CN109996050A - Project the control method and control device of robot - Google Patents
Project the control method and control device of robot Download PDFInfo
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- CN109996050A CN109996050A CN201711486349.0A CN201711486349A CN109996050A CN 109996050 A CN109996050 A CN 109996050A CN 201711486349 A CN201711486349 A CN 201711486349A CN 109996050 A CN109996050 A CN 109996050A
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- current location
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- projector
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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]
- H04N9/3141—Constructional details thereof
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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
- H04N9/3185—Geometric adjustment, e.g. keystone or convergence
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- Geometry (AREA)
- Projection Apparatus (AREA)
Abstract
The present invention is suitable for robotic technology field, provide a kind of control method and control device for projecting robot, the described method includes: obtaining the environmental parameter of projection robot current location, and determine whether the current location meets projection requirements according to the environmental parameter；If determining that the current location meets projection requirements according to the environmental parameter, the projector for controlling the projection robot is adjusted to preset height；It controls the projector and is projected out preview screen, the preview screen is corrected；The projector of the projection robot is automatically corrected according to the environmental parameter adjust automatically projective parameter of current location, and to the picture of projector projection, has the characteristics that projection pattern is diversified.
Description
Technical field
The invention belongs to robotic technology field more particularly to a kind of control methods and control device for projecting robot.
Background technique
Projector is widely used to family, office, school and public place of entertainment, mainly passes through video transmission line and computer
It is connected, the multimedia content in computer is shown on bigger screen.
Under normal conditions, the projector is suspended on ceiling, can not adjust automatically projector projective parameter, tool
Have the shortcomings that projection pattern is single.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of control method and control device for projecting robot, to solve
Projection device in the prior art can not adjust automatically projector projective parameter, the single problem of projection pattern.
The first aspect of the embodiment of the present invention provides a kind of control method for projecting robot, comprising:
The environmental parameter of projection robot current location is obtained, and determines that the current location is according to the environmental parameter
It is no to meet projection requirements；
If determining that the current location meets projection requirements according to the environmental parameter, the projection robot is controlled
Projector is adjusted to preset height；
It controls the projector and is projected out preview screen, the preview screen is corrected.
The second aspect of the embodiment of the present invention provides a kind of control device for projecting robot, comprising:
Determination unit is determined for obtaining the environmental parameter of projection robot current location, and according to the environmental parameter
Whether the current location meets projection requirements；
Height control unit, if being controlled for determining that the current location meets projection requirements according to the environmental parameter
The projector for making the projection robot is adjusted to preset height；
Corrective control unit is projected out preview screen for controlling the projector, is corrected to the preview screen.
The third aspect of the embodiment of the present invention provides a kind of projection robot, including memory, processor and storage
In the memory and the computer program that can run on the processor, the processor execute the computer program
The step of Shi Shixian above method.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
The step of media storage has computer program, and the above method is realized when the computer program is executed by processor.
In the embodiment of the present invention, by obtaining the environmental parameter of projection robot current location, judge that projecting robot works as
Whether front position meets projection requirements, and when the current location meets projection requirements, adjusts the throwing of the projection robot
Shadow machine carries out the projection of preview screen to preset height, and is corrected to the preview screen, so that the projection machine
The projector of people can according to the environmental parameter adjust automatically projective parameter of current location, and to the projector projection picture
It is automatically corrected, has the characteristics that projection pattern is diversified.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of implementation process schematic diagram of control method for projecting robot provided in an embodiment of the present invention；
Fig. 2 is the specific implementation flow signal of control method S101 for projecting robot provided in an embodiment of the present invention a kind of
Figure；
Fig. 3 is another specific implementation flow of control method S101 for projecting robot provided in an embodiment of the present invention a kind of
Schematic diagram；
Fig. 4 is the another specific implementation flow of control method S101 for projecting robot provided in an embodiment of the present invention a kind of
Schematic diagram；
Fig. 5 is the schematic diagram of preview screen provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of control device for projecting robot provided in an embodiment of the present invention；
Fig. 7 is the schematic diagram of projection robot provided in an embodiment of the present invention.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
In the embodiment of the present invention, by obtaining the environmental parameter of projection robot current location, judge that projecting robot works as
Whether front position meets projection requirements, and when the current location meets projection requirements, adjusts the throwing of the projection robot
Shadow machine carries out the projection of preview screen to preset height, and is corrected to the preview screen, so that the projection machine
The projector of people can according to the environmental parameter adjust automatically projective parameter of current location, and to the projector projection picture
It is automatically corrected, has the characteristics that projection pattern is diversified.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
The implementation process signal of a kind of control method projecting robot provided in an embodiment of the present invention as shown in figure 1
Figure, comprising: step S101 to step S103.
In S101, the environmental parameter of projection robot current location is obtained, and according to environmental parameter determination
Whether current location meets projection requirements.
The environmental parameter includes the parameters such as environmental light brightness, noise intensity, is merely illustrative herein, is not expressed as pair
The limitation of the scope of the present invention, other environmental parameters relevant to projection quality should also be as being included in protection scope of the present invention
It is interior, for example, the environmental parameters such as humidity, temperature.
Wherein, when being projected, environmental light brightness be influence drop shadow effect an important factor for one of.For example, in light
When being projected under stronger environment, a piece of of vast expanse of whiteness will be presented in projected picture, can not clearly show that project content, have
The disadvantage of drop shadow effect's difference.In the embodiment of the present invention, by obtaining the environmental parameter of projection robot current location, so as to basis
The environmental parameter determines the projective parameter of the projector of the projection robot, realizes and adjusts projection ginseng according to ambient enviroment
Number, reaches better drop shadow effect.
Optionally, as shown in Fig. 2, described obtain the environmental parameter for projecting robot current location, and according to the environment
It includes: step S201 to step S203 that parameter, which determines whether the current location meets projection requirements,.
In S201, the environmental light brightness of projection robot current location is obtained.
In an embodiment of the present invention, the environmental light brightness can be obtained by optical sensor.
In S202, if the environmental light brightness is greater than or equal to luminance threshold, it is determined that the current location is unsatisfactory for
Projection requirements；Wherein, the luminance threshold is less than projector's maximum brightness of the projection robot.
The luminance threshold can according to the preset threshold value of practical experience, or to be obtained according to big data analysis
Optimal brightness threshold value.
Specifically, if the environmental light brightness is greater than or equal to luminance threshold, the environment of the current location is indicated
Brightness is bigger than projector's maximum brightness or the environmental light brightness and projector's maximum brightness of the current location
It differs smaller, that is, current environmental light brightness will affect drop shadow effect, can not clearly be projected.Accordingly, it is determined that described work as
Front position is unsatisfactory for projection requirements.
In S203, if the environmental light brightness is less than the luminance threshold, it is determined that the current location meets projection
It is required that.
Specifically, if the environmental light brightness is less than the luminance threshold, the environment light of the current location is indicated
Projector's maximum brightness described in brightness ratio is small, and differs larger, that is, current environmental light brightness will not influence drop shadow effect, can
Clearly to be projected.Accordingly, it is determined that the current location meets projection requirements.
When due to being projected, it is often associated with the broadcasting of sound, therefore, the environmental parameter further includes noise intensity.
Optionally, as shown in figure 3, described obtain the environmental parameter for projecting robot current location, and according to the environment
It includes: step S301 to step S303 that parameter, which determines whether the current location meets projection requirements,.
In S301, the noise intensity of projection robot current location is obtained.
In certain embodiments of the present invention, the noise intensity can be obtained by sound transducer.
In S302, if the noise intensity is greater than or equal to noise threshold, it is determined that the current location is unsatisfactory for throwing
Shadow requirement.
The noise threshold can according to the preset threshold value of practical experience, or to be obtained according to big data analysis
Optimal noise threshold value.It should be noted that the noise threshold is less than the max volume of volume playback equipment.
Similarly, if the noise intensity is greater than or equal to noise threshold, indicate that the noise of the current location is strong
Spend the noise intensity and the volume playback equipment of bigger than the max volume of the volume playback equipment or described current location
Max volume difference it is smaller, that is, current noise intensity will affect the result of broadcast of projection, can not carry out clear audio and broadcast
It puts.Accordingly, it is determined that the current location is unsatisfactory for projection requirements.
In S303, if the noise intensity is less than the noise threshold, it is determined that the current location meets projection and wants
It asks.
If the noise intensity is less than the noise threshold, indicate the noise intensity of the current location than the sound
The max volume for measuring playback equipment is small, and differs larger, that is, current noise intensity will not influence the result of broadcast of projection, can
To carry out clear audio broadcasting.Accordingly, it is determined that the current location meets projection requirements.
Optionally, as shown in figure 4, described obtain the environmental parameter for projecting robot current location, and according to the environment
It includes: step S401 to step S403 that parameter, which determines whether the current location meets projection requirements,.
In S401, the environmental light brightness and noise intensity of projection robot current location are obtained.That is, described in obtaining simultaneously
Project the environmental light brightness and noise intensity of robot current location.
In S402, if the environmental light brightness is less than the luminance threshold, and the noise intensity is less than the noise
Threshold value, it is determined that the current location meets projection requirements.
That is, only just being determined when the environmental light brightness and the noise intensity meet projection requirements simultaneously
The current location meets projection requirements.
For example, the projected picture and voice broadcasting are all required in the projection for playing out sound video, because
This, needs in the environmental light brightness and the noise intensity while when meeting projection requirements, just determines that the current location is full
Sufficient projection requirements.
Optionally, in S403, if the environmental light brightness is greater than or equal to luminance threshold, and/or, the noise intensity
More than or equal to noise threshold, it is determined that the current location is unsatisfactory for projection requirements；Wherein, the luminance threshold is less than described
Project projector's maximum brightness of robot.
That is, when there are a conditions to be unsatisfactory for projection requirements for both the environmental light brightness and the noise intensity
When, determine that the current location is unsatisfactory for projection requirements；Alternatively, being not satisfied in both environmental light brightness and the noise intensity
When projection requirements, just determine that the current location is unsatisfactory for projection requirements.To be projected according to the different demands of user, make
Projection pattern is obtained with more diversification.
In S102, if determining that the current location meets projection requirements according to the environmental parameter, the throwing is controlled
The projector of shadow robot is adjusted to preset height.
After the environmental parameter for obtaining the projection robot current location, institute can be determined according to the environmental parameter
State whether current location meets projection requirements；When determining that the current location meets projection requirements according to the environmental parameter,
It then indicates that the projection robot can be projected in current location, therefore, can control the projection of the projection robot
Machine is adjusted to preset height, is projected.
The projector of the control projection robot is adjusted to preset height and refers to the projector from standby shape
The position of state is adjusted to the preset height under working condition.
For example, the projector of the projection robot is connected with the telescopic rod of the projection robot, when the projector
When the projector of device people completes projection, the projection robot controls the telescopic rod contraction, by the projector be returned to
Position under machine state；When the projector of the projection robot is projected, described in the projection robot control
Telescopic rod stretching, extension, adjusts the preset height to working condition for the projector.
In S103, controls the projector and be projected out preview screen, the preview screen is corrected.
Wherein, be corrected to the preview screen includes: to carry out keystone to the preview screen.
The preview screen can be the start-up picture of the projector, be used in the case where not connected upper data source,
Adjust the projected picture of the projector.
The keystone refers to the correction when trapezoidal shape is presented in the projected picture of the projector, for example, due to throwing
Trapezoidal shape is presented in the projected picture caused by the flatness of the display wall of shadow distance or the carrying projected picture, then at this time
It needs to carry out keystone.
Optionally, described that keystone is carried out to the preview screen, comprising: if the preview screen is not rectangle,
The projection lens rotation of the projector is then controlled, and/or the projector of the control projection robot carries out height adjustment, directly
To keystone success.
For example, as shown in figure 5, passing through the projection lens rotation for controlling the projector, and/or the control projection machine
The projector of people carries out height adjustment, and the preview screen A is adjusted to rectangle picture B.
Wherein, when the projection lens rotation of the control projector, thus it is possible to vary the projection side of the projection lens
To and projection focal length, so that the preview screen is adjusted to rectangle picture.At the same time it can also control stretching for the telescopic rod
Exhibition and contraction, adjust the standoff height of the projector, so that the preview screen is adjusted to rectangle picture.
Optionally, it is described the preview screen is corrected after, further includes: if the correction of the preview screen not at
It is mobile then to control the projection robot for function.
For example, causing the projected picture to be in when display wall of the projector apart from the projected picture is too far away or too close
When existing trapezoidal shape, the projection lens rotation by controlling the projector, and/or the throwing of the control projection robot will be unable to
Shadow machine carries out height adjustment and realizes trapezoidal correction, therefore, it is necessary to be moved by controlling the projection robot, described in change
The distance between the display wall of projector and the projected picture carries out keystone to the preview screen.
Optionally, the control projection robot is mobile, comprising: the control projection robot is moved to apart from institute
State the position of current location preset length；Or obtain the target position of input；According to the current location and the target position
It sets and cooks up movement routine；The projection robot, which is controlled, according to the movement routine is moved to the target position.
Wherein, the preset length can according to the preset length of practical experience.
It is optionally, described that the target position is moved to according to the movement routine control projection robot, comprising:
The detection device that breaks the barriers detects whether to encounter barrier；If detecting the presence of barrier, movement routine is planned again, and
The projection robot movement is controlled according to the movement routine planned again, until the projection robot reaches the target position
It sets.
Optionally, the determination current location is unsatisfactory for after projection requirements, further includes: controls the projection machine
People is mobile.
For example, the control projection robot is moved to the position apart from the current location preset length；Or it obtains
The target position of input；Movement routine is cooked up according to the current location and the target position；According to the movement routine
It controls the projection robot and is moved to the target position.The projection robot is moved to and meets projection requirements
Position, projected.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
As shown in fig. 6, be a kind of structural schematic diagram of control device 6 for projecting robot provided in an embodiment of the present invention,
Described device includes determination unit 601, height control unit 602 and Corrective control unit 603.
Determination unit 601, for obtaining the environmental parameter of projection robot current location, and it is true according to the environmental parameter
Whether the fixed current location meets projection requirements；
Height control unit 602, if for determining that the current location meets projection requirements according to the environmental parameter,
The projector for controlling the projection robot is adjusted to preset height；
Corrective control unit 603 is projected out preview screen for controlling the projector, carries out school to the preview screen
Just.
Optionally it is determined that unit 601 is specifically used for: obtaining the environmental light brightness of projection robot current location；If described
Environmental light brightness is greater than or equal to luminance threshold, it is determined that the current location is unsatisfactory for projection requirements；Wherein, the luminance threshold
Value is less than projector's maximum brightness of the projection robot；If the environmental light brightness is less than the luminance threshold, it is determined that
The current location meets projection requirements.
Optionally it is determined that unit 601 also particularly useful for: obtain projection robot current location noise intensity；If described
Noise intensity is greater than or equal to noise threshold, it is determined that the current location is unsatisfactory for projection requirements；If the noise intensity is small
In the noise threshold, it is determined that the current location meets projection requirements.
Optionally it is determined that unit 601 also particularly useful for: obtain projection robot current location environmental light brightness and noise
Intensity；If the environmental light brightness is less than the luminance threshold, and the noise intensity is less than the noise threshold, it is determined that institute
It states current location and meets projection requirements；If the environmental light brightness is greater than or equal to luminance threshold, and/or, the noise intensity
More than or equal to noise threshold, it is determined that the current location is unsatisfactory for projection requirements；Wherein, the luminance threshold is less than described
Project projector's maximum brightness of robot.
Optionally, the Corrective control unit 603 is specifically used for: if the preview screen is not rectangle, controlling institute
The projection lens rotation of projector is stated, and/or the projector of the control projection robot carries out height adjustment, until being corrected into
Function.
Described device further includes mobile unit, for it is described the preview screen is corrected after, if the preview
The correction of picture is unsuccessful, then it is mobile to control the projection robot.
The mobile unit is also used to control the projection robot and is moved to apart from the current location preset length
Position；Alternatively, obtaining the target position of input；Movement routine is cooked up according to the current location and the target position；Root
The projection robot, which is controlled, according to the movement routine is moved to the target position.
The mobile unit, the detection device that is also used to break the barriers detect whether to encounter barrier；If detecting the presence of
Barrier then plans movement routine again, and mobile according to the movement routine control projection robot planned again, until
The projection robot reaches the target position.
Optionally, the mobile unit is also used to the determination current location and is unsatisfactory for after projection requirements, control
The projection robot is mobile.
It should be noted that for convenience and simplicity of description, a kind of control device 6 of projection robot of foregoing description
Specific work process, can be referring to figs. 1 to the corresponding process of Fig. 5 the method, and details are not described herein.
Fig. 7 is the schematic diagram for the projection robot that one embodiment of the invention provides.As shown in fig. 7, the projection of the embodiment
Robot 7 includes: processor 70, memory 71 and is stored in the memory 71 and can run on the processor 70
Computer program 72, such as projection robot control program.The processor 70 executes real when the computer program 72
Step in the control method embodiment of existing above-mentioned each projection robot, such as step 101 shown in FIG. 1 is to 103.Alternatively,
The processor 70 realizes the function of each module/unit in above-mentioned each Installation practice, example when executing the computer program 72
The function of unit 601 to 603 as shown in Figure 6.
Illustratively, the computer program 72 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 71, and are executed by the processor 70, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 72 in the projection robot 7 is described.For example, the computer program 72 can be by
It is divided into determination unit, height control unit, obtains module, Corrective control unit (module in virtual bench), each unit tool
Body function is as follows:
Determination unit is determined for obtaining the environmental parameter of projection robot current location, and according to the environmental parameter
Whether the current location meets projection requirements；
Height control unit, if being controlled for determining that the current location meets projection requirements according to the environmental parameter
The projector for making the projection robot is adjusted to preset height；
Corrective control unit is projected out preview screen for controlling the projector, is corrected to the preview screen.
The projection robot 7 can be the calculating such as desktop PC, notebook, palm PC and cloud server and set
It is standby.The projection robot may include, but be not limited only to, processor 70, memory 71.It will be understood by those skilled in the art that
Fig. 7 is only the example for projecting robot 7, does not constitute the restriction to projection robot 7, may include more or more than illustrating
Few component perhaps combines certain components or different components, such as the projection robot can also include input and output
Equipment, network access equipment, bus etc..
Alleged processor 70 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 71 can be the internal storage unit of the projection robot 7, such as the hard disk of projection robot 7
Or memory.The memory 71 is also possible to the External memory equipment of the projection robot 7, such as the projection robot 7
The plug-in type hard disk of upper outfit, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital,
SD) block, flash card (Flash Card) etc..Further, the memory 71 can also both include the projection robot 7
Internal storage unit also includes External memory equipment.The memory 71 is for storing the computer program and the projection
Other programs and data needed for robot.The memory 71, which can be also used for temporarily storing, have been exported or will be defeated
Data out.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above system
The specific work process of middle unit, module, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium
It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry the computer program code
Dish, CD, computer storage, read-only memory (Read-Only Memory, ROM), random access memory (Random
Access Memory, RAM), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the meter
The content that calculation machine readable medium includes can carry out increase and decrease appropriate according to the requirement made laws in jurisdiction with patent practice,
It such as does not include electric carrier signal and telecommunications according to legislation and patent practice, computer-readable medium in certain jurisdictions
Signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (13)
1. a kind of control method for projecting robot characterized by comprising
The environmental parameter of projection robot current location is obtained, and determines whether the current location is full according to the environmental parameter
Sufficient projection requirements；
If determining that the current location meets projection requirements according to the environmental parameter, the projection of the projection robot is controlled
Machine is adjusted to preset height；
It controls the projector and is projected out preview screen, the preview screen is corrected.
2. control method as described in claim 1, which is characterized in that the environment ginseng for obtaining projection robot current location
Number, and determine whether the current location meets projection requirements and include: according to the environmental parameter
Obtain the environmental light brightness of projection robot current location；
If the environmental light brightness is greater than or equal to luminance threshold, it is determined that the current location is unsatisfactory for projection requirements；Wherein,
The luminance threshold is less than projector's maximum brightness of the projection robot；
If the environmental light brightness is less than the luminance threshold, it is determined that the current location meets projection requirements.
3. control method as described in claim 1, which is characterized in that the environment ginseng for obtaining projection robot current location
Number, and determine whether the current location meets projection requirements and include: according to the environmental parameter
Obtain the noise intensity of projection robot current location；
If the noise intensity is greater than or equal to noise threshold, it is determined that the current location is unsatisfactory for projection requirements；
If the noise intensity is less than the noise threshold, it is determined that the current location meets projection requirements.
4. control method as described in claim 1, which is characterized in that the environment ginseng for obtaining projection robot current location
Number, and determine whether the current location meets projection requirements and include: according to the environmental parameter
Obtain the environmental light brightness and noise intensity of projection robot current location；
If the environmental light brightness is less than the luminance threshold, and the noise intensity is less than the noise threshold, it is determined that institute
It states current location and meets projection requirements, wherein the luminance threshold is less than projector's maximum brightness of the projection robot.
5. control method as claimed in claim 4, which is characterized in that the environment ginseng for obtaining projection robot current location
Number, and determine whether the current location meets projection requirements according to the environmental parameter, further includes:
Obtain the environmental light brightness and noise intensity of projection robot current location；
If the environmental light brightness is greater than or equal to luminance threshold, and/or, the noise intensity is greater than or equal to noise threshold,
Then determine that the current location is unsatisfactory for projection requirements；Wherein, the luminance threshold is less than the projector of the projection robot
Maximum brightness.
6. the control method as described in claim 1 to 5 any one, which is characterized in that described to be carried out to the preview screen
Correction, comprising:
If the preview screen is not rectangle, the projection lens rotation of the projector, and/or the control projection are controlled
The projector of robot carries out height adjustment, until correcting successfully.
7. control method as claimed in claim 6, which is characterized in that it is described the preview screen is corrected after, also
Include:
If the correction of the preview screen is unsuccessful, it is mobile to control the projection robot.
8. control method as claimed in claim 7, which is characterized in that the control projection robot is mobile, comprising:
It controls the projection robot and is moved to position apart from the current location preset length；Alternatively,
Obtain the target position of input；Movement routine is cooked up according to the current location and the target position；According to described
Movement routine controls the projection robot and is moved to the target position.
9. control method as claimed in claim 8, which is characterized in that described to control the projector according to the movement routine
Device people is moved to the target position, comprising:
The detection device that breaks the barriers detects whether to encounter barrier；
If detecting the presence of barrier, movement routine is planned again, and control the throwing according to the movement routine planned again
Shadow robot is mobile, until the projection robot reaches the target position.
10. control method as claimed in claim 2, which is characterized in that the determination current location is unsatisfactory for projection and wants
After asking, further includes:
It is mobile to control the projection robot.
11. a kind of control device for projecting robot characterized by comprising
Determination unit, for obtaining the environmental parameter of projection robot current location, and according to environmental parameter determination
Whether current location meets projection requirements；
Height control unit, if controlling institute for determining that the current location meets projection requirements according to the environmental parameter
The projector for stating projection robot is adjusted to preset height；
Corrective control unit is projected out preview screen for controlling the projector, is corrected to the preview screen.
12. a kind of projection robot, including memory, processor and storage are in the memory and can be in the processor
The computer program of upper operation, which is characterized in that the processor realized when executing the computer program as claim 1 to
The step of any one of 10 the method.
13. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claims 1 to 10 of realization the method.
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| CN201711486349.0A CN109996050A (en) | 2017-12-29 | 2017-12-29 | Project the control method and control device of robot |
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| CN201711486349.0A CN109996050A (en) | 2017-12-29 | 2017-12-29 | Project the control method and control device of robot |
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