CN106797455A - A kind of projecting method, device and robot - Google Patents
A kind of projecting method, device and robot Download PDFInfo
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- CN106797455A CN106797455A CN201680002677.6A CN201680002677A CN106797455A CN 106797455 A CN106797455 A CN 106797455A CN 201680002677 A CN201680002677 A CN 201680002677A CN 106797455 A CN106797455 A CN 106797455A
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- 230000015654 memory Effects 0.000 claims description 18
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- 230000005055 memory storage Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 15
- 238000003384 imaging method Methods 0.000 abstract description 2
- 238000010276 construction Methods 0.000 description 17
- 230000006870 function Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 7
- 240000007509 Phytolacca dioica Species 0.000 description 4
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N9/00—Details of colour television systems
- H04N9/12—Picture reproducers
- H04N9/31—Projection devices for colour picture display, e.g. using electronic spatial light modulators [ESLM]
- H04N9/3179—Video signal processing therefor
- H04N9/3188—Scale or resolution adjustment
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/107—Static hand or arm
- G06V40/113—Recognition of static hand signs
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS TECHNIQUES OR SPEECH SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING TECHNIQUES; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
- G10L2015/225—Feedback of the input speech
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- Computational Linguistics (AREA)
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- Audiology, Speech & Language Pathology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Acoustics & Sound (AREA)
- Projection Apparatus (AREA)
Abstract
The present invention relates to projection imaging technical field, more particularly to a kind of projecting method, device and robot.Wherein, the method includes：The position in partial projection region is determined from panoramic projection region；The projecting direction of the position adjustments projector equipment according to partial projection region, and make projector equipment by the corresponding partial projection picture in partial projection region, projection to partial projection region.Through the above way, projector equipment can be in the case where that cannot meet panoramic projection, by in the partial projection region of current partial projection image projection to current desired projection, and in partial projection regional change each time, it is capable of the partial projection picture in the current partial projection region of real-time adjustment, to complete related operation.
Description
Technical field
The present invention relates to projection imaging technical field, more particularly to a kind of projecting method, device and robot.
Background technology
Existing robot has projecting function, can flexibly change projected position, by default panoramic projection image projection
To corresponding region, so that user completes related operation according to the panoramic projection picture.For example, some special engineering constructions
During, the view picture projected picture required for the projector equipment of robot will construct projects to construction metope, so as to constructor
Member is constructed according to the view picture projected picture in construction metope.
Existing robot in projection process, e.g., by view picture projected picture project to construction metope constructed when, meeting
Because actual projected picture is too big, and can not once by view picture projected picture whole projection to metope of constructing.To solve above-mentioned skill
Art problem, the robot of prior art is projected using configuration high and expensive projector equipment, or multiple projections set
It is standby to project simultaneously, view picture projected picture is disposably projected with meeting.
However, in some application processes, user is without according to view picture projected picture, to complete related operation, its need is whole
Partial projection picture in width projected picture just can complete the operation in present scope, e.g., in work progress, workmen
The partial projection picture in current boundary of works area need to be only obtained, the construction in present scope just can be completed, and in workmen position
When putting change, then obtain the partial projection picture in the range of the next position, you can complete the construction for the next position.But invention
People has found：Existing robot or projector equipment not yet can solve the problem that selection partial projection picture carries out office in panoramic projection picture
The technical problem of portion's projection.
The content of the invention
The present invention solves the technical problem of a kind of projecting method, device and robot is provided, main purpose is solution
Certainly the projector equipment of prior art not yet can solve the problem that selection partial projection picture carries out partial projection in panoramic projection picture
Technical problem.
In order to solve the above technical problems, the embodiment of the present invention provides following technical scheme：
In a first aspect, the embodiment of the present invention provides a kind of projecting method, methods described includes：From panoramic projection region
Determine the position in partial projection region；The projecting direction of the position adjustments projector equipment according to the partial projection region, and
Make the projector equipment will partial projection picture corresponding with the partial projection region, projection is to the partial projection region.
Alternatively, determine that the position in partial projection region includes in the region from panoramic projection：Determine user in panorama
The position of view field；According to the user for determining in the position in the panoramic projection region, in the panoramic projection region
Determine the position in partial projection region.
Alternatively, it is described to determine user in the position in panoramic projection region, including：Catch panoramic projection region present position
Panoramic pictures；Position of the user in the panoramic projection region is determined from the panoramic pictures.
Alternatively, the partial projection picture, is drawn by being cut in the panoramic projection picture that prestores, wherein, when will be described
During the panoramic projection image projection for prestoring to the panoramic projection region, the panoramic projection picture for prestoring covers the panorama
View field.
Alternatively, the projecting direction of the position adjustments projector equipment according to the partial projection region, including：According to
The position in the partial projection region, mobile projector device, until the projection optical axis of the projector equipment after mobile are perpendicular to described
Plane where partial projection region.
Alternatively, the projecting direction of the position adjustments projector equipment according to the partial projection region, including：Root
According to the position in the partial projection region, the projection angle of projector equipment is adjusted, until the projected light of the projector equipment after regulation
Axle focuses on the partial projection region.
In second aspect, the embodiment of the present invention provides a kind of projection arrangement, and described device includes：Determining module, for from
The position in partial projection region is determined in panoramic projection region；Adjustment module, for the position according to the partial projection region,
The projecting direction of projector equipment is adjusted, and the projector equipment is drawn partial projection corresponding with the partial projection region
Face, projection to the partial projection region.
Alternatively, the determining module includes：First determining unit, for determining position of the user in panoramic projection region
Put；Second determining unit, for according to the user for determining in the position in the panoramic projection region, in the panoramic projection area
The position in partial projection region is determined in domain.
Alternatively, first determining unit includes：First determination subelement, for catching position residing for panoramic projection region
The panoramic pictures put；Second determination subelement, for determining the user in the panoramic projection area from the panoramic pictures
The position in domain.
Alternatively, the partial projection picture, is drawn by being cut in the panoramic projection picture that prestores, wherein, when will be described
During the panoramic projection image projection for prestoring to the panoramic projection region, the panoramic projection picture for prestoring covers the panorama
View field.
Alternatively, the adjustment module includes：First adjustment unit, for the position according to the partial projection region,
Mobile projector device, until the projection optical axis of the projector equipment after mobile are perpendicular to the plane where the partial projection region.
Alternatively, the adjustment module includes：Second adjustment unit, for the position according to the partial projection region,
The projection angle of projector equipment is adjusted, until the projection optical axis of the projector equipment after regulation focus on the partial projection region.
In the third aspect, the embodiment of the present invention provides a kind of robot, and the robot includes：At least one processor；
And, projector equipment；Adjusting means, the projecting direction for adjusting projector equipment；Connect with least one processor communication
The memory for connecing；Wherein, the processor is connected with the projector equipment, the adjusting means and the memory respectively；Institute
Stating that memory storage has can be by the instruction repertorie of at least one computing device, and the instruction repertorie is by described at least one
Computing device, so that at least one processor can be based on the projector equipment and the adjusting means, performs above-mentioned
Method.
In each embodiment of the invention, by determining the position in partial projection region, and root from panoramic projection region
According to the projecting direction of the position adjustments projector equipment in partial projection region, so that projector equipment will be corresponding with partial projection region
Partial projection picture, projection to partial projection region.
In embodiments of the present invention, can be in the case where panoramic projection cannot be met, by the office in panoramic projection picture
Portion's projected picture is projected to the partial projection region of current desired projection, and in partial projection regional change each time,
It is capable of the partial projection picture in the current partial projection region of real-time adjustment.
Brief description of the drawings
One or more embodiments are illustrative by the picture in corresponding accompanying drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element with same reference numbers label is expressed as similar element in accompanying drawing, removes
It is non-to have especially statement, the figure not composition limitation in accompanying drawing.
Fig. 1 is the structural representation of projection arrangement provided in an embodiment of the present invention；
Fig. 2 is the structural representation of the projection arrangement that another embodiment of the present invention is provided；
Fig. 3 is the hardware architecture diagram of robot provided in an embodiment of the present invention；
Fig. 3 a to Fig. 3 c are that the embodiment of the present invention provides a kind of construction scene；
Fig. 4 is the schematic flow sheet of projecting method provided in an embodiment of the present invention；
Fig. 5 is the schematic flow sheet of step 40 in Fig. 4；
Fig. 6 is the schematic flow sheet of step 401 in Fig. 5.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the present invention, not
For limiting the present invention.
Fig. 1 is referred to, Fig. 1 is the structural representation of projection arrangement provided in an embodiment of the present invention.As shown in figure 1, the throwing
Image device 10 includes determining module 101 and adjustment module 102.
Determining module 101 is used to determine from panoramic projection region the position in partial projection region；
Adjustment module 102 is used for the projecting direction of the position adjustments projector equipment according to partial projection region, and makes throwing
Shadow equipment will partial projection picture corresponding with partial projection region, projection to partial projection region.
Partial projection region is the part projection region in panoramic projection region, and projection arrangement 10 is carrying out projection process
In, can be according to mission requirements using panoramic projection region as the region of required projection.When projection arrangement 10 cannot meet will once
Property project whole panoramic projection region when, determining module 101 can select a regional area as office from panoramic projection region
View field of portion, and to the corresponding partial projection picture of the partial projection region projection.
For example, panoramic projection region is square, the respectively A (0,0) of each corner point of panoramic projection region, B (0,
100), C (150,0), D (150,100), partial projection region can also be square, and the coordinate of each corner point is：E(30,
40), F (100,40), G (30,50), H (100,50).Certainly, in other alternate embodiments, partial projection region can not also
It is square, or other shapes, such as circular, triangle, or, partial projection region is other irregular shapes
Shape.
It should be noted that when the position in partial projection region each time changes, the partial projection for redefining
The scope in region can need to be redefined according to current work, be limited rather than the scope in advance to the partial projection region
It is fixed.For example, panoramic projection region is long 1000 centimetres, 500 centimetres wide of rectangular region, current partial projection region can be with
It is a length of 150 centimetres, a width of 100 centimetres of a certain rectangular region in the panoramic projection region, in current partial projection region
Related operation after the completion of, the position in partial projection region can change, next partial projection region can be the panorama throw
Radius is 120 centimetres of a certain border circular areas in the domain of shadow zone.
In embodiments of the present invention, can be in the case where panoramic projection cannot be met, by current partial projection picture
In projection to the partial projection region of current desired projection, and in partial projection regional change each time, can adjust in real time
The partial projection picture in whole current partial projection region, realizes that dynamic local is projected.
Fig. 2 is the structural representation of the projection arrangement that another embodiment of the present invention is provided.As shown in Fig. 2 projection arrangement 20
Including determining module 201 and adjustment module 202.Determining module 201 and adjustment module 202 are based on same think of with above-described embodiment
Road, no longer repeats one by one herein.The projection arrangement 20 is that determining module 201 includes with the difference of above-described embodiment：The
One determining unit 2011 and the second determining unit 2012.
First determining unit 2011, for determining position of the user in panoramic projection region；Second determining unit 2012, uses
, in the position in panoramic projection region, the position in partial projection region is determined in panoramic projection region according to the user for determining
Put.Because partial projection region is to determine that realization follows the position of user to carry out in the position in panoramic projection region according to user
Partial projection.
What deserves to be explained is：Determining the mode of position of the user in panoramic projection region can have various, for example：Image
Identification, infrared acquisition, speech recognition etc., illustrate by taking image recognition, infrared acquisition and speech recognition as an example below：
(1) image recognition, image recognition refers to the panoramic pictures of first collection umbra view field position, then determines to use
Family position in panoramic pictures, and then determine position of the user in umbra view field, then the first determining unit 2011 includes
First determination subelement 20111 and the second determination subelement 20112.
First determination subelement 20111 is used to catch the panoramic pictures of panoramic projection region present position；Second determines son
Unit 20112 is used to determine position of the user in panoramic projection region from panoramic pictures.Wherein, the user in panoramic pictures
Relative to the position of panoramic pictures, i.e. user panoramic projection region position.
Further, when user moves or be static in the front in panoramic projection region, the first determination subelement 20111
Panoramic projection region present position can be shot according to frequency acquisition, and export the panoramic pictures after shooting.Certainly, exist
In other alternate embodiments, the size of frequency acquisition, according to user moving speed, can be adjusted with identifying user translational speed,
Ensure that frequency acquisition matches with user moving speed.
Certainly, panoramic projection region be to that should have panoramic projection picture, when panoramic projection picture is projected, panoramic projection picture
Panoramic projection region can be covered.Wherein, panoramic projection picture is stored in advance in projection arrangement, is determining partial projection area
After domain, local throwing can be obtained according in the picture from panoramic projection corresponding with size of the position in partial projection region cut
Shadow picture, for example：Second determination subelement 20112 is respectively according to partial projection region EFGH：E (30,40), F (100,40),
G (30,50), H (100,50), according to partial projection region in the size in panoramic projection region, position and panorama projection region
With the ratio of panorama projection picture, by partial projection area maps to panoramic projection picture, it is determined that cutting scope and position, example
Such as：When the size of panoramic projection picture is 285mm x 210mm, and each dimensional parameters in panoramic projection region are respectively
Four coordinates of point, wherein A (0,0), B (0,100), C (150,0), D (150,100) then cut out from panoramic projection picture
Obtained by size four point coordinates parameters described as follows of portion's projected picture：
The abscissa of K1 is (30/150) * 285=57mm, and ordinate is (40/100) * 210=84mm, therefore, K1=
(57,84)；
The abscissa of K2 is (100/150) * 285=190mm, and ordinate is (40/100) * 210=84mm, therefore, K2=
(190,84)；
The abscissa of K3 is (30/150) * 285=57mm, and ordinate is (50/100) * 210=105mm, therefore, K3=
(57,105)；
The abscissa of K4 is (100/150) * 285=190mm, and ordinate is (50/100) * 210=105mm, therefore, K3
=(190,105)；
Therefore, size (190mm-57mm) x (105-84)=133mm x21mm of partial projection picture.And rectangle
First length of side is 57mm, second length of side of second length of side of rectangle apart from panoramic pictures apart from first length of side of panoramic projection picture
Be (285-190=95mm) that the 3rd length of side of rectangle is 84mm apart from the 3rd length of side of panoramic pictures, the 4th length of side of rectangle away from
It is (210-105=105mm) from the 4th length of side of panoramic pictures.Due to the panoramic projection picture covering panoramic projection area for prestoring
Domain, also shape shadow covers the partial projection region to the partial projection picture that cutting is obtained.
Certainly, in certain embodiments, there can also be multiple users before panorama projection region, when there is multiple users,
A user can be matched according to character features, partial projection region be determined according to a user, specially：First determines
Unit 2011 passes through the image that camera gathers view picture wall, extract the character features of each personage from image, and will extract
Character features are matched with the character features for prestoring, if the match is successful for energy, the personage that the match is successful is user, and and
Position is position of the user in panoramic projection region to the personage that the match is successful in the picture.Character features are not limited herein,
For example, personage makes the gesture thumbed up, or, personage makes gesture etc. of clenching fist, and is matched by character features
Mode can well solve many personages and stand in metope, the technical problem for causing identification chaotic.
(2) speech recognition：For example, subscriber station sends the sound instruction of " I herein " in a certain position of metope, work as identification
The voice, and directionality by the voice determines position of the user in panoramic projection region.
(3) infrared acquisition:For example, metope is detected by Infrared Detectors, when the heat of certain position of metope is different from it
During the heat of its position, it is determined that the position has user, and then determines position of the user in panoramic projection region.
It should be noted that user only limits the position in partial projection region in the position of scape view field, office is not limited
The scope of view field of portion, the scope can be determined according to practical business demand, e.g., this height of user 180cm, 50cm wide,
Then the scope in partial projection region can according to actual needs, and the position where covering the user, or the user position is attached
Near, the scope for not limiting partial projection region is 180cm*50cm.Certainly, in certain embodiments, the partial projection
Region is in the fixed range that the position in panoramic projection region can also be certain proportion size.
The change of the position in partial projection region is brought in response to moving for user, in certain embodiments, is thrown
Shadow equipment can adjust self-position, to export distortionless partial projection picture according to the position in partial projection region.Example
Such as, adjustment module 202 includes the first adjustment unit (not shown).First adjustment unit, for the position according to partial projection region
Put and move, until the projection optical axis of the projector equipment after mobile are perpendicular to the plane where partial projection region.Certainly, exist
In other alternate embodiments, adjustment module 202 includes the second adjustment unit (not shown).Second adjustment unit is used for according to part
The position of view field, adjusts the projection angle of projector equipment, until the projection optical axis of the projector equipment after regulation focus on office
View field of portion.
The embodiment of the present invention, by capturing panoramic pictures of the user in panoramic projection region present position, and can pass through
The panoramic pictures determine position of the user in panoramic projection region, and are obtained and customer location phase by panoramic pictures cutting
The partial projection picture of pass.So that in the case where panoramic projection cannot be met, current partial projection image projection is extremely worked as
In the partial projection region of projection needed for preceding, and in partial projection regional change each time, can be according to the position of user
The partial projection picture in the current partial projection region of real-time adjustment, and the position adjustment projector equipment according to user projection side
To, realize dynamic local project.
Fig. 3 is the hardware architecture diagram of robot provided in an embodiment of the present invention.As shown in figure 3, the robot 30 is used
In projecting method as described above is performed, the robot 30 includes：One or more processors 310, projector equipment 320, regulation
Device 330 and memory 340.Wherein, in Fig. 3 by taking a processor 310 as an example.
Processor 310, projector equipment 320, adjusting means 330 and memory 340 can be by bus or its other party
Formula is connected, in Fig. 3 as a example by being connected by bus.Projector equipment 320 is used to be projected to partial projection region.Adjusting means
330 projecting directions for being used to adjust projector equipment.Processor 310 is used to determine partial projection region from panoramic projection region
Position, and according to the position in partial projection region, the projecting direction of projector equipment 320 is adjusted by adjusting means 330, and
Make projector equipment 320 will partial projection picture corresponding with partial projection region, projection is to partial projection region.
In the specific implementation, adjusting means 330 here can refer to position and/or the attitude for adjusting robot,
So as to adjust the device of the projector equipment 320 in robot.The wall motion that such as control Robot is projected, so as to control
Location of projection.Projector equipment 320 can also be used exclusively for adjusting not for the position and/or appearance for adjusting whole robot
The device of state.The drive control device that adjusting means 330 can include rotary shaft and drive rotary shaft to rotate, projector equipment 320 is pacified
In the rotary shaft, and the rotation of rotary shaft can be followed by and rotated.Processor 310 is by adjusting means 330
Drive control device sends drive command, and the rotary shaft of drive adjusting device 330 rotates, to adjust projector equipment 320 to conjunction
Suitable position, make projector equipment 320 will partial projection picture corresponding with partial projection region, projection is to partial projection region.
Alternatively, partial projection region can realize that dynamic following is used according to user in the position determination in panoramic projection region
The position at family is projected, then processor 310 is again specifically for determining position of the user in panoramic projection region；Arrived according to determination
User in the position in panoramic projection region, the position in partial projection region is determined in panoramic projection region.Further, true
User is determined at the position in panoramic projection region, can be determined according to the mode of image recognition, as shown in figure 3, then robot is also
Including image collecting device 350, processor 310 determines user in the position in panoramic projection region, including：By image collector
Put the panoramic pictures of 350 seizure panoramic projection region present positions；Determine user in panoramic projection region from panoramic pictures
Position.Certainly, in other alternate embodiments, it would however also be possible to employ other manner determines position of the user in panoramic projection region
Put, for example：Speech recognition and infrared identification.
Certainly, panoramic projection region can be to that should have panoramic projection picture, and panoramic projection picture refers to by panoramic projection picture
When projection is to panoramic projection region, panoramic projection picture covering panoramic projection region.Wherein, panoramic projection picture is stored in advance in
In projection arrangement, after partial projection region is determined, can be corresponding with size from complete according to the position in partial projection region
Carry out cutting in scape projected picture obtaining partial projection picture.
Alternatively, the change of the position in partial projection region is brought in response to moving for user, in some implementations
In example, projector equipment can adjust self-position according to the position in partial projection region, be drawn with exporting distortionless partial projection
Face.Then adjusting means can also adjust the position of robot, and processor 310 sets according to the projection of the position adjustments in partial projection region
Standby projecting direction, including：Processor 310 according to the position in partial projection region, by adjusting means mobile projector device, directly
The projection optical axis of the projector equipment after to movement are perpendicular to the plane where partial projection region.Or, the basis of processor 310
The projecting direction of the position adjustments projector equipment in partial projection region, including：Position of the processor 310 according to partial projection region
Put, adjust the projection angle of projector equipment, until the projection optical axis of the projector equipment after regulation focus on partial projection region.
What deserves to be explained is：Operation performed by processor 310 can be stored in storage in the way of programmed instruction/module
Device 320, memory 320 as a kind of non-volatile computer readable storage medium storing program for executing, can be used to storing non-volatile software program,
Corresponding programmed instruction/the mould of projecting method in non-volatile computer executable program and module, such as embodiment of the present invention
Block (for example, the modules shown in accompanying drawing 1, modules and unit shown in Fig. 2).Processor 310 is deposited by operation
Store up the non-volatile software program in memory 320, instruct and module, so as to perform the various function application of projection arrangement
And data processing, that is, realize the function of the modules of following embodiment of the method projecting methods and said apparatus embodiment.
Memory 320 can include high-speed random access memory, can also include nonvolatile memory, for example, at least
One disk memory, flush memory device or other non-volatile solid state memory parts.In certain embodiments, memory 320
It is optional including the memory remotely located relative to processor 310, these remote memories can by network connection to process
Device 301.The example of above-mentioned network includes but is not limited to internet, intranet, LAN, mobile radio communication and combinations thereof.
Described program instruction/module is stored in the memory 320, when by one or more of processors 301
During execution, the projecting method in following any means embodiments is performed, for example, performing each shown in Fig. 4 to 6 described below
Step；Also the function of the modules shown in above-mentioned accompanying drawing 1, or modules and unit shown in Fig. 2 can be realized
Function.
Professional should further appreciate that, each example described with reference to the embodiments described herein
Unit and algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, hard in order to clearly demonstrate
The interchangeability of part and software, generally describes the composition and step of each example according to function in the above description.
These functions are performed with hardware or software mode actually, depending on the application-specific and design constraint of technical scheme.
Professional and technical personnel can realize described function to each specific application using distinct methods, but this realization
It is not considered that beyond the scope of this invention.Described computer software can be stored in computer read/write memory medium, the journey
Sequence is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, described storage medium can for magnetic disc, CD,
Read-only memory or random access memory etc..
Reader understands that following and citing is illustrated for convenience：
In some operation process, robot needs to project the projected picture needed for operation to operating area, wherein, it is
Coordinating operation personnel fulfil assignment, and in projection process, robot can select two ways to be projected：The first：Machine
Device people using whole operating areas as panoramic projection region, and by the panoramic projection image projection corresponding to panoramic projection region
To the panoramic projection region.Second：Robot is selected and made from whole operating areas according to the job area of operating personnel
The part corresponding to partial projection region is thrown as partial projection region in the currently associated local job region of industry personnel
Shadow image projection is to the partial projection region.If current projector equipment cannot be met the panorama corresponding to panoramic projection region
Projected picture is projected to the panoramic projection region, second operating type may be selected and completes task.The present embodiment is mainly to second
Operating type is planted to be illustrated.
Fig. 3 a are referred to, in fig. 3 a, construct face wall 3a0, as panoramic projection region, including bookshelf region 3a01, the back of the body
Scene area 3a02, TV installation region 3a03 and potted plant region 3a04, each region is in the position of panoramic projection region 3a0 by setting
Meter person plan in advance, therefore there is the size of regulation in each region.Before decoration, workmen needs to carry out regional
Graticule and scale, so that subsequent construction personnel complete next step operation.If projected using first way, due to receiving
It is limited to the width in house, not yet projected picture can be disposably thrown and completely typically will not to construction face wall 3a0, and workmen
Constructed simultaneously in whole surface construction face wall 3a0.Further, workmen is before construction, typically to the engineering design needed for construction
Scheme greatly it is familiar, construction when, only need to obtain a range of design drawing of oneself Current ambient can start accurately construct.
Therefore in order to realize the projection of panoramic projection picture, the robot of the first embodiment needs the high projector equipment of configuration, increases
Add the design cost of robot, and the second way can meet the demand of construction.
Fig. 3 b are referred to, the side elevation that workmen 3b0 stands on the ground to bookshelf 3b1 carries out graticule and construction, now,
Robot can be using the side elevation of bookshelf 3b1 as partial projection region, by the related partial projection picture of current workmen
3b2 (i.e. the related projected picture of the side elevation of bookshelf 3b1) projections to the partial projection region, partial projection region herein and
Partial projection picture 3b2 is overlapped.
When the construction location of workmen 3b0 changes, for example, referring to Fig. 3 c, workmen 3b0 stands in ladder
When 3c0 is to the right hand edge scribe area 3c1 rowers line of background area 3a02 and construction, robot can be by background area 3a02's
Right hand edge scribe area 3c1 as partial projection region, by the related partial projection picture 3c2 of current workmen (i.e. backgrounds
The related projected picture of the right hand edge of region 3a02) project to the partial projection region, partial projection region herein and part
Projected picture 3c2 is overlapped.
In the case where that cannot meet panoramic projection, robot can be by current partial projection image projection to current institute
In the partial projection region that need to be projected, and in partial projection regional change each time, can be real-time according to the position of user
Adjust the partial projection picture in current partial projection region, and the position adjustment projector equipment according to user projecting direction, it is real
Existing dynamic local projection.
It should be noted that herein based on robot projecting method embodiment explanation, simply a kind of embodiment and
, the equipment that the projecting method and robot include is not defined, it is any by the determination office from panoramic projection region
The position of view field of portion, and the position adjustments projector equipment according to partial projection region projecting direction so that only needing to
During the partial projection picture of current location, the method that projector equipment can be projected to the position partial projection picture should
Fall under the scope of the present invention.
Fig. 4 is the schematic flow sheet of projecting method provided in an embodiment of the present invention.As shown in figure 4, the projecting method includes：
Step 40：The position in partial projection region is determined from panoramic projection region；
Step 42：According to the position in partial projection region, the projecting direction of projector equipment is adjusted, and incite somebody to action projector equipment
Partial projection picture corresponding with partial projection region, projection to partial projection region.
Partial projection region is the part projection region in panoramic projection region.Robot in projection process is carried out, meeting
According to mission requirements using panoramic projection region as the region of required projection.To disposably project whole when robot cannot meet
During panoramic projection region, robot can select a regional area as partial projection region from panoramic projection region, and
To the corresponding partial projection picture of the partial projection region projection.
For example, panoramic projection region is square, the respectively A (0,0) of each corner point of panoramic projection region, B (0,
100), C (150,0), D (150,100), partial projection region can also be square, and the coordinate of each corner point is：E(30,
40), F (100,40), G (30,50), H (100,50).Certainly, in other alternate embodiments, partial projection region can not also
It is square, or other shapes, such as circular, triangle, or, partial projection region is other irregular shapes
Shape.
It should be noted that when the position in partial projection region each time changes, the partial projection for redefining
The scope in region can need to be redefined according to current work, be limited rather than the scope in advance to the partial projection region
It is fixed.For example, panoramic projection region is long 1000 centimetres, 500 centimetres wide of rectangular region, current partial projection region can be with
It is a length of 150 centimetres, a width of 100 centimetres of a certain rectangular region in the panoramic projection region, in current partial projection region
Related operation after the completion of, the position in partial projection region can change, next partial projection region can be the panorama throw
Radius is 120 centimetres of a certain border circular areas in the domain of shadow zone.
In embodiments of the present invention, it can be drawn current partial projection in the case where that cannot meet panoramic projection
Face is projected to the partial projection region of current desired projection, and in partial projection regional change each time, can be real-time
The partial projection picture in current partial projection region is adjusted, realizes that dynamic local is projected.
In certain embodiments, robot can be carried out accurately according to the demand of the user positioned at panoramic projection region fore
Projection, so that user can efficiently fulfil assignment purpose.Alternatively, as shown in figure 5, distinctive points with above-mentioned each embodiment
It is that step 40 includes：
Step 401：Determine position of the user in panoramic projection region；
Step 402：According to the user for determining in the position in panoramic projection region, determine in panoramic projection region local
The position of view field.
Because partial projection region is to determine that realization follows the position of user in the position in panoramic projection region according to user
Carry out partial projection.
What deserves to be explained is：Determining the mode of position of the user in panoramic projection region can have various, for example：Image
Identification, infrared acquisition, speech recognition etc., illustrate by taking image recognition, infrared acquisition and speech recognition as an example below：
(1) image recognition, image recognition refers to the panoramic pictures of first collection umbra view field position, then determines to use
Family position in panoramic pictures, and then determine position of the user in umbra view field.Specifically, as shown in fig. 6, step
401 include：
Step 4011：Catch the panoramic pictures of panoramic projection region present position；
Step 4012：Position of the user in panoramic projection region is determined from panoramic pictures.
Further, when user moves or be static in the front in panoramic projection region, the first determination subelement 20111
Panoramic projection region present position can be shot according to frequency acquisition, and export the panoramic pictures after shooting.Certainly, exist
In other alternate embodiments, the size of frequency acquisition, according to user moving speed, can be adjusted with identifying user translational speed,
Ensure that frequency acquisition matches with user moving speed.
Certainly, panoramic projection region be to that should have panoramic projection picture, when panoramic projection picture is projected, panoramic projection picture
Panoramic projection region can be covered.Wherein, panoramic projection picture is stored in advance in projection arrangement, is determining partial projection area
After domain, local throwing can be obtained according in the picture from panoramic projection corresponding with size of the position in partial projection region cut
Shadow picture, for example：Robot can be respectively according to partial projection region EFGH：E (30,40), F (100,40), G (30,50),
H (100,50), according to partial projection region in the size in panoramic projection region, position and panorama projection region and panorama projection
The ratio of picture, by partial projection area maps to panoramic projection picture, it is determined that scope and position are cut, for example：Work as panorama
When the size of projected picture is 285mm x 210mm, and each dimensional parameters in panoramic projection region are respectively four points
Coordinate, wherein A (0,0), B (0,100), C (150,0), D (150,100) then cut out partial projection and draw from panoramic projection picture
Obtained by size four point coordinates parameters described as follows in face：
The abscissa of K1 is (30/150) * 285=57mm, and ordinate is (40/100) * 210=84mm, therefore, K1=
(57,84)；
The abscissa of K2 is (100/150) * 285=190mm, and ordinate is (40/100) * 210=84mm, therefore, K2=
(190,84)；
The abscissa of K3 is (30/150) * 285=57mm, and ordinate is (50/100) * 210=105mm, therefore, K3=
(57,105)；
The abscissa of K4 is (100/150) * 285=190mm, and ordinate is (50/100) * 210=105mm, therefore, K3
=(190,105)；
Therefore, size (190mm-57mm) x (105-84)=133mm x21mm of partial projection picture.And rectangle
First length of side is 57mm, second length of side of second length of side of rectangle apart from panoramic pictures apart from first length of side of panoramic projection picture
Be (285-190=95mm) that the 3rd length of side of rectangle is 84mm apart from the 3rd length of side of panoramic pictures, the 4th length of side of rectangle away from
It is (210-105=105mm) from the 4th length of side of panoramic pictures.Due to the panoramic projection picture covering panoramic projection area for prestoring
Domain, also shape shadow covers the partial projection region to the partial projection picture that cutting is obtained.
Certainly, in certain embodiments, there can also be multiple users before panorama projection region, when there is multiple users,
A user can be matched according to character features, partial projection region be determined according to a user, specially：Robot can
To gather the image of view picture wall by camera, the character features of each personage are extracted from image, and the personage that will be extracted is special
Levy and matched with the character features for prestoring, if the match is successful for energy, the personage that the match is successful is user, and and is matched into
Position is position of the user in panoramic projection region to the personage of work(in the picture.Character features are not limited herein, for example, people
Thing makes the gesture thumbed up, or, personage makes gesture etc. of clenching fist, can by way of character features are matched
To solve many personage stations well in metope, the technical problem of identification confusion is caused.
(2) speech recognition：For example, subscriber station sends the sound instruction of " I herein " in a certain position of metope, work as identification
The voice, and directionality by the voice determines position of the user in panoramic projection region.
(3) infrared acquisition:For example, metope is detected by Infrared Detectors, when the heat of certain position of metope is different from it
During the heat of its position, it is determined that the position has user, and then determines position of the user in panoramic projection region.
It should be noted that user only limits the position in partial projection region in the position of scape view field, office is not limited
The scope of view field of portion, the scope can be determined according to practical business demand, e.g., this height of user 180cm, 50cm wide,
Then the scope in partial projection region can according to actual needs, and the position where covering the user, or the user position is attached
Near, the scope for not limiting partial projection region is 180cm*50cm.Certainly, in certain embodiments, the partial projection
Region is in the fixed range that the position in panoramic projection region can also be certain proportion size.
The change of the position in partial projection region is brought in response to moving for user, in certain embodiments, is thrown
Shadow equipment can adjust self-position, to export distortionless partial projection picture according to the position in partial projection region.Example
Such as, robot is moved according to the position in partial projection region, until the projection optical axis of projector equipment after mobile perpendicular to
Plane where partial projection region.Because the projection optical axis of projector equipment are perpendicular to the plane where partial projection region, throw
The partial projection picture that shadow equipment is projected out ensure that undistorted.For example, partial projection region is located at the left of projector equipment,
And projector equipment detect Current projection optical axis and local view field where plane between angle when being 30 degree, projection
Equipment can be moved along horizontal line, until the projection optical axis of projector equipment are perpendicular to flat where partial projection region
Face, now projector equipment is by partial projection image projection to partial projection region, so that user is more accurately performed operation.
Alternatively, robot can also according to the position in partial projection region, in the case of not mobile projector device, and
Only by rotating the projection angle of projector equipment, to change the direction of the projection optical axis of projector equipment, the control after regulation is realized
The projection optical axis of equipment focus on partial projection region, so that effectively by the partial projection region of partial projection image projection.
Further, when projecting partial projection picture by rotating projector equipment, due to the projection optical axis of projector equipment
With the inclined angle of local view field, in some implement scenes, the partial projection picture that projection goes out perhaps goes out
Existing distortion (partial projection picture deviates expectation projected picture), therefore, in order to export distortionless partial projection picture, projection sets
It is standby, by image rectification algorithm, to be in advance corrected partial projection picture when partial projection picture is projected, so that projection
Equipment can be with certain level inclination angle and vertical dip angle in response to positioned at the partial projection region of diverse location, exporting distortionless
Partial projection picture, so that user is more accurately performed operation.
The embodiment of the present invention, by capturing panoramic pictures of the user in panoramic projection region present position, and can pass through
The panoramic pictures determine position of the user in panoramic projection region, and are obtained and customer location phase by panoramic pictures cutting
The partial projection picture of pass.So that in the case where panoramic projection cannot be met, current partial projection image projection is extremely worked as
In the partial projection region of projection needed for preceding, and in partial projection regional change each time, can be according to the position of user
The partial projection picture in the current partial projection region of real-time adjustment, and the position adjustment projector equipment according to user projection side
To, realize dynamic local project.
Embodiments of the invention are the foregoing is only, the scope of the claims of the invention is not thereby limited, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (13)
1. a kind of projecting method, it is characterised in that including：
The position in partial projection region is determined from panoramic projection region；
According to the position in the partial projection region, the projecting direction of projector equipment is adjusted, and make the projector equipment will be with
The corresponding partial projection picture in the partial projection region, projection to the partial projection region.
2. method according to claim 1, it is characterised in that partial projection region is determined in the region from panoramic projection
Position include：
Determine position of the user in panoramic projection region；
According to the user for determining in the position in the panoramic projection region, partial projection is determined in the panoramic projection region
The position in region.
3. method according to claim 2, it is characterised in that the determination user is in the position in panoramic projection region, bag
Include：
Catch the panoramic pictures of panoramic projection region present position；
Position of the user in the panoramic projection region is determined from the panoramic pictures.
4. method according to claim 1, it is characterised in that
The partial projection picture is to cut to obtain from the panoramic projection picture for prestoring, wherein, when the panorama for prestoring
Projected picture is projected during to the panoramic projection region, and the panoramic projection picture for prestoring covers the panoramic projection region.
5. the method according to claim any one of 1-4, it is characterised in that the position according to the partial projection region
The projecting direction of regulation projector equipment is put, including：
According to the position in the partial projection region, mobile projector device, until the projection optical axis of the projector equipment after mobile hang down
Directly in the plane where the partial projection region.
6. the method according to claim any one of 1-4, it is characterised in that the position according to the partial projection region
The projecting direction of regulation projector equipment is put, including：
According to the position in the partial projection region, the projection angle of projector equipment is adjusted, until projector equipment after regulation
Projection optical axis focus on the partial projection region.
7. a kind of projection arrangement, it is characterised in that including：
Determining module, the position for determining partial projection region from panoramic projection region；
Adjustment module, for the position according to the partial projection region, adjusts the projecting direction of projector equipment, and makes described
Projector equipment will partial projection picture corresponding with the partial projection region, projection to the partial projection region.
8. device according to claim 7, it is characterised in that the determining module includes：
First determining unit, for determining position of the user in panoramic projection region；
Second determining unit, for according to the user for determining in the position in the panoramic projection region, in the panoramic projection
The position in partial projection region is determined in region.
9. device according to claim 8, it is characterised in that first determining unit includes：
First determination subelement, the panoramic pictures for catching panoramic projection region present position；
Second determination subelement, for determining position of the user in the panoramic projection region from the panoramic pictures.
10. device according to claim 7, it is characterised in that
The partial projection picture is to cut to obtain from the panoramic projection picture for prestoring, wherein, when by it is described prestore it is complete
Scape projected picture is projected during to the panoramic projection region, and the panoramic projection picture for prestoring covers the panoramic projection area
Domain.
11. device according to claim any one of 7-10, it is characterised in that the adjustment module includes：
First adjustment unit, for the position according to the partial projection region, mobile projector device, until the projection after mobile
The projection optical axis of equipment are perpendicular to the plane where the partial projection region.
12. device according to claim any one of 7-10, it is characterised in that the adjustment module includes：
Second adjustment unit, for the position according to the partial projection region, adjusts the projection angle of projector equipment, until adjusting
The projection optical axis of the projector equipment after section focus on the partial projection region.
A kind of 13. robots, it is characterised in that including：
At least one processor；And,
Projector equipment；
Adjusting means, the projecting direction for adjusting projector equipment；
The memory being connected with least one processor communication；Wherein,
The processor is connected with the projector equipment, the adjusting means and the memory respectively；
The memory storage have can by the instruction repertorie of at least one computing device, the instruction repertorie by it is described extremely
A few computing device, so that at least one processor can be based on the projector equipment and the adjusting means, holds
Method of the row as described in claim any one of 1-6.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/111754 WO2018112898A1 (en) | 2016-12-23 | 2016-12-23 | Projection method and device, and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106797455A true CN106797455A (en) | 2017-05-31 |
Family
ID=58952194
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680002677.6A Pending CN106797455A (en) | 2016-12-23 | 2016-12-23 | A kind of projecting method, device and robot |
Country Status (2)
| Country | Link |
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| CN (1) | CN106797455A (en) |
| WO (1) | WO2018112898A1 (en) |
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| CN107463902A (en) * | 2017-08-07 | 2017-12-12 | 上海碧虎网络科技有限公司 | A kind of abnormal method and system of projector's automatic identification projection |
| CN108600716A (en) * | 2018-05-17 | 2018-09-28 | 京东方科技集团股份有限公司 | Projection device and system, projecting method |
| CN109996051A (en) * | 2017-12-31 | 2019-07-09 | 广景视睿科技（深圳）有限公司 | A kind of trend projecting method that view field is adaptive, apparatus and system |
| EP3511933A4 (en) * | 2017-08-31 | 2019-10-23 | Humax Co., Ltd. | System and method for providing voice recognition image feedback |
| CN110795053A (en) * | 2018-08-01 | 2020-02-14 | 昆山纬绩资通有限公司 | Computer screen local projection method and system |
| CN112040207A (en) * | 2020-08-27 | 2020-12-04 | 广景视睿科技（深圳）有限公司 | Method and device for adjusting projection picture and projection equipment |
| CN112511814A (en) * | 2021-02-05 | 2021-03-16 | 深圳市橙子数字科技有限公司 | Projector focusing method, projector, computer device, and storage medium |
| CN114782901A (en) * | 2022-06-21 | 2022-07-22 | 深圳市禾讯数字创意有限公司 | Sand table projection method, device, equipment and medium based on visual change analysis |
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Application publication date: 20170531 |
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