CN107222732A - Automatic projection method and projection robot - Google Patents
Automatic projection method and projection robot Download PDFInfo
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- CN107222732A CN107222732A CN201710561868.2A CN201710561868A CN107222732A CN 107222732 A CN107222732 A CN 107222732A CN 201710561868 A CN201710561868 A CN 201710561868A CN 107222732 A CN107222732 A CN 107222732A
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- projection
- crowd
- robot
- orientation
- target
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Classifications
-
- 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]
- H04N9/3141—Constructional details thereof
- H04N9/3173—Constructional details thereof wherein the projection device is specially adapted for enhanced portability
- H04N9/3176—Constructional details thereof wherein the projection device is specially adapted for enhanced portability wherein the projection device is incorporated in a camera
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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
- G06V40/103—Static body considered as a whole, e.g. static pedestrian or occupant recognition
-
- 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
-
- 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]
- H04N9/3191—Testing thereof
- H04N9/3194—Testing thereof including sensor feedback
Abstract
The invention discloses a kind of automatic projection method, applied to projection robot, including：Surrounding is imaged with different angles to generate multiple ambient images；Multiple ambient images are carried out graphical analysis to determine at least one crowd and corresponding number and crowd orientation；Determine whether there is number and crowd orientation meets at least one target group of the first predetermined condition, if, either objective crowd side is then defined as viewing side, the first crowd is otherwise selected at least one crowd and relative to the first crowd Mobile projector device people, until it is determined that viewing side；Predetermined content is projected to the projection wall outside viewing side.Robot is projected the invention also discloses one kind.By the solution of the present invention, projection robot can be automatically moved near preferable subpoint according to Crowds Distribute situation.
Description
Technical field
The present invention relates to projecting method and equipment, more particularly to a kind of automatic projection method and projection robot.
Background technology
Projection robot is also referred to as entertaining audio-visual robot, is that optical projection system is carried on robot body, utilizes machine
The characteristics of people can flexibly move, audio-visual projection service anywhere or anytime is provided for people.
Current projection robot operationally, is typically moved to target location by navigation or artificial control, by with
Family is manually adjusted after the projecting direction of optical projection system, display parameters etc., and robot projects predetermined project content to predetermined
Region.
The content of the invention
It is an object of the present invention to enable projection robot to be gone to automatically suitably according to the distribution situation of crowd
Projected position near.
Therefore, the embodiments of the invention provide a kind of automatic projection method, applied to projection robot, including following step
Suddenly：Surrounding is imaged with different angles to generate multiple ambient images；Graphical analysis is carried out to the multiple ambient image with true
At least one fixed crowd and corresponding number and crowd orientation；Determine whether there is number and crowd orientation meets the first predetermined bar
At least one target group of part, if it is, either objective crowd side is defined as into viewing side, otherwise it is described at least one
The first crowd is selected in crowd and relative to the first crowd Mobile projector device people, until it is determined that the viewing side；Will be predetermined interior
Hold projection to the projection wall outside viewing side.
The embodiment of the present invention projects robot there is provided one kind simultaneously, including：Projection arrangement, is configured to throw predetermined content
Shadow is to projecting wall；Imaging device, is configured to that surrounding is imaged to generate multiple ambient images with different angles；Telecontrol equipment,
It is configured to drive the projection robot to move；Image analysis apparatus, is configured to carry out image point to the multiple ambient image
Analyse to determine at least one crowd and corresponding number and crowd orientation；Control device, be configured to determine whether to exist number and
Crowd orientation meets at least one target group of the first predetermined condition, if it is, either objective crowd side is defined as to see
Shadow side, the first crowd is otherwise selected at least one described crowd and generates corresponding driving instruction and is sent to the sportswear
Put.
By the embodiment of the present invention, projection robot can be made to go to suitable projection position automatically according to Crowds Distribute situation
Put, realize the intellectualized operation of projection robot.
Brief description of the drawings
Fig. 1 is the indicative flowchart of the automatic projection method of one embodiment of the invention；
Fig. 2 is the indicative flowchart of the automatic projection method of another embodiment of the present invention；
Fig. 3 is the indicative flowchart of the automatic projection method of another embodiment of the invention；
Fig. 4 is the indicative flowchart of the automatic projection method of further embodiment of the present invention；
Fig. 5 A-5B are the implementation schematic diagram of the automatic projection method of embodiment in Fig. 4；
Fig. 6 is the schematic block diagram of the projection robot of one embodiment of the invention.
Fig. 7 is the schematic block diagram of the projection robot of another embodiment of the present invention.
Embodiment
Embodiments of the present invention is described in detail with reference to the accompanying drawings.
Fig. 1 is the indicative flowchart of the automatic projection method of one embodiment of the invention.
As shown in figure 1, the automatic projection method of the embodiment of the present invention comprises the following steps:
S101, with different angles surrounding is imaged to generate multiple ambient images；
Projection robot, which can carry camera, to be used to be imaged surrounding environment.Camera is configurable to can be relative to throwing
Shadow robot body freely rotates visual angle, and environment is imaged every certain angle.For example, camera can be every 30
Degree, 45 degree, 60 degree or 90 degree etc. are imaged for 360 degree to environment progress.By being imaged with different angles to surrounding, multiple rings can be generated
Border image, corresponding to 360 degree around projection robot of environment.
Camera can first determine a reference orientation as camera in 360 degree of angles rotated before shooting is started
Benchmark, for example, can will project the horizontal direction of robot surrounding any surface wall or be used as reference side with the direction of wall body vertical
To, for example, referring to direction may be set to projection wall it is perpendicular or parallel.
S102, multiple ambient images are carried out with graphical analysis to determine at least one crowd and corresponding number and crowd side
Position；
Obtain after multiple ambient images, the image analysis apparatus or software of projection robot interior can be started to multiple environment
Image carries out graphical analysis.According to the order of acquisition can carry out graphical analysis successively to multiple ambient images, can also first by
Multiple ambient images carry out splicing and synthesized after panoramic picture, and graphical analysis is carried out to panoramic picture.
In multiple ambient images, there are some images to include portrait, portrait is not included in some images.Scheme according to obtaining
As when camera relative to reference orientation residing for the anglec of rotation, and the crowd region in image center line relative to
The deviation distance of image center line, it may be determined that orientation of the crowd relative to reference orientation in image, while passing through graphical analysis
The number that crowd is included in image can be determined, such as 1 people, 3 people, 5 people.
If same image includes multiple crowds, the number and crowd orientation of each crowd is determined respectively.Can be with base
In portrait size and whether predetermined threshold is met according to the distance between portrait determine to whether there is multiple crowds in image.
S103, determine whether there is number and crowd orientation meets at least one target group of the first predetermined condition；
After one or more crowds are determined by graphical analysis, it is determined whether there is the people for meeting the first predetermined condition
Group.The embodiment of the present invention is not restricted to the first predetermined condition, and those skilled in the art can determine in different scenes as needed
The first different predetermined conditions.As an example, the first predetermined condition can be：Number is at most and orientation is parallel to reference side
To；Number is within a predetermined range and oriented perpendicular is in reference orientation, and preset range is, for example, 4-6 people；Number is in preset range
Interior and orientation and reference orientation are into 45 degree of angles, etc..
S104, when S103 result of determination for certainly when, either objective crowd side is defined as viewing side；
When a target group is determined in S103, the target group side is directly defined as viewing side.
When two or more target group is determined in S103, any of which target group side is defined as viewing side.Example
Such as, the first predetermined condition be number at most and orientation parallel to reference orientation when, due to different crowd number may it is identical,
Therefore it there may be more than one target group；In addition, when the first predetermined condition be number within a predetermined range and orientation
During perpendicular to reference orientation, it is also possible to there are multiple target groups for meeting the first predetermined condition.
S105, when S103 result of determination is negative, the first crowd is selected at least one crowd and relative to the
One crowd mobile projector machine people, and return to step S101；
When the crowd state occurred in ambient image does not meet the first predetermined condition, it is necessary to make projection robot to conjunction
Suitable projected position movement.
In embodiments of the present invention, a crowd can be selected in the multiple crowds determined by graphical analysis and is used as first
Crowd, selected standard for example can be the most crowd of number, or number meets a crowd of preset range.According to choosing
The crowd orientation of the first fixed crowd, it may be determined that moving direction, translational speed, displacement of projection robot etc. so that throw
Shadow robot is moved relative to the first crowd.
In an embodiment of the invention, for example, can be according to reference orientation and the crowd orientation of the first crowd so that throw
Shadow robot is moved in the side parallel with reference orientation up towards close to the side of the first crowd；Or, according to reference orientation
Different set, it is also possible that projection robot is in a sidesway of the side vertical with reference orientation upwardly toward close first crowd
It is dynamic.But the invention is not restricted to this, for example, in addition to being moved on the direction perpendicular or parallel with reference orientation relative to crowd,
Project robot can also relative to reference orientation into being moved relative to crowd on 45 degree of direction, or can also be first
Crowd's movement is directly toward in the crowd orientation of crowd.By the embodiment of the present invention, projection robot can be made to be moved to first
In front of crowd.
During projection robot is relative to the first crowd movement, can in real time it be obtained by projecting the camera of robot
Take the ambient image of surrounding, and the ambient image that camera is obtained is analyzed in real time, it is determined whether have that to meet first pre-
The target group of fixed condition, that is, the 101-103 that repeats the above steps in real time process.In embodiments of the present invention, it is possible to
Before projection robot has not moved to the position that the first crowd meets the first predetermined condition, mesh is determined in other crowds
Mark crowd.
S106, determine behind viewing side, predetermined content is projected to the projection wall outside viewing side.
It is behind viewing side, to be just used as one of wall of other several sides outside viewing side in side where target group is determined
Wall is projected, predetermined content is projected to projection wall.
It can see by the above-mentioned flow of the embodiment of the present invention, the present invention is not simply disposably to determine to project machine
The target projection position of people simultaneously drives projection robot to be moved to target projection position, but is moved during robot is moved
State analyzes Crowds Distribute state, just will be predetermined once current position can select a suitable crowd as target group
Content is projected on the projection wall of target group's offside or side.The embodiment of the present invention realizes the intellectuality of projection robot
Operation, eliminates user and projection robot is navigated or is moved to manually the troublesome operation process of projected position, greatly
Improve Consumer's Experience.
Fig. 2 is the indicative flowchart of the automatic projection method of another embodiment of the present invention.
As shown in Fig. 2 wherein step S201-S206 is similar with the S101-S106 shown in Fig. 1, below to for determining to see
Step S207-S209 after the S206 of shadow side is described in detail.
S207, at least one candidate projection wall imaging outside viewing side to generate at least one wall image；
It is determined that after viewing side, candidate's projection wall of viewing side is excluded in all candidate's projection walls, by throwing
The camera of shadow robot projects one or more of wall to remaining candidate in current position and is imaged.
S208, at least one wall image carry out graphical analysis, to determine at least one candidate view field；
After the wall image of candidate's projection wall is obtained, each wall image is analyzed, it is determined that each wall figure
Each as in is adapted for the region of projection as candidate view field.The region of projection is adapted in wall image for example
It can be the continuous region of area existed on wall without object, for example, exist when on candidate's projection wall without any object
When, it regard whole candidate's projection wall as candidate view field；When candidate's projection wall except center is fixed with one
Light fixture is outer to be existed without other objects, it is determined that have two using the vertical region where the light fixture as boundary on candidate's wall
Candidate view field, by that analogy.
S209, target projection region determined from least one candidate view field according to the second predetermined condition.
Determine after candidate view field, target projection region can therefrom be determined according to the second predetermined condition.The present invention is to the
Two predetermined conditions are not restricted, as an example, the second predetermined condition can be：The size of candidate view field meets pre- scale
It is very little；Candidate view field covers whole wall；Candidate view field is by ceiling edge until groundplane edge, etc..
For example, when the second predetermined condition meets preliminary dimension for the size of candidate view field, according to projection robot
Original position and measured in advance each wall size, can calculate projection robot to candidate projection wall imaging when
Location relative to each candidate's wall distance and bearing, and can according to projection robot current location relative to every
The actual size of each candidate view field in the image of distance calculating candidate's projection wall of individual wall, and actual size is accorded with
The candidate view field for closing preliminary dimension is defined as target projection region.The embodiment of the present invention according to image analysis calculation except throwing
Shadow robot is projected relative to candidate outside the distance of wall, and projection robot can also be directly determined by range unit away from candidate
The distance of wall is projected, and calculates according to the distance of measure the reality of each candidate view field in the image of candidate's projection wall
Border size, so as to therefrom select qualified candidate view field.
In embodiments of the present invention, when exist it is multiple meet the second predetermined condition candidate view field when, can select at random
Fixed one of candidate view field is as target projection region, or selectes a candidate projected area nearest from the first crowd
Domain is as target projection region, or selected one is used as target projection for the optimal candidate view field in the first crowd visual field
Region.
By the embodiment of the present invention, satisfactory target projection area can be automatically determined in multiple candidates projection wall
Domain, eliminates the troublesome operation that user manually adjusts projection robot projecting direction, furthermore achieved that the intelligence of projection robot
Energyization is operated.
Fig. 3 is the indicative flowchart of the automatic projection method of another embodiment of the invention.
As shown in figure 3, wherein step S301-S309 is similar with the S201-S209 shown in Fig. 2, below to for determining mesh
Step S310-S313 after the S309 of mark view field is described in detail.
S310, to target projection region carry out graphical analysis, to determine the orientation in target projection region；
After target projection region is determined, can according to target projection region candidate project wall image in position with
And reference orientation determines orientation of the target projection region relative to projection robot, such as target projection region is located at projection machine
The front of people, left front, right back, etc..
S311, determine whether the orientation in target projection region meets preset bearing；
Preset bearing for example can be front, front-left, front-right or the dead astern for being located at projection robot, that is,
It is determined that whether projection robot is located on the middle vertical plane in target projection region.
S312, when the result of determination in S311 for certainly when, predetermined content is projected to target projection region；
When it is determined that projection robot is located on the middle vertical plane in target projection region, it is determined that projection robot current location is
Best projection position, then project predetermined content to target projection region.
S313, when the result of determination in S311 for negative when, mesh is moved to according to the size and orientation in target projection region
On the middle vertical plane for marking view field, the projection operation in S312 is then carried out.
When projection robot deviates from the middle vertical plane in target projection region, then according to the size and orientation in target projection region
Calculate and moved along needed for being moved to the middle vertical plane in target projection region parallel to the direction in target projection region or along other directions
Dynamic distance, projection robot is moved to behind target location, predetermined content is projected to target projection region.
By the embodiment of the present invention, enable to projection robot to be automatically moved to best projection position and projected, exempted from
User has been gone to manually adjust the troublesome operation of projecting direction so that target group obtains preferable viewing experience, further improves
The intellectualized operation of projection robot.
Fig. 4 is the indicative flowchart of the automatic projection method of further embodiment of the present invention, and Fig. 5 A-5B are real in Fig. 4
Apply the implementation schematic diagram of the automatic projection method of example.
As shown in figure 4, the embodiment of the present invention specifically includes following steps：
S401, startup projection order；
User can project the start button on the machine person or the virtual push button on touch-screen to start by Manual press
Projection order, can also be started by near-field communication or wireless local area communication mode come remote controlled projection robot.
S402, Laser Radar Scanning, demarcate robot location；
In the embodiment of the present invention, laser radar apparatus can be equipped with projection robot body.Start after projection order, rise
Dynamic radar scanning surrounding environment, robot is projected in the scene according to distance calibration of the projection robot away from each wall in scene
Position.
S403, adjustment robot normal direction are parallel with metope；
As shown in Figure 5A, on the basis of wall C horizontal direction, the normal direction for projecting robot is set to wall C's
Horizontal direction parallel, it is 0 degree now to project robot with wall C angulations.
S404, camera scanning surrounding, find crowd orientation；
Settable camera inceptive direction is 0 degree with robot body angulation, and rotating camera carries out camera
Repeatedly shoot, 360 degree of environment should be able to be included by captured image, the orientation of crowd is found in these images.
S405, determine whether there is multigroup crowd, and whether multigroup crowd is in opposite direction；
If S406, in the presence of crowd in opposite direction, it is determined whether can ignore that the less crowd of individual；
If S407, can not ignore personal less crowd, such as number is equal, then therefrom selectes group of people and be used as mesh
Mark crowd；
S408, when in the picture determine only have group of people when, multigroup crowd direction it is identical when, can ignore individual it is less
Crowd when and have selected after group of people, driving projection robot movement；
S409, projection robot rotate camera and surrounding are imaged simultaneously in moving process, and image is analyzed
To determine crowd orientation, and determine whether to there is target group to be located at projection robot in acquired image front (or
Dead astern, front-left, front-right)；
For example, as shown in Figure 5A, every 60 degree of region 1-6 shot in an image, respectively Fig. 5 A.If in region 1
Left side in detect portrait, also detect that portrait in region 2, do not detect portrait in the 3-6 of region, then driving machine
Device human body rotates counterclockwise 90 degree, makes robot normal direction towards wall D, while moving forward projection robot.Projector
Device people is in moving process, while rotating camera, continues to shoot the picture of different angles, until crowd is uniformly distributed in region
In 5 and 6, then confirm that target group is located at projection robot front-right, stop projection robot motion.In the process, if people
The location of group relatively disperses, then the position that last projection robot stops is：Crowd is set to be in the side of robot；If crowd
Residing is in opposite direction, then ignores crowd side fewer in number, if number is equal, at random selected wherein group of people conduct
Target group.
S410, searching crowd can be using at projections to side walls；
If S411, unavailable to side walls, finding wall on the left of crowd can be using at projection；
If S412, left side wall are unavailable, finding wall on the right side of crowd can be using at projection；
If S413, right side wall are also unavailable, point out not determining that projection robot behaviour can be terminated using wall is projected
Make；
As shown in Figure 5 B, after projection robot is moved in front of crowd, for example crowd is in wall A sides, then projector
Device people rotates the image that camera shoots other three sidewalls B, C, D, and finds the blank wall for meeting projection in the picture.It is first
First at wall B, if there is the blank wall for meeting size at wall B, select to be projected herein, C, D are otherwise detected successively
The blank wall of wall.
When estimating blank wall size in the embodiment of the present invention, projection robot current distance wall can be measured by radar
Apart from L, if now the picture size of the wall is a*b pixels, corresponding actual size is ka*kb, and coefficient k is according to wall
Relation between the position of imaging and the size of image is determined.
S414, adjustment projection robot, make camera just to target wall；
Position at S415, analysis target projection；
S416, the movement of driving projection robot；
Can S417, determination projection robot move；
If S418, projection robot are immovable, terminate current process, and whether point out using at Current projection；
S419, determine at target projection whether to be located at visual field center, then terminate movement in this way, start projection.
It is determined that after the target blank wall to be projected, carrying out next step regulation：Adjustment projects robot pose towards mesh
Wall is marked, and camera is just imaged to the metope to be projected, the side at target projection is determined in the picture of shooting
Position, such as in wall painting left side of face, then the direction of the parallel metope of driving projection Robot is moved to left, and makes the target wall to be projected
Wall is located at the visual field center of projection robot camera.If it is determined that after the target blank wall to be projected, required for robot
There is barrier on mobile direction so that robot is then prompted the user whether using at Current projection without the movement of the normal direction direction
Projected.
According to embodiments of the present invention, projection robot can be automatically moved into preferable projected position, and Automatic-searching is suitable
View field projected so that user eliminates manual mobile projector machine people to projected position, adjustment projecting direction etc.
Cumbersome operation, realizes to be automatically brought into operation and allows users to obtain optimal viewing effect.
It is briefly described referring to the projection robot of Fig. 6-7 pairs of embodiment of the present invention.
Fig. 6 is the schematic block diagram of the projection robot of one embodiment of the invention.
As shown in fig. 6, the projection robot of the embodiment of the present invention can include imaging device 10, projection arrangement 20, image
Analytical equipment 30, control device 40 and telecontrol equipment 50.
Projection arrangement 20 is mounted on projection robot body, and it is configured to project predetermined content to projection wall.
Imaging device 10 is mounted on projection robot body, and it is configured to free relative to projection robot body
Visual angle is rotated, surrounding is imaged to generate multiple ambient images with different angles, corresponding to 360 degree around projection robot of ring
Border.Imaging device 10 is such as may be embodied as imaging sensor, infrared ray sensor.Before shooting is started, imaging device 10
Angle reference when reference orientation rotates as 360 degree can be first positioned at, for example, can will project any face wall of robot surrounding
The horizontal direction of body is used as reference orientation.
Telecontrol equipment 50 is the moving component in projection robot body, and it is configured to the movement of driving projection robot.Fortune
Dynamic device 50 can for example include motor, steering mechanism and driving wheel.
Image analysis apparatus 30, is configured to that multiple ambient images that imaging device 10 is obtained are carried out graphical analysis to determine
At least one crowd and corresponding number and crowd orientation.Image analysis apparatus 30 can be embodied as being capable of operation image parser
Hardware or software.
Control device 40 is configured to determine whether to exist number and crowd orientation meet the first predetermined condition at least one
Target group, if it is, either objective crowd side is defined as into viewing side, otherwise selectes the first at least one crowd
Group simultaneously generates corresponding driving instruction and is sent to telecontrol equipment 50.CPU, single-chip microcomputer or microprocessor can be used in control device 40
Deng realization.
In an embodiment of the invention, control device 40 is it is determined that in the absence of the target group for meeting the first predetermined condition
When, select the first crowd in the picture in more than one crowd that can be, given birth to according to reference orientation and the crowd orientation of the first crowd
Into driving direction instruction telecontrol equipment 50 is sent to as driving instruction.
Telecontrol equipment 50 is during driving projection robot is relative to the first crowd movement, and imaging device 10 can be real-time
The ambient image of surrounding is obtained, the ambient image that image analysis apparatus 30 can be in real time to acquisition is analyzed, control device 40
The target group for meeting the first predetermined condition is then determined whether there is in real time.It is possible to have not moved to first in projection robot
Crowd meets before the position of the first predetermined condition, and control device 40 determines target group in other crowds.
The embodiment of the present invention realizes the intellectualized operation of projection robot, eliminates user and projection robot is led
Boat or the troublesome operation process for being moved to projected position manually, drastically increase Consumer's Experience.
In an embodiment of the invention, imaging device 10 is additionally configured to at least one candidate projection outside viewing side
Wall is imaged to generate at least one wall image, and imaging device 10 can use imaging sensor to realize；Graphical analysis is filled
Put 30 to be further configured to carry out graphical analysis at least one wall image, to determine at least one candidate view field；Control
Device 40 processed is additionally configured to determine target projection region from least one candidate view field according to the second predetermined condition.
Fig. 7 is the schematic block diagram of the projection robot of another embodiment of the present invention.
As shown in fig. 7, on the basis of the projection robot of embodiment illustrated in fig. 6, the projection robot shown in Fig. 7 is also wrapped
Range unit 60 is included, it is configured to determine the distance that projection robot projects wall away from least one candidate.Range unit 60
It can be used for the distance that projection robot each wall in scene is determined before projection robot starts to be imaged surrounding, with
It is easy to determine the position of projection robot in the scene.
In projection robot has the embodiment of range unit 60, control device 40 can be further configured to according to survey
The actual size of each candidate view field in the image of candidate's projection wall is calculated away from the distance that device 60 is determined, and will be actual
The candidate view field that size meets preliminary dimension is defined as target projection region.
In the embodiment as is seen in fig. 6 or fig. 7 of the present invention, image analysis apparatus 30 can be further configured to mesh
Mark view field and carry out graphical analysis, to determine the orientation in target projection region, control device 40 is also configured as determining mesh
Whether the orientation of mark view field meets preset bearing, if it is, projection instruction is sent to projection arrangement 20, otherwise according to mesh
The size and the orientation corresponding driving instruction of generation for marking view field are sent to telecontrol equipment 50.
Specifically, can basis when control device 40 determines that projection robot deviates from the middle vertical plane in target projection region
The size and orientation in target projection region calculate edge and are moved to mesh parallel to the direction in target projection region or along other directions
Mark the distance that move needed for the middle vertical plane of view field, sent accordingly to telecontrol equipment 50 include moving direction and/or move away from
From driving instruction.Telecontrol equipment 50 is received after driving instruction, projection robot is moved into target location, then projection dress
20 are put to project predetermined content to target projection region.
The course of work of the projection robot of Fig. 6-7 illustrated embodiments of the present invention can be found in oneself of Fig. 1-5 illustrated embodiments
Dynamic projecting method, will not be repeated here.
Multiple embodiments of the invention are illustrated above, but the invention is not restricted to the various embodiments described above, this area skill
Art personnel without departing from the spirit of the invention, can carry out variations or modifications, resulting scheme to above-described embodiment
Also fall into scope of the present invention.
Claims (10)
1. a kind of automatic projection method, applied to projection robot, methods described includes：
Surrounding is imaged with different angles to generate multiple ambient images；
The multiple ambient image is carried out graphical analysis to determine at least one crowd and corresponding number and crowd orientation；
Determine whether there is number and crowd orientation meets at least one target group of the first predetermined condition, if it is, will
Either objective crowd side is defined as viewing side, the first crowd is otherwise selected at least one described crowd and relative to the first
Group mobile projector machine people, until it is determined that the viewing side；
Predetermined content is projected to the projection wall outside viewing side.
2. automatic projection method as claimed in claim 1, wherein, include relative to the first crowd movement：
According to reference orientation and the crowd orientation of first crowd, in the side parallel or vertical with reference orientation up towards close
The side movement of first crowd, the reference orientation and projection wall are perpendicular or parallel.
3. automatic projection method as claimed in claim 1, wherein, it is determined that also including after viewing side：
At least one candidate projection wall outside viewing side is imaged to generate at least one wall image；
Graphical analysis is carried out at least one described wall image, to determine at least one candidate view field；
Target projection region is determined from least one described candidate view field according to the second predetermined condition.
4. automatic projection method as claimed in claim 3, wherein, thrown according to the second predetermined condition from least one described candidate
Determine that target projection region includes in the domain of shadow zone：
Determine the distance that projection robot projects wall away from least one described candidate；
The actual size of at least one candidate view field according to being determined the distance of measure, and actual size is met predetermined
The candidate view field of size is defined as the target projection region.
5. the automatic projection method as described in claim 3 or 4, wherein, according to the second predetermined condition from least one described time
Select and determine also to include after target projection region in view field：
Graphical analysis is carried out to the target projection region, to determine the orientation in the target projection region；
Determine whether the orientation in the target projection region meets preset bearing, if it is, by the predetermined content project to
The target projection region, is otherwise moved to the target projection region according to the size and orientation in the target projection region
On middle vertical plane.
6. one kind projection robot, including：
Projection arrangement, is configured to project predetermined content to projection wall；
Imaging device, is configured to that surrounding is imaged to generate multiple ambient images with different angles；
Telecontrol equipment, is configured to drive the projection robot to move；
Image analysis apparatus, is configured to that the multiple ambient image is carried out graphical analysis to determine at least one crowd and correspondingly
Number and crowd orientation；
Control device, is configured to determine whether that there is number and crowd orientation meets at least one target person of the first predetermined condition
Group, if it is, either objective crowd side is defined as into viewing side, otherwise selectes the first crowd at least one described crowd
And generate corresponding driving instruction and be sent to the telecontrol equipment.
7. as claimed in claim 6 projection robot, wherein, control device be configured to according to reference orientation with it is described the first
The crowd orientation generation driving direction instruction of group is as the driving instruction, and the reference orientation is vertical or flat with projection wall
OK.
8. robot is projected as claimed in claim 6, wherein,
Imaging device is additionally configured to at least one candidate projection wall imaging outside viewing side generate at least one wall
Image；
Image analysis apparatus is further configured to carry out graphical analysis at least one described wall image, to determine at least one
Candidate view field；
Control device is further configured to determine target from least one described candidate view field according to the second predetermined condition
View field.
9. robot is projected as claimed in claim 8, wherein, projection robot also includes：
Range unit, is configured to determine the distance that projection robot projects wall away from least one described candidate,
Wherein, control device is further configured at least one candidate projected area according to the distance determination that range unit is determined
The actual size in domain, and the candidate view field that actual size meets preliminary dimension is defined as the target projection region.
10. robot is projected as claimed in claim 8 or 9, wherein,
Image analysis apparatus is further configured to carry out graphical analysis to the target projection region, to determine the target projection
The orientation in region；
Control device is additionally configured to determine whether the orientation in the target projection region meets preset bearing, if it is, to institute
State projection arrangement and send projection instruction, corresponding driving instruction is otherwise generated according to the size in the target projection region and orientation
It is sent to the telecontrol equipment.
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| CN201710561868.2A CN107222732A (en) | 2017-07-11 | 2017-07-11 | Automatic projection method and projection robot |
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| CN109257581A (en) * | 2018-08-09 | 2019-01-22 | 上海常仁信息科技有限公司 | A kind of optical projection system and method based on robot |
| CN110930518A (en) * | 2019-08-29 | 2020-03-27 | 广景视睿科技（深圳）有限公司 | Projection method and projection equipment based on augmented reality technology |
| CN111476839A (en) * | 2020-03-06 | 2020-07-31 | 珠海格力电器股份有限公司 | Method, device and equipment for determining projection area and storage medium |
| CN113225452A (en) * | 2021-05-07 | 2021-08-06 | 武汉量卓科技有限公司 | Intelligent exhibition hall multimedia display regulation and control method based on machine vision intelligent real-time adjustment and cloud central control platform |
| WO2023142678A1 (en) * | 2022-01-27 | 2023-08-03 | 美的集团(上海)有限公司 | Projection position correction method, projection localization method, control device, and robot |
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