodiments, such as Figure 23 As shown, the adjustment method includes:

[0157] S2301. Obtain the displacement of the lens body; the displacement includes a first displacement value in a first direction and / or a second displacement value in a second direction;

[0158] S2302. Based on the displacement, look up the pre-calibrated mapping table between the axis shift distance and the rotation angle of the TOF sensor and the camera to obtain the corresponding rotation angle value; the rotation angle value includes a first angle value of rotation around a first direction and / or a second rotation value of rotation around a second direction;

[0159] S2303: Drives the TOF sensor and camera to rotate synchronously based on the rotation angle value;

[0160] S2304. Simultaneously acquire point cloud data generated by the TOF sensor and image information captured by the camera;

[0161] S2305. Perform calibration operation on the projected image based on point cloud data and image information.

[0162] Simultaneously acquiring point cloud data from the TOF sensor 320 and image information from the camera 330 is fundamental to the calibration process, requiring ensuring temporal synchronization and spatial alignment of the two datasets. The point cloud data and image information need to be spatially aligned to ensure a one-to-one correspondence between depth information and image pixels. Calibration is a core step in adjusting the projection device, requiring the combination of point cloud data and image information to achieve precise adjustment of the projected image.

[0163] Point cloud data can provide spatial depth information, which can be used to detect geometric distortions in projected images, such as trapezoidal distortion or perspective distortion. Image information can be used to detect edge alignment of the projected image. Geometric calibration of the projected image can be performed using geometric transformation algorithms such as affine transformation or perspective transformation.

[0164] Point cloud data can be used to detect the sharpness of the projected image, and depth information can be used to determine whether focus adjustment is needed. Image information can be used to detect the degree of blur in the image, further optimizing the focus operation. The projector's circuit board 400 stores an autofocus algorithm based on depth information.

[0165] Figure 24 A schematic diagram showing the lens body shifting along the second direction is shown; Figure 25 A schematic diagram showing the lens body shifting along a first direction is shown; Figure 26 A schematic diagram is shown showing the lens body shifting along the first and second directions.

[0166] The tilt-shift range of a tilt-shift lens is primarily influenced by the lens specifications. Assuming the lens can achieve a 100% offset when tilted in both the first and second directions... Figures 24-26 Three extreme operating conditions are shown. For example... Figure 24 As shown, the lens shifts along the second direction to achieve a 100% offset, where shifting along the second direction can be understood as shifting along the Y-axis. Figure 25 As shown, the lens shifts along the first direction to achieve a 100% offset, where shifting along the first direction can be understood as shifting along the X-axis. Figure 26 As shown, the lens shifts 100% offset along the second direction and also shifts 100% offset along the first direction.

[0167] Figure 27 This image shows the effect of the lens being in position 0 in the projection device; Figure 28 This diagram illustrates the effect of a lens in a projection device shifting its axis along a second direction to achieve a 100% offset. Figure 29 The diagram shows the effect of the lens in the projection device shifting the axis by 100% offset along the second direction and also shifting the axis by 100% offset along the first direction.

[0168] like Figure 27 As shown, before tilt-shift, i.e., when the lens is at position 0, the camera coverage area Q1 completely covers the TOF sensor coverage area Q2, and the TOF sensor coverage area Q2 completely covers the projected image Q3. For example... Figure 28 As shown, after tilt-shifting, the camera coverage area Q1' completely covers the TOF sensor coverage area Q2', and the TOF sensor coverage area Q2' completely covers the projected image Q3'. When the user issues a command to move the image upwards to its limit via the remote control, the tilt-shift lens moves vertically under the drive of its motor. Simultaneously, the TMR sensor of the tilt-shift lens transmits the actual tilt-shift distance to the circuit board 400. The circuit board 400 determines that the tilt-shift direction of the TMR sensor is vertical and reads the preset mapping table between the tilt-shift distance and the lens optical axis angle. It then converts the read lens optical axis angle into a corresponding command to drive the second servo motor 315 to rotate to the corresponding angle. The automatic calibration, focusing, and other service systems automatically trigger their corresponding functions, identify the image, and simultaneously acquire TOF point clouds and RGB images from the camera 330. The TOF data assists other sensors in calculating the projection device's attitude, and the camera 330 acquires the projected image to complete screen entry and focusing operations.

[0169] The principle of lateral axis shifting is the same as that of longitudinal axis shifting.

[0170] like Figure 29As shown, after tilt-shifting, the camera coverage area Q1' completely covers the TOF sensor coverage area Q2', and the TOF sensor coverage area Q2' completely covers the projected image Q3'. When the user issues commands via remote control to move the image up and to the left to their limits based on their usage scenario, the tilt-shift lens moves along the first and second directions under the drive of its drive motor. In specific implementation, based on the displacement adjustment mechanism, it generally moves to the limit in one direction first, and then moves along the other direction. At the same time, the TMR sensor of the tilt-shift lens transmits the actual tilt-shift distance to the circuit board 400. The circuit board 400 determines that the tilt-shift direction of the TMR sensor is two directions, and reads the preset mapping table of tilt-shift distance and lens optical axis angle. It then converts the read lens optical axis angle into corresponding commands to drive the first servo motor 313 and the second servo motor 315 to rotate to the corresponding angle. Automatic calibration, focusing and other service systems are automatically triggered to identify the image, simultaneously acquire TOF point cloud and RGB images from the camera 330, use TOF data to assist other sensors in calculating the projection device's attitude, and acquire the projected image through the camera 330 to complete operations such as screen entry and focusing.

[0171] Obviously, those skilled in the art can make various modifications and variations to the embodiments of this application without departing from the spirit and scope of this application. Therefore, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

Claims

1. A projection device, characterized in that, include: Main support; A tilt-shift lens module is fixed to the main support; The tilt-shift lens module includes: Main subject of the lens; A displacement adjustment mechanism, drivenly connected to the lens body, is used to drive the lens body to move relative to the main support in a first direction and / or a second direction; the first direction and the second direction are perpendicular; and A displacement sensor is used to detect the amount of displacement of the lens body; and A TOF camera module is fixed to the main bracket; the TOF camera module includes: An angle adjustment mechanism is fixed to the main support; the angle adjustment mechanism is signal-connected to the displacement sensor. A TOF sensor is fixed to the angle adjustment mechanism; and The camera is fixed to the angle adjustment mechanism; The angle adjustment mechanism is used to drive the TOF sensor and the camera to rotate synchronously around the first direction and / or around the second direction according to the displacement of the lens body detected by the displacement sensor.

2. The projection device according to claim 1, characterized in that, The angle adjustment mechanism includes: The base is fixed to the main support; The first bracket is rotatably mounted on the base on the side opposite to the main bracket; A first drive assembly is fixed to the base and is connected to the first bracket in a transmission manner, for driving the first bracket to rotate relative to the base about the second direction; The second bracket is rotatably mounted on the first bracket; The second drive assembly is fixed to the base and is connected to the second bracket in a transmission manner, and is used to drive the second bracket to rotate relative to the first bracket around the first direction; Both the TOF sensor and the camera are fixed to the second bracket.

3. The projection device according to claim 2, characterized in that, The first drive component includes a first servo motor.

4. The projection device according to claim 2, characterized in that, The second driving component includes: Second servo motor; and A transmission gear pair; the input end of the transmission gear pair is connected to the second servo motor, and the output end of the transmission gear pair is connected to the rotating shaft of the second bracket.

5. The projection device according to claim 2, characterized in that, The second bracket is provided with a protective component; the protective component cooperates with the second bracket to form a first cavity; Both the TOF sensor and the camera are fixed inside the first cavity; The protective component is provided with a first light-transmitting window that cooperates with the TOF sensor and the camera.

6. The projection device according to claim 5, characterized in that, The protection component includes: A protective component is fixed to the second bracket; the protective component has a cutout window corresponding to the positions of the TOF sensor and the camera; and A light-transmitting element is fitted over the perforated window to form the first light-transmitting window.

7. The projection device according to any one of claims 1-6, characterized in that, The projection device also includes a housing, which includes a front housing; the main support is fixed inside the housing. A ring-shaped flexible component is provided at the position corresponding to the TOF camera module on the front shell; the ring-shaped flexible component is connected to the angle adjustment mechanism.

8. The projection device according to claim 7, characterized in that, The annular flexible component is provided with a first magnetic component, and the angle adjustment mechanism is provided with a second magnetic component. The first magnetic component and the second magnetic component are magnetically connected.

9. The projection device according to any one of claims 1-6, characterized in that, The projection device also includes a circuit board, which is fixed to the main support; the displacement sensor and the angle adjustment mechanism are both connected to the circuit board.

10. A projection system, characterized in that, include: A projection device, wherein the projection device is the projection device according to any one of claims 1-9; The projection screen is located on the light-emitting side of the projection device.

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