Projection control method and device, and storage medium

Abstract

The present application discloses a projection control method and device, and a storage medium. The method comprises: acquiring a first image, wherein under a first position relationship between a projection area of a projector and a target area pointed to by a remote control device, the first image is an image related to the projection area and the target area; acquiring at least one second image, and adjusting the pose of the projector on the basis of the first image and the at least one second image, so that a position relationship between the projection area of the projector after pose adjustment and the target area becomes a second position relationship, wherein the second image is an image related to the projection area and the target area when the target area deflects relative to the projection area on the basis of the motion of the remote control device, and the projector has a different pose for each corresponding different second image.

Description

Projection control method, device and storage medium

[0001] Cross-reference to related applications

[0002] This application is based on and claims priority to Chinese Patent Application No. 202410436977.1, filed on April 11, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the field of projection technology, and in particular to a projection control method, device and storage medium. BACKGROUND

[0004] With the development of projection technology, the demand of users for projection devices is also changing. For example, the application of current portable projection devices also promotes the demand of users for projection devices to be miniaturized, mobile and high-resolution.

[0005] In the application scenario of directional projection, the projection device can perform multi-directional projection. Therefore, how to ensure that the projection picture can follow the user's desired direction when the projection device performs directional projection becomes a technical problem to be solved urgently. SUMMARY

[0006] The embodiments of the present application provide a projection control method, device and storage medium, which can control the projection picture of the projection device to follow the user's desired direction.

[0007] The technical solution of the embodiments of the present application is as follows:

[0008] The embodiments of the present application provide a projection control method, which acquires a first image, the first image being an image of a projection area of a projector and a target area pointed by a remote control device in a first positional relationship with respect to the projection area and the target area;

[0009] At least one second image is acquired, and the pose of the projector is adjusted based on the first image and the at least one second image, so that the positional relationship between the projection area of the pose-adjusted projector and the target area reaches a second positional relationship. The second image is an image of the target area with respect to the projection area and the target area based on the deflection of the target area relative to the projection area based on the movement of the remote control device, and the pose of the projector is different corresponding to different second images.

[0010] The embodiments of the present application provide a projection control device, which comprises:

[0011] The first acquisition module is configured to acquire a first image, the first image being an image of a projection area of a projector and a target area pointed by a remote control device in a first positional relationship with respect to the projection area and the target area;

[0012] The second acquisition module is configured to acquire at least one second image; wherein the second image is an image of the target area with respect to the projection area in a deflection situation of the target area relative to the projection area based on a movement of the remote control device, and the pose of the projector is different corresponding to different second images;

[0013] The adjustment module is configured to adjust the pose of the projector based on the first image and the at least one second image, so that the positional relationship between the projection area of the projector after the pose adjustment and the target area reaches a second positional relationship.

[0014] Embodiments of the present application provide a projection control device, comprising a processor, a memory and a communication bus;

[0015] The communication bus is configured to realize the communication connection between the processor and the memory;

[0016] The processor is configured to execute a computer program stored in the memory to realize the projection control method.

[0017] Embodiments of the present application provide a computer readable storage medium, that is, a storage medium, which stores one or more computer programs, and the one or more computer programs can be executed by one or more processors to realize the projection control method.

[0018] Embodiments of the present application provide a projection control method, device and storage medium, acquiring a first image, the first image being an image of a projection area of a projector and a target area pointed by a remote control device in a first positional relationship with respect to the projection area and the target area; acquiring at least one second image, and adjusting the pose of the projector based on the first image and the at least one second image, so that the positional relationship between the projection area of the projector after the pose adjustment and the target area reaches a second positional relationship; wherein the second image is an image of the target area with respect to the projection area in a deflection situation of the target area relative to the projection area based on a movement of the remote control device, and the pose of the projector is different corresponding to different second images, so as to control the projection device to move with the movement of the remote control device, thereby controlling the position of the projection area of the projection device. BRIEF DESCRIPTION OF DRAWINGS

[0019] FIG. 1 is a flow diagram of a projection control method according to an embodiment of the present application;

[0020] FIG. 2 is a schematic diagram of an example of acquisition of a second image according to an embodiment of the present application;

[0021] FIG. 3 is a schematic diagram of an example of acquisition of a second image according to an embodiment of the present application;

[0022] FIG. 4 is a flowchart of a projection control method according to an embodiment of the present application;

[0023] FIG. 5 is a schematic diagram of a scene of an example of a projection control method according to an embodiment of the present application;

[0024] FIG. 6 is a schematic diagram of a scene of an example of a projection control method according to an embodiment of the present application;

[0025] FIG. 7 is a schematic diagram of a scene of an example of a projection control method according to an embodiment of the present application;

[0026] FIG. 8 is a schematic diagram of a scene of an example of a projection control method according to an embodiment of the present application;

[0027] FIG. 9 is a flowchart of an example of a projection control method according to an embodiment of the present application;

[0028] FIG. 10 is a flowchart of an example of a projection control method according to an embodiment of the present application;

[0029] FIG. 11 is a schematic diagram of a structure of a projection control device according to an embodiment of the present application;

[0030] FIG. 12 is a schematic diagram of an optional structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0031] The technical solutions in the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It can be understood that the specific embodiments described herein are only used to explain the related application, and not to limit the application. In addition, it should be noted that, for the convenience of description, only the parts related to the application are shown in the drawings.

[0032] The present application provides a projection control method, which is applied to a projection control device. The projection control device can be a projection device (such as a projector) or a device (such as a remote control device or a cloud server) connected to the projection device. The remote control device is a device capable of controlling the projection device, such as a remote controller or a mobile phone.

[0033] The projection control method provided by the present application, as shown in FIG. 1, includes:

[0034] In S101, the projection control device acquires a first image, which is an image of a projection area of a projector and a target area pointed to by a remote control device in a first positional relationship with respect to the projection area and the target area.

[0035] The projection area is an area in which a projection picture of the projector is located. In the image including the first image, the projection area is embodied as the projection picture, or the display content of the projection area in the image is the projection picture. The target area pointed to by the remote control device can be understood as an area corresponding to a collection range of the remote control device when collecting the image, or a projection area of a projection image or light rays when the remote control device projects the image, that is, the target area can be a collection area or a projection area of the remote control device in the image. In the embodiments of the present application, the remote control device has an image collection module or a light emitting module. The image collection module can collect the image, and in the collected image, the target area is the entire collection area. The light emitting module can project the image or the light rays, and the target area is an area occupied by the projected image or light rays in the image.

[0036] In the embodiments of the present application, the projector projects the projection picture onto the projection surface, and the position of the projection picture changes with the change of the pose of the projector. The change of the pose of the projector includes one or both of the change of the position and the change of the projection angle. The pose of the remote control device can be controlled by the user to change, and the position of the target area changes with the change of the pose of the remote control device. The change of the pose of the remote control device includes one or both of the change of the position and the change of the control angle.

[0037] In the embodiments of the present application, the change of the pose of the projector can be caused by one or more of the following: rotation of a gimbal of the projector, change of the position of an optical engine in the projector, and change of the relative position of a lens and a light valve in the optical engine of the projector, so that the position of the projection picture of the projector changes. In the embodiments of the present application, the optical engine in the projector includes a light source, a light valve, and a lens. The light source is used to generate light rays. The light valve is used to generate a projection image, i.e., the projection picture, based on the light rays generated by the light source. The lens is used to project the projection picture to the projection area. The movement of the gimbal drives the overall movement of the projector.

[0038] In the embodiments of the present application, the first image is an image including the projection area and the target area of the remote control device collected in the first positional relationship between the projection area and the target area. In an example, the first positional relationship is that the projection area and the target area overlap in the first image. In an example, the first positional relationship is that there is an offset between the projection area and the target area, and the offset is a reference offset.

[0039] S102, the projection control device acquires at least one second image, and adjusts the pose of the projector based on the first image and the at least one second image, so that the projection area of the pose-adjusted projector and the position relationship of the target area reach a second position relationship; wherein the second image is an image of the target area about the projection area and the target area under the deflection of the target area relative to the projection area based on the motion of the remote control device, and the pose of the projector is different corresponding to different second images.

[0040] In the embodiments of the present application, under the condition that the pose of the projector remains unchanged, the remote control device can adjust the pose of the projector based on the motion of the user.

[0041] Under the condition that the target area of the remote control device is deflected relative to the projection area of the projector, one or more second images are acquired, wherein the second image is an image content including the display area and the target area collected under the condition that the target area of the remote control device is deflected relative to the projection area of the projector.

[0042] In the embodiments of the present application, the acquired one or more second images can include one second image under the condition that the pose of the projector remains unchanged, and can also include multiple second images under the condition that the pose of the projector changes.

[0043] In an example, one second image is collected under the condition that the remote control device moves and stops moving, and the pose of the projector remains unchanged.

[0044] In an example, multiple second images are collected under the condition that the remote control device moves and the pose of the projector remains unchanged until the remote control device stops moving.

[0045] In an example, one second image is collected under the condition that the remote control device moves and the pose of the projector remains unchanged, and multiple second images are collected under the condition that the remote control device moves and the projector moves with the motion of the remote control device.

[0046] Based on the above examples, it can be determined that the second image provided by the embodiments of the present application involves the following two cases:

[0047] Case one, relative to the pose of the first position relationship, the pose of the projector remains unchanged based on the motion of the remote control device.

[0048] Case two, relative to the pose of the first position relationship, the pose of the projector changes based on the motion of the remote control device.

[0049] Based on the above examples, it can be determined that the projection control scene provided by the embodiments of the present application includes the following two scenes:

[0050] Scenario one, the projector moves after the remote control device stops moving, until the relationship between the projection area of the projector and the target area of the remote control device reaches a second position relationship.

[0051] Scenario two, the projector moves following the movement of the remote control device, until the relationship between the projection area of the projector and the target area of the remote control device reaches a second position relationship.

[0052] In scenario one, the acquired second image only includes the second image under the case one.

[0053] In scenario two, the acquired second image includes the second image under the case one and the second image under the case two.

[0054] In the embodiments of the present application, the second position relationship can be a position relationship with an error less than a set offset threshold value from the first position relationship. The second position relationship can also be a position relationship when the stop motion instruction is received, wherein the stop motion instruction can be an instruction triggered by the projector or the remote control device based on the user's stop motion operation.

[0055] It should be noted that the image type of the first image and the second image can include one of the following: an RGB image, an infrared image, a depth image, etc., and the image types of the first image and the second image are the same. In the embodiments of the present application, the image type is determined based on the type of the image acquisition module of the device that acquires the image.

[0056] The embodiments of the present application provide a projection control method, acquiring a first image, the first image being an image of a projection area of a projector and a target area pointed to by a remote control device in a first position relationship with respect to the projection area and the target area; acquiring at least one second image, and adjusting a pose of the projector based on the first image and the at least one second image, so that the position relationship between the projection area of the pose-adjusted projector and the target area reaches a second position relationship; wherein the second image is an image of the target area with respect to the projection area under the condition that the target area is deflected with respect to the projection area based on the movement of the remote control device, and the pose of the projector is different corresponding to different second images, so as to control the projector to move with the movement of the remote control device, thereby controlling the position of the projection area of the projector.

[0057] In some embodiments, S101 acquires the first image, including:

[0058] acquire the image of the target region collected by the remote control device in the first positional relationship between the projection region and the target region, to obtain the first image; wherein, in the case that the at least one second image includes a plurality of second images, the position of the projection region in different second images is different.

[0059] Here, an image acquisition module is arranged in the remote control device, and the remote control device collects images of the projection region and the target region. The projection region is embodied as a projection picture in the image collected by the remote control device. The target region is embodied as the entire image region in the image collected by the remote control device, and in the case that the remote control device collects images, the collection range of the remote control device is the same in different second images, so the size of the collection region is the same in different second images, at this time, the collection region can be considered unchanged. The position of the projection region in different images collected by the remote control device is different with the movement of the remote control device.

[0060] It can be understood that the deflection of the target region relative to the projection region based on the movement of the remote control device is embodied as the different positions of the projection region in the images collected by the remote control device before and after the movement.

[0061] In the embodiments of the present application, the first image and the second image are both collected by the remote control device.

[0062] If the remote control device collects a plurality of different second images, the different second images are the second images in the case that the positional relationship between the target region and the collection region is different, and the position of the projection region in different second images is different.

[0063] In an example, the projection picture of the projection region projected by the projector is shown as 201 in FIG. 2, the remote control device 202 collects images, and collects image 203 in scene 21 and collects image 204 in scene 22. Based on the illustration in FIG. 2, when the angle of the remote control device 202 changes from the angle in scene 21 to the angle in scene 22, the position of the projection region 201 in the collection region changes.

[0064] In the embodiments of the present application, if the projection control device is a remote control device, the remote control device collects the first image and the second image, that is, the first image and the second image are acquired. If the projection control device is a device other than the remote control device, such as a projector, a cloud server, etc., the remote control device sends the collected first image and second image to the projection control device, and the projection control device acquires the first image and the second image.

[0065] In some embodiments, S101 acquires the first image, including: acquiring the image of the projection region collected by the projector in the first positional relationship between the projection region and the target region, to obtain the first image; wherein, the position of the target region in different second images is different.

[0066] Here, the image acquisition module is arranged in the projector, the projector acquires images about the projection area and the target area, the light-emitting module is arranged in the projector, and the light or the projected picture is projected. The projection area is embodied as the entire image including the projected picture in the image acquired by the projector. The target area is embodied as the area occupied by the light or the projected picture in the image acquired by the projector, and in the case of acquiring the image by the projector, the acquisition range of the projector is the same in different second images, so the size of the acquisition area is the same in different second images, at this time, the acquisition area can be considered unchanged. The position of the target area in different images acquired by the projector is different with the movement of the remote control device.

[0067] It can be understood that the target area is deflected relative to the projection area based on the movement of the remote control device, and is embodied as that the position of the target area in the images acquired by the remote control device before and after the movement is different.

[0068] In the embodiment of the application, the first image and the second image are both acquired by the projector.

[0069] If the projector acquires multiple different second images, the different second images are second images in the case that the position relationship between the target area and the acquisition area is different, and the position of the target area in different second images is different.

[0070] In an example, the projected picture of the projection area projected by the projector is shown as 201 in FIG. 2, the projector 301 acquires images, and acquires the image 302 in the scene 31 and acquires the image 303 in the scene 32, based on FIG. 3, when the position of the projector 301 changes from the scene 31 to the scene 32, the position of the target area 304 in the acquisition area 305 of the projector changes, that is, the position in the image 302 changes relative to the position in the image 303.

[0071] In the embodiment of the application, if the projection control device is the projector, the first image and the second image acquired by the projector are obtained. If the projection control device is a device other than the projector, such as a remote control device or a cloud server, the projector sends the acquired first image and second image to the projection control device, and the projection control device obtains the first image and the second image.

[0072] In the embodiment of the application, the device for acquiring the first image and the second image and the projection control device for executing the projection control method provided by the embodiment of the application are the same device or different devices, and the acquisition of the first image and the second image can be performed on the projector or the remote control device, therefore, the projection control method provided by the embodiment of the application can be applied to different projection environments.

[0073] In some embodiments, the adjusting the pose of the projector comprises adjusting a position of an optical engine in the projector.

[0074] Here, the pose of the projector is adjusted by adjusting a change in the position of the optical engine in the projector, the pose of the projector changes with the change in the position of the optical engine, so that the projection area of the projector changes.

[0075] It can be understood that, in the case of a change in the position of the optical engine of the projector, the optical engine moves relative to the housing of the projector.

[0076] In some embodiments, the adjusting the pose of the projector comprises adjusting a position of a lens and / or a light valve in the optical engine of the projector, so that the relative position of the lens and the light valve changes.

[0077] In an example, only the position of the lens in the optical engine is adjusted, the position of the light valve remains unchanged, and the relative position of the lens relative to the light valve changes.

[0078] In an example, only the position of the light valve in the optical engine is adjusted, the position of the lens remains unchanged, and the relative position of the lens relative to the light valve changes.

[0079] In an example, the positions of the light valve and the lens in the optical engine are adjusted together, so that the relative position of the lens relative to the light valve changes.

[0080] Here, the pose of the projector is adjusted by adjusting the position of the light valve and / or the lens in the optical engine in the projector, so that the relative position between the lens and the light valve changes, and in turn the projection area of the projector changes.

[0081] In some embodiments, the acquiring at least one second image and adjusting the pose of the projector based on the first image and the at least one second image comprises: acquiring an initial second image, the initial second image being a second image under the condition that the pose of the projector is not adjusted; determining an offset of the target area or the projection area based on the second image and the first image, and controlling the movement of the projector based on the offset; in the case that the positional relationship between the projection area and the target area does not reach the second positional relationship, acquiring a new second image of the projector after the movement, and continuing to determine a new offset of the target area or the projection area based on the new second image and the first image, and controlling the movement of the projector based on the new offset, until the positional relationship between the projection area and the target area reaches the second positional relationship.

[0082] In the embodiments of the present application, the process of acquiring at least one second image and adjusting the pose of the projector based on the first image and the at least one second image can be as shown in FIG. 4, comprising:

[0083] S401, obtaining an initial second image;

[0084] S402, determining an offset based on the second image and the first image;

[0085] S403, controlling the motion of the projector based on the offset;

[0086] S404, determining whether the positional relationship between the projection region and the target region reaches the second positional relationship.

[0087] If the second positional relationship is not reached, S405 is performed, and if the second positional relationship is reached, the process ends.

[0088] S405, obtaining a new second image after the motion of the projector.

[0089] After obtaining the new second image, S402 is performed based on the new second image until the positional relationship between the projection region and the target region reaches the second positional relationship in S404.

[0090] For S403, controlling the motion of the projector based on the offset can include controlling the translation or rotation of the projector based on the offset.

[0091] In some embodiments, when controlling the motion of the projector based on the offset, the control of the motion of the projector can include one or more of the following: controlling the motion of a gimbal, controlling the motion of an optical engine in the projector, and controlling the motion of a light valve and / or a lens in the optical engine, wherein the motion of the gimbal drives the overall motion of the projector.

[0092] For S404, determining whether the positional relationship between the projection region and the target region reaches the second positional relationship can include one or more of the following determination methods:

[0093] Method one: determining whether the offset of the positional relationship between the projection region and the target region in the second image relative to the first positional relationship is less than a set offset threshold value.

[0094] Method two: determining whether a stop motion instruction is received.

[0095] In method one, the offset of the positional relationship between the projection region and the target region in the second image relative to the first positional relationship can be determined by determining the offset of the target region or the projection region in the second image relative to the first image; if the offset of the target region or the projection region in a second image is less than the offset threshold value, it can be considered that the offset of the positional relationship between the projection region and the target region in the second image relative to the first positional relationship is less than the set offset threshold value, i.e., the positional relationship between the target region and the projection region reaches the second positional relationship.

[0096] In the second judging mode, if the stop motion instruction is received, it is considered that the positional relationship between the target region and the projection region reaches the second positional relationship.

[0097] In the embodiments of the present application, if the first image and the second image are collected by the remote control device, the positions of the projection regions in different second images are different, the position of the projection region in the second image and the position of the projection region in the first image are compared to determine the offset of the projection region, and the determined offset of the projection region is used as the basis for measuring whether the positional relationship between the current projection region and the target region reaches the second positional relationship.

[0098] In the embodiments of the present application, if the first image and the second image are collected by the projector, the positions of the target regions in different second images are different, the position of the target region in the second image and the position of the target region in the first image are compared to determine the offset of the target region, and the determined offset of the target region is used as the basis for measuring whether the positional relationship between the current projection region and the target region reaches the second positional relationship.

[0099] In S405, the previous second image and the next second image obtained can be different second images collected based on the first time length as the time interval, or the next second image obtained can also be a second image collected by the projector after the movement based on the offset corresponding to the previous second image. The device for collecting the second image can periodically collect the second image based on the first time length during the movement of the projector, at this time, the different second images are images periodically collected by the projector during the movement with the first time length as the period. After controlling the movement of the projector, the projection control device can also send a collection instruction to the device for collecting the second image to instruct the device for collecting the second image to collect a new second image.

[0100] In the embodiments of the present application, the projection control device compares each second image collected during the movement of each projector with the first image before the movement of the projector and the remote control device, respectively, so as to determine whether the positional relationship between the target region and the projection region reaches the second positional relationship during the movement of the projector based on the second image and the first image, so that the movement of the projector is stopped in time in the case that the stopping position of the projector reaches the second positional relationship, thereby effectively and accurately controlling the movement of the projector following the movement of the remote control device.

[0101] In some embodiments, the determination of the offset of the target region or the projection region based on the second image and the first image comprises:

[0102] determining at least one feature point between the first image and the second image;

[0103] determining the offset based on the positions of each feature point in the first image and the second image in the at least one feature point.

[0104] In a case where the image types of the collected first image and second image belong to RGB images, infrared images, or the like, the projection control device can perform feature point recognition on the first image and the second image, and recognize the positions of the same feature points in the first image and the second image. In an embodiment of the present application, the algorithm for recognizing the feature points in the first image and the second image includes, but is not limited to, a Scale-invariant feature transform (SIFT) algorithm, a Harris corner detection algorithm, and the like.

[0105] After detecting the feature points in the first image and the second image, for each feature point in the detected multiple feature points, based on the position information of the feature point in the first image and the position information of the feature point in the second image, the offset component of the feature point is determined; and the average value of the offset components of the multiple feature points is determined as the offset.

[0106] In an embodiment of the present application, the first image and the second image are two-dimensional images including two dimensions of X-axis and Y-axis, therefore, the offset can include an offset on the X-axis and an offset on the Y-axis, for the offset on the X-axis, the coordinate information of the feature point on the X-axis can be used for determination, and for the offset on the Y-axis, the coordinate information of the feature point on the Y-axis can be used for determination.

[0107] For the second image Ii, the jth feature point (a total of m feature points) and the jth feature point of the first image I0, the offset components can be denoted as d0ijx=(T0jx-Tijx) and d0ijy=(T0jy-Tijy), where d0ijx is the offset component on the X-axis, d0ijy is the offset component on the Y-axis, the offset on the X-axis determined based on the m feature points can be expressed as dx=(d0i0x+…d0imx) / m, and the offset on the Y-axis determined based on the m feature points can be expressed as dy=(d0i0y+…d0imy) / m.

[0108] In an embodiment of the present application, in a case where the offset on the X-axis and the offset on the Y-axis exist, the offset is determined to be less than the offset threshold value in a case where the offset on the X-axis is less than a first offset threshold value and the offset on the Y-axis is less than a second offset threshold value.

[0109] In some embodiments, the determining, based on the second image and the first image, of the offset of the target region or the projection region comprises:

[0110] determining a first position point in the second image;

[0111] determining a second position point in the second image, the depth of the second position point in the second image being the same as the depth of the first position point in the first image;

[0112] determining the offset based on position information of the first position point and the second position point in the second image.

[0113] In the case that the first image and the second image belong to depth images, the offset of the same spatial position point in the first image and the second image is searched, wherein the position points with the same depth can be considered as the same spatial position point.

[0114] The first position point is a set point, such as a user-selected position point, a center position point, etc.

[0115] Taking the first position point as the center position point in the second image as an example, the position of the spatial point corresponding to the center position point in the first image in the second image, i.e., the second position point, is searched.

[0116] Here, the depth of the spatial point corresponding to the center position point in the first image is di, and the position of the second position point in the second image with the depth di is searched. It can be understood that the position of the spatial point in the first image is the first position, and the position of the spatial point in the second image is the second position, and the position of the spatial point is determined based on the position information of the first position point and the position information of the second position point.

[0117] In an example, the center position point is marked as (xc, yc), and the position information of the second position point is (xi, yi), and the offset of the spatial point between the first image and the second image can be represented as: dx=xi-xc, dy=yi-yc. Wherein, dx represents the offset on the X axis, and dy represents the offset on the Y axis.

[0118] In the embodiments of the present application, the control mode of controlling the motion of the projector based on the offset includes but is not limited to the following two control modes:

[0119] Control mode one, the offset is used to determine the motion direction;

[0120] Control mode two, the offset is used to determine the motion amount.

[0121] For control mode one, in the case that the offset is used to determine the motion direction, the control of the motion of the projector based on the offset includes: determining direction indication information based on the offset; and controlling the motion of the projector based on the direction indication information and a motion step length.

[0122] Here, according to whether the offset is for the target region or the projection region, the offset greater than or less than 0 corresponds to different motion directions.

[0123] In the embodiments of the present application, in the case that the projector follows the motion of the remote control device, if the offset is the offset of the projection area, if the offset is greater than 0, the corresponding motion direction is negative, if the offset is less than 0, the corresponding motion direction is positive, so that the size of the offset of the projection area becomes smaller and smaller, and then the projection area follows the target area,

[0124] In the embodiments of the present application, in the case that the projector follows the motion of the remote control device, if the offset is the offset of the target area, if the offset is greater than 0, the corresponding motion direction is positive, if the offset is less than 0, the corresponding motion direction is negative, so that the projection area follows the target area.

[0125] In the embodiments of the present application, after the motion direction is determined, the projector can be controlled to translate or rotate based on the set translation step or rotation step.

[0126] In some embodiments, the control projection device can be provided with a rotation coefficient, and the translation amount or the rotation angle can be determined based on the motion coefficient and the translation step or the rotation step, so that the projector is controlled to translate or rotate based on the translation amount or the rotation angle.

[0127] For the second control mode, in the case that the offset is used to determine the motion amount, the control of the projector based on the offset includes: determining the motion amount based on the offset; and controlling the projector to move based on the motion amount.

[0128] Here, the motion amount can be a translation amount or a rotation angle, and the translation amount or the rotation angle is determined based on the offset, and the projector is controlled to perform translation of the translation amount or rotation of the rotation angle.

[0129] If the motion amount is a translation amount, the offset can be used as the translation amount to control the projector to translate.

[0130] If the motion amount is a rotation angle, the rotation angle can be determined based on the offset and a depth difference, where the depth difference is the depth difference of the same space point in the first image and the second image. If the first image and the second image are depth images, the first depth d0 of the first position point in the first image and the second depth di of the first position point in the second image can be determined, and the first depth difference is determined, at this time, the X-axis direction rotation angle Y-axis direction rotation angle

[0131] In the embodiments of the present application, if the motion amount is a rotation angle, the control of the projector based on the motion amount includes: determining a to-be-rotated angle based on the rotation angle corresponding to the second image and a rotated angle, the rotated angle being the rotation angle corresponding to the previous second image; and controlling the projector to rotate based on the to-be-rotated angle.

[0132] Here, the rotation angle determined based on the second image and the first image is an angle that the projector needs to rotate relative to the first positional relationship shown in the first image under the current second image, at this time, the projector has rotated the rotation angle corresponding to the previous second image, i.e., the rotated angle, therefore, at this time, the current rotation angle needs to be subtracted from the rotation angle corresponding to the previous second image to obtain the rotation angle that needs to be rotated at present.

[0133] It can be understood that, in the embodiments of the present application, based on the difference in movement mode and the difference in control mode, the movement of the projector is controlled based on the offset amount, including the following four modes:

[0134] Mode one, based on the offset amount, determine the translation direction indication information, based on the translation direction indication information and the translation step length, control the translation of the projector;

[0135] Mode two, based on the offset amount, and the offset amount, determine the to-be-offset amount, the offset amount is the offset amount corresponding to the previous second image; based on the to-be-offset amount, control the translation of the projector;

[0136] Mode three, based on the offset amount, determine the rotation direction indication information, based on the rotation direction indication information and the angle step length, control the rotation of the projector;

[0137] Mode four, determine the first depth of the first position point in the second image, determine the second depth of the second position point in the first image, based on the offset amount and the first depth, the second depth, determine the rotation angle, based on the rotation angle control the rotation of the projector.

[0138] Here, the control mode of mode one and mode three is control mode one, and the control mode of mode two and mode four is control mode two. The movement mode of mode one and mode two is translation, and the movement mode of mode three and mode four is rotation or rotation.

[0139] The projection control method provided by the embodiments of the present application can be applied to any one of the projection control scenes shown in FIGS. 5 to 8.

[0140] The projection control scene 1 is shown in FIG. 5, before the remote control device 501 moves, the positional relationship between the remote control device 501 and the projector 502 is shown as 51, at this time, a first image can be collected, after the remote control device 501 ends the translation, the positional relationship between the projector 502 and the remote control device 501 is shown as 52, at this time, a second image is collected, based on a first image and a second image, determine the translation amount, and based on the translation amount, control the translation of the projector, so that the positional relationship between the projector 502 and the remote control device 501 reaches 51.

[0141] Projection control scenario 1, as shown in FIG. 6, before the remote control device 501 moves, the positional relationship between the remote control device 501 and the projector 502 is as shown in 61, at this time, a first image can be collected, during the translation of the remote control device 501, the positional relationship between the projector 502 and the remote control device 501 is as shown in 62, at this time, a second image is collected, and the translation amount is determined based on the second image and the first image, and the projector is translated based on the determined translation amount; during the translation of the projector, the remote control device 501 can continue to translate, and the positional relationship between the projector 502 and the remote control device 501 is as shown in 63, at this time, a second image is continuously collected, the translation amount is determined based on the first image and the new second image, and the translation of the projector is controlled based on the determined translation amount, so that the positional relationship between the projector 502 and the remote control device 501 reaches the positional relationship shown in 61.

[0142] Projection control scenario 3, as shown in FIG. 7, before the remote control device 501 moves, the positional relationship between the remote control device 501 and the projector 502 is as shown in 71, at this time, a first image can be collected, after the remote control device 501 rotates, the positional relationship between the projector 502 and the remote control device 501 is as shown in 72, at this time, a second image is collected, the rotation amount is determined based on the first image and the second image, and the rotation of the projector is controlled based on the determined rotation amount, so that the positional relationship between the projector 502 and the remote control device 501 reaches the positional relationship shown in 73. Among them, 73 and 71, the positional relationship between the projection area and the target area is the same or the offset amount is less than the set offset threshold value.

[0143] Projection control scenario 4, as shown in FIG. 8, before the remote control device 501 moves, the positional relationship between the remote control device 501 and the projector 502 is as shown in 81, at this time, a first image can be collected, during the rotation of the remote control device 501, the positional relationship between the projector 502 and the remote control device 501 is as shown in 82, at this time, a second image is collected, and the rotation angle is determined based on the second image and the first image, and the rotation of the projector is controlled based on the rotation angle; during the rotation of the projector, the remote control device 501 can continue to rotate, and the positional relationship between the projector 502 and the remote control device 501 is as shown in 83, at this time, a second image is continuously collected, a new rotation angle is determined based on the first image and the second image, and the rotation of the projector is controlled based on the determined rotation angle, so that the positional relationship between the projector 502 and the remote control device 501 reaches 84, wherein 84 and 81, the positional relationship between the projection area and the target area is the same or the offset amount is less than the set offset threshold value.

[0144] Next, the projection control method provided by the embodiments of the present application is further described.

[0145] From the product interaction, the projection control method provided by the embodiments of the present application can be as shown in FIG. 9 or FIG. 10.

[0146] As shown in FIG. 9, the projection control method provided by the embodiment of the present application comprises:

[0147] S901, the projector projects a projection picture.

[0148] S902, the remote controller photographs the projection picture and transmits the photographed picture to the projector.

[0149] S903, the user rotates the remote controller, the remote controller photographs the projection picture in the rotating process in real time and transmits the photographed picture to the projector.

[0150] S904, the projector analyzes the picture returned by the remote controller and adjusts the rotation of the gimbal.

[0151] Here, the rotation of the gimbal achieves the purpose of the projector following the remote controller.

[0152] It should be noted that S904 can be replaced by the projector analyzing the picture returned by the remote controller and adjusting the up-down and left-right movement of the light engine, thereby driving the rotation of the projection picture to achieve the purpose of following the remote controller.

[0153] As shown in FIG. 10, the projection control method provided by the embodiment of the present application comprises:

[0154] S1001, the projector is equipped with an infrared emission module or a light emission module and emits infrared light or other visible light patterns to the projection picture.

[0155] S1002, the projector photographs the pattern emitted by the remote controller through the Tof module or the RGB camera module equipped by itself.

[0156] S1003, when the user rotates the remote controller, the pattern emitted by the remote controller rotates accordingly.

[0157] The projector calculates the pattern offset through the sensor and the algorithm and controls the rotation of the gimbal to achieve the following effect or controls the movement of the light engine to achieve the following effect.

[0158] The projection control method provided by the embodiment of the present application can be implemented as follows, but is not limited to the following embodiments.

[0159] Embodiment one

[0160] The projector projects a projection picture. The projection picture projected by the projector includes but is not limited to a checkerboard or a picture with more features, and can also directly play a film without projecting a feature picture.

[0161] The remote controller takes a picture of the projection picture of the projector through the sensing module to obtain a reference image, i.e., a first image. The reference image can be denoted as image I0, and the remote controller returns the image I0 to the projector. The remote controller returns the image I0 to the projector through WiFi or Bluetooth, etc. The remote controller takes a picture through the sensing module and returns the picture to the projector. In the case that the remote controller is rotated to a preset angle, the remote controller takes a picture through the sensing module, wherein the spatial position of the remote controller does not change during the rotation. Here, the remote controller takes a picture to obtain an image I1 when the projector has not started to rotate, and returns the image I1 to the projector.

[0162] In the rotation process of the projector, the remote controller takes a picture through the sensing module to obtain an image I2, …, an image Ip, and returns the images I2, …, the image Ip to the projector. The image Ip is the last picture taken before the rotation of the gimbal stops, and the size of p can be determined according to actual conditions.

[0163] The projector determines the rotation parameters according to the images returned by the remote controller and the reference image. The projector calculates the feature points of the images I0 and Ii returned by the remote controller one by one, pairs the feature point set of the image I1 with the feature point set of I0, determines the feature point pairs, and calculates the offset of the feature point pairs of the images I0 and I1.

[0164] The offset of the jth feature point (a total of m feature points) and the jth feature point of I0 can be denoted as d0ijx=(T0jx-Tijx), d0ijy=(T0jy-Tijy), where T0jx represents the x coordinate of the jth feature point on I0 on the taken image, T0jy represents the y coordinate of the jth feature point on I0 on the taken image, Tijx represents the x coordinate of the jth feature point on the ith picture Ii on the taken image, and Tijy represents the y coordinate of the jth feature point on the ith picture Ii on the taken image. The average offset pixel distance of the feature point pairs in the x direction and the y direction is calculated, wherein the average offset pixel distance of the feature point pairs in the x direction and the y direction is denoted as dx and dy, respectively, wherein dx=(d0i0x+…d0imx) / m, and dy=(d0i0y+…d0imy) / m. The rotation parameters include the rotation direction and the rotation angle, and the determined rotation parameters are used to control the rotation of the gimbal. The rotation angle is the product of the set rotation step and the rotation coefficient, and the rotation coefficient is an adjustable parameter, which decreases with the increase of the number of rotations. In an example, when dx>0, the gimbal rotates to the right, and when dy>0, the gimbal rotates downward, and vice versa. The step length of each rotation of the gimbal is: the unit angle of the gimbal * α (wherein α is the rotation coefficient).

[0165] The projector rotates based on the rotation parameter. The holder of the projector rotates according to the rotation direction and the rotation angle.

[0166] When the projector meets the stop rotation condition, the rotation is stopped.

[0167] The holder of the projector completes a rotation, and it is determined whether the projector meets the stop rotation condition. When the stop rotation condition is met, the projector no longer rotates. When the stop rotation condition is not met, the image returned by the remote controller and the reference image are repeatedly executed to determine the rotation parameter until the projector meets the stop rotation condition.

[0168] During the rotation of the holder of the projector, dx and dy are constantly reduced. When dx and dy are less than a certain threshold in the respective direction, it is determined that the projector meets the stop rotation condition, and the holder stops rotating in the corresponding direction.

[0169] The rotation adjustment of the holder in the above embodiment one is the movement of the light machine. The light machine can be calibrated in advance to move one unit in the horizontal direction and the vertical direction, and the projection picture moves dpx and dpy in the horizontal direction and the vertical direction, respectively. When dx>0, the light machine motor drives the projection picture to move to the right, and when dy>0, the light machine motor drives the projection picture to move downward. Conversely, the light machine moves in the opposite direction. The step length of the light machine motor in the horizontal direction and the vertical direction is dx / dpx and dy / dpy, respectively.

[0170] Embodiment two

[0171] A multi-point Tof module is arranged in front of the remote controller. The Tof resolution can be n*m (for example, 100*100) or higher. The remote controller can return the ranging image captured by the Tof device to the projector through Bluetooth or Wifi.

[0172] The projection control method provided by the embodiment of the application comprises:

[0173] The remote controller is directed to the projection wall surface, the time when the projector first acquires the Tof image I0 returned by the remote controller is recorded as T0, and the pixel ranging value of the center coordinate (xc, yc) of the Tof device is acquired, which is recorded as d0.

[0174] At the time Ti when the remote controller rotates to a preset angle, the projector acquires the ranging value di of the center (xc, yc) of the Tof ranging image Ii again, and determines the rotation parameter. The projector queries the n*m pixel ranging values of the Tof ranging image Ii, and records the coordinate (xi, yi) of the point closest to d0. dy=yi-yc is calculated, and dx=xi-xc is calculated. The rotation angle of the vertical direction, that is, the y-axis, is calculated as The rotation angle of the horizontal direction, that is, the x-axis, is calculated as The projector can control the rotation of the holder in the vertical direction and the horizontal direction according to the rotation parameter.

[0175] The projector can also control the movement of the light machine in the vertical direction and the horizontal direction according to the rotation parameter. In this case, when dx>0, the light machine drives the projection picture to move to the right, and when dy>0, the light machine drives the projection picture to move downward, and vice versa. The step length of the light machine motor in the horizontal direction and the vertical direction is dx / dpx and dy / dpy, respectively.

[0176] Embodiment three

[0177] In embodiment three, the remote controller is equipped with an infrared light emitting module or a light emitting module capable of projecting a pattern. It can emit infrared light or a pattern.

[0178] The remote controller is aligned with the projection wall surface, and emits infrared light or a pattern.

[0179] The projector uses its own sensing module to capture the pattern emitted by the remote controller to obtain a reference image I0.

[0180] After the remote controller is rotated, the projector captures images to obtain images I1, I2…In, and calculates the angle at which the holder needs to be rotated based on I1, I2…In and the reference image I0, respectively.

[0181] The projection control method provided by the embodiments of the present application has the following advantages:

[0182] 1. The method of additionally adding a shooting module or a light emitting module on the remote controller to achieve the linkage with the projector is proposed.

[0183] 2. The user does not need to enter a specific operation interface, but only needs to rotate the remote controller to control the interactive method of linkage with the projector.

[0184] 3. By continuously comparing the change amount of the feature points, the rotation of the holder is adjusted to continuously optimize the change amount of the feature points in the direction of reduction, and finally the holder is rotated to the stop position of the remote controller.

[0185] 4. The method of installing a Tof sensor on the remote controller to control the rotation of the holder by using the ranging angle change of the Tof is proposed.

[0186] To realize the above-mentioned projection control method, the embodiments of the present application provide a projection control device 1100, as shown in FIG. 11, which comprises:

[0187] The first acquisition module 1101 is configured to acquire a first image, which is an image of a projection area of a projector and a target area pointed by a remote control device in a first positional relationship with respect to the projection area and the target area.

[0188] The second acquisition module 1102 is configured to acquire at least one second image; wherein the second image is an image of the target region relative to the projection region based on movement of the remote control device and deflection of the target region relative to the projection region, and the pose of the projector is different for different second images.

[0189] The adjustment module 1103 is configured to adjust the pose of the projector based on the first image and the at least one second image, so that the position relationship between the projection region of the projector after the pose adjustment and the target region reaches a second position relationship.

[0190] In some embodiments, the first acquisition module 1101 is further configured to:

[0191] acquire an image of the target region collected by the remote control device when the projection region and the target region are in a first position relationship, to obtain the first image; wherein, in the case that the at least one second image includes a plurality of second images, the position of the projection region in different second images is different.

[0192] In some embodiments, the first acquisition module 1101 is further configured to:

[0193] acquire an image of the projection region collected by the projector when the projection region and the target region are in a first position relationship, to obtain the first image; wherein, in the case that the at least one second image includes a plurality of second images, the position of the target region in different second images is different.

[0194] In some embodiments, the adjustment module 1103 is further configured to adjust the position of an optical engine in the projector.

[0195] In some embodiments, the adjustment module 1103 is further configured to adjust the position of a lens and / or a light valve in the optical engine of the projector, so that the relative position of the lens and the light valve changes.

[0196] In some embodiments,

[0197] The second acquisition module 1102 is further configured to acquire an initial second image, which is a second image when the pose of the projector is not adjusted.

[0198] The adjustment module 1103 is further configured to determine an offset of the target region or the projection region based on the second image and the first image.

[0199] The adjustment module 1103 is further configured to control the movement of the projector based on the offset.

[0200] The second obtaining module 1102 is further configured to, in a case where the positional relationship between the projection area and the target area does not reach the second positional relationship, obtain a new second image after the projector moves until the positional relationship between the projection area and the target area reaches the second positional relationship. The adjusting module 1103 is further configured to continue to determine a new offset of the target area or the projection area based on the new second image and the first image, and control the projector to move based on the new offset until the positional relationship between the projection area and the target area reaches the second positional relationship.

[0201] In some embodiments, the projection control device 1100 further includes a determining module configured to: in a case where an offset of the positional relationship between the projection area and the target area in the second image relative to the first positional relationship is less than a set offset threshold, determine that the positional relationship between the projection area and the target area reaches the second positional relationship.

[0202] In some embodiments, the adjusting module 1103 is further configured to:

[0203] determine at least one feature point between the first image and the second image;

[0204] determine the offset based on positions of each feature point in the at least one feature point in the first image and the second image.

[0205] In some embodiments, the adjusting module 1103 is further configured to:

[0206] determine a first position point in the second image;

[0207] determine a second position point in the second image, the depth of the second position point in the second image being the same as the depth of the first position point in the first image;

[0208] determine the offset based on position information of the first position point and the second position point in the second image.

[0209] In some embodiments, the adjusting module 1103 is further configured to:

[0210] determine direction indication information based on the offset;

[0211] control the projector to move based on the direction indication information and a movement step length.

[0212] In some embodiments, the adjusting module 1103 is further configured to:

[0213] determine a movement amount based on the offset;

[0214] based on the motion amount, control the projector to move.

[0215] It should be noted that the data processing system provided by the embodiments of the present application includes various logical units, which can be implemented by a processor in an electronic device; of course, it can also be implemented by a specific logical circuit; in the implementation process, the processor can be a central processing unit (CPU), a micro processing unit (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA), etc.

[0216] The above description of the system embodiments is similar to the description of the method embodiments, and has similar beneficial effects as the method embodiments. For technical details not disclosed in the system embodiments of the present application, please refer to the description of the method embodiments for understanding.

[0217] It should be noted that if the page display method described above is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read only memory (ROM), a magnetic disk or an optical disk, and various program code storage media. Thus, the embodiments of the present application are not limited to any specific hardware and software combination.

[0218] The embodiments of the present application also provide a projection control device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps in the projection control method described above when executing the computer program.

[0219] Correspondingly, the embodiments of the present application provide a storage medium, that is, a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the projection control method provided in the above embodiments.

[0220] It should be noted that the description of the above storage medium embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium embodiments of the present application, please refer to the description of the method embodiments of the present application.

[0221] It should be noted that FIG. 12 is a schematic diagram of a hardware entity of an electronic device (projection control device) according to an embodiment of the present application. As shown in FIG. 12, the electronic device 1200 includes a processor 1201, at least one communication bus 1202, at least one external communication interface 1204, and a memory 1205. The communication bus 1202 is configured to realize the connection and communication between the components. In an example, the electronic device 1200 further includes a user interface 1203. The user interface 1203 can include a display screen, and the external communication interface 1204 can include a standard wired interface and a wireless interface.

[0222] The memory 1205 is configured to store instructions and applications executable by the processor 1201, and can also cache data (for example, image data, audio data, voice communication data, and video communication data) to be processed by the processor 1201 and modules in the electronic device, or data that has been processed. The memory 1205 can be implemented by a FLASH or a Random Access Memory (RAM).

[0223] It should be understood that the terms "one embodiment" or "an embodiment" mentioned throughout the specification mean that the specific features, structures, or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in some embodiments" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that the size of the sequence numbers of the above processes does not mean the execution order in various embodiments of the present application. The execution order of the processes should be determined according to their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The sequence numbers of the above embodiments of the present application are only for description, and do not represent the advantages or disadvantages of the embodiments.

[0224] It should be noted that in this document, the terms "comprise", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed or inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "comprises a" does not exclude the presence of another identical element in the process, method, article or device including the element.

[0225] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other manners. The above described device embodiments are merely exemplary. For example, the division of the units is merely a logical function division. There can be another division manner for the actual implementation, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed coupling, or direct coupling or communication connection between the components can be indirect coupling or communication connection through some interfaces, devices, or units, and can be electrical, mechanical, or in other forms.

[0226] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units; they can be located in one place, or distributed on multiple network units; and some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0227] In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be realized in the form of hardware, or in the form of hardware plus software functional units.

[0228] Those of ordinary skill in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by a program instructing related hardware, and the foregoing program can be stored in a computer readable storage medium, and when the program is executed, the steps of the method embodiments are executed; and the foregoing storage medium includes mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, and various media that can store program codes.

[0229] Alternatively, the integrated units of the present application, if implemented in the form of software functional modules and sold or used as independent products, can also be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application can be embodied in the form of a software product, and the computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present application. The foregoing storage medium includes mobile storage devices, ROM, magnetic disks or optical disks, and various media that can store program codes.

[0230] The above merely provides the implementation of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of the change or replacement within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A projection control method, comprising: Acquire a first image, where the first image is an image of a projection area of ​​a projector and a target area pointed to by a remote control device in a first positional relationship between the projection area and the target area; Acquire at least one second image, and adjust the posture of the projector based on the first image and the at least one second image so that the positional relationship between the projection area of ​​the projector and the target area reaches a second positional relationship after the posture adjustment; wherein the second image is an image of the projection area and the target area when the target area is deflected relative to the projection area based on the movement of the remote control device, and the posture of the projector is different for different second images.

2. The method according to claim 1, wherein The acquiring of the first image comprises: Acquire an image of the target area captured by the remote control device when the projection area and the target area are in a first positional relationship to obtain the first image; wherein, when the at least one second image includes multiple second images, the position of the projection area in different second images is different.

3. The method according to claim 1, wherein The acquiring of the first image comprises: Acquire an image of the projection area captured by the projector when the projection area and the target area are in a first positional relationship to obtain the first image; wherein, when the at least one second image includes multiple second images, the position of the target area in different second images is different.

4. The method according to claim 1, wherein The adjusting the posture of the projector includes: Adjust the position of the optical machine in the projector.

5. The method according to claim 1, wherein The adjusting the posture of the projector includes: The position of the lens and / or the light valve in the optical engine of the projector is adjusted so that the relative position of the lens and the light valve changes.

6. The method according to any one of claims 1 to 5, wherein: The acquiring of at least one second image and adjusting the position of the projector based on the first image and the at least one second image includes: Acquire an initial second image, where the initial second image is a second image obtained when the position of the projector is not adjusted; determining an offset of the target area or the projection area based on the second image and the first image, and controlling the movement of the projector based on the offset; When the positional relationship between the projection area and the target area has not reached the second positional relationship, a new second image after the projector moves is acquired, and a new offset of the target area or the projection area is determined based on the new second image and the first image, and the projector movement is controlled based on the new offset until the positional relationship between the projection area and the target area reaches the second positional relationship.

7. The method according to claim 6, wherein: The acquiring of at least one second image and adjusting the position of the projector based on the first image and the at least one second image further includes: If an offset of a positional relationship between the projection area and the target area in the second image relative to the first positional relationship is less than a set offset threshold, it is determined that the positional relationship between the projection area and the target area reaches the second positional relationship.

8. The method according to claim 6, wherein: The determining, based on the second image and the first image, an offset of the target area or the projection area includes: determining at least one feature point between the first image and the second image; The offset is determined based on a position of each feature point of the at least one feature point in the first image and the second image.

9. The method according to claim 6, wherein: The determining, based on the second image and the first image, an offset of the target area or the projection area includes: determining a first position point in the second image; determining a second position point in the second image, wherein a depth of the second position point in the second image is the same as a depth of the first position point in the first image; The offset is determined based on position information of the first position point and the second position point in the second image.

10. The method according to claim 6, wherein: The controlling the motion of the projector based on the offset comprises: determining direction indication information based on the offset; The projector is controlled to move based on the direction indication information and the movement step length.

11. The method according to claim 6, wherein: The controlling the motion of the projector based on the offset comprises: determining an amount of motion based on the offset; Based on the amount of movement, the projector is controlled to move.

12. A projection control device, comprising: processor, memory, and communication bus; The communication bus is used to realize the communication connection between the processor and the memory; The processor is configured to execute the computer program stored in the memory to implement the projection control method according to any one of claims 1 to 8. 13 . A computer-readable storage medium storing one or more computer programs, wherein the one or more computer programs can be executed by one or more processors to implement the projection control method according to claim 1 .

Images