CN118250444A

CN118250444A - Projection control method, device and storage medium

Info

Publication number: CN118250444A
Application number: CN202410436977.1A
Authority: CN
Inventors: 苏博文; 余金清; 冉鹏
Original assignee: Jimi Technology Co ltd
Current assignee: Jimi Technology Co ltd
Priority date: 2024-04-11
Filing date: 2024-04-11
Publication date: 2024-06-25

Abstract

The application discloses a projection control method, which comprises the following steps: acquiring a first image, wherein the first image is an image of a projection area of a projector and a target area pointed by a remote control device in a first position relation 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 position relationship between the projection area of the projector with the adjusted pose and the target area reaches a second position relationship; the second images are images of the projection area and the target area under the condition that the target area deflects relative to the projection area based on the movement of the remote control device, the second images are different, and the pose of the projector is different.

Description

Projection control method, device and storage medium

Technical Field

The present application relates to the field of projection technologies, and in particular, to a projection control method, apparatus, and storage medium.

Background

With the development of projection technology, the demands of users for projection devices are also changing. For example, current portable projection device applications also drive the user's demand for projection devices toward miniaturization, portability, and high resolution.

In a dynamic projection application scene, the projection device is capable of multi-directional projection. Therefore, how to ensure that the projection screen can follow the user's desired direction for projection when the projection device performs moving projection is a technical problem to be solved.

Disclosure of Invention

The embodiment of the application provides a projection control method, equipment and a storage medium, which can control a projection picture of projection equipment to project along a user expected direction.

The technical scheme of the embodiment of the application is realized as follows:

the embodiment of the application provides a projection control method, which comprises the steps of obtaining a first image, wherein the first image is an image of a projection area of a projector and a target area pointed by remote control equipment under a first position relation;

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 position relationship between the projection area of the projector with the adjusted pose and the target area reaches a second position relationship; the second images are images of the projection area and the target area under the condition that the target area deflects relative to the projection area based on the movement of the remote control device, the second images are different, and the pose of the projector is different.

The embodiment of the application provides projection control equipment, which comprises the following components:

the first acquisition module is used for acquiring a first image, wherein the first image is an image of a projection area of a projector and a target area pointed by remote control equipment in a first position relation with respect to the projection area and the target area;

A second acquisition module for acquiring at least one second image; the second images are images of the projection area and the target area under the condition that the target area deflects relative to the projection area based on the movement of the remote control device, the second images correspond to different second images, and the pose of the projector is different;

And the adjusting module is used for adjusting 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 area of the projector with the adjusted pose and the target area reaches a second position relationship.

The embodiment of the application provides projection control equipment, which comprises the following components: a processor, a memory, and a communication bus;

the communication bus is used for realizing communication connection between the processor and the memory;

The processor is configured to execute the computer program stored in the memory, so as to implement the projection control method.

Embodiments of the present application provide a computer-readable storage medium, i.e., a storage medium, storing one or more computer programs executable by one or more processors to implement the above-described projection control method.

The embodiment of the application provides a projection control method, a device and a storage medium, wherein a first image is acquired, and the first image is an image of a projection area of a projector and a target area pointed by remote control equipment under a first position relation; 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 position relationship between the projection area of the projector with the adjusted pose and the target area reaches a second position relationship; the second images are images of the projection area and the target area under the condition that the target area deflects relative to the projection area based on the movement of the remote control device, the positions of the projectors are different corresponding to the different second images, and accordingly the projection device is controlled to move along with the movement of the remote control device, and therefore the position of the projection area of the projection device is controlled.

Drawings

Fig. 1 is a schematic flow chart of a projection control method according to an embodiment of the present application;

FIG. 2 is a schematic view of an exemplary second image acquisition provided by an embodiment of the present application;

FIG. 3 is a schematic view of an exemplary second image acquisition provided by an embodiment of the present application;

fig. 4 is a schematic flow chart of a projection control method according to an embodiment of the present application;

fig. 5 is a schematic view of a scene of an exemplary projection control method according to an embodiment of the present application;

Fig. 6 is a schematic view of a scene of an exemplary projection control method according to an embodiment of the present application;

fig. 7 is a schematic view of a scene of an exemplary projection control method according to an embodiment of the present application;

fig. 8 is a schematic view of a scene of an exemplary projection control method according to an embodiment of the present application;

FIG. 9 is a flowchart of an exemplary projection control method according to an embodiment of the present application;

FIG. 10 is a flowchart of an exemplary projection control method according to an embodiment of the present application;

FIG. 11 is a schematic diagram of a projection control apparatus according to an embodiment of the present application;

fig. 12 is an alternative structural schematic diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It is to be understood that the specific embodiments described herein are merely illustrative of the application and not limiting of the application. It should be noted that, for convenience of description, only a portion related to the related application is shown in the drawings.

The embodiment of the application provides a projection control method which is applied to projection control equipment, wherein the projection control equipment can be projection equipment (such as a projector) or equipment connected with the projection equipment (such as a remote control equipment or a cloud server). The remote control device is a device such as a remote controller and a mobile phone capable of controlling the projection device.

The projection control method provided by the embodiment of the application, as shown in fig. 1, comprises the following steps:

s101, a projection control device acquires a first image, wherein the first image is an image of a projection area of a projector and a target area pointed by a remote control device in a first position relation.

The projection area is an area where a projection screen of the projector is located in the image, and in the image including the first image, the projection area is embodied as the projection screen, or a display content of the projection area in the image is the projection screen. The target area pointed by the remote control device can be understood as an area corresponding to an acquisition range when the remote control device acquires an image or a projection area of projecting an image or light when the remote control device projects an image, i.e. the target area can be an acquisition area or a projection area of the remote control device in the image. In the embodiment of the application, the remote control equipment is provided with an image acquisition module or a light emitting module, the image acquisition module can acquire images, and in the acquired images, a target area is an acquisition area, namely the whole area of the acquired images; the light-emitting module can project an image or light, and the target area is the area occupied by the projected image or light in the image.

In the embodiment of the application, the projector projects the projection picture onto the projection surface, and the position of the projection picture changes along with the change of the pose of the projector. The change in the pose of the projector includes a change in position and a change in projection angle. The pose of the remote control device may be controlled to vary by the user, and the position of the target area varies with the pose of the remote control device. The change in the pose of the remote control device includes a change in position and a change in control angle.

In the embodiment of the application, the first image is an image which is acquired by a projection area of the projector and a target area of the remote control device under a first position relationship and comprises the projection area and the target area. In one example, the first positional relationship is that the projection region overlaps the target region in the first image. In an example, the first positional relationship is that there is an offset between the projection region and the target region and the offset is a reference offset.

S102, the projection control equipment 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 position relationship between the projection area of the projector and the target area after the pose adjustment reaches a second position relationship; the second images are images of the projection area and the target area under the condition that the target area deflects relative to the projection area based on the movement of the remote control device, the second images are different, and the pose of the projector is different.

In the embodiment of the application, under the condition that the pose of the projector is unchanged, the remote control equipment can move based on the operation of a user, and along with the movement of the remote control equipment, the target area of the remote control equipment deflects relative to the projection area of the projector.

One or more second images are acquired in the event that the target area of the remote control device is deflected relative to the projection area of the projector, wherein the second images are images of the display area and the target area that are acquired in the event that the target area of the remote control device is deflected relative to the projection area of the projector.

In the embodiment of the application, the acquired one or more second images may include a second image of a projector with unchanged pose, and may also include a second image of a plurality of projectors with changed pose.

In one example, a second image is acquired after the remote control device is moved and stopped and the pose of the projector is unchanged.

In one example, a plurality of second images are acquired during movement of the remote control device without a change in the pose of the projector until the remote control device stops moving.

In an example, one second image is acquired during movement of the remote control device and the pose of the projector is unchanged, and a plurality of second images are acquired during movement of the remote control device and the projector moves with movement of the remote control device.

Based on the above examples, it can be determined that the second image provided by the embodiment of the present application relates to the following two cases:

In the first case, the pose of the projector is unchanged based on the change of the motion pose of the remote control device relative to the pose of the first position relation;

In the second case, the remote control device changes the pose relative to the first position relationship based on the motion pose, and the pose of the projector changes based on the motion.

Based on the above examples, it may be determined that the projection control scene provided by the embodiment of the present application includes the following two scenes:

The first scene and the projector move after the remote control device stops moving until the relation between the projection area of the projector and the target area of the remote control device reaches a second position relation.

The second scene and the projector move along with the movement of the remote control device until the relation between the projection area of the projector and the target area of the remote control device reaches a second position relation.

In scene one, the acquired second image includes only the second image in the case.

In the second scene, the acquired second image includes the second image in the case and the second image in the case.

In the embodiment of the present application, the second positional relationship may be a positional relationship in which an error with the first positional relationship is smaller than a set offset threshold value. The second positional relationship may also be a positional relationship upon receiving a stop motion instruction, wherein the stop motion instruction may be an instruction triggered by the projector or the remote control device based on a stop motion operation by the user.

It should be noted that, the image types of the first image and the second image may include one of the following: RGB images, infrared images, depth images, etc., and the image types of the first image and the second image are the same. The image type in the embodiment of the application is determined based on the type of the image acquisition module of the device for acquiring the image.

The embodiment of the application provides a projection control method, which comprises the steps of obtaining a first image, wherein the first image is an image of a projection area of a projector and a target area pointed by remote control equipment under a first position relation; 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 position relationship between the projection area of the projector with the adjusted pose and the target area reaches a second position relationship; the second images are images of the projection area and the target area under the condition that the target area deflects relative to the projection area based on the movement of the remote control device, the positions of the projectors are different corresponding to the different second images, and accordingly the projection device is controlled to move along with the movement of the remote control device, and therefore the position of the projection area of the projection device is controlled.

In some embodiments, S101 acquires a first image, including:

Acquiring an image of the target area acquired by the remote control equipment in a first position relation between the projection area and the target area, and obtaining the first image; wherein, in case the at least one second image comprises a plurality of second images, the positions of the projection areas in different second images are different.

Here, an image acquisition module is provided in the remote control apparatus, and the remote control apparatus acquires images on the projection area and the target area. The projection area is embodied as a projection screen in an image acquired by the remote control device. The target area is embodied as the whole image area in the image collected by the remote control device, and in the case of collecting the image by the remote control device, the collecting range of the remote control device is the same in different second images, and the collecting area is the same in size in different second images, at this time, the collecting area can be considered as unchanged. The projection area is positioned differently in different images acquired by the remote control device as the remote control device moves.

It will be appreciated that deflection of the target area relative to the projection area based on movement of the remote control device is manifested by the projection area being differently positioned in images acquired by the remote control device before and after movement.

In the embodiment of the application, the first image and the second image are acquired by remote control equipment.

If the remote control device acquires a plurality of different second images, the different second images are the second images under the condition that the position relationship between the target area and the acquisition area is different, and the positions of the projection areas in the different second images are different.

In an example, the projected screen of the projected area projected by the projector is shown as 201 in fig. 2, the remote control device 202 captures an image, and the image 203 is captured in the scene 21, and the image 204 is captured in the scene 22, based on the illustration of fig. 2, when the angle of the remote control device 202 changes from the angle in the scene 21 to the angle of the scene 22, the position of the projected area 205 in the capture area 206 changes.

In the embodiment of the application, if the projection control device is a remote control device, the remote control device acquires the first image and the second image, namely the first device and the second device are acquired. If the projection control equipment is equipment except for remote control equipment such as a projector and a cloud server, the remote control equipment sends the collected first image and second image to the projection control equipment, and the projection control equipment acquires the first image and the second image.

In some embodiments, S101 acquires a first image, including: acquiring an image of the projection area acquired by the projector under a first position relation between the projection area and the target area, and obtaining the first image; wherein the target area is located differently in the second, different image.

Here, an image collection module is provided in the projector, the projector collects images on the projection area and the target area, a light emitting module is provided in the projector, and light or a projection screen is projected. The projection area is embodied in the image acquired by the projector as an entire image including the projection screen. The target area is represented as a light ray or an area occupied by a projection 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, and the size of the acquisition area is the same in different second images, at this time, the acquisition area can be considered as unchanged. The target area is positioned differently in different images acquired by the projector as the remote control device moves.

It will be appreciated that deflection of the target area relative to the projection area based on movement of the remote control device is manifested by a difference in the location of the target area in images acquired by the remote control device before and after movement.

In the embodiment of the application, the first image and the second image are acquired by a projector.

If the projector acquires a plurality of different second images, the different second images are the second images under the condition that the position relationship between the target area and the acquisition area is different, and the positions of the target area in the different second images are different.

In an example, the projected picture of the projected area projected by the projector is shown as 201 in fig. 2, the projector 301 acquires an image, and an image 302 is acquired in the scene 31, an image 303 is acquired in the scene 32, and when the position of the projector 301 changes from the position in the scene 31 to the position in 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 with respect to the position in the image 303, based on the illustration of fig. 3.

In the embodiment of the application, if the projection control device is a projector, the first image and the second image are acquired by the projector. If the projection control equipment is equipment except for a projector such as a remote control equipment and a cloud server, the projector sends the acquired first image and second image to the projection control equipment, and the projection control equipment acquires the first image and the second image.

In the embodiment of the application, the equipment for acquiring the first image and the second image and the projection control equipment for executing the projection control method provided by the embodiment of the application are the same equipment or different equipment, and the acquisition of the first image and the second image can be carried out at the projector or the remote control equipment, so that the projection control method provided by the embodiment of the application can be suitable for different projection environments.

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, wherein the initial second image is a second image under the condition that the pose of the projector is not adjusted; determining an offset of the target region or the projection region based on the second image and the first image; controlling the projector motion based on the offset; and if the position relation between the projection area and the target area does not reach the second position relation, acquiring a new second image, wherein the new second image is a second image after the projector moves, and determining the offset of the target area or the projection area again based on the second image and the first image until the position relation between the projection area and the target area reaches the second position relation.

In an embodiment of the present application, a 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 may be as shown in fig. 4, including:

S401, acquiring an initial second image;

s402, determining an offset based on the second image and the first image;

s403, controlling projector movement based on the offset;

S404, judging whether the position relation between the projection area and the target area reaches the second position relation.

If the second positional relationship is not reached, S405 is executed, and if the second positional relationship is reached, the process ends.

S405, acquiring a new second image after the projector moves.

After the new second image is obtained, S402 is performed based on the new second image until the positional relationship of the projection area and the target area reaches the second positional relationship in S404.

For S403, controlling projector movement based on the offset may control projector translation or rotation based on the offset.

For S404, determining whether the positional relationship of the projection area and the target area reaches the second positional relationship may include one or more of the following manners of determination:

The first judgment mode is used for judging that the offset of the position relation between the projection area and the target area in the second image relative to the first position relation is smaller than a set offset threshold value;

And judging the second mode, and judging whether a motion stopping instruction is received.

In the first judgment mode, the offset of the position relationship between the projection area and the target area in the second image relative to the first position relationship can be determined by judging the offset of the target area or the projection area in the second image relative to the first image; the offset of the target area or the projection area in the second image is smaller than the offset threshold, and it can be considered that the offset of the position relationship between the projection area and the target area in the second image relative to the first position relationship is smaller than the set offset threshold, that is, the position relationship between the target area and the projection area reaches the second position relationship.

In the second determination mode, if the movement stopping instruction is received, the positional relationship between the target area and the projection area may be considered to reach the second positional relationship.

In the embodiment of the application, if the first image and the second image are acquired by the remote control device, the positions of the projection areas in the different second images are different, the positions of the projection areas in the second image and the positions of the projection areas in the first image are used for determining the offset of the projection areas, and the determined offset of the projection areas is used as a basis for measuring whether the position relationship between the current projection area and the target area reaches the second position relationship.

In the embodiment of the application, if the first image and the second image are acquired by the projector, the positions of the target areas in the different second images are different, and the positions of the target areas in the second image and the positions of the target areas in the first image are used for determining the offset of the target areas, and the determined offset of the target areas is used as a basis for measuring whether the position relationship between the current projection area and the target areas reaches the second position relationship.

In S405, the acquired previous second image and the subsequent second image may be different second images acquired for the time interval based on the first duration, or the acquired subsequent second image may be a second image after the projector moves based on the offset corresponding to the previous second image. The device for acquiring the second image can acquire the second image periodically based on the first time length in the projector movement process, and at this time, the different second image is an image acquired periodically by the projector movement process with the first time length as a period. After controlling the projector to move, the projection control device can also send an acquisition instruction to the device for acquiring the second image, so as to instruct the device for acquiring the second image to acquire a new second image.

In the embodiment of the application, the projection control equipment compares each second image acquired in the movement process of each projector with the first image before the movement of the projector and the remote control equipment, so that whether the position relationship between the target area and the projection area in the movement process of the projector reaches the second position relationship or not is judged based on the second image and the first image, and the projector is controlled to stop moving in time under the condition that the stay position of the projector reaches the second position relationship, thereby effectively and accurately controlling the projector to move along with the movement of the remote control equipment.

In some embodiments, the determining an offset of the target region or the projected region based on the second image and the first image comprises:

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

The offset is determined based on the position of each of the at least one feature point in the first image and the second image.

Under the condition that the acquired image types of the first image and the second image belong to images such as RGB images, infrared images and the like, the projection control equipment can identify the characteristic points of the first image and the second image and identify the positions of the same characteristic points in the first image and the second image. In an embodiment of the present application, the algorithm for identifying the feature points in the first image and the second image by the projection control device includes, but is not limited to, a Scale-invariant feature transform (SIFT) algorithm, a Harris corner detection algorithm, and other feature point detection algorithms.

After the feature points in the first image and the second image are detected, determining an offset component of each of the detected feature points based on the position information of the feature point in the first image and the position information in the second image; an average value of offset components of the plurality of feature points is determined as an offset.

In the embodiment of the application, the first image and the second image are two-dimensional images comprising two dimensions of an X axis and a Y axis, so that the offset can comprise the offset on the X axis and the offset on the Y axis, the offset on the X axis can be determined based on the coordinate information of the feature point on the X axis, and the offset on the Y axis can be determined based on the coordinate information of the feature point on the Y axis.

For the second image Ii, the jth feature point (m feature points in total) and the jth feature point of the first image I0 may be denoted as d0ijx = (T0 jx-Tijx) and d0ijy = (T0 jy-Tijy), where d0ijx is an offset component on the X axis, d0ijy is an offset component on the Y axis, the offset of the X axis determined based on the m feature points may be denoted as dx= (d0i0x+..d0 imx)/m, and the offset of the Y axis determined based on the m feature points may be denoted as dy= (d0i0y+..d0 imy)/m.

In the embodiment of the application, under the condition that the offset on the X axis and the offset on the Y axis exist, the offset is determined to be smaller than the offset threshold value under the condition that the offset on the X axis is smaller than the first offset threshold value and the offset on the Y axis is smaller than the second offset threshold value.

determining a first location point in the second image;

determining a second location point in the second image, the depth of the second location point in the second image being the same as the depth of the first location point in the first image;

The offset is determined based on the position information of the first position point and the second position point in the second image.

And searching the offset of the same spatial position point in the first image and the second image under the condition that the first image and the second image belong to the depth image, wherein the position points with the same depth can be regarded as the same spatial position point.

The first location point is a set point, such as a location point selected by a user, a center location point, and the like.

Taking the first position point as a central position point in the second image as an example, searching the position of the space point corresponding to the central position point in the first image in the second image, namely the second position point.

Here, if the depth of the spatial point corresponding to the center position point in the first image is di, the position of the spatial point in the second image, that is, the position of the second position point with the depth of di, is found, and it is 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.

In an example, where the center location point is labeled (xc, yc) and the location information of the second location point is (xi, yi), the offset of the spatial point between the first image and the second image may be expressed as: dx=xi-xc, dy=yi-yc. Where dx represents the offset on the X-axis and dy represents the offset on the Y-axis.

In the embodiment of the present application, the control modes for controlling the movement of the projector based on the offset include, but are not limited to, the following two control modes:

The first control mode and the offset are used for determining the movement direction;

the second control mode and the offset are used for determining the motion quantity.

For the first control mode, in a case that an offset is used to determine a movement direction, the controlling the movement of the projector based on the offset includes: determining direction indication information based on the offset; and controlling the projector to move based on the direction indication information and the movement step length.

Here, the offset amount greater or less than 0 corresponds to different movement directions depending on whether the offset amount is the target area or the projection area.

In the embodiment of the application, under the condition that the projector moves along with the remote control equipment, if the offset is the offset of the projection area, if the offset is greater than 0, the corresponding movement direction is negative, and if the offset is less than 0, the corresponding movement direction is positive, so that the offset of the projection area is smaller and smaller, and the projection area is enabled to keep up with the target area,

In the embodiment of the application, under the condition that the projector moves along with the remote control equipment, if the offset is the offset of the target area, if the offset is greater than 0, the corresponding movement direction is positive, and if the offset is less than 0, the corresponding movement direction is negative, so that the projection area keeps up with the target area.

In the embodiment of the application, after the movement direction is determined, the projector can be controlled to translate or rotate based on the set translation step length or rotation step length.

In some embodiments, the control projection device may be provided with a rotation coefficient, and the translation amount or rotation angle may be determined based on the motion coefficient and the translation step or rotation step, thereby controlling the projector to translate or rotate based on the translation amount or rotation angle.

For the second control mode, in a case where an offset is used to determine the amount of motion, the controlling the projector to move based on the offset includes: determining an amount of motion based on the offset; and controlling the projector to move based on the movement amount.

Here, the movement amount may be a translation amount or a rotation angle, and then the translation amount or the rotation angle is determined based on the offset amount, and the projector is controlled to perform translation of the translation amount or to perform rotation of the rotation angle.

If the motion amount is a translation amount, the projector may be controlled to translate using the offset amount as the translation amount.

If the amount of motion is an angle of rotation, the angle of rotation may be determined based on the offset and a depth difference, where the depth difference is the depth difference of the same spatial point in the first image and the second image. If the first image and the second image are depth images, a first depth d0 of the first position point in the first image and a second depth di of the first position point in the second image can be determined, and a first depth difference is determined, and at this time, the X-axis direction rotates by an angleY-axis direction rotation angle

In an embodiment of the present application, if the motion amount is a rotation angle, controlling the projector to perform motion based on the motion amount includes: determining a to-be-rotated angle based on the rotation angle corresponding to the second image and the rotated angle, wherein the rotated angle is the rotation angle corresponding to the last second image; and controlling the projector to rotate based on the angle to be rotated.

Here, the rotation angle determined based on the second image and the first image is an angle that the projector needs to rotate with respect to the first positional relationship shown by the first image under the current second image, and at this time, the projector has rotated by the rotation angle corresponding to the previous second image, that is, the rotated angle, and therefore, at this time, the rotation angle that needs to be rotated at present needs to be obtained by subtracting the rotation angle corresponding to the previous second image from the current rotation angle.

It can be understood that, in the embodiment of the present application, based on the difference of the motion modes and the difference of the control modes, the projector motion is controlled based on the offset, including the following four modes:

Determining translation direction indication information based on the offset, and controlling the projector to translate based on the translation direction indication information and a translation step length;

determining an offset to be offset based on the offset and the offset, wherein the offset is the offset corresponding to the previous second image; controlling the projector to translate based on the amount to be offset;

Determining rotation direction indication information based on the offset, and controlling the projector to rotate based on the rotation direction indication information and the angle step length;

And determining a first depth of a first position point in the second image, determining a second depth of a second position point in the first image, determining the rotation angle based on the offset, the first depth and the second depth, and controlling the rotation of the projector based on the rotation angle.

Here, the control method of the first and third modes is the control method one, and the control method of the second and fourth modes is the control method two. The movement modes of the first mode and the second mode are translation, and the movement modes of the third mode and the fourth mode are rotation or rotation.

The projection control method provided by the embodiment of the application can be applied to the projection control scene shown in any one of fig. 5 to 8.

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 may be acquired, after the translation of the remote control device 501 is finished, the positional relationship between the projector 502 and the remote control device 501 is shown as 52, at this time, a second image is acquired, the translation amount is determined based on the first image and the second image, and the translation of the projector is controlled based on the translation amount, so that the positional relationship between the projector 502 and the remote control device 501 is shown as 51.

The projection control scene 1 is shown in fig. 6, before the remote control device 501 moves, the position relationship between the remote control device 501 and the projector 502 is shown as 61, at this time, a first image may be acquired, during the translation of the remote control device 501, the position relationship between the projector 502 and the remote control device 501 is shown as 62, at this time, a second image is acquired, and the projector is controlled to determine the translation amount based on the second image and the first image, and translate based on the determined translation amount; in the process of projector translation, the remote control device 501 may continue to translate, and the positional relationship between the projector 502 and the remote control device 501 is shown as 63, at this time, the second image is continuously acquired, 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 is shown as 61.

The projection control scene 3, as shown in fig. 7, is such that before the remote control device 501 moves, the positional relationship between the remote control device 501 and the projector 502 is shown as 71, at which time a first image is acquired, and after the remote control device 501 rotates the beam, the positional relationship between the projector 502 and the remote control device 501 is shown as 72, at which time a second image is acquired, 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 as 73. In 73 and 71, the positional relationship between the projection area and the target area is the same or the offset is smaller than the set offset threshold value.

The projection control scene 4 is shown in fig. 8, before the remote control device 501 moves, the position relationship between the remote control device 501 and the projector 502 is shown as 81, at this time, a first image can be acquired, during the rotation of the remote control device 501, the position relationship between the projector 502 and the remote control device 501 is shown as 82, at this time, a second image is acquired, the projector is controlled to determine the rotation angle based on the second image and the first image, and the projector is controlled to rotate based on the rotation angle; in the rotation process of the projector, the remote control device 501 can continue to rotate, and the position relationship between the projector 502 and the remote control device 501 is shown as 83, at this time, the second image is continuously acquired, 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 position relationship between the projector 502 and the remote control device 501 reaches 84, wherein in 84 and 81, the position relationship between the projection area and the target area is the same or the offset is smaller than the set offset threshold value.

The projection control method provided by the embodiment of the application is further described below.

The projection control method provided by the embodiment of the application can be shown in fig. 9 or 10 from the aspect of product interaction.

As shown in fig. 9, the projection control method provided by the embodiment of the application includes:

s901, projecting a projection picture by a projector.

S902, the remote controller shoots the projection picture and transmits the shot picture to the projector.

S903, the user rotates the remote controller, the remote controller shoots a projection picture in the rotating process in real time, and the shot image is transmitted to the projector.

S904, analyzing by the projector according to the image returned by the remote controller, and adjusting the rotation of the cradle head.

The purpose that the projector follows the remote controller is achieved through rotation of the cradle head.

As shown in fig. 10, the projection control method provided by the embodiment of the present application includes:

s1001, the projector is provided with an infrared emission module or a light emitting module, and emits infrared light or other visible light patterns to the projection picture.

S1002, the projector shoots patterns emitted by the remote controller through a self-equipped Tof module or an RGB camera module.

S1003, when the user rotates the remote controller, the pattern sent by the remote controller rotates along with the remote controller.

The projector calculates the pattern offset through the sensor and the algorithm, and controls the rotation of the cradle head to achieve the following effect.

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

Example 1

The projector projects a projection screen. The projection picture projected by the projector comprises pictures with more characteristics, which are not limited to checkerboards, and can directly play films without projecting other characteristic pictures.

The remote controller photographs the projection picture of the projector through the sensing module to obtain a reference image, namely a first image. The reference image may be denoted as image I0 and the remote control transmits the image I0 back to the projector. The remote controller transmits the image I0 back to the projector in a wifi or Bluetooth mode. The remote controller shoots through the sensing module and transmits the shot image back to the projector. Under the condition that the remote controller rotates to a preset angle, the remote controller shoots through the sensing module, wherein the space position of the remote controller is unchanged in the rotating process. Here, in the case where the projector does not start to rotate, the remote controller photographs the image I1, and transmits the image I1 back to the projector.

In the rotation process of the projector, the remote controller shoots through the sensing module to obtain images I2, … and Ip, and transmits the images I2, … and Ip back to the projector. The image Ip is the last image shot before the rotation of the cradle head is stopped, and the size of p can be determined according to the actual.

And the projector determines rotation parameters according to the image returned by the remote controller and the reference image. The projector calculates characteristic points of an image I0 and an image Ii returned by the remote controller one by one, pairs the characteristic point set of the image I1 with the characteristic point set of the image I0, determines characteristic point pairs, and calculates offset of characteristic point pairs of the specific image I0 and the image I1.

The current I-th picture Ii, the offset between the j-th feature point (m feature points in total) and the j-th feature point of I0 may be denoted as d0ijx = (T0 jx-Tijx), d0ijy = (T0 jy-Tijy), where T0jx represents the x-coordinate of the j-th feature point on I0 on the captured image, T0jy represents the y-coordinate of the j-th feature point on I0 on the captured image, tijx represents the x-coordinate of the j-th feature point on I0 on the captured image, and Tijy represents the y-coordinate of the j-th feature point on I-th picture Ii on the captured image. And calculating average offset pixel distances of the feature point pairs in the x direction and the y direction, wherein the average offset pixel distances of the feature point pairs in the x direction and the y direction are respectively denoted as dx and dy, and dx= (d0i0x+ … d0 imx)/m and dy= (d0i0y+ … d0 imy)/m. The rotation parameters comprise a rotation direction and a rotation angle, and the rotation parameters are determined to control one rotation in the rotation process of the cradle head. The rotation angle is the product of the set rotation step length and the rotation coefficient, the rotation coefficient is an adjustable parameter, and the size of the rotation coefficient is reduced along with the increase of the rotation times. In one example, when dx >0, the cradle head rotates to the right, and when dy >0, the cradle head rotates downward, and vice versa. The step length of each rotation of the cradle head is as follows: holder unit angle α (where α is a rotation coefficient).

The projector rotates based on the rotation parameter. Wherein, the cloud platform of projecting apparatus rotates according to direction of rotation and rotation angle.

When the projector satisfies the rotation stop condition, the rotation is stopped.

And the cradle head of the projector completes one-time rotation, and whether the projector meets the rotation stopping condition is judged. In case the stopping of rotation is satisfied, the projector is not rotated any more. And under the condition that the rotation stopping condition is not met, repeatedly executing the rotation parameter determination according to the image returned by the remote controller and the reference image until the projector meets the rotation stopping condition.

In the rotation process of the cradle head of the projector, dx and dy are continuously reduced, and when dx and dy are smaller than a certain threshold value in the respective directions, the projector is determined to meet the rotation stopping condition, and the cradle head stops rotating in the corresponding direction.

Example two

A multi-point Tof module is provided on the remote control right in front of the remote control, and the Tof resolution may be n×m (e.g. 100×100) or higher. The remote controller can transmit the ranging image shot by the Tof device back to the projector through Bluetooth or Wifi.

The projection control method provided by the embodiment of the application comprises the following steps:

the remote controller is opposite to the projection wall surface, the moment when the projector acquires the Tof image I0 transmitted back by the remote controller for the first time is recorded as T0, and the pixel ranging value of the center coordinate of the Tof device is acquired as (xc, yc) and recorded as d0.

At a time Ti after the remote controller rotates to a preset angle, the projector acquires a distance measurement value of the center (xc, yc) of the Tof distance measurement image Ii again as di, and determines a rotation parameter. The projector queries the closest point to d0 in the n×m pixel ranging values of the Tof ranging image Ii, and records the coordinates as (xi, yi). Dy=yi-yc is calculated, and dx=xi-xc. Calculating the rotation angle of the vertical direction, namely the y axis Calculating the rotation angle/>, i.e. the x-axis, of the horizontal direction

And the projector controls the cradle head to rotate by corresponding angles in the vertical direction and the horizontal direction according to the rotation parameters.

Example III

In the third embodiment, the remote controller is equipped with an infrared light emitting module or a pattern-throwing light emitting module. Capable of emitting infrared light or a pattern.

The remote controller is aligned with the projection wall surface and emits infrared light or patterns.

The projector shoots patterns emitted by the remote controller by utilizing the self sensing module to obtain a reference image I0.

After the remote controller rotates, the projector shoots images to obtain images I1 and I2 … In, and the angles of the cradle head required to rotate are calculated based on the I1 and I2 … In and the reference image I0 respectively.

1. Providing a method for linking with the projector by additionally adding a shooting module or a light-emitting module on the remote controller;

2. the interaction mode of projector linkage can be controlled by rotating the remote controller without entering a specific operation interface by a user.

3. The characteristic point variation is continuously optimized towards the direction of reduction by adjusting the rotation of the cradle head through a method of continuously comparing the characteristic point variation, and finally the cradle head rotates to the stop position of the remote controller;

4. a method of installing a Tof sensor on a remote controller to control rotation of a cradle head by using a ranging angle change of Tof is proposed.

To implement the above-mentioned projection control method, an embodiment of the present application provides a projection control apparatus 1100, as shown in fig. 11, including:

a first obtaining module 1101, configured to obtain a first image, where the first image is an image of a projection area of a projector and a target area pointed by a remote control device with respect to the projection area and the target area in a first positional relationship;

a second acquisition module 21102 for acquiring at least one second image; the second images are images of the projection area and the target area under the condition that the target area deflects relative to the projection area based on the movement of the remote control device, the second images correspond to different second images, and the pose of the projector is different;

And an adjusting module 1103, 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 and the target area after the pose adjustment reaches a second positional relationship.

In some embodiments, the first obtaining module 1101 is further configured to:

Acquiring an image of the projection area acquired by the projector under a first position relation between the projection area and the target area, and obtaining the first image; wherein, in case the at least one second image comprises a plurality of second images, the target area is located differently in different second images.

In some embodiments of the present invention, in some embodiments,

The second obtaining module 1102 is further configured to obtain an initial second image, where the initial second image is a second image of the projector in an unadjusted pose;

An adjustment module 1103, further configured to determine an offset of the target area or the projection area based on the second image and the first image;

An adjustment module 1103 further configured to control the projector motion based on the offset;

If the positional relationship between the projection area and the target area does not reach the second positional relationship, the second obtaining module 1102 is further configured to obtain a new second image, where the new second image is a second image after the projector moves, and the adjusting module 1103 is further configured to determine, based on the second image and the first image, an offset of the target area or the projection area again until the positional relationship between the projection area and the target area reaches the second positional relationship.

In some embodiments, the adjustment module 1103 is further configured to:

determining a first location point in the second image;

In some embodiments, the adjustment module 1103 is further configured to:

determining direction indication information based on the offset;

And controlling the projector to move based on the direction indication information and the movement step length.

In some embodiments, the adjustment module 1103 is further configured to:

determining an amount of motion based on the offset;

and controlling the projector to move based on the movement amount.

It should be noted that, the data processing system provided in the embodiment of the present application includes each logic unit, which may be implemented by a processor in an electronic device; of course, the method can also be realized by a specific logic circuit; in an implementation, the Processor may be a central processing unit (CPU, central Processing Unit), a microprocessor (MPU, micro Processor Unit), a digital signal Processor (DSP, digital Signal Processor), or a Field-Programmable gate array (FPGA), etc.

The description of the system embodiments above is similar to that of the method embodiments above, with similar benefits 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 of the present application for understanding.

It should be noted that, in the embodiment of the present application, if the above-mentioned page display method is implemented in the form of a software function module, and sold or used as a separate product, the page display method may also be stored in a computer readable storage medium. Based on such understanding, the technical solution of the embodiments of the present application may be embodied essentially or in a part contributing to the related art in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, an optical disk, or other various media capable of storing program codes. Thus, embodiments of the application are not limited to any specific combination of hardware and software.

The embodiment of the application also provides projection control equipment, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the steps in the projection control method when executing the computer program.

Accordingly, an embodiment of the present application provides a storage medium, that is, a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the projection control method provided in the above embodiment.

It should be noted here that: the description of the storage medium embodiments above is similar to that of the method embodiments described above, with similar advantageous 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 for understanding.

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. Wherein the communication bus 1202 is configured to enable connected communications between these components. In an example, the electronic device 1200 further includes: the user interface 1203, where the user interface 1203 may include a display screen, and the external communication interface 1204 may include standard wired and wireless interfaces.

The memory 1205 is configured to store instructions and applications executable by the processor 1201, and may also cache data (e.g., image data, audio data, voice communication data, and video communication data) to be processed or processed by various modules in the processor 1201 and the electronic device, and may be implemented by a FLASH memory (FLASH) or a random access memory (Random Access Memory, RAM).

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in some embodiments" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application. The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.

The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; can be located in one place or distributed to a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.

Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read Only Memory (ROM), a magnetic disk or an optical disk, or the like, which can store program codes.

Or the above-described integrated units of the application may be stored in a computer-readable storage medium if implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solution of the embodiments of the present application may be embodied essentially or in a part contributing to the related art in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a removable storage device, a ROM, a magnetic disk, or an optical disk.

The foregoing is merely an embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A projection control method, the method comprising:

Acquiring a first image, wherein the first image is an image of a projection area of a projector and a target area pointed by remote control equipment under a first position relation;

2. The method of claim 1, wherein the acquiring the first image comprises:

3. The method of claim 1, wherein the acquiring the first image comprises:

4. A method according to any one of claims 1 to 3, wherein 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, wherein the initial second image is a second image under the condition that the pose of the projector is not adjusted;

determining an offset of the target region or the projection region based on the second image and the first image;

Controlling the projector motion based on the offset;

And if the position relation between the projection area and the target area does not reach the second position relation, acquiring a new second image, wherein the new second image is a second image after the projector moves, and determining the offset of the target area or the projection area again based on the second image and the first image until the position relation between the projection area and the target area reaches the second position relation.

5. The method of claim 4, wherein the determining an offset of the target region or the projected region based on the second image and the first image comprises:

6. The method of claim 4, wherein the determining an offset of the target region or the projected region based on the second image and the first image comprises:

determining a first location point in the second image;

7. The method of claim 4, wherein the controlling the projector motion based on the offset comprises:

determining direction indication information based on the offset;

8. The method of claim 4, wherein the controlling the projector motion based on the offset comprises:

determining an amount of motion based on the offset;

and controlling the projector to move based on the movement amount.

9. A projection control apparatus, characterized by comprising: a processor, a memory, and a communication bus;

The processor is configured to execute a computer program stored in the memory to implement the projection control method of any one of claims 1 to 8.

10. A computer-readable storage medium storing one or more computer programs executable by one or more processors to implement the projection control method of any of claims 1-8.